Positioning method and device of terminal equipment and storage medium

Abstract

The application provides a positioning method and device of a terminal device and a storage medium. The method comprises the following steps: receiving a reference signal; determining a time domain channel response of the reference signal according to the reference signal; performing filtering processing on the time domain channel response to obtain a direct path time domain signal; obtaining subcarrier phase information of a direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of a network device; and the subcarrier phase information corresponding to each different antenna is used to determine position information of the terminal device. The application can improve the positioning accuracy and precision of the terminal device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a positioning method and device of terminal equipment and a storage medium. BACKGROUND

[0002] Location Based Services (LBS) is a kind of service technology that obtains terminal position information through wireless communication network or other positioning system, and then provides various types of information related to position for the terminal by combining with geographic information system.

[0003] In the 3rd Generation Partnership Project (3GPP), a plurality of positioning methods of terminal equipment by measuring positioning reference signals of 3GPP wireless communication system are defined, such as Downlink-Time Difference of Arrival (DL-TDOA), Uplink-Time Difference of Arrival (UL-TDOA) and the like. Specifically, the sending end sends a known positioning reference signal, which has a good autocorrelation pseudorandom sequence. The receiving end uses the characteristics of the pseudorandom sequence to measure the TOA by using the cross-correlation method, so as to determine the position of the terminal equipment.

[0004] However, the above positioning method has low accuracy of TOA measurement, which further leads to low positioning accuracy of the terminal equipment. SUMMARY

[0005] The present application provides a positioning method and device of terminal equipment and a storage medium, which can improve the positioning accuracy and positioning accuracy of the terminal equipment.

[0006] In one aspect, the present application provides a positioning method of terminal equipment, comprising: applied to a first network element, the method comprising:

[0007] receiving a reference signal;

[0008] determining a time domain channel response of the reference signal according to the reference signal;

[0009] filtering the time domain channel response to obtain a direct path time domain signal;

[0010] obtaining subcarrier phase information of a direct path frequency domain signal corresponding to the direct path time domain signal of each of different antennas of a network device; the subcarrier phase information corresponding to each of the different antennas is used to determine position information of the terminal equipment.

[0011] In the scheme, the direct path time domain signal can be obtained by filtering the time domain channel response of the reference signal, so that the multipath effect can be eliminated, and the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal corresponding to each antenna of the network device can be extracted according to the obtained direct path time domain signal. By calculating the differential carrier phase information between two different antennas and combining the antenna spacing between the two different antennas, the differential integer ambiguity between the two different antennas can be determined, and then the distance difference between the different antennas of the terminal device to the network device can be estimated according to the differential integer ambiguity, so that the position information of the terminal device can be determined according to the distance difference. The above positioning method considers the integer ambiguity of the distance between the terminal device and the network device, so that the positioning accuracy can be improved, and the positioning accuracy of the terminal device can be improved.

[0012] In a possible implementation, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each antenna of the network device is obtained by:

[0013] The direct path time domain signal is converted into a frequency domain signal by Fourier transform;

[0014] The frequency domain channel response of the subcarrier corresponding to the frequency domain signal is determined according to the index of the subcarrier;

[0015] The subcarrier phase information of the direct path frequency domain signal corresponding to each antenna is extracted from the frequency domain channel response.

[0016] In the scheme, the direct path time domain signal can be converted into a frequency domain signal by Fourier transform, and the frequency domain channel response of the subcarrier is determined according to the index of the subcarrier corresponding to the frequency domain signal. Then, the subcarrier phase information of the direct path frequency domain signal corresponding to each antenna is extracted from the frequency domain channel response, so that the subcarrier phase information of the direct path frequency domain signal corresponding to each antenna can be extracted, and the accuracy of the determined position information of the terminal device is ensured.

[0017] In a possible implementation, the first network element is a terminal device, and the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each antenna of the network device is obtained by:

[0018] The subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each antenna of at least two network devices is obtained respectively, wherein the at least two network devices include a serving network device and at least one adjacent network device.

[0019] In the scheme, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each antenna of at least two network devices is acquired, so that the positioning accuracy of the terminal device can be improved.

[0020] In a possible implementation, the method further includes:

[0021] For each network device, the differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device is determined according to the subcarrier phase information of the direct path frequency domain signal corresponding to each antenna of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0022] For each antenna pair, the differential integer ambiguity is determined according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, and the differential integer ambiguity is the difference between the first integer ambiguity of the distance between the first antenna and the terminal device and the second integer ambiguity of the distance between the second antenna and the terminal device.

[0023] The position information of the terminal device is determined according to the differential integer ambiguity of all antenna pairs in each network device.

[0024] In the scheme, since the integer ambiguity of the distance is considered, the positioning accuracy of the terminal device can be improved.

[0025] In a possible implementation, the determination of the position information of the terminal device according to the differential integer ambiguity of all antenna pairs in each network device includes:

[0026] The distance difference between the first distance between the first antenna in each antenna pair of each network device and the terminal device and the second distance between the second antenna in the antenna pair and the terminal device is determined according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the antenna pair.

[0027] An initial position of the terminal device is acquired;

[0028] The position information of the terminal device is determined according to the initial position and the distance difference of all antenna pairs in each network device.

[0029] In the scheme, after the initial position is determined, the terminal device can be positioned according to the initial position and the distance difference of all antenna pairs in each network device. Since the initial position is further adjusted based on the distance difference of the antenna pair, the accuracy of the position of the terminal device can be improved.

[0030] In a possible implementation, the determining the position information of the terminal device according to the initial position and the distance difference of all the antenna pairs in each network device comprises:

[0031] For each network device, determining an estimated distance difference value according to the position information of the first antenna and the position information of the second antenna in each antenna pair in the network device and the initial position, the estimated distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; determining a corrected position of the terminal device according to the initial position and the estimated distance difference value of all the antenna pairs in each network device; if a difference between the corrected position and the initial position is greater than a preset value, taking the corrected position as a new initial position and repeating the step until the difference between the corrected position and the initial position is not greater than the preset value, and then determining the corrected position as the position information of the terminal device.

[0032] In the scheme, the estimated distance difference value can be determined according to the position information of the first antenna and the position information of the second antenna in each antenna pair in the network device and the initial position, and the corrected position of the terminal device can be determined according to the estimated distance difference value and the distance difference of the antenna pair, so that the position of the terminal device is continuously corrected according to the corrected position, thereby improving the positioning accuracy.

[0033] In a possible implementation, the determining the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair comprises:

[0034] Obtaining an antenna spacing between the first antenna and the second antenna in the antenna pair;

[0035] Determining the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0036] In the scheme, the antenna spacing between the first antenna and the second antenna in the antenna pair can be obtained, so that the differential integer ambiguity can be determined according to the differential carrier phase information of the first antenna and the second antenna and the antenna spacing, and positioning can be performed according to the differential integer ambiguity, thereby avoiding the phenomenon of directly determining the integer ambiguity, reducing the difficulty of determining the integer ambiguity, and improving the positioning efficiency.

[0037] In a possible implementation, the obtaining the antenna spacing between the first antenna and the second antenna in the antenna pair comprises:

[0038] Receiving the antenna spacing sent by the network device.

[0039] In a possible implementation, the first network element is a network device.

[0040] The method further includes:

[0041] sending, to the positioning server, subcarrier phase information corresponding to each of the different antennas of the network device, the subcarrier phase information being used to instruct the positioning server to determine the position information of the terminal device.

[0042] In a possible implementation, the method further includes:

[0043] sending, to the positioning server, an antenna spacing between the different antennas of the network device, the antenna spacing being used to instruct the positioning server to determine the position information of the terminal device according to the antenna spacing and the subcarrier phase information corresponding to each of the different antennas.

[0044] In a possible implementation, the antenna spacing between the different antennas is not greater than where λ represents a wavelength.

[0045] In another aspect, the present application provides a positioning method of a terminal device, applied to a positioning server, and the method includes:

[0046] receiving subcarrier phase information of a direct path frequency domain signal corresponding to each of the different antennas of each network device, respectively sent by at least two network devices; the direct path frequency domain signal is obtained by converting a direct path time domain signal obtained by filtering a time domain channel response of a reference signal, where the time domain channel response is determined by each network device after receiving the reference signal, and the reference signal is sent by a terminal device to each network device.

[0047] determining position information of the terminal device according to the subcarrier phase information of the direct path frequency domain signal corresponding to each of the different antennas of each network device.

[0048] In the present solution, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of the different antennas of the network device can be obtained, and the difference carrier phase information between each two of the different antennas can be calculated, and the antenna spacing between each two of the different antennas can be combined, so that the difference integer ambiguity between each two of the different antennas can be determined, and the distance difference between the different antennas of the terminal device and the network device can be estimated according to the difference integer ambiguity, and the position information of the terminal device can be determined according to the distance difference. The above positioning method considers the integer ambiguity of the distance between the terminal device and the network device, so that the positioning accuracy can be improved, and the positioning accuracy of the terminal device can be improved.

[0049] In a possible implementation, the determining the position information of the terminal device according to the subcarrier phase information of the direct path frequency domain signals corresponding to different antennas of each network device comprises:

[0050] For each network device, the difference carrier phase information of a first antenna and a second antenna in each antenna pair of the network device is determined according to the subcarrier phase information of the direct path frequency domain signals corresponding to different antennas of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0051] For each antenna pair, the difference integer ambiguity is determined according to the difference carrier phase information of the first antenna and the second antenna in the antenna pair, and the difference integer ambiguity is the difference between the first integer ambiguity of the distance between the first antenna and the terminal device and the second integer ambiguity of the distance between the second antenna and the terminal device;

[0052] The position information of the terminal device is determined according to the difference integer ambiguities of all antenna pairs in each network device.

[0053] In this scheme, because the integer ambiguity of the distance is considered, the positioning accuracy of the terminal device can be improved.

[0054] In a possible implementation, the determining the position information of the terminal device according to the difference integer ambiguities of all antenna pairs in each network device comprises:

[0055] The distance difference between the first distance between the first antenna in each antenna pair of each network device and the terminal device and the second distance between the second antenna in the antenna pair and the terminal device is determined according to the difference integer ambiguity of the antenna pair and the difference carrier phase information of the antenna pair;

[0056] An initial position of the terminal device is acquired;

[0057] The position information of the terminal device is determined according to the initial position and the distance difference of all antenna pairs in each network device.

[0058] In this scheme, after the initial position is determined, the terminal device can be positioned according to the initial position and the distance difference of all antenna pairs in each network device. Because the initial position is further adjusted based on the distance difference of the antenna pair, the accuracy of the position of the terminal device can be improved.

[0059] In a possible implementation, the determining the position information of the terminal device according to the initial position and the distance difference of all antenna pairs in each network device comprises:

[0060] For each network device, according to position information of a first antenna and position information of a second antenna in each antenna pair of the network device, and the initial position, a distance difference value is determined, the distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; according to the initial position, the distance difference value of all antenna pairs in each network device, and the distance difference of all antenna pairs in each network device, a corrected position of the terminal device is determined; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeatedly executed until the difference between the corrected position and the initial position is not greater than the preset value, and the corrected position is determined as the position information of the terminal device.

[0061] In the scheme, the distance difference value can be determined according to the position information of the first antenna and the position information of the second antenna in each antenna pair of the network device and the initial position, and the corrected position of the terminal device can be determined according to the distance difference value and the distance difference of the antenna pair, so that the position of the terminal device is continuously corrected according to the corrected position, and thus the positioning accuracy can be improved.

[0062] In a possible implementation, the determining the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair comprises:

[0063] The antenna spacing between the first antenna and the second antenna in the antenna pair is acquired;

[0064] The differential integer ambiguity is determined according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0065] In the scheme, the antenna spacing between the first antenna and the second antenna in the antenna pair is acquired, so that the differential integer ambiguity is determined according to the differential carrier phase information of the first antenna and the second antenna and the antenna spacing, and thus the positioning can be performed according to the differential integer ambiguity, which can avoid directly determining the integer ambiguity, reduce the difficulty of determining the integer ambiguity, and improve the positioning efficiency.

[0066] In a possible implementation, the acquiring the antenna spacing between the first antenna and the second antenna in the antenna pair comprises:

[0067] The antenna spacing sent by the network device is received.

[0068] In a possible implementation, the antenna spacing between different antennas is not greater than wherein λ represents the wavelength.

[0069] In still another aspect, the present application provides a positioning apparatus of a terminal device, comprising a memory, a transceiver, and a processor:

[0070] a memory for storing a computer program; a transceiver for transceiving data under control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0071] receiving a reference signal;

[0072] determining a time-domain channel response of the reference signal according to the reference signal;

[0073] filtering the time-domain channel response to obtain a direct-path time-domain signal;

[0074] obtaining subcarrier phase information of a direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of different antennas of a network device; the subcarrier phase information corresponding to each of the different antennas is used to determine position information of the terminal device.

[0075] In a possible implementation, the processor is specifically configured to:

[0076] convert the direct-path time-domain signal into a frequency-domain signal through Fourier transform;

[0077] determine a frequency-domain channel response of a subcarrier according to an index of the subcarrier corresponding to the frequency-domain signal;

[0078] extract the subcarrier phase information of the direct-path frequency-domain signal corresponding to each of the different antennas from the frequency-domain channel response.

[0079] In a possible implementation, the positioning apparatus of the terminal device is a terminal device; and the processor is specifically configured to:

[0080] obtain the subcarrier phase information of the direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of different antennas of at least two network devices respectively, wherein the at least two network devices include a serving network device and at least one neighboring network device.

[0081] In a possible implementation, the processor is further configured to:

[0082] for each network device, determine differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device according to the subcarrier phase information of the direct-path frequency-domain signal corresponding to each of the different antennas of the network device, wherein the first antenna and the second antenna are both any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0083] determining, for each antenna pair, a differential integer ambiguity according to the differential carrier phase information of a first antenna and a second antenna in the antenna pair, the differential integer ambiguity being a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device;

[0084] determining the position information of the terminal device according to the differential integer ambiguities of all antenna pairs in each network device.

[0085] In a possible implementation, the processor is specifically configured to:

[0086] determining, for each antenna pair in each network device, a distance difference between a first distance between a first antenna in the antenna pair and the terminal device and a second distance between a second antenna in the antenna pair and the terminal device according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the antenna pair.

[0087] obtaining an initial position of the terminal device;

[0088] determining the position information of the terminal device according to the initial position and the distance differences of all antenna pairs in each network device.

[0089] In a possible implementation, the processor is specifically configured to:

[0090] determining, for each network device, an estimated distance difference value according to the position information of a first antenna and the position information of a second antenna in each antenna pair in the network device and the initial position, the estimated distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; determining a corrected position of the terminal device according to the initial position and the estimated distance difference values of all antenna pairs in each network device; if a difference between the corrected position and the initial position is greater than a preset value, taking the corrected position as a new initial position and repeating the step until the difference between the corrected position and the initial position is not greater than the preset value, and then determining the corrected position as the position information of the terminal device.

[0091] In a possible implementation, the processor is specifically configured to:

[0092] obtaining an antenna spacing between the first antenna and the second antenna in the antenna pair;

[0093] determining the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0094] In a possible implementation, the processor is further configured to:

[0095] receive the inter-antenna distance sent by the network device.

[0096] In a possible implementation, the positioning apparatus of the terminal device is a network device.

[0097] The processor is further configured to:

[0098] send, to a positioning server, subcarrier phase information corresponding to different antennas of the network device respectively, the subcarrier phase information being used to instruct the positioning server to determine position information of the terminal device.

[0099] In a possible implementation, the processor is further configured to:

[0100] send, to the positioning server, an inter-antenna distance between different antennas of the network device, the inter-antenna distance being used to instruct the positioning server to determine position information of the terminal device according to the inter-antenna distance and the subcarrier phase information corresponding to the different antennas respectively.

[0101] In a possible implementation, the inter-antenna distance between the different antennas is not greater than wherein λ represents a wavelength.

[0102] In another aspect, the present application provides a positioning apparatus of a terminal device, comprising a memory, a transceiver, and a processor:

[0103] The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations:

[0104] receive subcarrier phase information of a direct path frequency domain signal corresponding to different antennas of each network device respectively, the direct path frequency domain signal being obtained by converting a direct path time domain signal obtained by filtering a time domain channel response determined after receiving a reference signal, the reference signal being sent by a terminal device to each network device.

[0105] determine position information of the terminal device according to the subcarrier phase information of the direct path frequency domain signal corresponding to the different antennas of each network device respectively.

[0106] In a possible implementation, the processor is specifically configured to:

[0107] For each network device, difference carrier phase information of a first antenna and a second antenna of each antenna pair of the network device is determined according to subcarrier phase information of direct path frequency domain signals corresponding to different antennas of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0108] For each antenna pair, difference integer ambiguity is determined according to difference carrier phase information of a first antenna and a second antenna of the antenna pair, wherein the difference integer ambiguity is a difference value between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device.

[0109] Position information of the terminal device is determined according to difference integer ambiguities of all antenna pairs in each network device.

[0110] In a possible implementation, the processor is specifically configured to:

[0111] A distance difference between a first distance between a first antenna of each antenna pair in each network device and the terminal device and a second distance between a second antenna of the antenna pair and the terminal device is determined according to difference integer ambiguities of the antenna pair and difference carrier phase information of the antenna pair.

[0112] An initial position of the terminal device is acquired.

[0113] Position information of the terminal device is determined according to the initial position and distance differences of all antenna pairs in each network device.

[0114] In a possible implementation, the processor is specifically configured to:

[0115] For each network device, an estimated distance difference value is determined according to position information of a first antenna and position information of a second antenna of each antenna pair in the network device and the initial position, wherein the estimated distance difference value is a difference value between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; a corrected position of the terminal device is determined according to the initial position, the estimated distance difference value of all antenna pairs in each network device and the distance difference of all antenna pairs in each network device; if a difference value between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeatedly executed until the difference value between the corrected position and the initial position is not greater than the preset value, and then the corrected position is determined as the position information of the terminal device.

[0116] In a possible implementation, the processor is specifically configured to:

[0117] obtain an antenna spacing between the first antenna and the second antenna in the antenna pair;

[0118] determine the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0119] In a possible implementation, the processor is specifically configured to:

[0120] receive the antenna spacing sent by the network device.

[0121] In a possible implementation, the antenna spacing between the different antennas is not greater than wherein λ represents a wavelength.

[0122] In still another aspect, the present application provides a positioning apparatus of a terminal device, comprising:

[0123] a receiving unit configured to receive a reference signal;

[0124] a processing unit configured to determine a time-domain channel response of the reference signal according to the reference signal;

[0125] The processing unit is further configured to perform filtering processing on the time-domain channel response to obtain a direct-path time-domain signal.

[0126] The processing unit is further configured to obtain subcarrier phase information of a direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of different antennas of a network device; and the subcarrier phase information corresponding to each of the different antennas is used to determine position information of the terminal device.

[0127] In a possible implementation, the processing unit is specifically configured to:

[0128] convert the direct-path time-domain signal into a frequency-domain signal through Fourier transform;

[0129] determine a frequency-domain channel response of the subcarrier according to an index of the subcarrier corresponding to the frequency-domain signal;

[0130] extract the subcarrier phase information of the direct-path frequency-domain signal corresponding to each of the different antennas from the frequency-domain channel response.

[0131] In a possible implementation, the positioning apparatus of the terminal device is a terminal device; and the processing unit is specifically configured to:

[0132] Acquire subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of different antennas of at least two network devices respectively, wherein the at least two network devices include a serving network device and at least one neighboring network device.

[0133] In a possible implementation, the processing unit is specifically configured to:

[0134] For each network device, determine differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device according to the subcarrier phase information of the direct path frequency domain signal corresponding to each of different antennas of the network device, wherein the first antenna and the second antenna are both any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0135] For each antenna pair, determine differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, wherein the differential integer ambiguity is a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device;

[0136] Determine the position information of the terminal device according to the differential integer ambiguity of all antenna pairs in each network device.

[0137] In a possible implementation, the processing unit is specifically configured to:

[0138] Determine a distance difference between a first distance between the first antenna in each antenna pair of each network device and the terminal device and a second distance between the second antenna in the antenna pair and the terminal device according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the antenna pair;

[0139] Acquire an initial position of the terminal device;

[0140] Determine the position information of the terminal device according to the initial position and the distance difference of all antenna pairs in each network device.

[0141] In a possible implementation, the processing unit is specifically configured to:

[0142] For each network device, according to position information of a first antenna and position information of a second antenna in each antenna pair in the network device, and the initial position, a distance difference value is determined, the distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; according to the initial position and the distance difference value of all antenna pairs in each network device, a corrected position of the terminal device is determined; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeated until the difference between the corrected position and the initial position is not greater than the preset value, and then the corrected position is determined as the position information of the terminal device.

[0143] In a possible implementation, the processing unit is specifically configured to:

[0144] Obtain an antenna spacing between the first antenna and the second antenna in the antenna pair.

[0145] Determine the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0146] In a possible implementation, the processing unit is specifically configured to:

[0147] Receive the antenna spacing sent by the network device.

[0148] In a possible implementation, the positioning apparatus of the terminal device is a network device; and the processing unit is specifically configured to:

[0149] Send, to a positioning server, subcarrier phase information corresponding to different antennas of the network device respectively, the subcarrier phase information being used to instruct the positioning server to determine the position information of the terminal device.

[0150] In a possible implementation, the processing unit is specifically configured to:

[0151] Send, to the positioning server, an antenna spacing between different antennas of the network device, the antenna spacing being used to instruct the positioning server to determine the position information of the terminal device according to the antenna spacing and the subcarrier phase information corresponding to the different antennas respectively.

[0152] In a possible implementation, the antenna spacing between the different antennas is not greater than Wherein, λ represents a wavelength.

[0153] In still another aspect, the present application provides a positioning apparatus of a terminal device, comprising:

[0154] receive units, configured to receive subcarrier phase information of direct path frequency domain signals corresponding to different antennas of each of the at least two network devices respectively, wherein the direct path frequency domain signals are obtained by converting direct path time domain signals obtained by filtering time domain channel responses of reference signals, the time domain channel responses are determined by each of the network devices after receiving the reference signals, and the reference signals are sent by a terminal device to each of the network devices;

[0155] a processing unit, configured to determine position information of the terminal device according to the subcarrier phase information of the direct path frequency domain signals corresponding to the different antennas of each of the network devices.

[0156] In a possible implementation, the processing unit is specifically configured to:

[0157] for each of the network devices, determine differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device according to the subcarrier phase information of the direct path frequency domain signals corresponding to the different antennas of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0158] for each antenna pair, determine a differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, wherein the differential integer ambiguity is a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device;

[0159] determine the position information of the terminal device according to the differential integer ambiguities of all antenna pairs in each of the network devices.

[0160] In a possible implementation, the processing unit is specifically configured to:

[0161] determine a distance difference between a first distance between the first antenna in each antenna pair and the terminal device and a second distance between the second antenna in the antenna pair and the terminal device according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the antenna pair in each of the network devices;

[0162] obtain an initial position of the terminal device;

[0163] determine the position information of the terminal device according to the initial position and the distance difference of all antenna pairs in each of the network devices.

[0164] In a possible implementation, the processing unit is specifically configured to:

[0165] For each network device, according to position information of a first antenna and position information of a second antenna in each antenna pair in the network device, and the initial position, a distance difference value is determined, the distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; according to the initial position, the distance difference value of all antenna pairs in each network device, and the distance difference of all antenna pairs in each network device, a corrected position of the terminal device is determined; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeated until the difference between the corrected position and the initial position is not greater than the preset value, and the corrected position is determined as the position information of the terminal device.

[0166] In a possible implementation, the processing unit is specifically configured to:

[0167] Obtain an antenna spacing between the first antenna and the second antenna in the antenna pair.

[0168] According to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing, determine the differential integer ambiguity.

[0169] In a possible implementation, the processing unit is specifically configured to:

[0170] Receive the antenna spacing sent by the network device.

[0171] In a possible implementation, the antenna spacing between different antennas is not greater than Wherein, λ represents a wavelength.

[0172] In another aspect, the present application provides a processor readable storage medium, the processor readable storage medium stores a computer program, the computer program is used for making the processor execute the positioning method of the terminal device in any one of the possible implementation.

[0173] In another aspect, the present application provides a computer program product, comprising a computer program, the computer program is executed by the processor to realize the positioning method of the terminal device in any one of the possible implementation.

[0174] The application provides a positioning method and device of a terminal device and a storage medium. The time domain channel response of a reference signal is determined according to the received reference signal, the time domain channel response is filtered to obtain a direct path time domain signal, and the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of a network device is obtained. The subcarrier phase information corresponding to each different antenna is used to determine the position information of the terminal device. Since the time domain channel response of the reference signal is filtered, the direct path time domain signal can be obtained, so that the multipath effect can be eliminated. According to the obtained direct path time domain signal, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of the network device can be extracted. The differential carrier phase information between two different antennas is calculated, and the antenna spacing between the two different antennas is combined, so that the differential integer ambiguity between the two different antennas can be determined. Then, the distance difference between the terminal device and the different antennas of the network device is estimated according to the differential integer ambiguity, so that the position information of the terminal device is determined according to the distance difference. The above positioning method considers the integer ambiguity between the terminal device and the network device, so that the positioning accuracy can be improved, and the positioning accuracy of the terminal device is improved.

[0175] It should be understood that the content described in the above summary section is not intended to limit or define key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0176] In order to more clearly illustrate the technical solutions in the application or the prior art, the drawings needed in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0177] Figure 1 A schematic diagram of a 5G communication system structure suitable for embodiments of the application;

[0178] Figure 2 A schematic diagram of a positioning service network structure in a 5G network suitable for embodiments of the application;

[0179] Figure 3 A flowchart of a positioning method of a terminal device provided by an embodiment of the application;

[0180] Figure 4 A possible arrangement of three antennas;

[0181] Figure 5A flowchart of a positioning process using downlink multi-antenna subcarrier phase information according to an embodiment of the present application is shown in FIG. 1.

[0182] Figure 6 A flowchart of a positioning process using uplink multi-antenna subcarrier phase information according to an embodiment of the present application is shown in FIG. 2.

[0183] Figure 7 A flowchart of a positioning process using uplink two-antenna subcarrier phase information according to an embodiment of the present application is shown in FIG. 3.

[0184] Figure 8 A schematic diagram of a first network element according to an embodiment of the present application is shown in FIG. 4.

[0185] Figure 9 A schematic diagram of a positioning server according to an embodiment of the present application is shown in FIG. 5.

[0186] Figure 10 A schematic diagram of a positioning device of a terminal device according to an embodiment of the present application is shown in FIG. 6.

[0187] Figure 11 A schematic diagram of a positioning device of a terminal device according to an embodiment of the present application is shown in FIG. 7. DETAILED DESCRIPTION

[0188] The term "and / or" in the present application describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0189] The term "multiple" in the embodiments of the present application means two or more, and other quantifiers are similar.

[0190] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0191] The embodiments of the present application provide a positioning method, device and storage medium of a terminal device, which can be used in any application scenario requiring to determine the position of a terminal device, such as navigation, distance measurement, positioning of a calling user based on an emergency call, positioning of an authorized user based on a user request, etc.

[0192] The technical solutions provided in this application can be applied to various systems, especially 5G systems. For example, applicable systems include Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Long Term Evolution Advanced (LTE-A), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), and 5G New Radio (NR). All of these systems include terminal equipment and network equipment. The systems may also include a core network component, such as Evolved Packet System (EPS) and 5G system (5GS).

[0193] Figure 1 This is a schematic diagram of the 5G communication system structure applicable to the embodiments of this application, such as... Figure 1 As shown, the 5G communication system consists of a 5G core network (5GC) element 101 and a radio access network (NG-RAN) element. The 5GC element 101 and the NG-RAN element are connected through the NG port.

[0194] The network elements that make up the 5GC 101 include an Access and Mobility Management Function (AMF) for supporting control plane functions such as access and mobility management, a Location Server such as a Core Network Location Management Function (CNLMF) for providing location services, and a User Plane Function (UPF) for supporting user plane functions, etc. (not shown in the figure).

[0195] The network elements that make up the NG-RAN include RAN nodes (e.g., 102a-102d shown in the figure). The RAN nodes include network devices such as gNBs that provide wireless network user plane and control plane protocols and functions for 5G networks or ng-eNBs that provide wireless network user plane and control plane protocols and functions for 4G networks. On the access network side, gNBs are connected to ng-eNBs, gNBs are connected to gNBs, and gNBs are connected to gNBs through the Xn interface, i.e., RAN nodes in the access network are connected through the Xn interface. It should be noted that in the following description, the AMF entity is referred to as AMF, and the LMF entity is referred to as LMF.

[0196] The RAN nodes include the serving base station of the terminal device and the neighboring base station of the terminal device, for example, if the terminal device is in the cell covered by the gNB 102a, the gNB 102a is the serving base station of the terminal device, and the gNB 102b is the neighboring base station of the terminal device.

[0197] It should be noted that the above architecture is described taking the 5G system architecture as an example. The embodiments of the present application can also be applicable to a 5G evolved system, or to other communication systems (such as a 4G communication system), or to a system architecture in which a 5G system and other communication systems (such as a 4G system) are mixed, etc., which will not be listed one by one here. For example, in a 4G communication system or a system in which a 4G communication system and a 5G communication system are mixed, a Mobility Management Entity (MME) can be used to implement mobility management.

[0198] Based on the above system structure, the CN LMF in the core network provides location services for the terminal device through the RAN nodes under the cooperation of the core network elements such as the AMF or the MME.

[0199] Figure 2 A positioning service network structure in a 5G network to which the embodiments of the present application are applicable is shown in the figure, which exemplarily lists part of the network elements related to the embodiments of the present application. As shown in the figure, Figure 2As shown, the LMF includes a core network LMF (such as the LMF 203 in the figure), and also includes a local LMF 206 (Local LMF, LLMF) disposed at the access network side. There is an association between the local LMF and the RAN node, for example, one local LMF can correspond to one or more RAN nodes. The local LMF can be co-located with the RAN node, so that the local LMF is associated with the RAN node with which it is co-located (such as the local LMF (Local LMF, LLMF) 206 in the figure is co-located with the RAN node 204).

[0200] Based on the above system architecture, the positioning service process of the terminal device can include: the LCS entity 201 initiates a positioning service request to the AMF 202; the AMF 202 selects an LMF to provide positioning services for the terminal device 205 according to network configuration and terminal device 205 related information. If the AMF 202 selects the LMF 203 to provide positioning services for the terminal device 205, it initiates a positioning service request to the LMF 203, and if the AMF selects the LLMF 206 co-located with the RAN node (i.e. the serving RAN node) 204 in which the terminal device 205 resides to provide positioning services for the terminal device 205, it initiates a positioning service request to the LLMF 206 co-located with the RAN node 204; the LMF 203 or the LLMF 206 obtains the location information of the terminal device 205 by interacting with the AMF 202, the RAN node 204 and the terminal device 205, and sends a positioning service response message to the LCS entity 201 through the AMF 202. Thus, the determination of the location information of the terminal device can be completed.

[0201] The terminal device to which the embodiments of the present application relate can refer to a device that provides voice and / or data connectivity to a user, a handheld device having a wireless connection function, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device can also be different, for example, in the 5G system, the terminal device can be called user equipment (User Equipment, UE). The wireless terminal device can communicate with one or more core networks (Core Network, CN) through a radio access network (Radio Access Network, RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (also known as a "cellular" phone) and a computer with a mobile terminal device, for example, it can be a portable, pocket, handheld, computer built-in or vehicle-mounted mobile device, which exchanges language and / or data with the radio access network. For example, personal communication service (Personal Communication Service, PCS) phones, cordless phones, session initiation protocol (Session Initiated Protocol, SIP) phones, wireless local loop (Wireless Local Loop, WLL) stations, personal digital assistants (Personal Digital Assistant, PDA) and other devices. The wireless terminal device can also be called a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, which is not limited in the embodiments of the present application.

[0202] The network device related to the embodiments of the present application can be a base station, which can include multiple cells serving terminals. According to different application scenarios, the base station can also be referred to as an access point, or can be a device in an access network that communicates with wireless terminal devices through one or more sectors over an air interface, or other names. The network device can be used to exchange received air frames and Internet Protocol (IP) packets as a router between wireless terminal devices and the rest of the access network, which can include an Internet Protocol (IP) communication network. The network device can also coordinate the management of the properties of the air interface. For example, the network device related to the embodiments of the present application can be a network device (Base Transceiver Station, BTS) in the Global System for Mobile Communications (GSM) or Code Division Multiple Access (CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolved network device (evolutional Node B, eNB or e-NodeB) in a long term evolution (LTE) system, or a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., which are not limited in the embodiments of the present application. In some network structures, the network device can include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit can also be geographically separated.

[0203] The network device and the terminal device can each use one or more antennas for multi-input multi-output (MIMO) transmission, which can be single-user MIMO (SU-MIMO) or multiple-user MIMO (MU-MIMO). According to the form and number of root antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO or massive-MIMO, or can be diversity transmission or precoding transmission or beamforming transmission, etc.

[0204] The positioning server involved in the embodiments of the present application can be a network element with positioning function in the core network, for example, can be an LMF, or can be a network element with positioning function in the access network, for example, an access network device with positioning function. Among them, the LMF can be deployed in the core network, that is, the LMF also belongs to a kind of core network network element. The LMF can communicate with the access network device, such as access node NG RAN, through AMF. In order to facilitate description, the LMF sends information to the access network device through the AMF in the embodiments of the present application is referred to as LMF sends information to the access network device. In other words, the LMF sends message to the access network device in the embodiments of the present application can be understood as that the LMF first sends information to the AMF, and the AMF forwards the information to the access network device.

[0205] In addition, the LMF can also communicate with the terminal device. For example, the LMF can communicate with the terminal device through the LTE positioning protocol (LPP).

[0206] At present, a plurality of methods for positioning the terminal device by measuring the reference signal of the 3GPP wireless communication system are defined in 3GPP, such as DL-TDOA, UL-TDOA, etc. The sending end sends a known reference signal, which has a good autocorrelation pseudo-random sequence. The receiving end uses the characteristics of the pseudo-random sequence to measure the time of arrival (TOA) by using the cross-correlation method, so as to determine the position of the terminal device. In this way, since the TOA measurement is based on the transmitted reference signal, the measurement accuracy of the measurement result will be limited by the length of the reference signal, the system bandwidth or the sampling rate of the receiving end, so as to cause the measurement accuracy of the measurement result to be low, and the positioning accuracy of the terminal device to be low. Taking the sampling rate as an example, it should be understood that the sampling rate of the receiving end is usually fixed. Due to the limitation of the sampling rate of the receiving end, when the TOA is measured by using the cross-correlation method, only the TOA value of an integer multiple of the sampling interval can be estimated Therefore, the estimated TOA value and the actual propagation delay Compared with the measurement error wherein, indicates rounding the integer value of to an integer value, is the propagation delay of the signal between the terminal device and the network device. In addition, when the sampling rate at the receiving end is constant, the length of the reference signal is 1 / sampling rate, and it should be understood that the system bandwidth is equivalent to the signal length, such as 2048 when the signal length is 20Mhz bandwidth, and 4096 when the signal length is 50Mhz bandwidth, and the like. Therefore, based on the above influence of the sampling rate on the measurement result accuracy, the signal bandwidth and the signal length also have the same influence on the measurement result accuracy.

[0207] In addition, in the prior art, since the reference signal exists when it is transmitted, the direct path signal and the reflected path signal, the time domain channel response corresponding to the reference signal includes the carrier phase information corresponding to the direct path signal and the carrier phase information corresponding to the reflected path signal, and the propagation delay from the terminal device to the network device is superimposed on the reference signal in the form of phase rotation. This superimposition method makes it impossible to correctly extract the carrier phase information corresponding to the direct path signal, and thus it is also impossible to position the terminal device according to the carrier phase information corresponding to the direct path signal. In addition, at present, the terminal device is usually positioned in a single path environment by means of the phase difference between adjacent subcarriers, but this positioning method is not suitable for a multi-path environment because in a multi-path environment, the phases of each path are mixed and the phase difference between adjacent subcarriers cannot reflect the distance information.

[0208] Based on the above problems, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal can be extracted, and the propagation delay of the signal between the terminal device and the network device can be determined according to the subcarrier phase information and further determine the position information of the terminal device. However, when positioning by means of the subcarrier phase information, the distance between the terminal device and the network device can be divided into an integer part of the wavelength plus a decimal part according to the carrier wavelength. In the positioning initialization process, since the measured subcarrier phase information is between [0, 2π], only the decimal part of the distance between the terminal device and the network device can be measured, and the integer part of the distance cannot be obtained, i.e. the problem of not being able to obtain the distance integer ambiguity occurs, which affects the positioning accuracy of the terminal device.

[0209] In view of the problem, the embodiment of the present application provides a positioning method of a terminal device, in which the direct path time domain signal can be obtained by filtering the time domain channel response of the reference signal, so that the multipath effect can be eliminated, and the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal corresponding to each antenna of the network device can be extracted according to the obtained direct path time domain signal, the differential carrier phase information between two different antennas can be calculated, and the differential integer ambiguity between two different antennas can be determined by combining the antenna spacing between two different antennas, and then the distance difference between the different antennas of the terminal device and the network device can be estimated according to the differential integer ambiguity, so that the position information of the terminal device can be determined according to the distance difference. The above positioning method considers the integer ambiguity between the terminal device and the network device, so that the positioning accuracy can be improved, and the positioning accuracy of the terminal device can be improved.

[0210] The method and the device are based on the same application concept, and the implementation of the device and the method can be referred to each other because the principles of the method and the device for solving the problem are similar, and the repeated parts will not be described here.

[0211] Figure 3 The flowchart of the positioning method of the terminal device provided by the embodiment of the present application is shown in the figure, and the method can be executed by a first network element, in which the first network element can be a terminal device and / or a network device. As shown in the figure, the method comprises the following steps. Figure 3

[0212] Step 301: receiving a reference signal.

[0213] In this step, the reference signal can include a positioning reference signal (PRS) and / or a sounding reference signal (SRS). If the positioning method is an uplink positioning method, the first network element is a network device, that is, the terminal device will send the SRS to the network device. If the positioning method is a downlink positioning method, the first network element is a terminal device, that is, the network device will send the PRS to the terminal device. If the positioning method is an uplink positioning method and a downlink positioning method, the first network element is a network device and a terminal device, that is, the terminal device will send the SRS to the network device, and the network device will send the PRS to the terminal device.

[0214] Step 302: determining the time domain channel response of the reference signal according to the reference signal.

[0215] ​In this step, the first network element will determine the time domain channel response of the reference signal after receiving the reference signal. In one possible implementation, the frequency domain channel response of the subcarrier corresponding to the reference signal can be determined according to the reference signal, and then the time domain channel response can be determined according to the frequency domain channel response.

[0216] Specifically, assuming X m is the frequency domain reference signal of the mth Orthogonal Frequency Division Multiplexing (OFDM) symbol, Y m is the mth OFDM symbol received by the receiving end device, then the frequency domain channel response based on the least square criterion can be expressed as formula (1) as follows:

[0217]

[0218] wherein H m (k) represents the frequency domain channel response of the kth subcarrier in the mth OFDM symbol, Y m (k) represents the kth subcarrier in the mth OFDM symbol received by the receiving end device, X m (k) represents the frequency domain reference signal corresponding to the kth subcarrier in the mth OFDM symbol, L p represents the total number of reference signal transmission paths, l = 1 represents the direct path signal, and the rest represents the reflected path signal. h l represents the attenuation of the channel to the lth reference signal transmission path, and N is the length of the Fourier transform, that is, the length of the transmitted reference signal. represents the propagation delay of the lth reference signal transmission path in sampling points, wherein τ l represents the propagation delay of the lth reference signal transmission path in seconds, Δf SCS is the sampling interval of the OFDM system. φ l = 2πf c τ l represents the phase rotation caused by spatial propagation; φ1 = 2πf c τ1 represents the phase rotation caused by spatial line of sight (LOS) path propagation to the reference signal, wherein fc is the frequency corresponding to the lowest subcarrier, and the subcarrier is 0 to N.

[0219] Due to the influence of multipath effect, the phase information of the direct path cannot be directly extracted from the frequency domain channel response, so it is necessary to convert the frequency domain channel response into time domain through Fourier transform for further processing. Moreover, if the first path transmission delay If not, the time-domain channel response can be expressed as Equation (2):

[0220]

[0221] where h m [n] represents the time-domain channel response of the mth OFDM symbol at the nth time-domain sampling point.

[0222] In this embodiment, the frequency-domain channel response of the subcarrier corresponding to the reference signal is determined, and the time-domain channel response is determined according to the frequency-domain channel response, so that the subcarrier phase information can be extracted from the time-domain channel response, and the position information of the terminal device is determined according to the extracted subcarrier phase information, thereby improving the accuracy of the determined terminal device position information.

[0223] Based on the correlation characteristics of the transmitted positioning reference signal, time-domain cross-correlation can be used to estimate TOA in a multipath environment. The TOA estimation scheme of time-domain cross-correlation has a low computational complexity of O(N), which is a common measurement method for wireless cellular networks. However, due to the limitation of system sampling rate, the cross-correlation method can only estimate the TOA value that is an integer multiple of the sampling interval Therefore, the actual propagation time delay compared to the measured time delay where [*] represents rounding the numbers in the brackets. Therefore, in order to reduce the above measurement error, in this application, the subcarrier phase information is extracted from the direct-path time-domain signal after filtering the time-domain channel response, so that the actual propagation time delay The specific processing process can be referred to the description below.

[0224] Step 303: Filtering the time-domain channel response to obtain a direct-path time-domain signal.

[0225] In this step, it is assumed that the receiving terminal device has obtained the time delay closest to the actual propagation time delay using the cross-correlation method or other super-resolution algorithms such as MUSIC. It can be considered to design a time domain filter to remove the multipath effect in the channel, that is, the reflected path signal can be filtered out through the time domain filter, and only the direct path time domain signal is obtained. In addition, the time domain filter can also remove the noise of the received signal at other sampling points, thereby improving the frequency domain signal-to-noise ratio. Therefore, in a possible implementation manner, the time domain channel response can be filtered according to a pre-set time domain filter, so as to obtain the direct path time domain signal. It should be understood that the time domain filter described above can have various forms, for example, a rectangular window, a triangular window, a raised cosine window, a Hamming window, and the like. Different window functions are not the same for time domain filtering, and the length of the filter is described as a function of , that is . Alternatively, the function can be In this application, the time domain filter based on the rectangular window is taken as an example for description. For other time domain filters, the implementation principle and technical effects are similar to those of the time domain filter based on the rectangular window, and will not be described herein. The time domain processing based on the rectangular window is shown in formula (3):

[0226]

[0227] , wherein represents the direct path time domain signal obtained after the rectangular window processing.

[0228] In this embodiment, the time domain signal response can be filtered by the pre-set time domain filter, which can not only remove the multipath effect in the channel to obtain the direct path time domain signal, but also remove the noise of the received signal at other sampling points, thereby improving the frequency domain signal-to-noise ratio.

[0229] Step 304: Obtain the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of different antennas of the network device, and the subcarrier phase information of each of the different antennas is used to determine the position information of the terminal device.

[0230] In a possible implementation manner, the direct path time domain signal can be converted into a frequency domain signal through Fourier transform, the frequency domain channel response of the subcarrier is determined according to the index of the subcarrier corresponding to the frequency domain signal, and the subcarrier phase information of the direct path frequency domain signal corresponding to each of the different antennas is extracted from the frequency domain channel response.

[0231] Specifically, the direct path time domain signal obtained after the filter processing is Fourier transform is performed, that is, the frequency domain signal is obtained, and the frequency domain channel response of the subcarrier is determined according to the index of the subcarrier corresponding to the frequency domain signal, as shown in formula (4):

[0232]

[0233] wherein, represents the frequency domain channel response of the kth subcarrier in the mth OFDM symbol after the rectangular window processing, hi represents the attenuation of the channel to the 1st reference signal transmission path, i.e. the attenuation of the transmission path of the direct path signal, and k is the index of the subcarrier.

[0234] After the frequency domain channel response is determined, the subcarrier phase information of the direct path signal corresponding to each antenna can be extracted from the frequency domain channel response.

[0235] For example, as can be seen from equation (4), the subcarrier phase information of the frequency domain channel response contains the unprocessed signal propagation delay Therefore, by extracting the subcarrier phase information, the unprocessed signal propagation delay According to the unprocessed signal propagation delay Determining the position information of the terminal device can improve the accuracy of the determined position information.

[0236] Specifically, as can be seen from equation (4), the phase of the frequency domain channel response is and The sign of also affects the phase. In the following, these terms will be analyzed in turn. For Since and Based on this, the following approximation can be made Then the phase of can be represented as equation (5):

[0237]

[0238] wherein, There are four different value intervals, and according to the different value intervals, the sign of is also different. Table 1 shows the value of the sign of in different value intervals. In different value intervals, the value of the sign is different. Wherein represents the integer closest to .

[0239] Table 1

[0240]

[0241] As can be seen from Table 1, when is even, i.e. when , then Similarly, when is odd, i.e. when , then Based on this, equation (5) can be further represented in the form of equation (6):​

[0242]

[0243] When the subcarrier index sequence number is k=N / 2, formula (6) can be simplified as formula (7):

[0244]

[0245] Therefore, when the subcarrier index sequence number is k=N / 2, no matter whether k is odd or even, the phase of the frequency domain channel response processed by the time domain filter is always And the phase information when the subcarrier index sequence number is k=N / 2 can be expressed as formula (8) as follows:

[0246]

[0247] Wherein, represents the subcarrier phase information, and the operator angle (*) represents taking the angle of the complex number in the parentheses.

[0248] Therefore, according to formula (4) and formula (8), the subcarrier phase information

[0249] It is worth noting that the subcarrier phase measurement value of the OFDM system is the phase measurement value of the actual frequency corresponding to any one subcarrier of the subcarrier phase measurement algorithm loop of the OFDM system, that is, k in the embodiment of the application can also take other values, such as any one value in 0, 1, …, N, and the embodiment of the application only takes the phase information when k=N / 2 as an example for description. For other values of k, the way of extracting the phase information is similar to the way of extracting the phase information when k=N / 2, which will not be described here. In addition, it should be understood that the error of the phase information extracted when k=N / 2 is the smallest.

[0250] Wherein, formula (1)-formula (8) represent the process of extracting the subcarrier phase information from the reference signal received by a certain antenna of the network device, and the subcarrier phase information can be extracted by the above process for all antennas of the network device.

[0251] In the embodiment, by Fourier transform, the direct path time domain signal can be converted into a frequency domain signal, and the frequency domain channel response of the subcarrier can be determined according to the index of the subcarrier corresponding to the frequency domain signal. Then the subcarrier phase information of the direct path frequency domain signal corresponding to each antenna can be extracted from the frequency domain channel response, so that the subcarrier phase information of the direct path frequency domain signal corresponding to each antenna can be extracted, and the accuracy of the determined terminal device position information is ensured.

[0252] ​For example, if the user direct positioning (UE base) method in the downlink positioning method, i.e., the first network element is a terminal device, the terminal device needs to obtain the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of the serving network device and at least one adjacent network device, so as to complete the positioning of the terminal device. Therefore, when the terminal device obtains the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of at least two network devices, the terminal device can obtain the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of at least two network devices, respectively, wherein the at least two network devices include the serving network device and at least one adjacent network device.

[0253] Further, when the terminal device extracts the subcarrier phase information according to formula (8), due to the characteristics of the inverse trigonometric function, the subcarrier phase information obtained satisfies Therefore, the obtained subcarrier phase information may deviate from the actual phase by an unknown integer multiple of 2π. In order to facilitate description, this deviation can be referred to as integer ambiguity.

[0254] Therefore, in order to improve the accuracy of the determined position information of the terminal device, when determining the position information of the terminal device according to the subcarrier phase information, the integer ambiguity needs to be considered. For example, for each network device, the differential carrier phase information of the first antenna and the second antenna in each antenna pair of the network device can be determined according to the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different; for each antenna pair, the differential integer ambiguity can be determined according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, the differential integer ambiguity being the difference between the first integer ambiguity between the first antenna and the terminal device and the second integer ambiguity between the second antenna and the terminal device, and then the position information of the terminal device is determined according to the differential integer ambiguity of all antenna pairs in each network device.

[0255] Specifically, considering that and φ1=2πf c τ1, if the integer ambiguity N I and the phase deviation w P caused by noise are considered, the measurement formula based on the subcarrier phase can be expressed as formula (9) as follows:

[0256]

[0257] wherein c represents the speed of light in vacuum, and the value is 299,792,458 m / s, denotes the carrier wavelength in meters, where f c is the frequency corresponding to the lowest subcarrier, which is 0 to N.

[0258] Further, dividing both sides of equation (9) by 2π, equation (10) can be obtained:

[0259]

[0260] wherein and denotes the subcarrier phase measurement value of the rth terminal device to the jth antenna of the ith network device obtained from equation (8), denotes the value obtained after normalizing , which is dimensionless, and λ denotes the wavelength, denotes the measured distance between the rth terminal device and the jth antenna of the ith network device, denotes the integer ambiguity of the distance between the rth terminal device and the jth antenna of the ith network device, which is dimensionless, is the phase error caused by the frequency domain noise to the carrier phase P of the jth antenna of the ith network device, which is dimensionless.

[0261] Since the unknown integer ambiguity exists in equation (10), the integer ambiguity needs to be estimated or calculated when using the carrier phase for positioning the terminal device.

[0262] Those skilled in the art can understand that if the unknown clock bias is further considered, the carrier phase measurement value in equation (10) can be expressed as equation (11) as follows:

[0263]

[0264] wherein it is assumed that there is a clock bias caused by non-ideal time synchronization, δt i is the clock bias on the side of the ith network device, with the unit of s; δt r is the clock bias on the side of the rth terminal device, with the unit of s. is the real geometric distance from the rth terminal device to the jth antenna of the ith network device, with the unit of meters. For three-dimensional positioning, there are wherein (x j , y j , z j ) is the position of the jth antenna of the ith network device, and (x, y, z) is the position of the terminal device.

[0265] The following takes the network device with two antennas and three antennas as examples to illustrate the determination manner of the integer ambiguity, and the determination manner of the integer ambiguity for other number of antennas is similar to that of the network device with two antennas and three antennas, which will not be described herein.

[0266] It is worth noting that for the case of positioning with three or more antennas, the antenna spacing between two antennas is only required to be less than or equal to half of the carrier wavelength. For example, if three antennas are used for positioning, as long as the spacing between the three antennas is less than or equal to half of the carrier wavelength, the position of the terminal device can be determined according to the scheme in the present application.

[0267] For example, when the network device has two antennas, the subcarrier phase measurement value of the different antennas of the ith network device can be expressed as formula (12) as follows:

[0268]

[0269] wherein, denotes the distance from the rth terminal device to the first antenna of the ith network device; denotes the distance from the rth terminal device to the second antenna of the ith network device. is the integer ambiguity from the rth terminal device to the first antenna of the ith network device; is the integer ambiguity from the rth terminal device to the second antenna of the ith network device. denotes the phase error caused by the frequency domain noise to the carrier phase corresponding to the first antenna of the ith network device, denotes the phase error caused by the frequency domain noise to the carrier phase corresponding to the second antenna of the ith network device.

[0270] Further, the subcarrier phase measurement values of the two antennas in formula (12) are subtracted to obtain the differential carrier phase information of the first antenna and the second antenna as shown in formula (13):

[0271]

[0272] wherein, denotes the distance difference between the distance from the rth terminal device to the first antenna of the ith network device and the distance from the rth terminal device to the second antenna of the ith network device, denotes the differential carrier phase information of the first antenna and the second antenna, which can also be understood as denotes the difference between the subcarrier phase information of the first antenna of the rth terminal device to the ith network device and the subcarrier phase information of the second antenna of the rth terminal device to the ith network device.

[0273] For example, it is assumed that the first antenna and the second antenna share one crystal oscillator, so the synchronization error δt between different antennas is the same. Then it can be seen that the differential operation between antennas eliminates the clock bias at the terminal device side and the network device side. i

[0274] For example, when determining the differential integer ambiguity, the antenna spacing between the first antenna and the second antenna in the antenna pair can be obtained, and the differential integer ambiguity is determined according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0275] If the first network element is a terminal device, the antenna spacing between each antenna in the network device can be obtained by receiving the antenna spacing sent by the network device.

[0276] The antenna spacing D between antennas is generally The multi-antenna layout of the network device generally limits the antenna spacing to be not greater than In the present application, the antenna spacing D satisfies this condition, and if Then the coordinates of the two antennas are and If it is a differential scheme of multiple antennas, the coordinates of each antenna should be adjusted according to the geometric center.

[0277] If the spacing between the first antenna and the second antenna is According to the triangle theorem, the difference between two sides is less than the third side, so And since the subcarrier phase information and have a value range of [0, 1], the value range of is between [-1, 1], and needs to further satisfy the constraint of the triangle inequality, so according to the differential carrier phase information the differential integer ambiguity can be determined, as shown in formula (14):

[0278]

[0279] For example, the spacing between the first antenna and the second antenna is Then according to the above triangle theorem, the differential integer ambiguity is determined, as shown in formula (15):

[0280]

[0281] where the differential integer ambiguity ​a difference between the first integer ambiguity representing a distance between the rth terminal device and a first antenna of the ith network device and the second integer ambiguity representing a distance between the rth terminal device and a second antenna of the ith network device.

[0282] It should be understood that the above-mentioned ith network device can be a serving network device of the terminal device or a neighboring network device. That is, the differential integer ambiguities between different antennas of the terminal device and the serving network device and the differential integer ambiguities between different antennas of the terminal device and the neighboring network device can be determined in the above-mentioned manner, respectively.

[0283] Exemplarily, when the network device has three antennas, it can also be understood that the network device has three antenna pairs, wherein the first antenna pair includes the first antenna and the second antenna, the second antenna pair includes the first antenna and the third antenna, and the third antenna pair includes the second antenna and the third antenna. For the ith network device, the subcarrier phase measurement values of different antennas of the network device can be represented as the following formulas (16)-(18):

[0284]

[0285]

[0286]

[0287] wherein, represents a distance between the rth terminal device and a third antenna of the ith network device. is an integer ambiguity of the rth terminal device to the third antenna of the ith network device; represents subcarrier phase measurement information of the rth terminal device to the third antenna of the ith network device, represents a phase error caused by frequency domain noise of the rth terminal device to the third antenna of the ith network device to the carrier phase corresponding to the third antenna.

[0288] Further, the subcarrier phase measurement values of two antennas in the formulas (16)-(18) are subtracted, and the differential carrier phase information of the first antenna and the second antenna as shown in the formula (19) is obtained. the differential carrier phase information of the first antenna and the third antenna as shown in the formula (20) and the differential carrier phase information of the second antenna and the third antenna as shown in the formula (21)

[0289]

[0290]

[0291]

[0292] wherein, denotes the distance difference between the distance of the rth terminal device to the first antenna of the ith network device and the distance to the second antenna of the ith network device, denotes the distance difference between the distance of the rth terminal device to the first antenna of the ith network device and the distance to the third antenna of the ith network device, denotes the distance difference between the distance of the rth terminal device to the second antenna of the ith network device and the distance to the third antenna of the ith network device. denotes the differential carrier phase information of the first antenna and the second antenna, which can also be understood as denotes the difference between the subcarrier phase information of the rth terminal device to the first antenna of the ith network device and the subcarrier phase information of the rth terminal device to the second antenna of the ith network device, denotes the differential carrier phase information of the first antenna and the third antenna, which can also be understood as denotes the difference between the subcarrier phase information of the rth terminal device to the first antenna of the ith network device and the subcarrier phase information of the rth terminal device to the third antenna of the ith network device, denotes the differential carrier phase information of the second antenna and the third antenna, which can also be understood as denotes the difference between the subcarrier phase information of the rth terminal device to the second antenna of the ith network device and the subcarrier phase information of the rth terminal device to the third antenna of the ith network device.

[0293] For example, it is assumed that the above-mentioned first antenna, second antenna and third antenna share one crystal oscillator, so the synchronization error δt i between different antennas is the same. It can be seen that the differential operation between antennas eliminates the clock bias on the terminal device side and the network device side.

[0294] If the distance between the first antenna and the second antenna is According to the triangle theorem, the difference between two sides is less than the third side, which can be obtained And since the subcarrier phase information and of different antennas are in the range of [0, 1], the value range of is in the range of [-1, 1], and needs to further satisfy the constraint of the triangle inequality, so according to the differential carrier phase information the differential integer ambiguity Specifically, as shown in equation (14).

[0295] For example, the distance between the first antenna and the second antenna is According to the above triangle theorem, the determined difference integer ambiguity As shown in equation (15).

[0296] Wherein, the difference integer ambiguity The difference between the first integer ambiguity of the distance between the rth terminal device and the first antenna of the ith network device and the second integer ambiguity of the distance between the rth terminal device and the second antenna of the ith network device.

[0297] It should be understood that the difference integer ambiguity between the first integer ambiguity of the distance between the rth terminal device and the first antenna of the ith network device and the third integer ambiguity of the distance between the rth terminal device and the third antenna of the ith network device. And the difference integer ambiguity between the second integer ambiguity of the distance between the rth terminal device and the second antenna of the ith network device and the third integer ambiguity of the distance between the rth terminal device and the third antenna of the ith network device. The determination method of the difference integer ambiguity The determination method of the difference integer ambiguity

[0298] In this embodiment, the distance between the first antenna and the second antenna in the antenna pair can be obtained, and the difference integer ambiguity can be determined according to the difference carrier phase information of the first antenna and the second antenna and the distance between the antennas, so that the terminal device can be positioned according to the difference integer ambiguity, thereby avoiding the phenomenon of directly determining the integer ambiguity, reducing the difficulty of determining the integer ambiguity, and improving the positioning efficiency.

[0299] Further, after determining the difference integer ambiguity corresponding to all antenna pairs of each network device, the position information of the terminal device is determined according to the difference integer ambiguity.

[0300] In this embodiment, after determining the subcarrier phase information corresponding to different antennas of the network device respectively, the difference carrier phase information between different antennas can be determined, and the difference integer ambiguity is estimated according to the difference carrier phase information to determine the position information of the terminal device. Since the integer ambiguity is considered, the positioning accuracy of the terminal device can be improved.

[0301] Exemplarily, when determining the position information of the terminal device according to the differential integer ambiguity of all antenna pairs in each network device, the distance difference between the first distance from the first antenna in the antenna pair to the terminal device and the second distance from the second antenna in the antenna pair to the terminal device can be determined according to the differential integer ambiguity of each antenna pair in each network device and the differential carrier phase information of the antenna pair; and the initial position of the terminal device is obtained, so as to determine the position information of the terminal device according to the initial position and the distance difference of all antenna pairs in each network device.

[0302] Next, the case of including two antennas and three antennas in the network device is still described, and for the case of including other number of antennas in the network device, the manner of determining the position information of the terminal device is similar to the case of including two antennas and three antennas, which will not be described herein.

[0303] Exemplarily, those skilled in the art can understand that the value of the phase noise is very small, and the value of the phase noise can be ignored in actual calculation, therefore, when the network device includes two antennas, the distance difference Δd i between the first distance from the terminal device to the first antenna of the i th network device and the second distance from the terminal device to the second antenna of the i th network device can be directly determined from the carrier phase information according to the formula (13) and the formula (14).

[0304]

[0305] Further, the first network element can obtain the initial position of the terminal device, wherein the initial position can be determined by any manner in the related art, for example, determined by the DL-TDOA or the UL-TDOA, or given by the calculation result of the TOA measurement.

[0306] After the initial position is determined, the terminal device can be positioned according to the initial position and the distance difference of all antenna pairs in each network device, since the initial position is further adjusted based on the distance difference of the antenna pairs, the accuracy of the position of the terminal device can be improved.

[0307] Exemplarily, when positioning, for each network device, according to position information of a first antenna and position information of a second antenna in each antenna pair in the network device and an initial position of the terminal device, a distance difference value is determined, the distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position, and according to the initial position and the distance difference value of all antenna pairs in the network device, a corrected position of the terminal device is determined; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeatedly executed until the difference between the corrected position and the initial position is not greater than the preset value, and the corrected position is determined as the position information of the terminal device.

[0308] Specifically, assuming that the initial position of the terminal device is x0=[x0, y0, z0], those skilled in the art can understand that the initial position should be near the actual position x=[x, y, z] of the terminal device, then a first-order Taylor expansion is performed on formula (12) at the initial position x0point, and formula (23) can be obtained:

[0309]

[0310] wherein, rth terminal device to the first antenna of the ith network device, rth terminal device to the second antenna of the ith network device, distance from the initial position of the rth terminal device to the first antenna of the ith network device, distance from the initial position of the rth terminal device to the second antenna of the ith network device, wherein, and can be calculated by formula (24) as follows:

[0311]

[0312] wherein, it is assumed that the arrangement of all network devices is parallel to the horizontal plane, and it is assumed that the arrangement of the two antennas is parallel to the X axis. Assuming that the geometric center of the ith network device is x=[x i ,y i ,z i ], and the distance D between the two antennas is known, and there is a relationship Under the above assumptions, the coordinates of the two antennas of the ith network device are and

[0313] It should be understood that the two equations in formula (23) are subtracted, and a difference between a first estimated distance value between the first antenna of the i-th network device and the initial position and a second estimated distance value between the second antenna and the initial position is obtained.

[0314] Based on formula (24), the equation can be solved iteratively by using the Gauss-Newton method, assuming that the coordinates of the terminal device in the k-1th cycle x k-1 The coordinates of the terminal device in the kth cycle can be obtained by the following formula (25):

[0315] G = HX (25)

[0316] wherein, B is the number of network devices participating in positioning, Δd i can be determined according to formula (22). Δd 1 represents the distance difference between the first distance of the first antenna of the first network device and the terminal device and the second distance of the second antenna and the terminal device, Δd 2 represents the distance difference between the first distance of the first antenna of the second network device and the terminal device and the second distance of the second antenna and the terminal device, …, Δd B represents the distance difference between the first distance of the first antenna of the Bth network device and the terminal device and the second distance of the second antenna and the terminal device. Δg 1 (x k-1 ) represents the difference between the first estimated distance value between the first antenna of the first network device and x k-1 and the second estimated distance value between the second antenna of the first network device and x k-1 , Δg 2 (x k-1 ) represents the difference between the first estimated distance value between the first antenna of the second network device and x k-1 and the second estimated distance value between the second antenna of the second network device and x k-1 , …, Δg B (x k-1 ) represents the difference between the first estimated distance value between the first antenna of the Bth network device and x k-1 and the second estimated distance value between the second antenna of the Bth network device and x k-1 .

[0317] wherein, [x k ,y k ,z k ] represents the coordinates of the terminal device in the kth cycle, [x k-1 ,yk-1 k-1 Xk-1represents the coordinate of the terminal device determined in the k-1th time.

[0318] wherein,

[0319] It should be understood that formula (26) can be obtained based on formula (25) as follows:

[0320] X k = (H T H) -1 H T G+x k-1 (26)

[0321] According to the formula, the coordinate of the terminal device in the kth cycle, i.e., the corrected position of the terminal device determined in the kth time, can be determined.

[0322] wherein, in order to improve the positioning accuracy, a preset value Λ can be set, and by comparing the difference between the corrected positions determined in the previous and next times, if the corrected positions determined in the previous and next times satisfy |X k -X k-1 |≤Λ, the cycle is terminated, and the coordinate of the terminal device determined in the kth time is determined as the position information of the terminal device. If the difference between the corrected positions determined in the previous and next times is greater than the preset value Λ, the above steps are repeatedly executed, and the coordinate of the terminal device in the k+1th cycle is determined based on the coordinate of the terminal device determined in the kth time, until the difference between the corrected positions determined in the previous and next times is not greater than the preset value Λ. The value of the preset value Λ can be compromised according to the demand for positioning accuracy and calculation time, for example, Λ=0.01.

[0323] Those skilled in the art can understand that when the network device includes three antennas, the distance difference between the first distance from the first antenna to the terminal device and the second distance from the second antenna to the terminal device can be directly estimated from the carrier phase information according to formula (13) and formula (14). the distance difference between the first distance from the first antenna to the terminal device and the third distance from the third antenna to the terminal device and the distance difference between the second distance from the second antenna to the terminal device and the third distance from the third antenna to the terminal device wherein, each distance difference can be determined according to formula (27)-(29):

[0324]

[0325]

[0326] ​

[0327] Assuming the initial position of the terminal device is x0=[x0, y0, z0], those skilled in the art can understand that the initial position should be near the actual position x=[x, y, z] of the terminal device, then the first-order Taylor expansion of formula (16) at the initial position x0point can obtain formula (30):

[0328]

[0329] The first-order Taylor expansion of formula (17) at the initial position x0point can obtain formula (31)

[0330]

[0331] The first-order Taylor expansion of formula (18) at the initial position x0point can obtain formula (32)

[0332]

[0333] Wherein, The first estimated distance value of the rth terminal device to the third antenna of the ith network device is represented by The distance from the initial position of the rth terminal device to the third antenna of the ith network device is represented by It can be calculated by formula (33) as follows:

[0334] It should be understood that the different geometric placement of the three antennas will affect the coordinates of each antenna. Figure 4 A possible arrangement of the three antennas is as shown in Figure 4 When arranged in the manner shown in and

[0335] Wherein, and are calculated by formula (33)-formula (35) respectively:

[0336]

[0337]

[0338]

[0339] It should be understood that the estimated distance difference of each antenna pair in the i-th network device, such as the difference between the first estimated distance value between the first antenna of the i-th network device and the initial position and the second estimated distance value between the second antenna of the i-th network device and the initial position, the difference between the first estimated distance value between the first antenna of the i-th network device and the initial position and the third estimated distance value between the third antenna of the i-th network device and the initial position, and the difference between the second estimated distance value between the second antenna of the i-th network device and the initial position and the third estimated distance value between the third antenna of the i-th network device and the initial position, can be obtained by subtracting the two equations in formula (30)-formula (32) respectively.

[0340] Based on formula (33)-formula (35), the equations can be iteratively solved by using the Gauss-Newton method, assuming that the coordinates x k-1 of the terminal device in the k-1th time have been obtained.

[0341] G = HX (36)

[0342] wherein, d 1,12 represents the distance difference between the first distance of the first antenna of the first network device and the terminal device and the second distance of the second antenna of the first network device and the terminal device, Δd 1,13 represents the distance difference between the first distance of the first antenna of the first network device and the terminal device and the third distance of the third antenna of the first network device and the terminal device, …, Δd B,23 represents the distance difference between the second distance of the second antenna of the B-th network device and the terminal device and the third distance of the third antenna of the B-th network device and the terminal device. Δg 1,12 (x k-1 ) represents the difference between the first estimated distance value between the first antenna of the first network device and x k-1 and the second estimated distance value between the second antenna of the first network device and x k-1 . 1,13 (x k-1 ) represents the difference between the first estimated distance value between the first antenna of the first network device and x k-1 and the third estimated distance value between the third antenna of the first network device and x k-1 . B,23 (x k-1 ) represents the difference between the second estimated distance value between the second antenna of the B-th network device and x k-1 and the third estimated distance value between the third antenna of the B-th network device and x k-1 .

[0343] wherein, [x k,y k ,z k ] represents the coordinates of the terminal device in the kth cycle, [x k-1 ,y k-1 ,z k-1 ] represents the coordinates of the terminal device determined in the (k-1)th cycle.

[0344] wherein,

[0345] It should be understood that formula (37) can be obtained based on formula (36) as follows:

[0346] X k = (H T H) -1 H T G + X k-1 (37)

[0347] According to the formula, the coordinates of the terminal device in the kth cycle, i.e. the corrected position of the terminal device determined in the kth cycle, can be determined.

[0348] wherein, in order to improve the positioning accuracy, a preset value Λ can be set, and by comparing the difference between the corrected positions determined in the previous and next cycles, if the difference between the corrected positions determined in the previous and next cycles satisfies |X k -X k-1 |≤Λ, the cycle is terminated, and the coordinates of the terminal device determined in the kth cycle are determined as the position information of the terminal device. If the difference between the corrected positions determined in the previous and next cycles is greater than the preset value Λ, the above steps are repeatedly executed, and the coordinates of the terminal device in the (k+1)th cycle are determined based on the coordinates of the terminal device determined in the kth cycle, until the difference between the corrected positions determined in the previous and next cycles is not greater than the preset value Λ. The value of the preset value Λ can be compromised according to the demand for positioning accuracy and calculation time, for example, Λ=0.01.

[0349] In the embodiment, the estimated distance difference can be determined according to the position information of the first antenna and the position information of the second antenna of each antenna pair in the network device, and the initial position, and the corrected position of the terminal device can be determined according to the estimated distance difference and the distance difference of the antenna pair, so that the position of the terminal device can be continuously corrected according to the corrected position, thereby improving the positioning accuracy.

[0350] For example, if it is a user assisted positioning (UE assisted) method in the downlink positioning method, i.e. the first network element is a terminal device, the terminal device will send the determined subcarrier phase information corresponding to each antenna of each network device to the positioning server, and the positioning server will determine the position information of the terminal device according to the received subcarrier phase information corresponding to each antenna of each network device.

[0351] The positioning server determines the position information of the terminal device according to the subcarrier phase information corresponding to the different antennas of each network device, which is similar to the way in which the terminal device determines the position information of the terminal device according to the subcarrier phase information corresponding to the different antennas of each network device. Details can be referred to the foregoing description, and will not be described here.

[0352] For example, if it is an uplink positioning method, that is, the first network element is a network device, the network device will send the subcarrier phase information corresponding to the different antennas of the network device to the positioning server, and the positioning server will determine the position information of the terminal device according to the received subcarrier phase information.

[0353] In addition, the network device also needs to send the antenna distance between the different antennas of the network device to the positioning server, so that the positioning server determines the position information of the terminal device according to the antenna distance and the subcarrier phase information corresponding to the different antennas.

[0354] It should be understood that the antenna distance between the different antennas of each network device can be the same or different, and therefore each network device needs to report the antenna distance between the antennas thereof separately.

[0355] The positioning server determines the position information of the terminal device according to the antenna distance and the subcarrier phase information corresponding to the different antennas, which is similar to the way in which the terminal device determines the position information of the terminal device according to the antenna distance and the subcarrier phase information corresponding to the different antennas. Details can be referred to the foregoing description, and will not be described here.

[0356] It should be understood that in the positioning method of the positioning server, the positioning server will receive the subcarrier phase information corresponding to the different antennas sent by the serving network device and at least one adjacent network device, and then perform positioning according to the subcarrier phase information corresponding to the different antennas sent by the multiple network devices.

[0357] The positioning method of the terminal device provided in the embodiments of the present application comprises the following steps: determining a time domain channel response of a received reference signal, performing filtering processing on the time domain channel response to obtain a direct path time domain signal, and obtaining subcarrier phase information of a direct path frequency domain signal corresponding to the direct path time domain signal of each of different antennas of a network device, wherein the subcarrier phase information corresponding to each of the different antennas is used to determine position information of the terminal device. Since the time domain channel response of the reference signal is filtered, the direct path time domain signal can be obtained, so that the multipath effect can be eliminated. According to the obtained direct path time domain signal, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of the different antennas of the network device can be extracted. By calculating the differential carrier phase information between each two of the different antennas and combining the antenna spacing between each two of the different antennas, the differential integer ambiguity between each two of the different antennas can be determined. Then, the distance difference between the terminal device and each of the different antennas of the network device can be estimated according to the differential integer ambiguity, so that the position information of the terminal device can be determined according to the distance difference. The above positioning method considers the integer ambiguity between the terminal device and the network device, so that the positioning accuracy can be improved and the positioning accuracy of the terminal device can be improved.

[0358] Next, the process of positioning by using downlink multi-antenna subcarrier phase information and the process of positioning by using uplink multi-antenna subcarrier phase information are taken as examples to specifically describe the scheme of the present application.

[0359] Figure 5 The flowchart of the process of positioning by using downlink multi-antenna subcarrier phase information provided in the embodiments of the present application is shown in FIG. 5, which comprises the following steps. Figure 5

[0360] Step 501: The network device sends PRS configuration information to a positioning server.

[0361] The PRS configuration information comprises PRS time-frequency resource information, PRS sequence information, muting mechanism information and the like.

[0362] Step 502: The positioning server sends positioning assistance data to the terminal device.

[0363] The positioning assistance data comprises the PRS configuration information.

[0364] Step 503: The network device sends a reference signal to the terminal device.

[0365] The network device sends the reference signal to the terminal device according to the PRS configuration information, and the reference signal comprises a PRS positioning reference signal.

[0366] ​Step 504: The terminal device determines the frequency domain channel response of the subcarrier corresponding to the reference signal according to the reference signal.

[0367] The terminal device receives the PRS positioning reference signal according to the PRS configuration information, and estimates the frequency domain channel response from the PRS positioning reference signal.

[0368] Step 505: The terminal device determines the time domain channel response according to the frequency domain channel response.

[0369] Step 506: The terminal device performs filtering processing on the time domain channel response to obtain the direct path time domain signal.

[0370] The terminal device uses the cross-correlation algorithm to obtain an integer multiple sampling point closest to the real propagation delay of the time domain channel response according to the time domain channel response and designs a time domain filter around the integer multiple sampling point to perform filtering processing on the time domain channel response, so that the influence of non-direct paths can be eliminated. For the time domain filter, reference can be made to formula (3).

[0371] Step 507: The terminal device performs measurement of the subcarrier phase information corresponding to different antennas of the network device according to the direct path time domain signal.

[0372] The terminal device performs Fourier transform (such as formula (4)) on the filtered direct path time domain signal, then performs phase taking operation (such as formula (8)) on the first subcarrier, and after equivalent conversion or normalization processing (such as formula (9)), the measurement value of the subcarrier phase information corresponding to different antennas can be obtained (such as formula (12)).

[0373] According to different positioning methods, the terminal device selectively performs the following steps 408 and 409.

[0374] Step 508: The terminal device determines the position information of the terminal device according to the subcarrier phase information corresponding to different antennas.

[0375] For example, if it is a user direct positioning (UE based) method, the measurement value of the subcarrier phase information corresponding to different antennas can be a subcarrier phase measurement value without difference or a subcarrier phase measurement value after single difference. The terminal device determines the position information of the terminal device according to the subcarrier phase information. The terminal device can also combine other TOA / TDOA, angle of arrival (AOA) information for joint positioning.

[0376] Step 509: The terminal device sends the subcarrier phase information corresponding to each of the different antennas and the identification information of the antennas to the positioning server.

[0377] The identification information of the antennas can be the number of the antennas.

[0378] Step 510: The positioning server determines the position information of the terminal device according to the subcarrier phase information corresponding to each of the different antennas.

[0379] For example, if the user-assisted positioning (ue assisted) mode is used, the terminal device can report the measurement value of the subcarrier phase information corresponding to each of the different antennas to the positioning server, and the positioning server can determine the position information of the terminal device according to the subcarrier phase information corresponding to each of the different antennas. In addition, the positioning server can also combine other TOA, TDOA or AOA information to perform joint positioning.

[0380] It should be understood that Figure 5 In the embodiments shown, only the process of positioning the terminal device in one positioning cycle is shown. In the specific implementation process, the process can also be applied to multiple positioning cycles to track the motion trajectory of the terminal device.

[0381] The positioning method of the terminal device provided by the embodiments of the present application can determine the time domain channel response of the received reference signal, filter the time domain channel response to obtain the direct path time domain signal, and obtain the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of the different antennas of the network device. The subcarrier phase information corresponding to each of the different antennas is used to determine the position information of the terminal device. Since the time domain channel response of the reference signal is filtered, the direct path time domain signal can be obtained, so that the multipath effect can be eliminated. According to the obtained direct path time domain signal, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of the different antennas of the network device can be extracted. The difference carrier phase information between each two of the different antennas can be determined by calculating the difference carrier phase information between each two of the different antennas and combining the antenna spacing between each two of the different antennas. Then, the difference integer ambiguity between each two of the different antennas can be determined according to the difference carrier phase information, and the distance difference between the terminal device and the different antennas of the network device can be estimated according to the difference integer ambiguity. Finally, the position information of the terminal device can be determined according to the distance difference. The above positioning method considers the integer ambiguity between the terminal device and the network device, so that the positioning accuracy can be improved, and the positioning accuracy of the terminal device can be improved.

[0382] Figure 6 The flowchart of the positioning method using the uplink multi-antenna subcarrier phase information provided by the embodiments of the present application is shown in FIG. 6. Figure 6As shown, in the uplink-based positioning method, the network devices include serving base stations and non-serving base stations. The method includes:

[0383] Step 601: The terminal device sends an uplink positioning service request to the positioning server.

[0384] The location server can be an LMF.

[0385] Step 602: The location server sends a location information request to the serving base station.

[0386] Step 603: The serving base station sends the positioning assistance data to the terminal device.

[0387] The positioning assistance data includes SRS configuration information, which includes SRS time-frequency resource information, SRS sequence information, and Muting mechanism information.

[0388] Step 604: The terminal device sends reference signals to the serving base station and non-serving base stations respectively according to the SRS configuration information.

[0389] The reference signal includes the SRS positioning reference signal.

[0390] Step 605: The serving base station and non-serving base stations determine the frequency domain channel response of the subcarrier corresponding to the reference signal based on the reference signal.

[0391] Among them, the serving base station and non-serving base stations receive the SRS positioning reference signal according to the SRS configuration information, and estimate the frequency domain channel response using the SRS positioning reference signal.

[0392] Step 606: The serving base station and non-serving base stations determine the time-domain channel response based on the frequency-domain channel response.

[0393] Step 607: The serving base station and non-serving base stations perform filtering on the time-domain channel response to obtain the direct path time-domain signal.

[0394] Among them, the serving base station and the non-serving base station obtain the closest propagation delay to the true propagation delay based on the time-domain channel response using a cross-correlation algorithm. Integer multiples of sampling points And around integer multiples of sampling points A time-domain filter is designed to filter the time-domain channel response, thereby eliminating the influence of non-direct paths. The time-domain filter can be defined using formula (3).

[0395] Step 608: The serving base station and non-serving base station measure the subcarrier phase information corresponding to different antennas of the network equipment based on the direct path time domain signal.

[0396] Among them, the terminal device performs a Fourier transform on the filtered direct trajectory time-domain signal (as shown in formula (4)), and then performs a Fourier transform on the first... Each subcarrier undergoes a phase-taking operation (as in formula (8)). After equivalent transformation or normalization (as in formula (9)), the measured values ​​of the subcarrier phase information corresponding to each antenna can be obtained (as in formula (12)).

[0397] Step 609: The serving base station and non-serving base stations send the subcarrier phase information and antenna identification information corresponding to their respective antennas to the positioning server.

[0398] The antenna identification information can be the antenna number.

[0399] Figure 7 A schematic diagram for locating the uplink two antenna subcarrier phase information, as shown below. Figure 7 As shown, there are B network devices participating in the positioning process, namely network device 1, network device 2, ..., network device B. These B network devices include serving base stations and non-serving base stations. Each base station will send the subcarrier phase information and antenna identification information corresponding to all its antennas to the positioning server. For example, network device 1 includes antenna a and antenna b. Network device 1 can send the subcarrier phase information and antenna identification information corresponding to antenna a and antenna b to the positioning server.

[0400] In addition, for accurate positioning, each network device needs to send the coordinates of its antennas or the spacing between antennas to the positioning server. It is assumed that all network devices are arranged parallel to the horizontal plane, and that the two antennas are arranged parallel to the X-axis. The geometric center of the i-th network device is assumed to be x = [x...]. i ,y i ,z i Furthermore, the distance D between the two antennas is known, and the following relationship exists. Under the above assumptions, the coordinates of the two antennas of the i-th network device are respectively as well as

[0401] It should be understood that after the network device sends the coordinates of each antenna to the positioning server, the positioning server also needs to determine the antenna spacing between the antennas based on the coordinates of each antenna.

[0402] Step 610: The positioning server determines the location information of the terminal device based on the subcarrier phase information corresponding to the different antennas sent by the serving base station and the non-serving base station.

[0403] The positioning server determines the position information of the terminal device according to the manner described in formulas (13)-(25) after receiving the subcarrier phase information corresponding to different antennas of the serving base station and the non-serving base station respectively, the coordinate information of the antennas, and the antenna spacing between the antennas.

[0404] The positioning server can also combine other TOA / TDOA and angle of arrival (AOA) information for joint positioning.

[0405] It should be understood that, Figure 6 Only the process of positioning the terminal device in one positioning cycle is shown in the embodiments. In the specific implementation process, the process can also be applied to multiple positioning cycles to track the motion trajectory of the terminal device.

[0406] The positioning method for the terminal device provided in the embodiments determines the time domain channel response of the received reference signal, filters the time domain channel response to obtain a direct path time domain signal, and obtains the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of different antennas of the network device. The subcarrier phase information corresponding to different antennas is used to determine the position information of the terminal device. Since the time domain channel response of the reference signal is filtered, the direct path time domain signal can be obtained, so that the multipath effect can be eliminated. According to the obtained direct path time domain signal, the subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of different antennas of the network device can be extracted. The difference carrier phase information between different antennas is calculated, and the antenna spacing between different antennas is combined, so that the difference integer ambiguity between different antennas can be determined. Then, the distance difference between the terminal device and different antennas of the network device is estimated according to the difference integer ambiguity, and the position information of the terminal device is determined according to the distance difference. The above positioning manner considers the integer ambiguity between the terminal device and the network device, so that the positioning accuracy can be improved, and the positioning accuracy of the terminal device is improved.

[0407] Figure 8 A schematic diagram of a first network element provided in the embodiments is shown in FIG. 8. Figure 8 The transceiver 800 is configured to receive and send data under the control of the processor 810.

[0408] In the embodiments, the processor 810 is configured to determine the position information of the terminal device according to the subcarrier phase information corresponding to different antennas of the network device, the coordinate information of the antennas, and the antenna spacing between the antennas. Figure 8In one embodiment, the bus architecture can include any number of interconnecting buses and bridges, depending on the specific application of the processor 810 and the memory 820 that are linked together by the various circuits representing one or more processors and memories. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, not further described herein. The bus interface provides an interface. The transceiver 800 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a means for communicating with various other apparatus over a transmission medium, including wireless channels, wired channels, optical cables, and the like. The processor 810 is responsible for managing the bus architecture and general processing, and the memory 820 can store data used by the processor 810 in the execution of operations.

[0409] The processor 810 can be a central processor (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), or the processor can also adopt a multi-core architecture.

[0410] The processor is used to execute any of the methods provided by the embodiments of the application according to the executable instructions obtained by calling the computer program stored in the memory. The processor and the memory can also be physically arranged separately.

[0411] The processor 810 is used to read the computer program in the memory and perform the following operations:

[0412] receiving a reference signal;

[0413] determining a time-domain channel response of the reference signal according to the reference signal;

[0414] filtering the time-domain channel response to obtain a direct-path time-domain signal;

[0415] obtaining subcarrier phase information of a direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of different antennas of a network device; the subcarrier phase information corresponding to each of the different antennas is used to determine position information of a terminal device.

[0416] Optionally, the processor 810 is specifically used for:

[0417] converting the direct-path time-domain signal into a frequency-domain signal through Fourier transform;

[0418] determining a frequency domain channel response of the subcarrier corresponding to the index of the subcarrier of the direct path frequency domain signal of the different antenna of the network device;

[0419] extracting subcarrier phase information of the direct path frequency domain signal corresponding to the different antenna of the network device from the frequency domain channel response.

[0420] Optionally, the terminal device is a positioning device of the terminal device; and the processor 810 is specifically configured to:

[0421] respectively acquiring subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of the different antenna of each of the at least two network devices, wherein the at least two network devices include a serving network device and at least one neighboring network device.

[0422] Optionally, the processor 810 is further configured to:

[0423] for each network device, determining differential carrier phase information of a first antenna and a second antenna of each antenna pair of the network device according to the subcarrier phase information of the direct path frequency domain signal corresponding to the different antenna of the network device, wherein the first antenna and the second antenna are both any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0424] for each antenna pair, determining differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna of the antenna pair, wherein the differential integer ambiguity is a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device;

[0425] determining position information of the terminal device according to the differential integer ambiguity of all antenna pairs of each network device.

[0426] Optionally, the processor 810 is specifically configured to:

[0427] determining a distance difference between a first distance of the first antenna of each antenna pair of each network device and the terminal device and a second distance of the second antenna of the antenna pair and the terminal device according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the antenna pair;

[0428] acquiring an initial position of the terminal device;

[0429] determining the position information of the terminal device according to the initial position and the distance difference of all antenna pairs of each network device.

[0430] Optionally, the processor 810 is specifically configured to:

[0431] For each network device, according to position information of a first antenna and position information of a second antenna in each antenna pair in the network device, and the initial position, a distance difference value is determined, the distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; according to the initial position and the distance difference value of all antenna pairs in each network device, a corrected position of the terminal device is determined; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeated until the difference between the corrected position and the initial position is not greater than the preset value, and the corrected position is determined as the position information of the terminal device.

[0432] Optionally, the processor 810 is specifically configured to:

[0433] Obtain an antenna spacing between the first antenna and the second antenna in the antenna pair.

[0434] According to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing, the differential integer ambiguity is determined.

[0435] Optionally, the processor 810 is further configured to:

[0436] Receive the antenna spacing sent by the network device.

[0437] Optionally, the positioning apparatus of the terminal device is a network device.

[0438] The processor 810 is further configured to:

[0439] Send, to a positioning server, subcarrier phase information corresponding to different antennas of the network device respectively, the subcarrier phase information being used to instruct the positioning server to determine the position information of the terminal device.

[0440] Optionally, the processor 810 is further configured to:

[0441] Send, to the positioning server, an antenna spacing between the different antennas of the network device, the antenna spacing being used to instruct the positioning server to determine the position information of the terminal device according to the antenna spacing and the subcarrier phase information corresponding to the different antennas respectively.

[0442] Optionally, the antenna spacing between the different antennas is not greater than Wherein, λ represents a wavelength.

[0443] It should be noted that the apparatus provided in this application can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described in detail here.

[0444] Figure 9 A schematic diagram of a positioning server provided in an embodiment of this application is shown below. Figure 9 As shown, transceiver 900 is used to receive and send data under the control of processor 910.

[0445] Among them, Figure 9 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 910) and memory (memory 920). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 900 can be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor 910 is responsible for managing the bus architecture and general processing, and the memory 920 can store data used by the processor 910 during operation.

[0446] The processor 910 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0447] The processor executes any of the methods described in the embodiments of this application according to the obtained executable instructions by calling a computer program stored in memory. The processor and memory may also be physically separated.

[0448] The processor 910 is used to read the computer program in the memory and perform the following operations:

[0449] receive subcarrier phase information of each direct path frequency domain signal corresponding to each antenna of each network device respectively, wherein the direct path frequency domain signal is obtained by converting a direct path time domain signal obtained by filtering a time domain channel response of a reference signal, and the time domain channel response is determined by each network device after receiving the reference signal, and the reference signal is sent by a terminal device to each network device;

[0450] determine the position information of the terminal device according to the subcarrier phase information of each direct path frequency domain signal corresponding to each antenna of each network device.

[0451] Optionally, the processor 910 is specifically configured to:

[0452] for each network device, determine differential carrier phase information of a first antenna and a second antenna of each antenna pair of the network device according to the subcarrier phase information of each direct path frequency domain signal corresponding to each antenna of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0453] for each antenna pair, determine a differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna of the antenna pair, wherein the differential integer ambiguity is a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device;

[0454] determine the position information of the terminal device according to the differential integer ambiguity of all antenna pairs of each network device.

[0455] Optionally, the processor 910 is specifically configured to:

[0456] determine a distance difference between a first distance between the first antenna of each antenna pair of each network device and the terminal device and a second distance between the second antenna of the antenna pair and the terminal device according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the antenna pair;

[0457] obtain an initial position of the terminal device;

[0458] determine the position information of the terminal device according to the initial position and the distance difference of all antenna pairs of each network device.

[0459] Optionally, the processor 910 is specifically configured to:

[0460] For each network device, according to position information of a first antenna and position information of a second antenna in each antenna pair in the network device, and the initial position, a distance difference value is determined, the distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; according to the initial position, the distance difference value of all antenna pairs in each network device, and the distance difference of all antenna pairs in each network device, a corrected position of the terminal device is determined; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeated until the difference between the corrected position and the initial position is not greater than the preset value, and the corrected position is determined as the position information of the terminal device.

[0461] Optionally, the processor 910 is specifically configured to:

[0462] Obtain an antenna spacing between the first antenna and the second antenna in the antenna pair.

[0463] According to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing, the differential integer ambiguity is determined.

[0464] Optionally, the processor 910 is specifically configured to:

[0465] Receive the antenna spacing sent by the network device.

[0466] Optionally, the antenna spacing between different antennas is not greater than Wherein, λ represents wavelength.

[0467] It should be noted that the above device provided by the present application can realize all method steps realized by the above method embodiment, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0468] Figure 10 A schematic diagram of a positioning device of a terminal device provided by the present application is shown in FIG. 1. As shown in FIG. 1, the positioning device 100 of the terminal device can include: Figure 10

[0469] A receiving unit 1001 is configured to receive a reference signal.

[0470] A processing unit 1002 is configured to determine a time domain channel response of the reference signal according to the reference signal.

[0471] ​The processing unit 1002 is further configured to perform filtering processing on the time-domain channel response to obtain a direct-path time-domain signal.

[0472] The processing unit 1002 is further configured to obtain subcarrier phase information of the direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of different antennas of a network device; and the subcarrier phase information corresponding to each of the different antennas is used to determine position information of a terminal device.

[0473] Optionally, the processing unit 1002 is specifically configured to:

[0474] perform Fourier transform on the direct-path time-domain signal to convert the direct-path time-domain signal into a frequency-domain signal;

[0475] determine a frequency-domain channel response of a subcarrier according to an index of the subcarrier corresponding to the frequency-domain signal;

[0476] extract subcarrier phase information of the direct-path frequency-domain signal corresponding to each of different antennas from the frequency-domain channel response.

[0477] Optionally, the terminal device is a terminal device; and the processing unit 1002 is specifically configured to:

[0478] obtain subcarrier phase information of a direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of different antennas of at least two network devices respectively, wherein the at least two network devices include a serving network device and at least one neighboring network device.

[0479] Optionally, the processing unit 1002 is further configured to:

[0480] for each network device, determine differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device according to the subcarrier phase information of the direct-path frequency-domain signal corresponding to each of different antennas of the network device, wherein the first antenna and the second antenna are both any one of all antennas of the network device, and the first antenna and the second antenna are different;

[0481] for each antenna pair, determine differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, wherein the differential integer ambiguity is a difference between first integer ambiguity of a distance between the first antenna and the terminal device and second integer ambiguity of a distance between the second antenna and the terminal device;

[0482] determine position information of the terminal device according to the differential integer ambiguity of all antenna pairs in each network device.

[0483] Optionally, the processing unit 1002 is specifically configured to:

[0484] determine a distance difference between a first distance from a first antenna of the antenna pair to the terminal device and a second distance from a second antenna of the antenna pair to the terminal device according to the differential integer ambiguity of each antenna pair in the network device and the differential carrier phase information of the antenna pair;

[0485] obtain an initial position of the terminal device;

[0486] determine the position information of the terminal device according to the initial position and the distance differences of all antenna pairs in the network device.

[0487] Optionally, the processing unit 1002 is specifically configured to:

[0488] for each network device, determine an estimated distance difference value according to the position information of the first antenna and the position information of the second antenna of each antenna pair in the network device and the initial position, the estimated distance difference value being a difference value between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; determine a corrected position of the terminal device according to the initial position and the estimated distance difference values of all antenna pairs in the network device; if a difference value between the corrected position and the initial position is greater than a preset value, take the corrected position as a new initial position and repeat the step until the difference value between the corrected position and the initial position is not greater than the preset value, and then determine the corrected position as the position information of the terminal device.

[0489] Optionally, the processing unit 1002 is specifically configured to:

[0490] obtain an antenna spacing between the first antenna and the second antenna in the antenna pair;

[0491] determine the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0492] Optionally, the processing unit 1002 is specifically configured to:

[0493] receive the antenna spacing sent by the network device.

[0494] Optionally, the terminal device is a network device; and the processing unit 902 is specifically configured to:

[0495] send the subcarrier phase information corresponding to different antennas of the network device to a positioning server, the subcarrier phase information being used to instruct the positioning server to determine the position information of the terminal device.

[0496] Optionally, the processing unit 1002 is specifically configured to:

[0497] send the inter-antenna distance between the different antennas of the network device to the positioning server, the inter-antenna distance being used to instruct the positioning server to determine the position information of the terminal device according to the inter-antenna distance and the subcarrier phase information corresponding to each of the different antennas.

[0498] Optionally, the inter-antenna distance between the different antennas is not greater than wherein λ represents the wavelength.

[0499] It should be noted that the above device provided by the present application can realize all the method steps realized by the above method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0500] Figure 11 For the schematic diagram of the terminal device positioning device provided by the present application, for example, please refer to Figure 11 As shown in the figure, the terminal device positioning device 110 can include:

[0501] The receiving unit 1101 is configured to receive the subcarrier phase information corresponding to the direct-path frequency domain signals of the different antennas of each network device respectively sent by at least two network devices; the direct-path frequency domain signal is obtained by converting the direct-path time domain signal obtained by filtering the time domain channel response of the reference signal determined by each network device after receiving the reference signal, and the reference signal is the reference signal sent by the terminal device to each network device.

[0502] The processing unit 1102 is configured to determine the position information of the terminal device according to the subcarrier phase information corresponding to the direct-path frequency domain signals of the different antennas of each network device.

[0503] Optionally, the processing unit 1102 is specifically configured to:

[0504] For each network device, the processing unit 1102 is specifically configured to determine the differential carrier phase information of the first antenna and the second antenna in each antenna pair of the network device according to the subcarrier phase information corresponding to the direct-path frequency domain signals of the different antennas of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different.

[0505] determining, for each antenna pair in each network device, a differential integer ambiguity according to the differential carrier phase information of a first antenna and a second antenna in the antenna pair, the differential integer ambiguity being a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device;

[0506] determining the position information of the terminal device according to the differential integer ambiguities of all antenna pairs in each network device.

[0507] Optionally, the processing unit 1102 is specifically configured to:

[0508] determining, for each antenna pair in each network device, a distance difference between a first distance between a first antenna and the terminal device in the antenna pair and a second distance between a second antenna and the terminal device in the antenna pair according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the first antenna and the second antenna in the antenna pair.

[0509] obtaining an initial position of the terminal device;

[0510] determining the position information of the terminal device according to the initial position and the distance differences of all antenna pairs in each network device.

[0511] Optionally, the processing unit 1102 is specifically configured to:

[0512] determining, for each network device, an estimated distance difference value according to the position information of a first antenna and the position information of a second antenna in each antenna pair in the network device and the initial position, the estimated distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; determining a corrected position of the terminal device according to the initial position, the estimated distance difference values of all antenna pairs in each network device and the distance differences of all antenna pairs in each network device; if a difference between the corrected position and the initial position is greater than a preset value, taking the corrected position as a new initial position and repeating the step until the difference between the corrected position and the initial position is not greater than the preset value, and then determining the corrected position as the position information of the terminal device.

[0513] Optionally, the processing unit 1102 is specifically configured to:

[0514] obtaining an antenna spacing between the first antenna and the second antenna in the antenna pair;

[0515] determining the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

[0516] Optionally, the processing unit 1102 is specifically configured to:

[0517] receive the inter-antenna distance sent by the network device.

[0518] Optionally, the inter-antenna distance between the different antennas is not greater than wherein λ represents the wavelength.

[0519] It should be noted that the above device provided by the present application can realize all the method steps realized by the above method embodiments, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0520] It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, another division mode can be used. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0521] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solutions of the present application, essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0522] The embodiments of the present application also provide a processor-readable storage medium, which stores a computer program. The computer program is used to make the processor execute the positioning method of the terminal device in the above method embodiments.

[0523] The embodiments of the present application also provide a computer program product, which includes a computer program. The computer program is executed by a processor to realize the positioning method of the terminal device in the above method embodiments.

[0524] The processor-readable storage media can be any available media or data storage device that can be accessed by a processor including, but not limited to, magnetic storage devices (e.g., floppy disks, hard disks, tape, etc.), optical storage devices (e.g., CD-ROMs, DVDs, BDs, HVDs, etc.), semiconductor memory devices (e.g., ROMs, EPROMs, EEPROMs, NAND FLASH, solid state drives (SSDs), etc.), and the like.

[0525] Those skilled in the art will appreciate that embodiments of the present application can be situated as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, magnetic disks, optical storage media and the like) embodying computer readable program code.

[0526] The present application is described in reference to the flowchart illustrations and / or block diagrams according to the embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer executable instructions. The computer executable instructions can be provided to a processor of a general purpose computer, special purpose computer, an embedded processor or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0527] These computer executable instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0528] These computer executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions that execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0529] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A positioning method of a terminal device, characterized by, The method applied to a first network element comprises: receiving a reference signal; determining a time-domain channel response of the reference signal according to the reference signal; filtering the time-domain channel response to obtain a direct-path time-domain signal; obtaining subcarrier phase information of a direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of different antennas of a network device; the subcarrier phase information corresponding to each of the different antennas of the network device is used to determine position information of a terminal device; for each network device, determining differential carrier phase information of a first antenna and a second antenna of each antenna pair of the network device according to the subcarrier phase information of the direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of the different antennas of the network device, wherein the first antenna and the second antenna are both any one of all antennas of the network device, and the first antenna and the second antenna are different; for each antenna pair, determining differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, wherein the differential integer ambiguity is a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device; determining the position information of the terminal device according to the differential integer ambiguity of all antenna pairs in each network device.

2. The method of claim 1, wherein, The method further comprises: converting the direct-path time-domain signal into a frequency-domain signal through Fourier transform; determining a frequency-domain channel response of a subcarrier corresponding to the frequency-domain signal; extracting the subcarrier phase information of the direct-path frequency-domain signal corresponding to each of the different antennas from the frequency-domain channel response.

3. The method according to claim 1 or 2, characterized in that, The first network element is the terminal device; and the method further comprises: respectively obtaining the subcarrier phase information of the direct-path frequency-domain signal corresponding to the direct-path time-domain signal of each of the different antennas of at least two network devices, wherein the at least two network devices comprise a serving network device and at least one neighboring network device.

4. The method of claim 1, wherein, The method further comprises: determining a distance difference between a first distance between the first antenna of each antenna pair and the terminal device and a second distance between the second antenna of the antenna pair and the terminal device according to the differential integer ambiguity of each antenna pair in each network device and the differential carrier phase information of the antenna pair; obtaining an initial position of the terminal device; determining the position information of the terminal device according to the initial position and the distance difference of all antenna pairs in each network device.

5. The method of claim 4, wherein, The method further comprises: For each network device, according to position information of a first antenna and position information of a second antenna in each antenna pair of the network device, and the initial position, a distance difference value is determined, the distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; according to the initial position and the distance difference value of all antenna pairs of each network device, a corrected position of the terminal device is determined; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeatedly executed until the difference between the corrected position and the initial position is not greater than the preset value, and then the corrected position is determined as the position information of the terminal device.

6. The method of claim 1, wherein, The determining the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair comprises: obtaining an antenna spacing between the first antenna and the second antenna in the antenna pair; determining the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

7. The method of claim 6, wherein, The obtaining the antenna spacing between the first antenna and the second antenna in the antenna pair comprises: receiving the antenna spacing sent by the network device.

8. The method of claim 1 or 2, wherein, The first network element is a network device. The method further comprises: sending, to a positioning server, subcarrier phase information corresponding to different antennas of the network device respectively, the subcarrier phase information being used to instruct the positioning server to determine position information of a terminal device.

9. The method of claim 8, wherein, The method further comprises: sending, to the positioning server, an antenna spacing between different antennas of the network device, the antenna spacing being used to instruct the positioning server to determine position information of a terminal device according to the antenna spacing and the subcarrier phase information corresponding to the different antennas respectively.

10. The method according to claim 7 or 9, characterized in that, The inter-antenna distance between the different antennas is not greater than where λ represents the wavelength.

11. A positioning method of a terminal device, characterized by, Applied to a positioning server, the method comprises: receiving subcarrier phase information of direct-path frequency domain signals corresponding to different antennas of each network device respectively and sent by at least two network devices respectively; the direct-path frequency domain signal is obtained by converting a direct-path time domain signal obtained by filtering a time domain channel response determined after receiving a reference signal, the reference signal being sent by a terminal device to each network device; For each network device, according to the subcarrier phase information of the direct-path frequency domain signals corresponding to different antennas of the network device respectively, differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device is determined, wherein the first antenna and the second antenna are both any one of all antennas of the network device, and the first antenna and the second antenna are different. For each antenna pair, a differential integer ambiguity is determined according to differential carrier phase information of a first antenna and a second antenna in the antenna pair, the differential integer ambiguity being a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device; Position information of the terminal device is determined according to the differential integer ambiguities of all antenna pairs in each network device.

12. The method of claim 11, wherein, The position information of the terminal device is determined according to the differential integer ambiguities of all antenna pairs in each network device, comprising: A distance difference between a first distance between the first antenna in each antenna pair in each network device and the terminal device and a second distance between the second antenna in the antenna pair and the terminal device is determined according to the differential integer ambiguities of each antenna pair in each network device and the differential carrier phase information of the antenna pair; An initial position of the terminal device is obtained; Position information of the terminal device is determined according to the initial position and the distance differences of all antenna pairs in each network device.

13. The method of claim 12, wherein, The position information of the terminal device is determined according to the initial position and the distance differences of all antenna pairs in each network device, comprising: For each network device, an estimated distance difference value is determined according to position information of a first antenna and position information of a second antenna in each antenna pair in the network device and the initial position, the estimated distance difference value being a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; a corrected position of the terminal device is determined according to the initial position, the estimated distance difference values of all antenna pairs in each network device and the distance differences of all antenna pairs in each network device; if a difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeated until the difference between the corrected position and the initial position is not greater than the preset value, and the corrected position is determined as the position information of the terminal device.

14. The method according to any one of claims 11-13, characterized in that, The differential integer ambiguity is determined according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, comprising: An antenna spacing between the first antenna and the second antenna in the antenna pair is obtained; The differential integer ambiguity is determined according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

15. The method of claim 14, wherein, The antenna spacing between the first antenna and the second antenna in the antenna pair is obtained, comprising: The antenna spacing transmitted by the network device is received.

16. The method according to claim 13 or 15, characterized in that The inter-antenna distance between the different antennas is not greater than where λ represents the wavelength.

17. A positioning apparatus of a terminal device, characterized by comprising: A memory, a transceiver and a processor are included: The memory is used to store a computer program; the transceiver is used to transceive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: A reference signal is received; A time domain channel response of the reference signal is determined according to the reference signal; A direct path time domain signal is obtained by filtering the time domain channel response; obtain subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of different antennas of a network device; the subcarrier phase information corresponding to each of the different antennas is used to determine position information of a terminal device; for each network device, determine differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device according to the subcarrier phase information of the direct path frequency domain signal corresponding to each of the different antennas of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different; for each antenna pair, determine a differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, wherein the differential integer ambiguity is a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device; determine the position information of the terminal device according to the differential integer ambiguities of all antenna pairs in each network device.

18. The apparatus of claim 17, wherein, The processor is specifically configured to: convert the direct path time domain signal into a frequency domain signal through Fourier transform; determine a frequency domain channel response of a subcarrier corresponding to the frequency domain signal according to an index of the subcarrier; extract the subcarrier phase information of the direct path frequency domain signal corresponding to each of the different antennas from the frequency domain channel response.

19. The apparatus of claim 17 or 18, wherein, The positioning device of the terminal device is a terminal device; and the processor is specifically configured to: respectively obtain subcarrier phase information of the direct path frequency domain signal corresponding to the direct path time domain signal of each of different antennas of at least two network devices, wherein the at least two network devices include a serving network device and at least one neighboring network device.

20. The apparatus of claim 17, wherein, The processor is specifically configured to: determine a distance difference between a first distance between a first antenna in each antenna pair of each network device and the terminal device and a second distance between a second antenna in the antenna pair and the terminal device according to the differential integer ambiguity of the antenna pair and the differential carrier phase information of the antenna pair; obtain an initial position of the terminal device; determine the position information of the terminal device according to the initial position and the distance difference of all antenna pairs in each network device.

21. The apparatus of claim 20, wherein, The processor is specifically configured to: for each network device, determine an estimated distance difference value according to position information of the first antenna and position information of the second antenna in each antenna pair of the network device and the initial position, wherein the estimated distance difference value is a difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; determine a corrected position of the terminal device according to the initial position and the estimated distance difference value of all antenna pairs in each network device; if a difference between the corrected position and the initial position is greater than a preset value, take the corrected position as a new initial position, and repeat the step until the difference between the corrected position and the initial position is not greater than the preset value, and then determine the corrected position as the position information of the terminal device.

22. The apparatus of any of claims 20-21, wherein, The processor is specifically configured to: Obtain an antenna spacing between the first antenna and the second antenna in the antenna pair; Determine the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing.

23. The apparatus of claim 22, wherein, The processor is further configured to: Receive the antenna spacing sent by the network device.

24. The apparatus of claim 17 or 19, wherein, The positioning apparatus of the terminal device is a network device; The processor is further configured to: Send the subcarrier phase information corresponding to different antennas of the network device to a positioning server, and the subcarrier phase information is used to instruct the positioning server to determine the position information of the terminal device.

25. The apparatus of claim 24, wherein, The processor is further configured to: Send the antenna spacing between different antennas of the network device to the positioning server, and the antenna spacing is used to instruct the positioning server to determine the position information of the terminal device according to the antenna spacing and the subcarrier phase information corresponding to different antennas.

26. A positioning apparatus of a terminal device, characterized by comprising: The apparatus comprises a memory, a transceiver and a processor: The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations: Receive the subcarrier phase information corresponding to different antennas of each network device sent by at least two network devices respectively; the direct path frequency domain signal is obtained by converting the direct path time domain signal obtained by filtering the time domain channel response determined by each network device after receiving a reference signal, and the reference signal is sent by a terminal device to each network device; Determine the position information of the terminal device according to the subcarrier phase information corresponding to different antennas of each network device; The processor is specifically configured to: For each network device, determine the differential carrier phase information of the first antenna and the second antenna in each antenna pair of the network device according to the subcarrier phase information corresponding to different antennas of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different; For each antenna pair, determine the differential integer ambiguity according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, and the differential integer ambiguity is the difference between the first integer ambiguity of the distance between the first antenna and the terminal device and the second integer ambiguity of the distance between the second antenna and the terminal device; Determine the position information of the terminal device according to the differential integer ambiguity of all antenna pairs in each network device.

27. The apparatus of claim 26, wherein, The processor is specifically configured to: Determine the distance difference between the first distance between the first antenna in each antenna pair and the terminal device and the second distance between the second antenna in the antenna pair and the terminal device according to the differential integer ambiguity of each antenna pair in each network device and the differential carrier phase information of the antenna pair; Obtain the initial position of the terminal device; According to the initial position and the distance difference of all the antenna pairs in each network device, the position information of the terminal device is determined.

28. The apparatus of claim 27, wherein, The processor is specifically configured to: For each network device, according to the position information of the first antenna and the position information of the second antenna in each antenna pair in the network device, and the initial position, an estimated distance difference value is determined, the estimated distance difference value being the difference between a first estimated distance value between the first antenna and the initial position and a second estimated distance value between the second antenna and the initial position; According to the initial position, the estimated distance difference values of all the antenna pairs in each network device, and the distance differences of all the antenna pairs in each network device, a corrected position of the terminal device is determined; if the difference between the corrected position and the initial position is greater than a preset value, the corrected position is taken as a new initial position, and the step is repeatedly executed until the difference between the corrected position and the initial position is not greater than the preset value, and then the corrected position is determined as the position information of the terminal device.

29. The apparatus of any of claims 26-28, wherein, The processor is specifically configured to: An antenna spacing between the first antenna and the second antenna in the antenna pair is acquired; According to the differential carrier phase information of the first antenna and the second antenna in the antenna pair and the antenna spacing, the differential integer ambiguity is determined.

30. The apparatus of claim 29, wherein, The processor is specifically configured to: The antenna spacing transmitted by the network device is received.

31. A positioning apparatus of a terminal device, characterized by comprising: Comprising: A receiving unit is configured to receive a reference signal; A processing unit is configured to determine a time domain channel response of the reference signal according to the reference signal; The processing unit is further configured to perform filtering processing on the time domain channel response to obtain a direct path time domain signal; The processing unit is further configured to acquire subcarrier phase information of a direct path frequency domain signal corresponding to the direct path time domain signal of each different antenna of a network device; the subcarrier phase information corresponding to each different antenna of the network device is used to determine position information of a terminal device; The processing unit is further configured to, for each network device, determine differential carrier phase information of a first antenna and a second antenna in each antenna pair of the network device according to the subcarrier phase information of the direct path frequency domain signal corresponding to each different antenna of the network device, wherein the first antenna and the second antenna are both any one of all the antennas of the network device, and the first antenna and the second antenna are different; For each antenna pair, according to the differential carrier phase information of the first antenna and the second antenna in the antenna pair, a differential integer ambiguity is determined, the differential integer ambiguity being the difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device; According to the differential integer ambiguities of all the antenna pairs in each network device, the position information of the terminal device is determined.

32. A positioning apparatus of a terminal device, characterized by comprising: Comprising: receive subcarrier phase information of a direct path frequency domain signal corresponding to each of different antennas of each of the at least two network devices respectively, the direct path frequency domain signal being obtained by converting a direct path time domain signal obtained by filtering a time domain channel response determined based on a reference signal received by each of the network devices, the reference signal being sent by a terminal device to each of the network devices; determine position information of the terminal device based on the subcarrier phase information of the direct path frequency domain signal corresponding to each of the different antennas of each of the network devices; determine, for each of the network devices, differential carrier phase information of a first antenna and a second antenna of each antenna pair of the network device based on the subcarrier phase information of the direct path frequency domain signal corresponding to each of the different antennas of the network device, wherein the first antenna and the second antenna are any one of all antennas of the network device, and the first antenna and the second antenna are different; determine, for each antenna pair, differential integer ambiguity based on the differential carrier phase information of the first antenna and the second antenna of the antenna pair, the differential integer ambiguity being a difference between a first integer ambiguity of a distance between the first antenna and the terminal device and a second integer ambiguity of a distance between the second antenna and the terminal device; determine the position information of the terminal device based on the differential integer ambiguity of all antenna pairs of each of the network devices.

33. A processor-readable storage medium, comprising: The processor readable storage medium stores a computer program, and the computer program is used to make the processor execute the method in any one of claims 1 to 16.

34. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the method in any one of claims 1 to 16.

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