Positioning awareness method, apparatus, and related device

Abstract

This application discloses a positioning sensing method, apparatus, and related equipment, belonging to the field of communication technology. The positioning sensing method of this application includes: a first sensing device performing angular power spectrum (APS) measurement on a sensing target to obtain a first APS measurement result of the dynamic reflection path of a first signal, the first APS measurement result being used to determine the positioning result of the sensing target; the first sensing device performing a first operation or a second operation based on the first APS measurement result; wherein, the first operation includes sending the first APS measurement result, and the second operation includes determining the positioning result of the sensing target based on the first APS measurement result and at least one received second APS measurement result, the second APS measurement result being the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the sensing target.

Description

Technical Field

[0001] This application belongs to the field of communication technology, specifically relating to a positioning sensing method, device, and related equipment. Background Technology

[0002] With the development of communication technology, future communication systems will possess wireless sensing capabilities in addition to communication capabilities. For example, communication devices can perform sensing and measurement through active sensing, passive sensing, or interactive sensing. However, current sensing and positioning targets are usually terminals, and the positioning of sensing targets other than terminals is not yet well-defined. Therefore, existing technologies suffer from a narrow application scope for sensing and positioning. Summary of the Invention

[0003] This application provides a positioning sensing method, apparatus, and related equipment, which can be applied to non-terminal sensing and positioning, thereby expanding the scope of sensing and positioning applications.

[0004] Firstly, a localization sensing method is provided, including:

[0005] The first sensing device performs angular power spectrum (APS) measurement on the sensing target to obtain the first APS measurement result of the dynamic reflection path of the first signal. The first APS measurement result is used to determine the positioning result of the sensing target.

[0006] The first sensing device performs a first operation or a second operation based on the first APS measurement result;

[0007] The first operation includes sending a first APS measurement result, and the second operation includes determining the positioning result of the perceived target based on the first APS measurement result and at least one received second APS measurement result. The second APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the perceived target.

[0008] Secondly, a localization sensing method is provided, including:

[0009] The core network equipment receives at least two APS measurement results, each of which is the APS measurement result of the dynamic reflection path of the first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target.

[0010] The core network equipment determines the location result of the sensed target based on the at least two APS measurement results.

[0011] Thirdly, a positioning sensing device is provided, comprising:

[0012] The measurement module is used to perform angular power spectrum (APS) measurement on the sensing target to obtain the first APS measurement result of the dynamic reflection path of the first signal. The first APS measurement result is used to determine the positioning result of the sensing target.

[0013] The execution module is used to perform a first operation or a second operation based on the first APS measurement result;

[0014] The first operation includes sending a first APS measurement result, and the second operation includes determining the positioning result of the perceived target based on the first APS measurement result and at least one received second APS measurement result. The second APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the perceived target.

[0015] Fourthly, a positioning sensing device is provided, characterized in that it comprises:

[0016] The receiving module is used to receive at least two APS measurement results, each of which is the APS measurement result of the dynamic reflection path of the first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target.

[0017] The first determining module is used to determine the positioning result of the perceived target based on the at least two APS measurement results.

[0018] Fifthly, a terminal is provided, the terminal including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect.

[0019] In a sixth aspect, a terminal is provided, including a processor and a communication interface, wherein the communication interface is used to perform angular power spectrum (APS) measurement on a sensed target to obtain a first APS measurement result of the dynamic reflection path of a first signal, the first APS measurement result being used to determine the positioning result of the sensed target, and the processor being used to perform a first operation or a second operation based on the first APS measurement result; wherein the first operation includes sending the first APS measurement result, and the second operation includes determining the positioning result of the sensed target based on the first APS measurement result and at least one received second APS measurement result, the second APS measurement result being the APS measurement result of the dynamic reflection path of the first signal obtained by a second sensing device performing APS measurement on the sensed target.

[0020] In a seventh aspect, a network-side device is provided, the network-side device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the second aspect.

[0021] Eighthly, a network-side device is provided, including a processor and a communication interface, wherein the communication interface is used to receive at least two APS measurement results, each of the APS measurement results being an APS measurement result of the dynamic reflection path of a first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target; the processor is used to determine the positioning result of the sensing target based on the at least two APS measurement results.

[0022] A ninth aspect provides a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or implement the steps of the method described in the second aspect.

[0023] In a tenth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0024] Eleventhly, a computer program / program product is provided, the computer program / program product being stored in a storage medium, the computer program / program product being executed by at least one processor to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0025] This application embodiment obtains a first APS measurement result of the dynamic reflection path of a first signal by performing angular power spectrum (APS) measurement on the sensing target. The first APS measurement result is used to determine the positioning result of the sensing target. Based on the first APS measurement result, a first operation or a second operation is performed. In this way, the positioning result of the sensing target is determined by combining the APS measurement results of the dynamic reflection path of the first signal obtained by at least two sensing devices. This allows the sensing target to be positioned without having the function of transmitting and receiving signals, thus improving the scope of sensing and positioning applications. Attached Figure Description

[0026] Figure 1 This is a block diagram of a wireless communication system to which the embodiments of this application can be applied;

[0027] Figure 2 This is one of the NR positioning architecture diagrams;

[0028] Figure 3 This is the second diagram of the NR positioning architecture;

[0029] Figure 4 This is a flowchart of a positioning sensing method provided in an embodiment of this application;

[0030] Figure 5 This is one of the schematic diagrams of positioning and sensing scenarios to which the embodiments of this application can be applied;

[0031] Figure 6 This is the second schematic diagram of a positioning and sensing scenario that can be applied to the embodiments of this application;

[0032] Figure 7 This is a flowchart of another positioning sensing method provided in the embodiments of this application;

[0033] Figure 8 This is a structural diagram of a positioning sensing device provided in an embodiment of this application;

[0034] Figure 9 This is a structural diagram of another positioning sensing device provided in an embodiment of this application;

[0035] Figure 10 This is a structural diagram of the communication device provided in the embodiments of this application;

[0036] Figure 11 This is a structural diagram of the terminal provided in the embodiments of this application;

[0037] Figure 12 This is one of the structural diagrams of the network-side device provided in the embodiments of this application;

[0038] Figure 13 This is the second structural diagram of the network-side device provided in the embodiments of this application. Detailed Implementation

[0039] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0040] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0041] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and NR terminology is used in most of the following description; however, these technologies can also be applied to applications beyond NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0042] Figure 1This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12. Terminal 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. It should be noted that the specific type of terminal 11 is not limited in this embodiment. Network-side equipment 12 may include access network equipment or core network equipment. Access network equipment 12 may also be referred to as radio access network equipment, radio access network (RAN), radio access network function, or radio access network unit. Access network equipment 12 may include base stations, WLAN access points, or WiFi nodes, etc. Base stations may be referred to as Node B, evolved Node B (eNB), access point, base transceiver station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B node, home evolved B node, Transmitting Receiving Point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this application embodiment, only a base station in an NR system is used as an example for description, and the specific type of base station is not limited.Core network equipment may include, but is not limited to, at least one of the following: core network node, core network function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), Binding Support Function (BSF), and Application Function. Function (AF), etc. It should be noted that the embodiments of this application only use the core network equipment in the NR system as an example for introduction, and do not limit the specific type of core network equipment.

[0043] For ease of understanding, the following describes some aspects of the embodiments of this application:

[0044] Accurate and real-time location information is a critical requirement for various new network services, such as emergency services, connected vehicles, and the Industrial Internet of Things (IIoT). Research on positioning technology has been ongoing for many years; by measuring cellular radio signals using wireless devices, the location of a device can be estimated. In recent years, researchers have shown increasing interest in using cellular technology for positioning due to the anticipated higher positioning accuracy of NR networks and the emergence of more new use cases. Positioning schemes typically rely on time-based, angle-based, or hybrid technologies. In Release 16 (R16) of the 3rd Generation Partnership Project (3GPP), LTE positioning capabilities were further expanded in NR, thanks to various enabling factors of NR, such as greater bandwidth, higher frequencies, more antennas, and low latency and flexible network architecture. The 5G positioning architecture is based on the LTE positioning architecture, with additional modifications after the introduction of new logical nodes in the 5G core network (5GC).

[0045] like Figure 2 The diagram shows the positioning architecture of the Next Generation Radio Access Network (NG-RAN) in 3GPP R16, which is suitable for terminals that are positioned to access the NR gNB Transmission Reception Point (TRP) or the Transmission Point (TP) of the Enhanced Universal Terrestrial Radio Access Network (E-UTRAN) (i.e., LTE ng-eNB).

[0046] In the 5G positioning architecture, signaling between different entities has its own protocol requirements. Specifically, the gNB (gNB-CU) / ng-eNB exchanges necessary positioning and measurement information with the Location Management Function (LMF) in the 5GC via the New Radio Positioning Protocol Annex (NRPPa). In LTE, positioning support between the terminal and the location server is handled by the LTE Positioning Protocol (LPP). This protocol has been extended in NR to support signaling interaction between the UE and the LMF. Furthermore, the terminal receives necessary radio configuration information from the NG-RAN node via the NR-Uu or LTE-Uu interface through Radio Resource Control (RRC). The LPP protocol is reused in NR, allowing for extensions to 4G and 5G within common protocols. Both NRPPa and LPP protocols are transmitted on the control plane of the NG interface (NG-C) through the Access and Mobility Management Function (AMF).

[0047] Figure 3 The document also showcases the functional separation architecture of the R16 Next Generation Radio Access Network (NG-RAN). In gNB functional separation, the NG-RAN comprises a gNB Central Unit (CU) and one or more gNB Distributed Units (DUs), which communicate via the F1 interface. The gNB-CU can connect to one or more gNB-DUs that bearer transmission points (TPs), reception points (RPs), or transmission and reception points (TRPs).

[0048] The positioning methods currently supported in 3GPP R16 include: Downlink Time Difference of Arrival (DL-TDOA), Uplink Time Difference of Arrival (UL-TDOA), Multi-Cell Round Trip Time (Multi-RTT), Downlink Angle of Departure (DL-AOD), Uplink Angle of Arrival (UL-AOA), and Enhanced Cell ID (E-CID).

[0049] Among them, DL-TDOA and UL-TDOA methods have been used since the LTE era. DL-TDOA uses the Down Link-Positioning Reference Signal (DL-PRS). The UE receives DL-PRS from different cells, measures the Reference Signal Time Difference (RSTD), and reports it to the LMF. The LMF calculates the UE's location based on the known base station location information. UL-TDOA uses the Up Link-Sounding Reference Signal (UL-SRS). Different cell base stations receive the Relative Time of Arrival (RTOA) sent by the UE and report it to the LMF. The LMF calculates the UE's location based on the known base station location information. In addition to the above two methods, Multi-RTT, DL-AOD, and UL-AOA are relatively new positioning methods in NR.

[0050] In the Multi-RTT method, the base station transmits a DL-PRS reference signal downlink, while the UE transmits a UL-SRS signal uplink. The base station configures the UE for UL-SRS via the RRC protocol, and the LMF configures the UE for DL-PRS via the LPP protocol. The UE reports measurement results to the LMF via the LPP protocol, and the base station reports the estimated UE location information to the LMF via the NRPPa protocol.

[0051] In the DL-AOD method, the base station transmits the DL-PRS beam downlink, the UE measures the corresponding Reference Signal Received Power (RSRP) and reports the measurement results to the LMF via the LPP protocol, while the base station sends the DL-PRS beam angle information to the LMF via the NRPPa protocol.

[0052] In the UL-AOA method, the base station TRP reports the AOA measurement results, as well as other configuration information such as TRP coordinates and beam configuration information, to the LMF via NRPPa; the LMF calculates the UE location estimation result based on the above information.

[0053] Furthermore, the above methods can be combined with other methods (or the corresponding measurement processes of other methods) to further improve positioning accuracy. For example, DL-TDOA can be combined with DL-AOD, or UL-TDOA can be combined with UL-AOA, or multi-RTT can be combined with downlink PRS-RSRP measurement, uplink SRS-RSRP and AOA measurement.

[0054] DL-PRS resources occupy multiple consecutive Orthogonal Frequency Division Multiplexing (OFDM) symbols in the time domain and multiple consecutive Physical Resource Blocks (PRBs) in the frequency domain. They support multiplexing of multiple different DL-PRS resources on different subcarriers in a comb-like manner. DL-PRS sequences are pseudo-random sequences (Gold sequences), and the initial values ​​for generating the sequence are functions of the PRS sequence ID, slot index, and symbol index. The frequency domain starting PRB and bandwidth of DL-PRS are configured by higher layers. The granularity of the starting PRB configuration parameters is one PRB, and the granularity of the bandwidth configuration is four PRBs, with a configurable bandwidth range of 24 to 272 PRBs. All PRS resources in a DL-PRS resource set have the same starting PRB and bandwidth. The resource element (RE) patterns of DL-PRS resources are interleaved in the time domain and support periodic transmission.

[0055] Although the UL-SRS used for positioning and the SRS used for communication are similar (based on the communication signal transmission sequence (Zadoff-chu, ZC) sequence), they are configured separately in the network. The UL-SRS for positioning can start at any symbol in the uplink time slot and can occupy 1, 2, 4, 8, or 12 consecutive OFDM symbols in the time domain to provide sufficient coverage to ensure that all associated TRPs can be received. To reduce collisions and uplink interference between positioning SRS signals transmitted by different UEs, the number of sequence identifiers in the UL-SRS is increased by 64 times compared to the NR SRS. The frequency domain comb configuration of the UL-SRS can be configured to 8, which can utilize power not containing positioning signals to achieve a power spectral density increase, thereby improving the received SINR of the SRS positioning signal. Furthermore, the UL-SRS employs an interleaved pattern design to reduce the sidelobe values ​​generated by correlation operations during sequence detection.

[0056] As can be seen from the above, in the NR positioning method of related technologies, the positioning target (also known as the sensing target or sensing positioning target) needs to have communication capability so that the positioning target can measure the received signal and / or transmit the signal. Only then can the TRP, RP, TP and other positioning devices determine the location information of the positioning target based on the transmission delay and transmission power between the positioning target and the positioning target.

[0057] Therefore, this application proposes a positioning sensing method that can use sensing nodes to locate communication devices that do not have communication capabilities or do not transmit or receive signals during positioning. In this way, it is possible to locate vehicles, pedestrians or other objects / animals, thereby expanding the range of locatable targets.

[0058] The positioning and sensing method provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0059] like Figure 4 As shown, the positioning sensing method provided in this application includes:

[0060] Step 401: The first sensing device performs angular power spectrum (APS) measurement on the sensing target to obtain the first APS measurement result of the dynamic reflection path of the first signal. The first APS measurement result is used to determine the positioning result of the sensing target.

[0061] Step 402: The first sensing device performs a first operation or a second operation based on the first APS measurement result;

[0062] The first operation includes sending a first APS measurement result, and the second operation includes determining the positioning result of the perceived target based on the first APS measurement result and at least one received second APS measurement result. The second APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the perceived target.

[0063] In this embodiment, the first sensing device and the second sensing device can be referred to as sensing nodes. The first sensing device includes a terminal, network-side device, or dedicated sensing device for performing sensing measurements. The first sensing device can be a transmitting device for a first signal or a receiving device for a first signal.

[0064] It should be noted that when the first sensing device is not the transmitting device of the first signal, the transmitting device of the first signal can be a terminal, a base station, or a dedicated sensing device. In this case, when the transmitting device of the first signal is also used to calculate the positioning result of the sensed target, the transmitting device is equivalent to a computing device. For example, if the transmitting device is a base station, and the base station does not participate in APS sensing measurement, the first sensing device and the second sensing device can report the APS measurement results to the base station. The reported APS measurement results can be the APS measurement results of the entire channel, or the ASP measurement results within a preset angle range.

[0065] Optionally, when the first sensing device is a transmitting device for the first signal, the receiving device for the first signal includes a terminal, a network-side device, or a dedicated sensing device; when the first sensing device is a receiving device for the first signal, the transmitting device for the first signal includes a terminal, a network-side device, or a dedicated sensing device. For example, in some embodiments, the sensing node performing the sensing measurement may include at least two terminals, or at least one base station and at least one terminal, or at least two base stations.

[0066] It should be understood that when the first sensing device is a terminal or a dedicated sensing device, it typically lacks the capability to convert positioning results. In this case, the first sensing device can perform a first operation based on the first APS measurement result, such as reporting the first APS measurement result to a base station or core network device. The first APS measurement result can be the APS measurement result for the entire channel or the APS measurement result within a preset angle range. When the first sensing device is a network-side device, such as a base station, if it lacks the capability to convert positioning results, it can perform a first operation based on the first APS measurement result, such as reporting the first APS measurement result to a base station or core network device. If it has the capability to convert positioning results, it can perform a second operation based on the first APS measurement result. Here, "core network device" can be understood or replaced with a sensing network function or sensing network element.

[0067] Optionally, the aforementioned at least one second APS measurement result can be obtained by the first sensing device from the corresponding second sensing device, or it can be obtained by the first sensing device from the core network device. For example, the second sensing device can directly report the APS measurement result to the core network device. The second APS measurement result can be the overall channel APS measurement result obtained by the second sensing device, or it can be the APS measurement result within a preset angle range, thereby reducing the amount of data reported and lowering system resource overhead.

[0068] It should be noted that the positioning and sensing method provided in this application embodiment can be used for single-shot or continuous positioning of the sensing target. The first sensing device and the second sensing device mentioned above are sensing devices in a stationary state; the sensing target mentioned above can be a moving sensing object, which can be a UE or not a UE. The dynamic reflection path of the first signal mentioned above refers to the multipath signal received by the sensing device (such as the first sensing device and / or the second sensing device) after the first signal is reflected by the sensing target.

[0069] This application embodiment obtains a first APS measurement result of the dynamic reflection path of a first signal by performing angular power spectrum (APS) measurement on the sensing target. The first APS measurement result is used to determine the positioning result of the sensing target. Based on the first APS measurement result, a first operation or a second operation is performed. In this way, the positioning result of the sensing target is determined by combining the APS measurement results of the dynamic reflection path of the first signal obtained by at least two sensing devices. This allows the sensing target to be positioned without having the function of transmitting and receiving signals, thus improving the scope of sensing and positioning applications.

[0070] It should be noted that the above-mentioned sensing and positioning can be triggered by a sensing requester. For example, a sensing requester can send a sensing request to the core network equipment, triggering the above-mentioned sensing and positioning. The sensing demand party can be a terminal, base station, the sensing target itself, or a third-party application server equivalent to access network equipment and core network equipment. The sensing demand can include at least one of the following: sensing area (e.g., geographical coordinates of the sensing area, length, width, height, and distance of the sensing area, etc.), sensing target type (e.g., car, motorcycle, pedestrian, etc., which indirectly indicates the range of the sensing target's movement speed and the level of power reflected from wireless signals), sensing target UE indication (i.e., whether the sensing target is a UE, and if so, the corresponding UE ID and other information can be attached), sensing / sensing integration service quality (QoS), minimum number of UEs required to participate in collaborative sensing, number and density of sensing targets in the sensing area, sensing result feedback method (e.g., real-time feedback or feedback after the sensing service or sensing service ends), continuous positioning or single positioning, positioning start conditions and continuous positioning end conditions, etc. The sensing / sensing integration QoS can include sensing / sensing integration service type, sensing / sensing integration service priority, sensing resolution requirements, sensing error requirements, sensing latency budget, maximum sensing range requirements, continuous sensing capability requirements, sensing update frequency requirements, etc., as well as communication QoS (communication QoS during sensing integration services). Communication QoS can include communication latency budget and false alarm rate, among other things.

[0071] The conditions for initiating positioning / continuous positioning may include any of the following:

[0072] The user can initiate the request directly, without being limited by time or location.

[0073] The target is perceived based on other positioning technologies and arrives at a preset (physical) area;

[0074] Receive location information of the perceived target obtained based on other positioning technologies. This location information can be sent by the perceived target or by the sensing requester.

[0075] The preset start time for sensing or synergistic sensing services has been reached; (for example, continuous positioning and sensing of moving targets (vehicles) at a certain intersection every Friday at 5:30 pm).

[0076] Among them, the sensing service can also be called the integrated sensing service, which can include both communication services and sensing services.

[0077] Optionally, in some embodiments, the first signal includes any of the following:

[0078] Dedicated sensing signals, integrated sensing signals, LTE reference signals, and NR reference signals.

[0079] In this embodiment of the application, if an NR reference signal is used, the downlink reference signal can be a time-configurable reference signal such as SSB, CSI-RS, Downlink Positioning Reference Signal (DL-PRS), or Phase-tracking reference signal (PT-RS). The uplink reference signal can be a time-configurable reference signal such as SRS or UL-SRS.

[0080] Optionally, in some embodiments, sending the first APS measurement result includes: sending multiple first APS measurement results, the multiple first APS measurement results being used to determine the movement trajectory of the perceived target, and the multiple first APS measurement results being APS measurement results obtained by performing multiple APS measurements.

[0081] It should be understood that when measuring APS, the measurement timestamp needs to be recorded and saved, and reported together with the APS measurement results. If the conversion from measurement to sensing result (i.e., calculating the positioning result of the sensing target) is done in the core network equipment, the base station will report the APS measurement results and measurement timestamp information of each UE to the core network equipment. If the measurement is a periodic measurement (i.e., the time interval between two vector measurements is the same, such as when using periodic UL-SRS or DL-PRS signals), the measurement sequence number and the measurement period (sensing / integrated sensing signal / NR reference signal) can be reported instead of the timestamp information.

[0082] Optionally, in some embodiments, assuming the first sensing device is a computing device (or computing node) that converts a measurement quantity into a sensing result, the positioning result can be directly determined on the first sensing device. For example, determining the positioning result of the sensing target based on the first APS measurement result and at least one received second APS measurement result includes:

[0083] Define the target area;

[0084] The first confidence level is determined for each location coordinate within the target area based on the target location coordinates, the first APS measurement result, and the second APS measurement result.

[0085] The localization result of the perceived target is determined based on the first confidence level;

[0086] Wherein, if the first sensing device or the second sensing device includes a device for transmitting the first signal, the target location coordinates include the location coordinates of the first sensing device and the location coordinates of the second sensing device; if the first sensing device and the second sensing device do not include a device for transmitting the first signal, the target location coordinates include the location coordinates of the first sensing device, the location coordinates of the second sensing device, and the location coordinates of the transmitting device.

[0087] Optionally, in some embodiments, determining the localization result of the perceived target based on the first confidence level includes:

[0088] The location coordinates with the highest confidence level within the target area are determined as the location of the target sensing object.

[0089] Optionally, in some embodiments, determining the first confidence level corresponding to each location coordinate within the target area based on the target location coordinates, the first APS measurement result, and the second APS measurement result includes:

[0090] Based on the location information of the target sensing device and the location information of the transmitting device, the reflection radius angle value corresponding to the target location coordinates is determined. The target sensing device is any sensing device that performs APS measurement on the sensing target, and the target location coordinates are any location coordinates within the target area.

[0091] A second confidence level is determined based on the reflection path angle value, the APS measurement result corresponding to the target sensing device, and the weighting coefficient corresponding to the target sensing device. The weighting coefficient is used to represent the confidence level of the APS measurement result of the target sensing device, and the second confidence level represents the probability that the sensing target is located in the direction of the reflection path angle value of the target sensing device.

[0092] A first confidence level is determined based on the second confidence level corresponding to multiple sensing devices that perform APS measurements on the sensing target, and the first confidence level is positively correlated with the second confidence level of each sensing device.

[0093] In this embodiment, the first confidence level can be obtained by adding or multiplying the second confidence levels corresponding to the target location of multiple sensing devices performing APS measurements. Specifically, refer to the following formulas (1) and (2).

[0094] Optionally, the weight coefficient of the same sensing device at different times is a fixed value, or the weight coefficient of the same sensing device at different times varies within a preset range.

[0095] It should be noted that, taking an example with 2 UEs participating in collaborative sensing and a pedestrian as the sensing target, the positioning principle of the positioning sensing method in this embodiment is as follows:

[0096] For clarity, assume the relative positions of the base station, UE, and pedestrian are as follows: Figure 5 As shown in the diagram (in reality, the UE and base station do not necessarily need to be at the three vertices of the square area), the location coordinates of the base station and UE, as well as the orientation of their own multi-antenna arrays, are known. For each measurement moment, UE 1 and UE 2 can obtain the downlink signal's angle of arrival (APS) including the dynamic reflection path caused by pedestrians (or the uplink signal's departure angle (APS)). Additionally, the base station can obtain the downlink signal's departure angle (APS) including the dynamic reflection path caused by pedestrians (or the uplink reflected signal's arrival angle (APS)). Specific angle estimation can be obtained based on current NR positioning technology's angle measurement methods and NR beam management concepts, or it can be implemented by the UE or base station's own algorithms. For example, the angle power spectrum can be obtained through fast Fourier transform (FFT), commonly used spatial filters (such as Bartlett Beamformer), minimum variance distortionless response (MVDR), multiple signal classification (MUSIC), and their improved algorithms. Dynamic reflection path identification can be achieved through Doppler spectrum estimation combined with pattern recognition or machine learning.

[0097] For any given moment during continuous positioning, once any two of UE 1, UE 2, and the base station determine the angle of arrival / departure of the reflected signal from the sensed target, the intersection of the extensions of the estimated angle directions along UE 1, UE 2, and the base station is the pedestrian's location. However, because the sensing capabilities of individual UEs are relatively weak, and different UEs may have different sensing capabilities, the pedestrian location estimated by UE collaboration (or base station and UE collaboration) is a relatively wide area. When multiple UEs collaborate in sensing, the overlapping areas estimated by them indicate a higher probability of the sensed target's presence, i.e., a higher measurement confidence. The more UEs involved in sensing, the higher the confidence of the overlapping areas estimated by all UEs pairwise. This measurement confidence can be understood as the second confidence level mentioned above.

[0098] Assume t n The channel angle power spectrum (APS) obtained by UE at time 1 is t n The channel angle power spectrum (APS) obtained by UE2 at time 2 is t n The channel angle power spectrum (APS) obtained by the base station at time t is Where n is a positive integer. The sensory region is divided into, for example... Figure 5 The grid map shown, theoretically, if all grids on the map are traversed as possible locations of the sensing target, then for each grid location, the corresponding UE arrival angle (or departure angle, depending on whether it is an uplink or downlink signal) can be obtained by combining the UE location with the UE location. Substituting this into the UE angle power spectrum at the corresponding time, the corresponding power value can be obtained. Let t n The pedestrian's position at time (x) n ,y n The corresponding base station angle of arrival is The angle of arrival of UE 1 is The angle of arrival for UE 2 is Then the pedestrian is at position (x) n ,y n ) confidence level We can define a formula that satisfies either formula (1) or formula (2):

[0099]

[0100]

[0101] In practical applications, all sensing devices can use formula (1) for calculation, or formula (2) can be used. Alternatively, some sensing terminals can use formula (1) for calculation, and some can use formula (2). Formula (1) will be used as an example. Depending on the actual sensing measurement situation, there are several sensing scenarios: Scenario 1, only UE1 and UE2 are measured; Scenario 2, the base station, UE1, and UE2 are measured; Scenario 3...

[0102] Regarding situation 1,

[0103] Regarding scenario 2,

[0104] Regarding situation 3,

[0105] Where, λ u1 (t n ) indicates that UE1 is at t n The weighting coefficient at time λ u2 (t n ) indicates that UE2 is at t n The weighting coefficient at time λ u0 (t n ) indicates that UE1 is at t n Weighting coefficients for each time step.

[0106] It should be understood that the weighting coefficient ranges from (0, 1) to (0, some non-negative value). The larger the value, the higher the confidence level of the sensing measurement of the corresponding sensing device. For continuous positioning sensing, the weight can be a fixed value or a variable that meets the range of values, that is, it can be associated with time or the spatial location of the sensing target.

[0107] In this embodiment, after determining the approximate search range of the initial location of the sensing target (i.e., the aforementioned target area), the computing device divides the search range into several search grid points, where the coordinates of each grid point represent a location coordinate. The size of the grid points is determined comprehensively based on the sensing capabilities of each UE involved in the collaborative sensing (e.g., the number of antennas during UE angle measurement, sensing signal bandwidth, etc.).

[0108] Assuming the target location is represented by each of the defined grid points, the angle (AOD or AOA) of the target's dynamic reflection path at the grid point is obtained based on the grid point's coordinates, the coordinates of the participating sensing base station, and / or the coordinates of the cooperating sensing UE. Substituting these angle values ​​into equation (1) or equation (2), the first confidence level of the grid point is obtained based on the confidence criterion. The computing node repeats the above calculation for all grid points, and the grid point with the highest first confidence level is used as the estimated target location.

[0109] It should be noted that the aforementioned weighting coefficients in continuous positioning sensing services or sensory communication services can be fixed values ​​or dynamically adjusted. Dynamic adjustments may occur when the sensing resources of the collaborative sensing devices need to be reconfigured, or when the sensing target enters or leaves the optimal sensing range of the collaborative sensing devices. The adjustment of the weighting coefficients of the collaborative sensing devices can be determined by the core network equipment.

[0110] It should be understood that determining the target area range includes at least one of the following:

[0111] In the case of the first localization of the perceived target based on the APS measurement results, the range of the target area corresponding to the first localization is determined based on the first preset rule;

[0112] When the perceived target is located for the Mth time based on the APS measurement results, the target area range corresponding to the Mth location is determined based on the location result of the (M-1)th location, where M is an integer greater than 1.

[0113] Optionally, in some embodiments, the first preset rule includes at least one of the following:

[0114] Rule 1, the target area range is the area range indicated by the core network device, and the area range indicated by the core network device is determined based on the first prior information of the perceived target;

[0115] Rule 2, the target area range is determined based on a first location, which is the location of the target based on the echo by at least one sensing device through the self-transmitting and self-receiving of sensing signals;

[0116] Rule 3: When the sensing target is a terminal, the target area range is determined based on a second location, which is the location of the sensing target determined based on the New Radio (NR) positioning method.

[0117] Rule 4 states that the target area is determined based on a third location, which is the location of the perceived target determined by GPS, Bluetooth, or ultra-wideband technology.

[0118] Optionally, for rule 1 above, the sensing target is not required to be a UE. The first prior information includes at least one of the following:

[0119] The core network device receives the initial location area of ​​the sensed target provided by other devices;

[0120] The location of the last continuous location of the previously sensed target in the area where the sensed target is located;

[0121] Pre-stored map information of the perception area and obstacle information;

[0122] A pre-stored probability map of the initial position of the sensed target within the sensed area;

[0123] Location information of multiple sensing devices used to perform APS measurements on the sensed target.

[0124] Regarding rule 2 above, the first location can be understood as the initial location, which can be determined by the sensing node at the initial location through sensing measurements. In this case, the sensing node at the initial location (one of the base stations or cooperative sensing UEs) needs to temporarily occupy more time domain resources (i.e., increase the density and repetition of the sensing / inductive integrated signal / reference signal in the time domain, and the coverage duration), frequency domain resources (i.e., increase the distribution density of the sensing / inductive integrated signal / reference signal in the frequency domain, and the covered frequency range), and spatial domain resources (i.e., increase the number of antennas used for sensing and the antenna array aperture). Optionally, the sensing node at the initial location can be determined by the core network equipment based on the sensing capability information reported by each sensing device (or sensing node). The sensing node reports the obtained first location to the core network equipment, which determines the target area range and notifies the first sensing device. The sensing node at the initial location can be one or more base stations, one or more terminals, or a combination of both.

[0125] Regarding rule 3 above, the sensing target must be a UE, and the initial location of the sensing target is determined based on the NR positioning method. Whether the sensing target is a UE is indicated in the sensing requirements. When the sensing target is also a UE, the core network device can decide to initiate sensing target positioning to obtain the approximate range of the initial location.

[0126] Regarding rule 4 above, the sensing target must be a UE, and the third location can be understood as the initial location. The target area corresponding to the initial location is determined by GPS. Alternatively, the sensing target may not be required to be a UE, and the initial location can be determined by methods such as Bluetooth or Ultra Wide Band (UWB).

[0127] It should be understood that when multiple rules are included, it can be interpreted as determining the target area range through the joint application of multiple rules.

[0128] Optionally, in some embodiments, the method further includes:

[0129] The first sensing device reports target information to the computing device. The target information includes the device information of the first sensing device. The device information of the first sensing device is used by the computing device to determine whether the first sensing device participates in cooperative sensing. The computing device is a core network device or a base station that participates in cooperative sensing.

[0130] In this embodiment, the first sensing device is not a computing device; that is, it does not perform calculations to determine whether to participate in cooperative sensing. In this case, the first sensing device needs to report its device information to the computing device. It should be understood that the first sensing device reporting to the computing device can mean reporting directly to the computing device or indirectly to the sensing device through an intermediate device. For example, when the first sensing device is a terminal and the first computing device is a core network device, the first sensing device can report target information to the base station. Participating in cooperative sensing can be understood as the sensing device that sends or receives the aforementioned first signal.

[0131] Optionally, in some embodiments, the target information further includes device information of at least one sensing device received by the first sensing device, the device information of which is used by the computing device to determine whether the sensing device participates in cooperative sensing.

[0132] In this embodiment, the aforementioned at least one sensing device can be understood as a device with sensing functionality. The first sensing device can receive device information sent by at least one sensing device and report it along with its own device information. It should be noted that when it is determined that a sensing device other than the first sensing device participates in collaborative sensing, and that sensing device performs APS measurement, then that sensing device can be understood as the second sensing device.

[0133] Optionally, in some embodiments, assuming the first sensing device is a computing device, such as a base station, the above method further includes:

[0134] The first sensing device determines at least a portion of the second sensing devices that participate in collaborative sensing based on the device information received from the sensing devices.

[0135] In this embodiment of the application, the second device participating in cooperative sensing can be determined entirely by the first sensing device, or it can be determined partly by the core network device and partly by the first sensing device; no further limitation is made here.

[0136] Optionally, the first sensing device determines at least a portion of the second sensing devices participating in the cooperative sensing in any of the following ways:

[0137] When the device information includes motion state information and location information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the location information;

[0138] When the device information includes motion state information, location information, and location information determination method, a second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, the location information, and the location information determination method.

[0139] When the device information includes motion state information, location information, and sensing capability information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the sensing capability information;

[0140] When the device information includes motion status information, location information, communication status information, and sensing status information, the second sensing device participating in collaborative sensing is determined based on the sensing area information, the motion status information, the location information, the communication status information, and the sensing status information in the sensing requirements.

[0141] The second sensing device is determined based on at least one of the sensing area information and the device information of the sensing device in the sensing requirements.

[0142] Optionally, the device information includes at least one of the following: status information and sensing capability information.

[0143] Optionally, the status information includes at least one of the following: location information, location information determination method, motion status information, panel orientation information, panel tilt angle information, communication status information, sensing status information, and beamforming configuration information.

[0144] For example, in some embodiments, the core device may first determine the base stations participating in the sensing, and then the base stations participating in the sensing may broadcast control information carrying sensing requirements and UE status information reporting requests to the sensing area. UEs within the coverage area of ​​the base station report their device information. The core network device determines the UEs participating in cooperative sensing based on the sensing requirements and the device information reported by the UEs; or, the base stations participating in the sensing determine the UEs participating in cooperative sensing based on the device information reported by the UEs; or, the core network device determines a portion of the UEs participating in cooperative sensing based on the device information reported by the UEs, and the base stations participating in the sensing determine another portion of the UEs participating in cooperative sensing based on the device information reported by the UEs. These UEs can be other types of sensing nodes with equivalent functions, such as small base stations. Further, the base station may report the information of the terminals determined to participate in cooperative sensing to the core network device. Specifically, the reported information may include at least one of the following: cooperative sensing UE ID, cooperative sensing UE location information, cooperative sensing UE location information determination method (or equivalently, information characterizing the accuracy of UE location), the total number of cooperative sensing UEs in the sensing area, and cooperative sensing UE status information.

[0145] Furthermore, location information for UEs participating in collaborative sensing may be missing. In this case, the core network equipment can initiate a location process for those UEs to obtain their location information. The location method can use NR positioning or other methods. After completing the location process for those UEs and obtaining their location information, the base station or UE reports the location information, the location method used (or equivalently, information representing the accuracy of the UE's location), and other device information of those UEs to the core network equipment. The core network equipment then ultimately determines all UEs participating in collaborative sensing.

[0146] Optionally, in some embodiments, the first APS measurement result is the APS measurement result of the entire channel or the APS measurement result within a preset angle range, wherein the preset angle range is determined by the first sensing device or indicated by a computing device, and the computing device is a core network device or a base station that determines the cooperative sensing participants.

[0147] In this embodiment, the APS measurement results of the entire channel can be uploaded, or the APS measurement results of a preset angle range corresponding to the dynamic reflection path of the sensed target can be selectively reported, thereby reducing reporting overhead. The preset angle range can be obtained from historical APS measurement results and / or dynamic reflection path spectrum peaks. For example, the core network device can predict the approximate location range of the current sensed target based on historical positioning results from continuous positioning, further obtain the approximate range of the angle of arrival (or departure angle, depending on whether the measurement is uplink or downlink) from the sensed target to each cooperating sensed UE, and then send this angle of arrival (or departure angle) range to each cooperating sensed UE. Based on this result, the UE feeds back the APS measurement value of the corresponding angle range to the core network.

[0148] Optionally, in some embodiments, the first sensing device performs angular power spectrum (APS) measurement on the sensing target, and the first APS measurement result of obtaining the dynamic reflection path of the first signal includes at least one of the following:

[0149] When the first sensing device is the transmitting device of the first signal, the first sensing device transmits the first signal through beam scanning, receives the first measurement result of the second sensing device based on the first signal, and determines the departure angle APS according to the first measurement result. The first measurement result includes the reference signal received power (RSRP) measurement results corresponding to multiple beams.

[0150] When the first sensing device is a receiving device for the first signal, the first sensing device receives the first signal through beam scanning to obtain a second measurement result, and determines the angle of arrival (APS) based on the second measurement result. The second measurement result includes RSRP measurement results corresponding to multiple beams.

[0151] In this embodiment, the sensing measurement between the base station and the terminal is used as an example for illustration. The measurement includes the following situations:

[0152] 1. For the downlink base station-side Angle of Departure (AOD) APS, the UE can receive the DL-PRS signal and perform DL-PRS RSRP measurement by transmitting the downlink DL-PRS beam (beam scanning). The difference from the NR procedure is that the UE not only feeds back the maximum RSRP beam index information to the base station, but also feeds back the corresponding RSRP measurement result for each beam. The base station thus obtains the channel AOD APS.

[0153] 2. For the downlink terminal-side Angle of Arrival (AOA) APS, if the UE has beam scanning capability and strong beamforming capability, after the downlink base station-side AOD is determined based on DL-PRS as described above, the base station fixes the optimal downlink beam (i.e., the base station downlink beam corresponding to the maximum DL-PRS RSRP measured by the UE), the UE performs beam scanning reception, and measures the DL-PRS RSRP to obtain the channel AOA APS.

[0154] 3. For uplink UE-side AOD APS, if the UE has beam scanning capability and strong beamforming capability, the UE sends uplink UL-SRS beam (beam scanning), and the sensing base station receives the UL-SRS signal and performs UL-SRS RSRP measurement. The difference from the NR process is that the base station not only indicates the maximum RSRP beam index information to the UE, but also sends the corresponding RSRP measurement result for each beam. The UE thus obtains the channel AOD APS.

[0155] IV. For the uplink base station-side AOA APS, the base station instructs the UE to fix the uplink UL-SRS beam (i.e., the UE uplink beam corresponding to the maximum UL-SRS RSRP measured by the base station) based on the UL-SRS RSRP measurement result. The base station performs beam scanning reception and measures the UL-SRS RSRP to obtain the channel AOA APS.

[0156] It should be noted that sensing devices can also be grouped to determine which sensing devices participate in cooperative sensing. For example, in some embodiments, UEs assisting in sensing can be grouped. The grouping can be performed by the core network equipment. The following example, using both a base station and a terminal as sensing devices in cooperative sensing, illustrates the process of determining the base station and terminal for cooperative sensing:

[0157] First, the sensing area can be divided into sensing sub-regions, which are smaller physical regions within the sensing area. The division of sensing sub-regions (location and size) can be determined based on at least one of the following:

[0158] Information on the number and density of targets to be sensed within the sensing area, as required by the sensing criteria.

[0159] UE status information, such as the UE's maximum sensing distance;

[0160] The core network equipment senses UE information within the sensing area it possesses;

[0161] Base station status information, such as the maximum sensing distance and maximum communication coverage distance of the base station;

[0162] The information of the base stations participating in the collaborative sensing within the sensing area that the core network equipment possesses.

[0163] Alternatively, if the above information is unavailable, the division can be based on preset default values, such as uniform division or division based on historical continuous positioning service division results.

[0164] Optionally, the sensing sub-region can be divided into two levels, corresponding to the sub-regions of the base station and the UE (hereinafter referred to as the base station sensing sub-region and the UE sensing sub-region, respectively). The physical area sizes of the two levels can be different. Generally, the number of base stations is relatively smaller than that of UEs, but the coverage area is larger, supporting a greater sensing distance. Therefore, the physical range of the base station sensing sub-region is generally larger than that of the UE sensing sub-region. A base station sensing sub-region can contain one or more UE sensing sub-regions, and the base station sensing sub-regions can be physically discontinuous. For example... Figure 6 As shown, the sensing sub-region corresponding to base station 1 is the merged region of UE sensing sub-region 1 and UE sensing sub-region 2, that is, the sensing sub-region of base station 1 includes both UE sensing sub-region 1 and UE sensing sub-region 2. The sensing sub-region of base station 2 only includes UE sensing sub-region 3. In addition, there may be a certain degree of overlap between the multiple UE sensing sub-regions and between the multiple base station sensing sub-regions.

[0165] Then, base stations participating in sensing are assigned to each base station sensing sub-region, and a group of cooperating sensing UEs is assigned to each UE sensing sub-region. The basis for assigning cooperating sensing UEs to UE sensing sub-regions can be at least one of the following: UE location information, UE sensing capability indication information, UE sensing status indication, and UE communication status indication from the UE status information. One sensing sub-region corresponds to one UE group, and the total number of cooperating sensing UEs within a UE group is at least two. One or more base stations participating in sensing may exist within a sensing region, and one base station sensing sub-region may also contain one or more base stations participating in sensing. The basis for assigning base stations participating in sensing within a base station sensing sub-region can be at least one of the following: base station location information, base station sensing capability indication information, base station sensing status indication, and base station communication status indication from the base station status information.

[0166] The UE group is associated with the sensing base station, and the association can be based on at least one of the following: the base station sensing sub-area division result, the UE sensing sub-area division result, one or more of the base station status information, and one or more of the UE status information. The core network sends the association result to the participating sensing base stations. Optionally, the core network equipment sends the association result to the cooperative sensing UE group.

[0167] Optionally, considering the randomness of UE distribution, there may be situations where some sensing sub-areas cannot have a sufficient number of sensing cooperative UEs. In this case, the base station can schedule UEs in other UE groups that meet the sensing requirements in the vicinity to cooperate in sensing using time division multiplexing (or frequency division multiplexing or code division multiplexing).

[0168] like Figure 6 As shown, the outermost solid box represents the sensing area, the dashed box represents the three divided UE sensing sub-areas, and the ellipse represents different cooperative sensing UE groups. For UE sensing sub-area 3, only UE 5 is available in this area. In this case, the network can configure UE 3 in time-division multiplexing sensing mode. That is, in some time slots, UE 3 and other cooperative sensing UEs in UE group 2 continuously locate the sensing target 2. In other non-overlapping time slots, UE 3 cooperates with UE 5 in UE group 3 to continuously locate the sensing target 3. Similarly, if the trajectory of the same sensing target crosses the above-mentioned UE sensing sub-area 2 and UE sensing sub-area 3, the above-mentioned scheme of multiplexing a portion of UEs for cross-sub-area cooperative sensing can also be adopted. For areas without base stations or UE coverage within the sensing area, the core network divides these areas into sensing blind spots.

[0169] It should be noted that after determining the base stations and UEs participating in the collaborative sensing, sensing-related parameters can be configured. For example, the core network equipment can send configuration parameter information related to the sensing / integrated sensing signal / NR reference signal to the participating base stations. The UE's configuration parameter information can be transmitted by the core network equipment via NAS signaling, or the core network equipment can first send the sensing / integrated sensing signal configuration parameter information to the participating base stations, and then the base stations can distribute it to the UE.

[0170] The configuration parameter information includes at least one of the following: waveform, subcarrier spacing, bandwidth, Burst duration, signal time interval within a Burst, time interval between Bursts, transmitted signal power, signal format, signal direction, time resources, frequency resources, antenna / antenna port index, number of antenna / antenna ports, and quasi-co-location (QCL) relationship.

[0171] Furthermore, in some embodiments, the method further includes:

[0172] The first sensing device switches at least one device to participate in collaborative sensing according to a second preset rule.

[0173] In this embodiment of the application, as the positioning time progresses, it may be necessary to switch at least one of the collaborative sensing devices to ensure the reliability of the sensing.

[0174] Optionally, the second preset rule includes at least one of the following:

[0175] If the first preset condition is met, the base station participating in the cooperative sensing is switched over.

[0176] If the second preset condition is met, the switching of the terminal group participating in collaborative sensing is triggered.

[0177] The at least one device includes at least one base station and at least one terminal group.

[0178] Optionally, the first preset condition includes at least one of the following:

[0179] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing.

[0180] Based on the current location result of the sensing target, it is determined that among the base stations participating in cooperative sensing, at least one base station is at a distance greater than a first preset distance from the sensing target, and the sensing target and the remaining base stations among the base stations participating in cooperative sensing cannot provide sensing results that meet the preset sensing service quality.

[0181] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, the target spectral peak power reported by all terminals is lower than a first preset value.

[0182] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, all terminals report target measurement results that are lower than a second preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to APS measurement.

[0183] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a third preset value.

[0184] Optionally, the second preset condition includes at least one of the following:

[0185] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to the terminal group participating in collaborative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to the terminal group participating in collaborative sensing.

[0186] Based on the current location result of the sensing target, it is determined that in the current collaborative sensing terminal group, at least one terminal is at least one terminal whose distance to the sensing target is greater than a second preset distance.

[0187] In at least one base station-associated terminal group participating in cooperative sensing, at least one terminal reports a sensing target spectral peak power lower than a fourth preset value, and the remaining terminals in the terminal group are unable to provide sensing results that meet the preset sensing service quality.

[0188] Based on the current positioning result of the perceived target, it is determined that in the terminal group, at least one terminal reports a target measurement result that is lower than a fifth preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to the APS measurement.

[0189] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a sixth preset value.

[0190] The base station involved in the collaborative sensing has switched over.

[0191] It should be understood that at least one device participating in the collaborative sensing can be a terminal, a base station, or a dedicated sensing device.

[0192] To better understand this application, the following specific examples will be used for illustration:

[0193] Example 1: Collaboratively sensing UE groups and / or participating in sensing base station handover.

[0194] Because the target of the sensing service may move during the process, it may leave the sensing range of the original cooperative sensing UE group. In this case, the network needs to allocate a new cooperative sensing UE group to the sensing target, and even allocate a new participating sensing base station. The new cooperative sensing UE group may include some of the UEs in the original cooperative sensing UE group. When allocating a new sensing base station, a new cooperative sensing UE group can be allocated at the same time, or the original cooperative sensing UE group can be used. That is, the core network re-associates the cooperative sensing UEs with the base station.

[0195] Optionally, the handover conditions for the base stations participating in sensing include at least one of the following:

[0196] [1] Based on the current location results of the perceived target, it is found that the perceived target is about to or has already left the perceived sub-area corresponding to the current base station;

[0197] [2] Based on the current location results of the sensing target, it was found that the distance between the sensing target and at least one of the base stations currently participating in the sensing exceeds the maximum sensing distance of that base station, and the remaining base stations in the group are insufficient to provide sensing results that meet the predetermined sensing QoS.

[0198] [3] Based on the current channel APS measurement results, it is found that the peak power of the sensing target spectrum measured by the base station or reported by all associated UEs, or the measurement results of other measurement quantities related to the channel APS measurement (such as the received power of uplink or downlink sensing / inductive integrated signal / NR signal, RSRP, etc.) are lower than the preset threshold.

[0199] [4] Based on the current and historical positioning results of the perceived target, it was found that the span of the physical range of the perceived target trajectory exceeded the preset threshold.

[0200] The conditions for triggering cooperative awareness UE packet handover can be at least one of the following:

[0201] ① Based on the current location results of the perceived target, it is discovered that the perceived target is about to leave or has already left the perception sub-area corresponding to the current cooperative perception UE group;

[0202] ② Based on the current location results of the perceived target, it is found that the distance between the perceived target and at least one UE in the current cooperative perceived UE group exceeds the maximum perception distance of that UE, and the remaining UEs in the group are insufficient to provide perception results that meet the predetermined perception QoS;

[0203] ③ Based on the current channel APS measurement results, it is found that the peak power of the sensing target spectrum of at least one UE in the cooperative sensing UE group, or the measurement results of other measurements related to the channel APS measurement (such as the received power of uplink or downlink sensing / integrated sensing / NR signal, RSRP, etc.) are lower than the preset threshold.

[0204] ④ Based on the current and historical positioning results of the target, it was found that the span of the physical range of the target's trajectory exceeded the preset threshold.

[0205] ⑤ The handover of the base station involved in sensing was triggered.

[0206] The handover process for participating sensing base stations includes:

[0207] 1. If the switching conditions of the base station are met, the switching of the sensing base station is triggered. If the node that detects the triggering condition is the original sensing base station (as described in the above conditions [3][4]), the original sensing base station can send a sensing base station switching request to the core network equipment. The node that detects the triggering condition can also be the core network equipment (as described in the above conditions [1][2][5]).

[0208] 2. The core network equipment determines a new participating sensing base station and sends a sensing handover preparation instruction to the new sensing base station; or, the core network equipment determines a new participating sensing base station and sends the new sensing base station ID to the original sensing base station, and the original sensing base station sends a sensing handover preparation instruction to the new sensing base station.

[0209] 3. The new sensing base station and the cooperative sensing UE group prepare for handover. After completion, they report a successful handover preparation indication to the core network equipment. Alternatively, the new sensing base station and the cooperative sensing UE group prepare for handover. After completion, they send a successful handover preparation indication to the original sensing base station and the core network equipment. Upon receiving the successful handover preparation indication, the core network equipment sends a start sensing indication to the new sensing base station and its associated cooperative sensing UE group.

[0210] 4. The new sensing base station and the cooperative sensing UE group perform sensing and report the sensing measurement results to the core network equipment. Optionally, at least one of the new sensing base station and the new cooperative sensing UE group sends a start sensing indication response to the core network equipment.

[0211] 5. After receiving the sensing measurement results reported by the new cooperative sensing UE group, or the start sensing indication response, the core network equipment sends a stop sensing indication to some or all UEs in the original cooperative sensing UE group. The stop sensing indication can be sent through non-access stratum (NAS) signaling or through the base station.

[0212] 6. After some or all UEs in the current collaborative sensing UE group receive the stop sensing instruction, they stop sensing measurements and complete the handover.

[0213] The collaborative awareness UE group handover process includes:

[0214] 1. If the node detecting the triggering condition (i.e., the UE packet handover condition) is a cooperative sensing UE and / or a participating sensing base station (as in conditions ③ and ④ above), the corresponding UE and / or base station sends a sensing UE packet handover request to the core network equipment. Optionally, the node detecting the triggering condition can also be a core network equipment (as in conditions ①, ②, and ⑤ above).

[0215] 2. The core network equipment identifies new cooperative awareness UE packets and sends a start awareness indication to the new cooperative awareness UE packets. This start awareness indication can be sent via NAS signaling or through the base station.

[0216] 3. The new cooperative sensing UE group performs cooperative sensing and reports the sensing measurement results. Optionally, the UE in the new cooperative sensing UE group sends a start sensing indication response to the core network equipment.

[0217] 4. After receiving the sensing measurement results reported by the new cooperative sensing UE group, or the start sensing indication response, the core network equipment sends a stop sensing indication to some or all UEs in the original cooperative sensing UE group. The stop sensing indication can be sent through NAS signaling or through the base station.

[0218] 5. After some or all UEs in the current collaborative sensing UE group receive the stop sensing instruction, they stop sensing measurements and complete the handover.

[0219] It should be noted that if the target enters the sensing blind zone, the continuous positioning sensing service may be terminated, or the process may be switched to other positioning sensing processes (such as continuous positioning based on the sensing nodes' self-transmitted and self-received sensing signals, or NR continuous positioning, or continuous positioning based on GPS / Bluetooth / UWB).

[0220] Example 2: Failure and Supplementation of Collaboratively Aware UE.

[0221] During continuous location-aware services, cooperative sensing UEs may become unable to continue supporting cooperative sensing due to their own limitations. In such cases, the network needs to determine the failure of the cooperative sensing UE and remove the failed UE. If necessary, it may also be necessary to add new UEs to the current cooperative sensing UE group.

[0222] The triggering condition for collaboratively aware UE failure can be at least one of the following:

[0223] The collaborative sensing UE has moved, which no longer satisfies the premise assumptions of this patent method;

[0224] The collaborative awareness UE was interrupted by a higher priority service and could no longer support collaborative awareness.

[0225] The collaborative sensing UE sensing / sensing integration resources are limited and cannot meet the requirements of collaborative sensing capabilities;

[0226] The UE proactively initiates an interruption assistance sensing request.

[0227] If a UE fails and the number of UEs in the original cooperative sensing UE group does not meet the minimum requirement, then UEs need to be added to the cooperative sensing group. Alternatively, if there are new UEs available for cooperative sensing in the sensing area, the network can also add UEs.

[0228] The specific collaborative awareness UE failure and replenishment process includes:

[0229] (1) If the failure condition is met, the relevant UE sends a UE failure indication to the core network;

[0230] (2) When the core network equipment receives the sensing UE failure indication, it identifies a new available cooperative sensing UE and sends a stop sensing indication to the failed UE.

[0231] (3) If a new available cooperative sensing UE appears and needs to be added, the core network equipment sends a start sensing indication to the newly identified cooperative sensing UE. The start sensing indication can be sent through NAS signaling or through the base station.

[0232] Example 3: Adjustment of confidence level for collaboratively sensing UE and / or base station measurements.

[0233] During the sensing service process, the measurement confidence of the collaborative sensing UE is reflected by the weighting coefficients of the above formula (1) or formula (2). The accuracy of the final comprehensive result of the UE measurement confidence is determined by the corresponding weighting coefficients, which can be dynamically adjusted to obtain more accurate continuous positioning results.

[0234] Optionally, the available sensing resources for a UE in collaborative sensing may change. For example, if a UE obtains more resources in the time domain (corresponding to the ability to occupy more symbols in the time domain for sensing / integrated sensing signals / NR reference signal transmission), frequency domain (corresponding to obtaining a larger sensing / integrated sensing bandwidth), or spatial domain (corresponding to obtaining more antenna ports / number of antennas for sensing / integrated sensing) during a sensing service (or it may obtain fewer resources), its sensing capability changes, and the measurement confidence of the UE also needs to be adjusted.

[0235] Optionally, the measurement accuracy of the cooperative sensing UE is related to the location accuracy of the cooperative sensing UE. If the cooperative sensing UE uses a more accurate positioning method to update its own location, the measurement confidence of the UE also needs to be adjusted.

[0236] Optionally, the measurement accuracy of the cooperative sensing UE is related to the location of the sensing target. When the location of the sensing target changes, the measurement confidence of the UE also needs to be adjusted. For example, for Doppler frequency measurement, the measurement accuracy is higher when the distance between the sensing target and the base station and each cooperative sensing UE meets the far-field condition; for APS measurement, the measurement accuracy is higher when the sensing target is located directly opposite the UE's multi-antenna panel.

[0237] Optionally, the measurement accuracy of the cooperative sensing UE is also related to the signal-to-noise ratio (SNR) on the cooperative sensing UE side. For example, the higher the UE measurement SNR, the higher the measurement accuracy, and the higher the corresponding measurement confidence.

[0238] Optionally, the measurement confidence of each UE in the collaborative sensing UE group needs to ensure that the confidence of the perceived target location remains within a preset range throughout the continuous positioning process. When the situations described in Embodiments 1 and 2 occur, the number of UEs in the group may change, and in this case, the weight coefficients corresponding to all UEs in the group need to be adjusted as a whole.

[0239] It should be understood that the adjustment of measurement confidence can be accomplished by each sensing node reporting updated recommended values ​​of weight coefficients to the core network, or by the core network equipment adjusting them itself.

[0240] Example 4: Enhanced Positioning.

[0241] The biggest problem with existing outdoor GPS continuous positioning is that it is easily blocked by tall buildings, resulting in weak GPS signals and consequently low positioning accuracy in some areas or road sections, or even the inability to perform GPS positioning services. On the other hand, existing 3GPP positioning schemes are limited by the large spacing between outdoor macro base stations, resulting in relatively limited positioning accuracy. The sensing positioning method provided in this application can use the GPS position before obstruction as the initial position to achieve continuous positioning of sensed targets in areas with obstructed or weak GPS signal coverage, thus supplementing existing continuous positioning methods.

[0242] Specifically, for areas with obstructed or poorly covered GPS signals, it is generally assumed that there is still a sufficiently dense distribution of base stations and UEs. When the target is about to enter an area with obstructed or weak GPS signal coverage, the system can switch to continuous positioning sensing using the method described in this patent. At this time, the target's GPS positioning information can be used as the initial location information for continuous positioning using this method. When the target moves out of the area with weak GPS signal coverage, the system can switch back to continuous GPS positioning. Through this method, the overall performance of the continuous positioning service is improved.

[0243] Reference Figure 7 This application also provides a positioning sensing method, including:

[0244] Step 701: The core network device receives at least two APS measurement results. Each APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target.

[0245] Step 702: The core network device determines the location result of the sensed target based on the at least two APS measurement results.

[0246] Optionally, before the core network equipment receives at least two APS measurement results, the method further includes:

[0247] Core network equipment receives device information from sensing equipment;

[0248] The core network equipment determines whether the sensing device should participate in collaborative sensing based on the equipment information.

[0249] Optionally, the core network device determines the sensing devices for cooperative sensing in at least one of the following ways:

[0250] When the device information includes motion state information and location information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the location information;

[0251] When the device information includes motion state information, location information, and location information determination method, a second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, the location information, and the location information determination method.

[0252] When the device information includes motion state information, location information, and sensing capability information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the sensing capability information;

[0253] When the device information includes motion status information, location information, communication status information, and sensing status information, the second sensing device participating in collaborative sensing is determined based on the sensing area information, the motion status information, the location information, the communication status information, and the sensing status information in the sensing requirements.

[0254] The second sensing device is determined based on at least one of the sensing area information and the device information of the sensing device in the sensing requirements.

[0255] Optionally, the device information includes at least one of the following: status information and sensing capability information.

[0256] Optionally, the status information includes at least one of the following: location information, location information determination method, motion status information, panel orientation information, panel tilt angle information, communication status information, sensing status information, and beamforming configuration information.

[0257] Optionally, the method further includes:

[0258] The core network equipment switches at least one device to participate in cooperative sensing according to a second preset rule.

[0259] Optionally, the second preset rule includes at least one of the following:

[0260] If the first preset condition is met, the base station participating in the cooperative sensing is switched over.

[0261] If the second preset condition is met, the switching of the terminal group participating in collaborative sensing is triggered.

[0262] The at least one device includes at least one base station and at least one terminal group.

[0263] Optionally, the first preset condition includes at least one of the following:

[0264] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing.

[0265] Based on the current location result of the sensing target, it is determined that among the base stations participating in cooperative sensing, at least one base station is at a distance greater than a first preset distance from the sensing target, and the sensing target and the remaining base stations among the base stations participating in cooperative sensing cannot provide sensing results that meet the preset sensing service quality.

[0266] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, the target spectral peak power reported by all terminals is lower than a first preset value.

[0267] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, all terminals report target measurement results that are lower than a second preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to APS measurement.

[0268] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a third preset value.

[0269] Optionally, the second preset condition includes at least one of the following:

[0270] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to the terminal group participating in collaborative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to the terminal group participating in collaborative sensing.

[0271] Based on the current location result of the sensing target, it is determined that in the current collaborative sensing terminal group, at least one terminal is at least one terminal whose distance to the sensing target is greater than a second preset distance.

[0272] In at least one base station-associated terminal group participating in cooperative sensing, at least one terminal reports a sensing target spectral peak power lower than a fourth preset value, and the remaining terminals in the terminal group are unable to provide sensing results that meet the preset sensing service quality.

[0273] Based on the current positioning result of the perceived target, it is determined that in the terminal group, at least one terminal reports a target measurement result that is lower than a fifth preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to the APS measurement.

[0274] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a sixth preset value.

[0275] The base station involved in the collaborative sensing has switched over.

[0276] Optionally, the first signal includes any one of the following:

[0277] Dedicated sensing signals, integrated sensing signals, LTE reference signals, and NR reference signals.

[0278] The sensing and positioning method provided in this embodiment of the invention Figure 4 The method executed by the core network device corresponding to the embodiment can realize the various steps executed by the core network device and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0279] The positioning sensing method provided in this application can be executed by a positioning sensing device. This application embodiment uses positioning sensing... Device Taking the execution of a location sensing method as an example, this application illustrates the location sensing provided in its embodiments. Device .

[0280] like Figure 8 As shown, the positioning sensing device 800 provided in this application embodiment includes:

[0281] The measurement module 801 is used to perform angular power spectrum (APS) measurement on the sensing target to obtain a first APS measurement result of the dynamic reflection path of the first signal. The first APS measurement result is used to determine the positioning result of the sensing target.

[0282] Execution module 802 is used to perform a first operation or a second operation based on the first APS measurement result;

[0283] The first operation includes sending a first APS measurement result, and the second operation includes determining the positioning result of the perceived target based on the first APS measurement result and at least one received second APS measurement result. The second APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the perceived target.

[0284] Optionally, the first sensing device may include a terminal, a network-side device, or a dedicated sensing device for performing sensing measurements.

[0285] Optionally, when the first sensing device is a transmitting device for the first signal, the receiving device for the first signal includes a terminal, a network-side device, or a dedicated sensing device; when the first sensing device is a receiving device for the first signal, the transmitting device for the first signal includes a terminal, a network-side device, or a dedicated sensing device.

[0286] Optionally, the first signal includes any one of the following:

[0287] Dedicated sensing signals, integrated sensing signals, LTE reference signals, and NR reference signals.

[0288] Optionally, sending the first APS measurement result includes: sending multiple first APS measurement results, wherein the multiple first APS measurement results are used to determine the movement trajectory of the perceived target, and the multiple first APS measurement results are APS measurement results obtained by performing multiple APS measurements.

[0289] Optionally, the second operation performed by the execution module 802 includes:

[0290] Define the target area;

[0291] The first confidence level is determined for each location coordinate within the target area based on the target location coordinates, the first APS measurement result, and the second APS measurement result.

[0292] The localization result of the perceived target is determined based on the first confidence level;

[0293] Wherein, if the first sensing device or the second sensing device includes a device for transmitting the first signal, the target location coordinates include the location coordinates of the first sensing device and the location coordinates of the second sensing device; if the first sensing device and the second sensing device do not include a device for transmitting the first signal, the target location coordinates include the location coordinates of the first sensing device, the location coordinates of the second sensing device, and the location coordinates of the transmitting device.

[0294] Optionally, determining the localization result of the perceived target based on the first confidence level includes:

[0295] The location coordinates with the highest confidence level within the target area are determined as the location of the target sensing object.

[0296] Optionally, determining the target area range includes at least one of the following:

[0297] In the case of the first localization of the perceived target based on the APS measurement results, the range of the target area corresponding to the first localization is determined based on the first preset rule;

[0298] When the perceived target is located for the Mth time based on the APS measurement results, the target area range corresponding to the Mth location is determined based on the location result of the (M-1)th location, where M is an integer greater than 1.

[0299] Optionally, the first preset rule includes at least one of the following:

[0300] The target area is the area indicated by the core network device, and the area indicated by the core network device is determined based on the first prior information of the perceived target.

[0301] The target area range is determined based on a first location, which is the location where at least one sensing device locates the sensing target based on the echo by transmitting and receiving sensing signals.

[0302] When the sensing target is a terminal, the target area range is determined based on a second location, which is the location of the sensing target determined based on the New Radio (NR) positioning method.

[0303] The target area is determined based on a third location, which is the location of the perceived target determined by GPS, Bluetooth, or ultra-wideband technology.

[0304] Optionally, the first prior information includes at least one of the following:

[0305] The core network device receives the initial location area of ​​the sensed target provided by other devices;

[0306] The location of the last continuous location of the previously sensed target in the area where the sensed target is located;

[0307] Pre-stored map information of the perception area and obstacle information;

[0308] A pre-stored probability map of the initial position of the sensed target within the sensed area;

[0309] Location information of multiple sensing devices used to perform APS measurements on the sensed target.

[0310] Optionally, determining the first confidence level corresponding to each location coordinate within the target area based on the target location coordinates, the first APS measurement result, and the second APS measurement result includes:

[0311] Based on the location information of the target sensing device and the location information of the transmitting device, the reflection radius angle value corresponding to the target location coordinates is determined. The target sensing device is any sensing device that performs APS measurement on the sensing target, and the target location coordinates are any location coordinates within the target area.

[0312] A second confidence level is determined based on the reflection path angle value, the APS measurement result corresponding to the target sensing device, and the weighting coefficient corresponding to the target sensing device. The weighting coefficient is used to represent the confidence level of the APS measurement result of the target sensing device, and the second confidence level represents the probability that the sensing target is located in the direction of the reflection path angle value of the target sensing device.

[0313] A first confidence level is determined based on the second confidence level corresponding to multiple sensing devices that perform APS measurements on the sensing target, and the first confidence level is positively correlated with the second confidence level of each sensing device.

[0314] Optionally, the weight coefficient of the same sensing device at different times is a fixed value, or the weight coefficient of the same sensing device at different times varies within a preset range.

[0315] Optionally, the positioning sensing device 800 also includes:

[0316] The first sending module is used to report target information to the computing device. The target information includes the device information of the first sensing device. The device information of the first sensing device is used by the computing device to determine whether the first sensing device participates in cooperative sensing. The computing device is a core network device or a base station that determines whether to participate in cooperative sensing.

[0317] Optionally, the target information may also include device information of at least one sensing device received by the first sensing device, the device information of which is used by the computing device to determine whether the sensing device participates in collaborative sensing.

[0318] Optionally, the positioning sensing device 800 also includes:

[0319] The second determining module is used to determine at least a portion of the second sensing devices participating in collaborative sensing based on the device information received from the sensing devices.

[0320] Optionally, determining at least some of the second sensing devices participating in collaborative sensing can be achieved in any of the following ways:

[0321] When the device information includes motion state information and location information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the location information;

[0322] When the device information includes motion state information, location information, and location information determination method, a second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, the location information, and the location information determination method.

[0323] When the device information includes motion state information, location information, and sensing capability information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the sensing capability information;

[0324] When the device information includes motion status information, location information, communication status information, and sensing status information, the second sensing device participating in collaborative sensing is determined based on the sensing area information, the motion status information, the location information, the communication status information, and the sensing status information in the sensing requirements.

[0325] The second sensing device is determined based on at least one of the sensing area information and the device information of the sensing device in the sensing requirements.

[0326] Optionally, the device information includes at least one of the following: status information and sensing capability information.

[0327] Optionally, the status information includes at least one of the following: location information, location information determination method, motion status information, panel orientation information, panel tilt angle information, communication status information, sensing status information, and beamforming configuration information.

[0328] Optionally, the first APS measurement result is the APS measurement result of the entire channel or the APS measurement result within a preset angle range, wherein the preset angle range is determined by the first sensing device or indicated by the computing device, and the computing device is a core network device or a base station that determines the cooperative sensing participants.

[0329] Optionally, the first sensing device performs angular power spectrum (APS) measurement on the sensing target to obtain the first APS measurement result of the dynamic reflection path of the first signal, which includes at least one of the following:

[0330] When the first sensing device is the transmitting device of the first signal, the first sensing device transmits the first signal through beam scanning, receives the first measurement result of the second sensing device based on the first signal, and determines the departure angle APS according to the first measurement result. The first measurement result includes the reference signal received power (RSRP) measurement results corresponding to multiple beams.

[0331] When the first sensing device is a receiving device for the first signal, the first sensing device receives the first signal through beam scanning to obtain a second measurement result, and determines the angle of arrival (APS) based on the second measurement result. The second measurement result includes RSRP measurement results corresponding to multiple beams.

[0332] Optionally, the positioning sensing device 800 also includes:

[0333] The switching module is used to switch at least one device participating in collaborative sensing according to a second preset rule.

[0334] Optionally, the second preset rule includes at least one of the following:

[0335] If the first preset condition is met, the base station participating in the cooperative sensing is switched over.

[0336] If the second preset condition is met, the switching of the terminal group participating in collaborative sensing is triggered.

[0337] The at least one device includes at least one base station and at least one terminal group.

[0338] Optionally, the first preset condition includes at least one of the following:

[0339] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing.

[0340] Based on the current location result of the sensing target, it is determined that among the base stations participating in cooperative sensing, at least one base station is at a distance greater than a first preset distance from the sensing target, and the sensing target and the remaining base stations among the base stations participating in cooperative sensing cannot provide sensing results that meet the preset sensing service quality.

[0341] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, the target spectral peak power reported by all terminals is lower than a first preset value.

[0342] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, all terminals report target measurement results that are lower than a second preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to APS measurement.

[0343] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a third preset value.

[0344] Optionally, the second preset condition includes at least one of the following:

[0345] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to the terminal group participating in collaborative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to the terminal group participating in collaborative sensing.

[0346] Based on the current location result of the sensing target, it is determined that in the current collaborative sensing terminal group, at least one terminal is at least one terminal whose distance to the sensing target is greater than a second preset distance.

[0347] In at least one base station-associated terminal group participating in cooperative sensing, at least one terminal reports a sensing target spectral peak power lower than a fourth preset value, and the remaining terminals in the terminal group are unable to provide sensing results that meet the preset sensing service quality.

[0348] Based on the current positioning result of the perceived target, it is determined that in the terminal group, at least one terminal reports a target measurement result that is lower than a fifth preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to the APS measurement.

[0349] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a sixth preset value.

[0350] The base station involved in the collaborative sensing has switched over.

[0351] Reference Figure 9 This application also provides another positioning sensing device, such as... Figure 9 As shown, the positioning sensing device 900 includes:

[0352] The receiving module 901 is used to receive at least two APS measurement results, each of which is the APS measurement result of the dynamic reflection path of the first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target.

[0353] The first determining module 902 is used to determine the positioning result of the perceived target based on the at least two APS measurement results.

[0354] Optionally, the receiving module 901 is further configured to receive device information of the sensing device;

[0355] The first determining module 902 is further configured to determine whether the sensing device participates in collaborative sensing based on the device information.

[0356] Optionally, the method for determining the sensing device for collaborative sensing includes at least one of the following:

[0357] When the device information includes motion state information and location information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the location information;

[0358] When the device information includes motion state information, location information, and location information determination method, a second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, the location information, and the location information determination method.

[0359] When the device information includes motion state information, location information, and sensing capability information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the sensing capability information;

[0360] When the device information includes motion status information, location information, communication status information, and sensing status information, the second sensing device participating in collaborative sensing is determined based on the sensing area information, the motion status information, the location information, the communication status information, and the sensing status information in the sensing requirements.

[0361] The second sensing device is determined based on at least one of the sensing area information and the device information of the sensing device in the sensing requirements.

[0362] Optionally, the device information includes at least one of the following: status information and sensing capability information.

[0363] Optionally, the status information includes at least one of the following: location information, location information determination method, motion status information, panel orientation information, panel tilt angle information, communication status information, sensing status information, and beamforming configuration information.

[0364] Optionally, the positioning sensing device further includes:

[0365] The switching module is used to switch at least one device participating in collaborative sensing according to a second preset rule.

[0366] Optionally, the second preset rule includes at least one of the following:

[0367] If the first preset condition is met, the base station participating in the cooperative sensing is switched over.

[0368] If the second preset condition is met, the switching of the terminal group participating in collaborative sensing is triggered.

[0369] The at least one device includes at least one base station and at least one terminal group.

[0370] Optionally, the first preset condition includes at least one of the following:

[0371] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing.

[0372] Based on the current location result of the sensing target, it is determined that among the base stations participating in cooperative sensing, at least one base station is at a distance greater than a first preset distance from the sensing target, and the sensing target and the remaining base stations among the base stations participating in cooperative sensing cannot provide sensing results that meet the preset sensing service quality.

[0373] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, the target spectral peak power reported by all terminals is lower than a first preset value.

[0374] Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, all terminals report target measurement results that are lower than a second preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to APS measurement.

[0375] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a third preset value.

[0376] Optionally, the second preset condition includes at least one of the following:

[0377] Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to the terminal group participating in collaborative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to the terminal group participating in collaborative sensing.

[0378] Based on the current location result of the sensing target, it is determined that in the current collaborative sensing terminal group, at least one terminal is at least one terminal whose distance to the sensing target is greater than a second preset distance.

[0379] In at least one base station-associated terminal group participating in cooperative sensing, at least one terminal reports a sensing target spectral peak power lower than a fourth preset value, and the remaining terminals in the terminal group are unable to provide sensing results that meet the preset sensing service quality.

[0380] Based on the current positioning result of the perceived target, it is determined that in the terminal group, at least one terminal reports a target measurement result that is lower than a fifth preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to the APS measurement.

[0381] Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a sixth preset value.

[0382] The base station involved in the collaborative sensing has switched over.

[0383] Optionally, the first signal includes any one of the following:

[0384] Dedicated sensing signals, integrated sensing signals, LTE reference signals, and NR reference signals.

[0385] The positioning sensing device in this application embodiment can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or other devices besides a terminal. For example, the terminal can include, but is not limited to, the type of terminal 11 listed above; other devices can be servers, network attached storage (NAS), etc., and this application embodiment does not specifically limit the type.

[0386] The positioning sensing device provided in this application embodiment can achieve... Figures 4 to 7 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0387] Optional, such as Figure 10 As shown, this application embodiment also provides a communication device 1000, including a processor 1001 and a memory 1002. The memory 1002 stores a program or instructions that can run on the processor 1001. For example, when the program or instructions are executed by the processor 1001, they implement the various steps of the above-described positioning perception method embodiment and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0388] This application embodiment also provides a terminal, including a processor and a communication interface. The communication interface is used to perform angular power spectrum (APS) measurement on a sensed target to obtain a first APS measurement result of the dynamic reflection path of a first signal. The first APS measurement result is used to determine the positioning result of the sensed target. The processor is used to perform a first operation or a second operation based on the first APS measurement result. This terminal embodiment corresponds to the above-described terminal-side method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and achieve the same technical effect. Specifically, Figure 11 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0389] The terminal 1100 includes, but is not limited to, at least some of the following components: radio frequency unit 1101, network module 1102, audio output unit 1103, input unit 1104, sensor 1105, display unit 1106, user input unit 1107, interface unit 1108, memory 1109, and processor 1110.

[0390] Those skilled in the art will understand that the terminal 1100 may also include a power supply (such as a battery) for powering various components. The power supply can be logically connected to the processor 1110 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. 11 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0391] It should be understood that, in this embodiment, the input unit 1104 may include a graphics processing unit (GPU) 11041 and a microphone 11042. The GPU 11041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1106 may include a display panel 11061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 1107 includes at least one of a touch panel 11071 and other input devices 11072. The touch panel 11071 is also called a touch screen. The touch panel 11071 may include a touch detection device and a touch controller. Other input devices 11072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, joysticks, etc., which will not be described in detail here.

[0392] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 1101 can transmit it to the processor 1110 for processing; in addition, the radio frequency unit 1101 can send uplink data to the network-side device. Typically, the radio frequency unit 1101 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0393] The memory 1109 can be used to store software programs or instructions and various data. The memory 1109 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback function, image playback function, etc.). Furthermore, the memory 1109 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1109 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0394] Processor 1110 may include one or more processing units; optionally, processor 1110 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 1110.

[0395] The radio frequency unit 1101 performs angular power spectrum (APS) measurement on the sensing target to obtain the first APS measurement result of the dynamic reflection path of the first signal. The first APS measurement result is used to determine the positioning result of the sensing target.

[0396] Processor 1110 is configured to perform a first operation or a second operation based on the first APS measurement result;

[0397] The first operation includes sending a first APS measurement result, and the second operation includes determining the positioning result of the perceived target based on the first APS measurement result and at least one received second APS measurement result. The second APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the perceived target.

[0398] This application embodiment obtains a first APS measurement result of the dynamic reflection path of a first signal by performing angular power spectrum (APS) measurement on the sensing target. The first APS measurement result is used to determine the positioning result of the sensing target. Based on the first APS measurement result, a first operation or a second operation is performed. In this way, the positioning result of the sensing target is determined by combining the APS measurement results of the dynamic reflection path of the first signal obtained by at least two sensing devices. This allows the sensing target to be positioned without having the function of transmitting and receiving signals, thus improving the scope of sensing and positioning applications.

[0399] This application embodiment also provides a network-side device, including a processor and a communication interface. The communication interface is used to receive at least two APS measurement results. Each APS measurement result is an APS measurement result of the dynamic reflection path of a first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target. The processor is used to determine the positioning result of the sensing target based on the at least two APS measurement results. This network-side device embodiment corresponds to the above-described network-side device method embodiment. All implementation processes and methods of the above method embodiments can be applied to this network-side device embodiment and achieve the same technical effects.

[0400] Specifically, embodiments of this application also provide a network-side device. For example... Figure 12As shown, the network-side device 1200 includes: an antenna 1201, a radio frequency (RF) device 1202, a baseband device 1203, a processor 1204, and a memory 1205. The antenna 1201 is connected to the RF device 1202. In the uplink direction, the RF device 1202 receives information through the antenna 1201 and transmits the received information to the baseband device 1203 for processing. In the downlink direction, the baseband device 1203 processes the information to be transmitted and sends it to the RF device 1202. The RF device 1202 processes the received information and transmits it through the antenna 1201.

[0401] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 1203, which includes a baseband processor.

[0402] The baseband device 1203 may include, for example, at least one baseband board on which multiple chips are disposed, such as... Figure 12 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 1205 via a bus interface to call the program in the memory 1205 and execute the network device operation shown in the above method embodiment.

[0403] The network-side device may also include a network interface 1206, such as a common public radio interface (CPRI).

[0404] Specifically, the network-side device 1200 of this embodiment further includes: instructions or programs stored in memory 1205 and executable on processor 1204, wherein processor 1204 calls the instructions or programs in memory 1205 to execute. Figure 8 or Figure 9 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0405] Specifically, embodiments of this application also provide a network-side device. For example... Figure 13 As shown, the network-side device 1300 includes a processor 1301, a network interface 1302, and a memory 1303. The network interface 1302 is, for example, a common public radio interface (CPRI).

[0406] Specifically, the network-side device 1300 of this embodiment further includes: instructions or programs stored in memory 1303 and executable on processor 1301, wherein processor 1301 calls the instructions or programs in memory 1303 to execute. Figure 9 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0407] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described positioning perception method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0408] The processor is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0409] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described positioning and sensing method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0410] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0411] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described positioning and sensing method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0412] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0413] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0414] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A positioning sensing method, characterized in that, include: The first sensing device performs angular power spectrum (APS) measurement on the sensing target to obtain the first APS measurement result of the dynamic reflection path of the first signal. The first APS measurement result is used to determine the positioning result of the sensing target. The first sensing device performs a first operation or a second operation based on the first APS measurement result; The first operation includes sending a first APS measurement result to one of the base station, the user equipment participating in the sensing, and the core network equipment. The first APS measurement result is used to determine the location result of the sensed target in combination with at least one second APS measurement result. The second operation includes determining the location result of the sensed target based on the first APS measurement result and at least one received second APS measurement result. The second APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the sensed target. The dynamic reflection path refers to the multipath signal received by the sensing device after the first signal is reflected by the sensing target; The first APS measurement result is either the APS measurement value of the entire channel or the APS measurement value of the channel within a preset angle range.

2. The method according to claim 1, characterized in that, Sending the first APS measurement result includes sending multiple first APS measurement results, which are used to determine the movement trajectory of the perceived target. The multiple first APS measurement results are APS measurement results obtained by performing multiple APS measurements.

3. The method according to claim 1, characterized in that, The step of determining the localization result of the perceived target based on the first APS measurement result and at least one received second APS measurement result includes: Define the target area; The first confidence level is determined for each location coordinate within the target area based on the target location coordinates, the first APS measurement result, and the second APS measurement result. The localization result of the perceived target is determined based on the first confidence level; Wherein, if the first sensing device or the second sensing device includes a device for transmitting the first signal, the target location coordinates include the location coordinates of the first sensing device and the location coordinates of the second sensing device; if the first sensing device and the second sensing device do not include a device for transmitting the first signal, the target location coordinates include the location coordinates of the first sensing device, the location coordinates of the second sensing device, and the location coordinates of the transmitting device.

4. The method according to claim 3, characterized in that, The step of determining the localization result of the perceived target based on the first confidence level includes: The coordinates of the location with the highest confidence level within the target area are determined as the location of the target sensing object.

5. The method according to claim 3, characterized in that, The determination of the target area range includes at least one of the following: In the case of the first localization of the perceived target based on the APS measurement results, the range of the target area corresponding to the first localization is determined based on the first preset rule; When the perceived target is located for the Mth time based on the APS measurement results, the target area range corresponding to the Mth location is determined based on the location result of the (M-1)th location, where M is an integer greater than 1.

6. The method according to claim 5, characterized in that, The first preset rule includes at least one of the following: The target area is the area indicated by the core network device, and the area indicated by the core network device is determined based on the first prior information of the perceived target. The target area range is determined based on a first location, which is the location where at least one sensing device locates the sensing target based on the echo by transmitting and receiving sensing signals. When the sensing target is a terminal, the target area range is determined based on a second location, which is the location of the sensing target determined based on the New Radio (NR) positioning method. The target area is determined based on a third location, which is the location of the perceived target determined by GPS, Bluetooth, or ultra-wideband technology.

7. The method according to claim 6, characterized in that, The first prior information includes at least one of the following: The core network device receives the initial location area of ​​the sensed target provided by other devices; The location of the last continuous location of the previously sensed target in the area where the sensed target is located; Pre-stored map information of the perception area and obstacle information; A pre-stored probability map of the initial position of the sensed target within the sensed area; Location information of multiple sensing devices used to perform APS measurements on the sensed target.

8. The method according to claim 3, characterized in that, The step of determining the first confidence level corresponding to each location coordinate within the target area based on the target location coordinates, the first APS measurement result, and the second APS measurement result includes: Based on the location information of the target sensing device and the location information of the transmitting device, the reflection radius angle value corresponding to the target location coordinates is determined. The target sensing device is any sensing device that performs APS measurement on the sensing target, and the target location coordinates are any location coordinates within the target area. A second confidence level is determined based on the reflection path angle value, the APS measurement result corresponding to the target sensing device, and the weighting coefficient corresponding to the target sensing device. The weighting coefficient is used to represent the confidence level of the APS measurement result of the target sensing device, and the second confidence level represents the probability that the sensing target is located in the direction of the reflection path angle value of the target sensing device. A first confidence level is determined based on the second confidence level corresponding to multiple sensing devices that perform APS measurements on the sensing target, and the first confidence level is positively correlated with the second confidence level of each sensing device.

9. The method according to claim 8, characterized in that, The weight coefficient of the same sensing device at different times is a fixed value, or the weight coefficient of the same sensing device at different times varies within a preset range.

10. The method according to claim 1, characterized in that, The first sensing device includes a terminal, network-side device, or dedicated sensing device for performing sensing measurements.

11. The method according to claim 10, characterized in that, When the first sensing device is a transmitting device for the first signal, the receiving device for the first signal includes a terminal, a network-side device, or a dedicated sensing device; when the first sensing device is a receiving device for the first signal, the transmitting device for the first signal includes a terminal, a network-side device, or a dedicated sensing device.

12. The method according to claim 1, characterized in that, The first signal includes any one of the following: Dedicated sensing signals, integrated sensing signals, LTE reference signals, and NR reference signals.

13. The method according to claim 1, characterized in that, The method further includes: The first sensing device reports target information to the computing device. The target information includes the device information of the first sensing device. The device information of the first sensing device is used by the computing device to determine whether the first sensing device participates in cooperative sensing. The computing device is a core network device or a base station that participates in cooperative sensing.

14. The method according to claim 13, characterized in that, The target information also includes device information of at least one sensing device received by the first sensing device, and the device information of the sensing device is used by the computing device to determine whether the sensing device participates in collaborative sensing.

15. The method according to claim 1, characterized in that, The method further includes: The first sensing device determines at least a portion of the second sensing devices that participate in collaborative sensing based on the device information received from the sensing devices.

16. The method according to claim 15, characterized in that, The first sensing device determines at least a portion of the second sensing devices participating in the collaborative sensing in any of the following ways: When the device information includes motion state information and location information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the location information; When the device information includes motion state information, location information, and location information determination method, a second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, the location information, and the location information determination method. When the device information includes motion state information, location information, and sensing capability information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the sensing capability information; When the device information includes motion status information, location information, communication status information, and sensing status information, the second sensing device participating in collaborative sensing is determined based on the sensing area information, the motion status information, the location information, the communication status information, and the sensing status information in the sensing requirements. The second sensing device is determined based on at least one of the sensing area information and the device information of the sensing device in the sensing requirements.

17. The method according to any one of claims 13 to 15, characterized in that, The device information includes at least one of the following: status information and sensing capability information.

18. The method according to claim 17, characterized in that, The status information includes at least one of the following: location information, location information determination method, motion status information, panel orientation information, panel tilt angle information, communication status information, sensing status information, and beamforming configuration information.

19. The method according to claim 1, characterized in that, The preset angle range is determined by the first sensing device or indicated by the computing device, wherein the computing device is a core network device or a base station that determines the participants in the cooperative sensing.

20. The method according to claim 1, characterized in that, The first sensing device performs angular power spectrum (APS) measurement on the sensing target, and the first APS measurement result of the dynamic reflection path of the first signal includes at least one of the following: When the first sensing device is the transmitting device of the first signal, the first sensing device transmits the first signal through beam scanning, receives the first measurement result of the second sensing device based on the first signal, and determines the departure angle APS according to the first measurement result. The first measurement result includes the reference signal received power (RSRP) measurement results corresponding to multiple beams. When the first sensing device is a receiving device for the first signal, the first sensing device receives the first signal through beam scanning to obtain a second measurement result, and determines the angle of arrival (APS) based on the second measurement result. The second measurement result includes RSRP measurement results corresponding to multiple beams.

21. The method according to claim 1, characterized in that, The method further includes: The first sensing device switches at least one device to participate in collaborative sensing according to a second preset rule.

22. The method according to claim 21, characterized in that, The second preset rule includes at least one of the following: If the first preset condition is met, the base station participating in the cooperative sensing is switched over. If the second preset condition is met, the switching of the terminal group participating in collaborative sensing is triggered. The at least one device includes at least one base station and at least one terminal group.

23. The method according to claim 22, characterized in that, The first preset condition includes at least one of the following: Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing. Based on the current location result of the sensing target, it is determined that among the base stations participating in cooperative sensing, at least one base station is at a distance greater than a first preset distance from the sensing target, and the sensing target and the remaining base stations among the base stations participating in cooperative sensing cannot provide sensing results that meet the preset sensing service quality. Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, the target spectral peak power reported by all terminals is lower than a first preset value. Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, all terminals report target measurement results that are lower than a second preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to APS measurement. Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a third preset value.

24. The method according to claim 22, characterized in that, The second preset condition includes at least one of the following: Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to the terminal group participating in collaborative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to the terminal group participating in collaborative sensing. Based on the current location result of the sensing target, it is determined that in the current cooperative sensing terminal group, at least one terminal is at least one terminal with a distance greater than a second preset distance from the sensing target. In at least one base station associated with a group of terminals participating in cooperative sensing, at least one terminal reports a sensing target spectral peak power that is lower than a fourth preset value, and the remaining terminals in the terminal group are unable to provide sensing results that meet the preset sensing service quality. Based on the current positioning result of the perceived target, it is determined that in the terminal group, at least one terminal reports a target measurement result that is lower than a fifth preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to the APS measurement. Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a sixth preset value. The base station involved in the collaborative sensing has switched over.

25. A positioning sensing method, characterized in that, include: The core network equipment receives at least two APS measurement results, each of which is the APS measurement result of the dynamic reflection path of the first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target. The core network equipment determines the location result of the sensed target based on the at least two APS measurement results; The dynamic reflection path refers to the multipath signal received by the sensing device after the first signal is reflected by the sensing target; The APS measurement result is either the APS measurement value of the entire channel or the APS measurement value of the channel within a preset angle range.

26. The method according to claim 25, characterized in that, Before the core network equipment receives at least two APS measurement results, the method further includes: The core network equipment receives device information from the sensing equipment. The core network equipment determines whether the sensing device should participate in collaborative sensing based on the equipment information.

27. The method according to claim 26, characterized in that, The core network equipment determines the sensing devices for cooperative sensing in at least one of the following ways: When the device information includes motion state information and location information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the location information; When the device information includes motion state information, location information, and location information determination method, a second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, the location information, and the location information determination method. When the device information includes motion state information, location information, and sensing capability information, the second sensing device participating in collaborative sensing is determined based on the sensing area information in the sensing requirements, the motion state information, and the sensing capability information; When the device information includes motion status information, location information, communication status information, and sensing status information, the second sensing device participating in collaborative sensing is determined based on the sensing area information, the motion status information, the location information, the communication status information, and the sensing status information in the sensing requirements. The second sensing device is determined based on at least one of the sensing area information and the device information of the sensing device in the sensing requirements.

28. The method according to claim 26 or 27, characterized in that, The device information includes at least one of the following: status information and sensing capability information.

29. The method according to claim 28, characterized in that, The status information includes at least one of the following: location information, location information determination method, motion status information, panel orientation information, panel tilt angle information, communication status information, sensing status information, and beamforming configuration information.

30. The method according to claim 25, characterized in that, The method further includes: The core network equipment switches at least one device to participate in cooperative sensing according to a second preset rule.

31. The method according to claim 30, characterized in that, The second preset rule includes at least one of the following: If the first preset condition is met, the base station participating in the cooperative sensing is switched over. If the second preset condition is met, the switching of the terminal group participating in collaborative sensing is triggered. The at least one device includes at least one base station and at least one terminal group.

32. The method according to claim 31, characterized in that, The first preset condition includes at least one of the following: Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to at least one of the base stations participating in the cooperative sensing. Based on the current location result of the sensing target, it is determined that among the base stations participating in cooperative sensing, at least one base station is at a distance greater than a first preset distance from the sensing target, and the sensing target and the remaining base stations among the base stations participating in cooperative sensing cannot provide sensing results that meet the preset sensing service quality. Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, the target spectral peak power reported by all terminals is lower than a first preset value. Based on the current location result of the perceived target, it is determined that in at least one base station-associated terminal group participating in cooperative sensing, all terminals report target measurement results that are lower than a second preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to APS measurement. Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a third preset value.

33. The method according to claim 31, characterized in that, The second preset condition includes at least one of the following: Based on the positioning result of the sensing target, it is predicted that the sensing target will leave the sensing sub-area corresponding to the terminal group participating in collaborative sensing, or based on the positioning result of the sensing target, it is determined that the sensing target has already left the sensing sub-area corresponding to the terminal group participating in collaborative sensing. Based on the current location result of the sensing target, it is determined that in the current cooperative sensing terminal group, at least one terminal is at least one terminal with a distance greater than a second preset distance from the sensing target. In at least one base station associated with a group of terminals participating in cooperative sensing, at least one terminal reports a sensing target spectral peak power that is lower than a fourth preset value, and the remaining terminals in the terminal group are unable to provide sensing results that meet the preset sensing service quality. Based on the current positioning result of the perceived target, it is determined that in the terminal group, at least one terminal reports a target measurement result that is lower than a fifth preset value. The target measurement is other measurements other than the target spectral peak power among the measurements related to the APS measurement. Based on the current and historical positioning results of the perceived target, it is determined that the span of the physical range of the perceived target's trajectory exceeds a sixth preset value. The base station involved in the collaborative sensing has switched over.

34. The method according to claim 25, characterized in that, The first signal includes any one of the following: Dedicated sensing signals, integrated sensing signals, LTE reference signals, and NR reference signals.

35. A positioning sensing device, characterized in that, include: The measurement module is used to perform angular power spectrum (APS) measurement on the sensing target to obtain the first APS measurement result of the dynamic reflection path of the first signal. The first APS measurement result is used to determine the positioning result of the sensing target. The execution module is used to perform a first operation or a second operation based on the first APS measurement result; The first operation includes sending a first APS measurement result to one of the base station, the user equipment participating in the sensing, and the core network equipment. The first APS measurement result is used to determine the location result of the sensed target in combination with at least one second APS measurement result. The second operation includes determining the location result of the sensed target based on the first APS measurement result and at least one received second APS measurement result. The second APS measurement result is the APS measurement result of the dynamic reflection path of the first signal obtained by the second sensing device performing APS measurement on the sensed target. The dynamic reflection path refers to the multipath signal received by the sensing device after the first signal is reflected by the sensing target; The first APS measurement result is either the APS measurement value of the entire channel or the APS measurement value of the channel within a preset angle range.

36. A positioning sensing device, characterized in that, include: The receiving module is used to receive at least two APS measurement results, each of which is the APS measurement result of the dynamic reflection path of the first signal obtained by the sensing device performing angular power spectrum APS measurement on the sensing target. The first determining module is used to determine the positioning result of the perceived target based on the at least two APS measurement results; The dynamic reflection path refers to the multipath signal received by the sensing device after the first signal is reflected by the sensing target; The APS measurement result is either the APS measurement value of the entire channel or the APS measurement value of the channel within a preset angle range.

37. A terminal, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the positioning sensing method as described in any one of claims 1 to 24.

38. A network-side device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the positioning sensing method as described in any one of claims 1 to 34.

39. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the positioning and sensing method as described in any one of claims 1-34.

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