A positioning method and apparatus

Abstract

The embodiment of the application provides a positioning method, comprising: a first device sending a first positioning reference signal and a third positioning reference signal to a second device, the sending time of the first positioning reference signal being a first time, the sending time of the third positioning reference signal being a third time, and the first time being before the third time; the first device receiving a second positioning reference signal from a terminal device, the receiving time of the second positioning reference signal being a second time, the second time being before the third time, and the second time being after the first time; and the first device sending first positioning measurement information, the first positioning measurement information being used for indicating a first time interval and a second time interval, the first time interval being a time interval between the first time and the second time, the second time interval being a time interval between the second time and the third time, and the first positioning measurement information being used for determining the position of the terminal device. The positioning method can improve the positioning accuracy of the terminal device.

Description

Technical Field

[0001] This application relates to the field of communications, and more specifically, to a positioning method and apparatus. Background Technology

[0002] Currently, positioning based on distance measurement between anchor points at known locations and the device under test is a widely used positioning technology, but its positioning accuracy is limited by the accuracy of the distance measurement. The distance can be obtained by multiplying the transmission time of radio waves between the devices by their propagation speed.

[0003] However, since crystal oscillators in devices typically have errors, the actual measured time deviates from the true time, resulting in positioning errors. In particular, in sidelink (SL) scenarios, different devices are not completely synchronized, and the positioning response time may not be controlled to be small enough, leading to a decline in the performance of existing positioning schemes such as time difference of arrival (TDOA) or round-trip time (RTT), and the positioning accuracy does not meet the requirements.

[0004] Therefore, improving positioning accuracy is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a positioning method and apparatus that can improve positioning accuracy.

[0006] Firstly, a positioning method is provided, which can be executed by a first device (e.g., anchor point device #1), or by a chip or circuitry used in the first device, without limitation herein. For ease of description, the following explanation will take execution by the first device as an example.

[0007] The method includes: a first device transmitting a first positioning reference signal and a third positioning reference signal, wherein the transmission time of the first positioning reference signal is a first moment, the transmission time of the third positioning reference signal is a third moment, and the first moment is before the third moment; the first device receiving a second positioning reference signal from a terminal device, wherein the reception time of the second positioning reference signal is a second moment, the second moment is before the third moment, and the second moment is after the first moment; the first device transmitting first positioning measurement information, the first positioning measurement information being used to indicate a first time interval and a second time interval, the first time interval being the time interval between the first moment and the second moment, the second time interval being the time interval between the second moment and the third moment, and the first positioning measurement information being used to determine the position of the terminal device.

[0008] The first device may transmit the first positioning reference signal and the third positioning reference signal in a broadcast or a directional manner. For example, the first device may transmit the first positioning reference signal and the third positioning reference signal to the second device and the third device. This application does not make any specific limitation in this regard.

[0009] For example, the first device and the second device can be devices with fixed locations (e.g., roadside units (RSUs)) or mobile devices with changing locations. Their coordinate information can be obtained through system measurement or active reporting by the devices. This application does not make any specific limitations on this.

[0010] Secondly, a positioning method is provided, which can be executed by a first device (e.g., anchor point device #1), or by a chip or circuitry used in the first device, without limitation herein. For ease of description, the following explanation will take execution by the first device as an example.

[0011] The method includes: a first device receiving a first positioning reference signal and a third positioning reference signal from a terminal device, wherein the first positioning reference signal is received at a first moment, the third positioning reference signal is received at a third moment, and the first moment is before the third moment; the first device sending a second positioning reference signal, wherein the second positioning reference signal is sent at a second moment, the second moment is before the third moment, and the second moment is after the first moment; the first device sending first positioning measurement information, the first positioning measurement information being used to indicate a first time interval and a second time interval, the first time interval being the time interval between the first moment and the second moment, the second time interval being the time interval between the second moment and the third moment, and the first positioning measurement information being used to determine the position of the terminal device.

[0012] The first device may transmit the second positioning reference signal in a broadcast or a directional manner. For example, the first device may transmit the second positioning reference signal to the second device and the third device. This application does not make any specific limitation on this.

[0013] According to the scheme provided in this application, a positioning reference signal (PRS) is broadcast by the terminal device and the first device. The first device and the second device record and report the transmission and / or reception time information of the positioning reference signal to determine the location of the terminal device. This scheme integrates the concepts of RTT and TDOA, resulting in lower overall overhead and complexity.

[0014] It should be noted that this application is mainly applicable to sidelink (SL) positioning scenarios. Optionally, this application is also applicable to cellular uplink (UL) or downlink (DL) positioning scenarios, but this application does not make specific limitations on these.

[0015] In some implementations, in conjunction with the first or second aspect, the first positioning measurement information includes a first time point, a second time point, and a third time point.

[0016] In this implementation, the first device feeds back three moments, and the time interval between any two moments can be calculated based on these three moments, namely the first time interval, the second time interval, and the third time interval.

[0017] In conjunction with the first or second aspect, in some implementations, the first positioning measurement information includes at least two of the following: a first time interval, a second time interval, or a third time interval, wherein the third time interval is the time interval between the first moment and the third moment.

[0018] In this implementation, the first device can provide feedback on at least two time intervals, and subsequently, the first time interval and the second time interval can be determined based on any two time intervals.

[0019] In conjunction with the first or second aspect, in some implementations, the first device sends first positioning measurement information, including: the first device sending the first positioning measurement information to a location management function (LMF) network element; or, the first device sending the first positioning measurement information to a terminal device.

[0020] In this implementation, the first device can send the first positioning measurement information to the LMF or the terminal device, so that the LMF or the terminal device can subsequently determine the location of the terminal device based on the first positioning measurement information.

[0021] In combination with the first or second aspect, in some implementations, the first time interval satisfy: The second time interval satisfy: The third time interval satisfy: Or, the first time interval satisfy: The second time interval satisfy: The third time interval satisfy: ; in, For the first moment, For the second moment, This is the third moment.

[0022] In this implementation, expressions for the first time interval, the second time interval, and the third time interval are provided respectively. It should be understood that in this application's technical solution, the time interval can be either positive or negative, and no specific limitation is made. It should be noted that, for ease of calculation and use, the first time interval, the second time interval, and the third time interval under the same implementation can all be either positive or negative.

[0023] Thirdly, a positioning method is provided, which can be executed by a second device (e.g., anchor device #2), or by a chip or circuitry used in the second device, without limitation herein. For ease of description, the following explanation assumes that the method is executed by the second device.

[0024] The method includes: a second device receiving a first positioning reference signal and a third positioning reference signal from a first device, and receiving a second positioning reference signal from a terminal device, wherein the first positioning reference signal is received at a fourth time, the second positioning reference signal is received at a fifth time, and the third positioning reference signal is received at a sixth time, with the fifth time being after the fourth time and before the sixth time; the second device sending second positioning measurement information, which is used to indicate a fourth time interval and a fifth time interval, wherein the fourth time interval is the time interval between the fourth time and the fifth time interval, and the fifth time interval is the time interval between the fifth time and the sixth time, and the second positioning measurement information is used to determine the position of the terminal device.

[0025] According to the scheme provided in this application, the first device broadcasts SL PRS twice, the terminal device broadcasts SL PRS once, and the second device receives PRS three times. By broadcasting PRS and incorporating the concepts of RTT and TDOA, the overall overhead and complexity are reduced. The first and second devices record and report the transmission and / or reception time information of the positioning reference signal to determine the location of the terminal device. In this technical solution, no clock synchronization is required between devices, and clock drift has almost no impact on positioning accuracy.

[0026] Fourthly, a positioning method is provided, which can be executed by a second device (e.g., anchor point device #2), or by a chip or circuit for the second device, without limitation thereof. For ease of description, the following description assumes that the method is executed by the second device.

[0027] The method includes: a second device receiving a first positioning reference signal and a third positioning reference signal from a terminal device, and receiving a second positioning reference signal from a first device, wherein the first positioning reference signal is received at a fourth time, the second positioning reference signal is received at a fifth time, and the third positioning reference signal is received at a sixth time, with the fifth time being after the fourth time and before the sixth time; the second device sending second positioning measurement information, which is used to indicate a fourth time interval and a fifth time interval, wherein the fourth time interval is the time interval between the fourth time and the fifth time interval, and the fifth time interval is the time interval between the fifth time and the sixth time, and the second positioning measurement information is used to determine the position of the terminal device.

[0028] In conjunction with the third or fourth aspect, in some implementations, the second positioning measurement information includes the fourth, fifth, and sixth time points.

[0029] In this implementation, the second device feeds back three moments, and the time interval between any two moments can be calculated based on these three moments, namely the fourth time interval, the fifth time interval, and the fifth time interval.

[0030] In conjunction with the third or fourth aspect, in some implementations, the second positioning measurement information includes at least two of the following: a fourth time interval, a fifth time interval, or a sixth time interval, wherein the sixth time interval is the time interval between the fourth time and the sixth time.

[0031] In this implementation, the second device can provide feedback on at least two time intervals, and subsequently determine the fourth and fifth time intervals based on any two time intervals.

[0032] In conjunction with the third or fourth aspect, in some implementations, the second device sends second positioning measurement information, including: the second device sending the second positioning measurement information to the location management function (LMF) network element; or, the second device sending the second positioning measurement information to the terminal device.

[0033] In this implementation, the second device can send the second positioning measurement information to the LMF or the terminal device, so that the LMF or the terminal device can subsequently determine the location of the terminal device based on the second positioning measurement information.

[0034] In combination with the third or fourth aspect, in some implementations, the fourth time interval satisfy: The fifth time interval satisfy: The sixth time interval satisfy: Or, the fourth time interval satisfy: The fifth time interval satisfy: The sixth time interval satisfy: ;in, For the fourth moment, For the fifth moment, This is the sixth moment.

[0035] In this implementation, expressions for the fourth, fifth, and sixth time intervals are provided respectively. It should be understood that in this application's technical solution, the time intervals can be positive or negative numbers, without specific limitation. It should be noted that, for ease of calculation and use, the fourth, fifth, and sixth time intervals in the same implementation can be simultaneously positive or negative numbers.

[0036] Fifthly, a positioning method is provided, which can be executed by a terminal device (e.g., user equipment (UE)) or by a chip or circuit for the terminal device; this application does not limit the scope of the method. For ease of description, the following explanation uses the example of execution by a terminal device.

[0037] The method includes: a terminal device sending a second positioning reference signal to multiple devices, including a first device and a second device; wherein the first device receives the second positioning reference signal at a second time, which is before a third time and after a first time; the first time is the time when the first device sends the first positioning reference signal, and the third time is the time when the first device sends the third positioning reference signal; wherein the second device receives the second positioning reference signal at a fifth time, which is before a sixth time and after a fourth time; the fourth time is the time when the second device receives the first positioning reference signal, and the sixth time is the time when the second device receives the third positioning reference signal; the terminal device receives the second positioning reference signal from the first device... The terminal device receives location information from a first device and first positioning measurement information from a second device, as well as location information from a second device and second positioning measurement information from the second device. The first positioning measurement information is used to indicate a first time interval and a second time interval, and the second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The first time interval is the time interval between a first moment and a second moment, the second time interval is the time interval between a second moment and a third moment, the fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. The terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device.

[0038] Sixthly, a positioning method is provided, which can be executed by a terminal device (e.g., user equipment (UE)) or by a chip or circuit for the terminal device; this application does not limit the method in this regard. For ease of description, the following description assumes that the method is executed by a terminal device.

[0039] The method includes: a terminal device sending a first positioning reference signal and a third positioning reference signal to multiple devices, including a first device and a second device; wherein the first device receives the first positioning reference signal at a first moment, the first device receives the third positioning reference signal at a third moment, a second moment precedes the third moment and follows the first moment, and the second moment is the time when the first device sends the second positioning reference signal; wherein the second device receives the first positioning reference signal at a fourth moment, the second device receives the third positioning reference signal at a sixth moment, a fifth moment precedes the sixth moment and follows the fourth moment, and the fifth moment is the time when the second device receives the second positioning reference signal; the terminal device... The device can receive location information from a first device and first positioning measurement information from the first device, and also receive location information from a second device and second positioning measurement information from the second device. The first positioning measurement information is used to indicate a first time interval and a second time interval, and the second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The first time interval is the time interval between a first moment and a second moment, the second time interval is the time interval between a second moment and a third moment, the fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. The terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device.

[0040] For example, the location information of the first device may be obtained by the terminal device from the first device or the location management function (LMF) network element, or it may be obtained by measurement through anchor devices at other known locations. Similarly, the location information of the second device may be obtained by the terminal device from the second device or the location management function (LMF) network element, or it may be obtained by measurement through anchor devices at other known locations; this application does not specifically limit this.

[0041] In conjunction with the fifth or sixth aspect, in some implementations, the terminal device determines its position based on the first positioning measurement information, the position information of the first device, the second positioning measurement information, and the position information of the second device. This includes: the terminal device determining the arrival time difference between the positioning reference signal sent by the terminal device and the arrival at the first and second devices based on the first positioning measurement information, the position information of the first device, the position information of the second device, and the second positioning measurement information. Terminal devices based on arrival time difference Determine the location of the terminal device.

[0042] It should be noted that by determining the arrival time difference It can be determined that the terminal device is located at a point with the first and second devices as focal points, and the difference in distance between these two focal points is always the time difference of arrival. On the hyperbola.

[0043] Furthermore, the technical solution of this application also includes a third device (e.g., anchor point device #3), which is implemented in a similar manner to the second device.

[0044] In one possible implementation, the third device receives a first positioning reference signal and a third positioning reference signal from the first device, and a second positioning reference signal from the terminal device. The first positioning reference signal is received at time seven, the second positioning reference signal at time eight, and the third positioning reference signal at time nine, with time eight occurring after time seven and before time nine. The third device sends third positioning measurement information to the terminal device, which indicates the seventh time interval T7 and the eighth time interval T8, where the seventh time interval is time seven t. 30 and the eighth moment t 31 The time interval between them, the eighth time interval is the eighth time t 31 and the ninth moment t 32 The time interval between these intervals, along with the third positioning measurement information, is used to determine the location of the terminal device.

[0045] In another possible implementation, the third device receives a first positioning reference signal and a third positioning reference signal from the terminal device, and receives a second positioning reference signal from the first device. The first positioning reference signal is received at time seven, the second positioning reference signal is received at time eight, and the third positioning reference signal is received at time nine. Time eight is after time seven and before time nine. The third device sends third positioning measurement information to the terminal device. The third positioning measurement information is used to indicate the seventh time interval and the eighth time interval. The seventh time interval is the time interval between time seven and time eight, and the eighth time interval is the time interval between time eight and time nine. The third positioning measurement information is used to determine the position of the terminal device.

[0046] Correspondingly, the terminal device receives the location information from the third device and the third positioning measurement information from the third device. Specifically, the terminal device determines its location based on the first positioning measurement information, the location information of the first device, the location information of the second device, and the second positioning measurement information, including: the terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, the location information of the second device, the third positioning measurement information, and the location information of the third device.

[0047] For example, the terminal device can determine the arrival time difference between the positioning reference signal sent by the terminal device and the arrival time of the positioning reference signal at the first device and the third device based on the first positioning measurement information, the location information of the first device, the location information of the third device, and the third positioning measurement information. ; and the terminal device can adjust according to the time difference of arrival. and arrival time difference The location of the terminal device is accurately determined by the location information of the first device, the second device, and the third device.

[0048] It should be noted that by determining the arrival time difference It can be determined that the terminal device is located at the focal points of the first and third devices, and the difference in distance between the terminal device and these two focal points is always the time difference of arrival. On the hyperbola.

[0049] It should be understood that, through the time difference of arrival and arrival time difference The intersection of the two hyperbolas can be determined as the location information of the terminal device.

[0050] Optionally, the terminal device can also obtain the time difference between the second and third devices based on the second and third positioning measurement information. These three time differences , and Any two time differences can be used for the positioning of terminal devices. For the sake of simplicity, we will not go into further detail here.

[0051] In this implementation, the terminal device can be accurately triangulated by recording and reporting the transmission and reception time information of the positioning reference signal by the first device, the second device, and the third device.

[0052] In a seventh aspect, a positioning method is provided. This method can be executed by a location management function (LMF) network element, or by a chip or circuit used in the location management function network element; this application does not limit the method in this regard. For ease of description, the following explanation uses execution by a location management function network element as an example.

[0053] The method includes: a positioning management function network element receiving first positioning measurement information from a first device and second positioning measurement information from a second device. The first positioning measurement information is used to indicate a first time interval and a second time interval. The first time interval is the time interval between a first moment and a second moment, and the second time interval is the time interval between a second moment and a third moment. The second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. The first moment is the time when the first device sends a first positioning reference signal, the second moment is the time when the first device receives the second positioning reference signal, the third moment is the time when the first device sends a third positioning reference signal, the fourth moment is the time when the second device receives the first positioning reference signal, the fifth moment is the time when the second device receives the second positioning reference signal, and the sixth moment is the time when the second device receives the third positioning reference signal. The second moment is before the third moment and after the first moment, the fifth moment is before the sixth moment and after the fourth moment. The positioning management function network element determines the location of the terminal device based on the first positioning measurement information and the second positioning measurement information.

[0054] Eighthly, a positioning method is provided, which can be executed by a location management function (LMF) network element, or by a chip or circuit used in the location management function network element; this application does not limit the method in this regard. For ease of description, the following explanation uses execution by a location management function network element as an example.

[0055] The method includes: a positioning management function network element receiving first positioning measurement information from a first device and second positioning measurement information from a second device. The first positioning measurement information is used to indicate a first time interval and a second time interval. The first time interval is the time interval between a first moment and a second moment, and the second time interval is the time interval between a second moment and a third moment. The second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. The first moment is the moment when the first device receives a first positioning reference signal, the second moment is the moment when the first device sends a second positioning reference signal, the third moment is the moment when the first device receives a third positioning reference signal, the fourth moment is the moment when the second device receives the first positioning reference signal, the fifth moment is the moment when the second device receives the second positioning reference signal, and the sixth moment is the moment when the second device receives the third positioning reference signal. The second moment is before the third moment and after the first moment, the fifth moment is before the sixth moment and after the fourth moment. The positioning management function network element determines the location of the terminal device based on the first positioning measurement information and the second positioning measurement information.

[0056] In conjunction with aspects seven or eight, in some implementations, the positioning management function network element determines the location of the terminal device based on the first positioning measurement information and the second positioning measurement information, including: the positioning management function network element determines the arrival time difference between the terminal device sending a positioning reference signal to the first device and the second device based on the first positioning measurement information and the second positioning measurement information. The location management function network element uses the time difference of arrival. Determine the location of the terminal device.

[0057] It should be noted that by determining the arrival time difference It can be determined that the terminal device is located at a point with the first and second devices as focal points, and the difference in distance between these two focal points is always the time difference of arrival. On the hyperbola.

[0058] Furthermore, the technical solution of this application also includes a third device (e.g., anchor point device #3), which is implemented in a similar manner to the second device.

[0059] In one possible implementation, the third device receives a first positioning reference signal and a third positioning reference signal from the first device, and a second positioning reference signal from the terminal device. The first positioning reference signal is received at time seven, the second positioning reference signal at time eight, and the third positioning reference signal at time nine. Time eight is after time seven and before time nine. The third device sends third positioning measurement information to the LMF, which indicates the seventh time interval T7 and the eighth time interval T8, where the seventh time interval is time seven t. 30 and the eighth moment t 31 The time interval between them, the eighth time interval is the eighth time t 31 and the ninth moment t 32 The time interval between these intervals, along with the third positioning measurement information, is used to determine the location of the terminal device.

[0060] In another possible implementation, the third device receives a first positioning reference signal and a third positioning reference signal from the terminal device, and receives a second positioning reference signal from the first device. The first positioning reference signal is received at time seven, the second positioning reference signal is received at time eight, and the third positioning reference signal is received at time nine. Time eight is after time seven and before time nine. The third device sends third positioning measurement information to the LMF. The third positioning measurement information is used to indicate the seventh time interval and the eighth time interval. The seventh time interval is the time interval between time seven and time eight, and the eighth time interval is the time interval between time eight and time nine. The third positioning measurement information is used to determine the position of the terminal device.

[0061] Correspondingly, the LMF receives third positioning measurement information from the third device. Specifically, the positioning management function network element determines the location of the terminal device based on the first and second positioning measurement information, including: the positioning management function network element determines the location of the terminal device based on the first, second, and third positioning measurement information.

[0062] For example, the LMF can determine the arrival time difference between the positioning reference signal sent by the terminal device and the first and third devices based on the first and third positioning measurement information. Furthermore, LMF can be based on the time difference of arrival. and arrival time difference The location of the terminal device is accurately determined by the location information of the first device, the second device, and the third device.

[0063] It should be noted that by determining the arrival time difference It can be determined that the terminal device is located at the focal points of the first and third devices, and the difference in distance between the terminal device and these two focal points is always the time difference of arrival. On the hyperbola.

[0064] It should be understood that, through the time difference of arrival and arrival time difference The intersection of the two hyperbolas can be determined as the location information of the terminal device.

[0065] Optionally, the LMF can also obtain the time difference between the second and third devices based on the second and third positioning measurement information. These three time differences , and Any two time differences can be used for positioning. For the sake of simplicity, we will not go into further detail here.

[0066] In this implementation, the terminal device can be accurately triangulated by recording and reporting the transmission and reception time information of the positioning reference signal by the first device, the second device, and the third device.

[0067] In conjunction with aspects five through eight, in some implementations, the first positioning measurement information includes a first time moment, a second time moment, and a third time moment; or, the first positioning measurement information includes at least two of the following: a first time interval, a second time interval, or a third time interval, wherein the third time interval is the time interval between the first time moment and the third time moment.

[0068] In this implementation, the first device feeds back three time points, and the time interval between any two of these time points can be calculated based on these three time points, namely the first time interval, the second time interval, and the third time interval. Alternatively, the first device can feed back at least two time intervals, and the first time interval and the second time interval can be determined subsequently based on any two time intervals.

[0069] In conjunction with aspects five through eight, in some implementations, the second positioning measurement information includes a fourth time point, a fifth time point, and a sixth time point; or, the second positioning measurement information includes at least two of the following: a fourth time interval, a fifth time interval, or a sixth time interval, wherein the sixth time interval is the time interval between the fourth time point and the sixth time point.

[0070] In this implementation, the second device feeds back three time points, and the time interval between any two of these three time points can be calculated based on these three time points, namely the fourth time interval, the fifth time interval, and the fifth time interval. Alternatively, the second device can feed back at least two time intervals, and subsequently determine the fourth and fifth time intervals based on any two of these time intervals.

[0071] In conjunction with aspects five through eight, in some implementations, the first time interval satisfy: The second time interval satisfy: The third time interval satisfy: Or, the first time interval satisfy: The second time interval satisfy: The third time interval satisfy: ;in, For the second moment, For the first moment, This is the third moment.

[0072] In conjunction with aspects five through eight, in some implementations, the fourth time interval... satisfy: The fifth time interval satisfy: The sixth time interval satisfy: Or, the fourth time interval satisfy: The fifth time interval satisfy: The sixth time interval satisfy: .

[0073] In some implementations, in conjunction with the first, third, fifth, or seventh aspects, the first positioning reference signal and the third positioning reference signal are transmitted periodically.

[0074] In this implementation, the first positioning reference signal and the third positioning reference signal are transmitted periodically, while the second positioning reference signal may not be transmitted periodically. In the technical solution of this application, the transmission time of the second positioning reference signal is located between the transmission times of the first positioning reference signal and the third positioning reference signal.

[0075] The first and third positioning reference signals have the same transmission period, for example, T = 10 ns. Assuming the time interval between the first and third positioning reference signals is 2 ns, then the transmission time of the first positioning reference signal can be considered as the 1st ns, and the transmission time of the third positioning reference signal as the 3rd ns. The next transmission time of the first positioning reference signal is the 11th ns, the transmission time of the third positioning reference signal is the 13th ns, and so on. The second positioning reference signal can be transmitted at any time between the 1st and 3rd ns, and the next second positioning reference signal can be transmitted at any time between the 11th and 13th ns. Alternatively, the next second positioning reference signal can also be transmitted with a period of 10 ns; and so on.

[0076] Optionally, the base station instructs the terminal device to send a second positioning reference signal between the 1st ns and the 3rd ns, for example, at the 2.5th ns; or, the terminal device may also independently determine the time to send the second positioning reference signal without being controlled by the base station, and this application does not specifically limit this.

[0077] In some implementations, in conjunction with the second, fourth, sixth, or eighth aspects, the second positioning reference signal is transmitted periodically.

[0078] It should be noted that the number of second positioning reference signals transmitted can be the same as or different from the number of first positioning reference signals (or third positioning reference signals).

[0079] Combining aspects five through eight, in some implementation methods, the time difference of arrival It can satisfy: ,or, ,in, The time of flight of the positioning reference signal between the first and second devices.

[0080] This implementation provides two forms of representation for the arrival time difference, through which the arrival time difference is expressed. It can be determined that the terminal device is located at a point with the first and second devices as focal points, and the difference in distance between these two focal points is always the time difference of arrival. On the hyperbola.

[0081] Combining aspects five through eight, in some implementation methods, the time difference of arrival It can also satisfy: ,or, ,in, The flight time of the positioning reference signal between the first and third devices.

[0082] This implementation provides two forms of representation for the arrival time difference, through which the arrival time difference is expressed. It can be determined that the terminal device is located at the focal points of the first and third devices, and the difference in distance between the terminal device and these two focal points is always the time difference of arrival. On the hyperbola.

[0083] In summary, through the time difference of arrival and arrival time difference The intersection of the two hyperbolas can be determined as the location information of the terminal device.

[0084] A ninth aspect provides a positioning device, including a transceiver unit, configured to: transmit a first positioning reference signal and a third positioning reference signal, wherein the transmission time of the first positioning reference signal is a first moment, the transmission time of the third positioning reference signal is a third moment, and the first moment is before the third moment; the first device receives a second positioning reference signal from a terminal device, wherein the reception time of the second positioning reference signal is a second moment, the second moment is before the third moment, and the second moment is after the first moment; the first device transmits first positioning measurement information, the first positioning measurement information being used to indicate a first time interval and a second time interval, the first time interval being the time interval between the first moment and the second moment, the second time interval being the time interval between the second moment and the third moment, and the first positioning measurement information being used to determine the position of the terminal device.

[0085] In a tenth aspect, a positioning device is provided, including a transceiver unit, configured to: a first device receive a first positioning reference signal and a third positioning reference signal from a terminal device, wherein the reception time of the first positioning reference signal is a first moment, the reception time of the third reference signal is a third moment, and the first moment is before the third moment; the first device transmits a second positioning reference signal, wherein the transmission time of the second positioning reference signal is a second moment, the second moment is before the third moment, and the second moment is after the first moment; the first device transmits first positioning measurement information, the first positioning measurement information being used to indicate a first time interval and a second time interval, the first time interval being the time interval between the first moment and the second moment, the second time interval being the time interval between the second moment and the third moment, and the first positioning measurement information being used to determine the position of the terminal device.

[0086] In conjunction with the ninth or tenth aspect, in some implementations, the first positioning measurement information includes a first time point, a second time point, and a third time point.

[0087] In conjunction with aspect nine or ten, in some implementations, the first positioning measurement information includes at least two of the following: a first time interval, a second time interval, or a third time interval, wherein the third time interval is the time interval between the first time moment and the third time moment.

[0088] In conjunction with aspect nine or ten, in some implementations, the first device sends first positioning measurement information, including: the first device sending the first positioning measurement information to an LMF network element; or, the first device sending the first positioning measurement information to a terminal device.

[0089] In conjunction with aspect nine or ten, in some implementations, the first time interval satisfy: The second time interval satisfy: The third time interval satisfy: Or, the first time interval satisfy: The second time interval satisfy: The third time interval satisfy: ; in, For the first moment, For the second moment, This is the third moment.

[0090] Eleventhly, a positioning device is provided, including a transceiver unit, configured to: a second device receive a first positioning reference signal and a third positioning reference signal from a first device, and receive a second positioning reference signal from a terminal device, wherein the first positioning reference signal is received at a fourth time, the second positioning reference signal is received at a fifth time, the third positioning reference signal is received at a sixth time, the fifth time is after the fourth time, and the fifth time is before the sixth time; the second device transmits second positioning measurement information, the second positioning measurement information being used to indicate a fourth time interval and a fifth time interval, the fourth time interval being the time interval between the fourth time and the fifth time interval being the time interval between the fifth time and the sixth time interval, and the second positioning measurement information being used to determine the position of the terminal device.

[0091] In a twelfth aspect, a positioning device is provided, including a transceiver unit configured to: a second device receive a first positioning reference signal and a third positioning reference signal from a terminal device, and receive a second positioning reference signal from a first device, wherein the first positioning reference signal is received at a fourth time, the second positioning reference signal is received at a fifth time, the third positioning reference signal is received at a sixth time, the fifth time is after the fourth time, and the fifth time is before the sixth time; the second device transmits second positioning measurement information, the second positioning measurement information being used to indicate a fourth time interval and a fifth time interval, the fourth time interval being the time interval between the fourth time and the fifth time interval being the time interval between the fifth time and the sixth time interval, and the second positioning measurement information being used to determine the position of the terminal device.

[0092] In conjunction with aspect eleven or twelfth, in some implementations, the second positioning measurement information includes the fourth, fifth, and sixth time points.

[0093] In conjunction with aspect eleven or twelfth, in some implementations, the second positioning measurement information includes at least two of the following: a fourth time interval, a fifth time interval, or a sixth time interval, wherein the sixth time interval is the time interval between the fourth time and the sixth time.

[0094] In conjunction with aspect eleven or twelfth, in some implementations, the second device sends second positioning measurement information, including: the second device sending the second positioning measurement information to the location management function (LMF) network element; or, the second device sending the second positioning measurement information to the terminal device.

[0095] In conjunction with aspect eleven or twelfth, in some implementations, the fourth time interval... satisfy: The fifth time interval satisfy: The sixth time interval satisfy: Or, the fourth time interval satisfy: The fifth time interval satisfy: The sixth time interval satisfy: ;in, For the fourth moment, For the fifth moment, This is the sixth moment.

[0096] In a thirteenth aspect, a positioning device is provided, comprising: a transceiver unit for a terminal device to transmit a second positioning reference signal to multiple devices, the multiple devices including a first device and a second device, wherein the receiving time of the second positioning reference signal by the first device is a second time, the second time being before a third time and after the first time, the first time being the time when the first device transmits the first positioning reference signal, and the third time being the time when the first device transmits the third positioning reference signal; wherein the receiving time of the second device to receive the second positioning reference signal is a fifth time, the fifth time being before a sixth time and after a fourth time, the fourth time being the time when the second device receives the first positioning reference signal, and the sixth time being the time when the second device receives the third positioning reference signal; the transceiver unit further... A terminal device is configured to receive location information of a first device and first positioning measurement information from the first device, and to receive location information of a second device and second positioning measurement information from the second device. The first positioning measurement information is used to indicate a first time interval and a second time interval, and the second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The first time interval is the time interval between a first moment and a second moment, the second time interval is the time interval between a second moment and a third moment, the fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. A processing unit is configured to allow the terminal device to determine its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device.

[0097] In a fourteenth aspect, a positioning device is provided, comprising: a transceiver unit, configured to transmit a first positioning reference signal and a third positioning reference signal respectively to multiple devices, the multiple devices including a first device and a second device, wherein the receiving time of the first device receiving the first positioning reference signal is a first moment, the receiving time of the first device receiving the third positioning reference signal is a third moment, a second moment is before the third moment and after the first moment, the second moment being the time when the first device transmits the second positioning reference signal, wherein the receiving time of the second device receiving the first positioning reference signal is a fourth moment, the receiving time of the second device receiving the third positioning reference signal is a sixth moment, a fifth moment is before the sixth moment and after the fourth moment, the fifth moment being the time when the second device receives the second positioning reference signal; The transmitting unit is further configured to receive location information from a first device and first positioning measurement information from the first device, and to receive location information from a second device and second positioning measurement information from the second device. The first positioning measurement information is used to indicate a first time interval and a second time interval, and the second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The first time interval is the time interval between a first moment and a second moment, the second time interval is the time interval between a second moment and a third moment, the fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. The processing unit is configured to determine the location of the terminal device based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device.

[0098] In conjunction with aspect thirteen or fourteen, in some implementations, the processing unit is further configured to determine, based on the first positioning measurement information, the location information of the first device, the location information of the second device, and the second positioning measurement information, the arrival time difference of the positioning reference signal sent by the terminal device to the first device and the second device. Terminal devices based on arrival time difference Determine the location of the terminal device.

[0099] Furthermore, the technical solution of this application also includes a third device (e.g., anchor point device #3), which is implemented in a similar manner to the second device.

[0100] In one possible implementation, the transceiver unit is further configured to: receive a first positioning reference signal and a third positioning reference signal from a first device, and receive a second positioning reference signal from a terminal device, wherein the first positioning reference signal is received at time seven, the second positioning reference signal is received at time eight, and the third positioning reference signal is received at time nine, with time eight occurring after time seven and before time nine; the third device sends third positioning measurement information to the terminal device, the third positioning measurement information indicating the seventh time interval T7 and the eighth time interval T8, the seventh time interval being time seven t. 30 and the eighth moment t 31 The time interval between them, the eighth time interval is the eighth time t 31 and the ninth moment t 32 The time interval between these intervals, along with the third positioning measurement information, is used to determine the location of the terminal device.

[0101] In another possible implementation, the transceiver unit is further configured to: receive a first positioning reference signal and a third positioning reference signal from the terminal device, and receive a second positioning reference signal from the first device, wherein the first positioning reference signal is received at time seven, the second positioning reference signal is received at time eight, and the third positioning reference signal is received at time nine, with time eight being after time seven and before time nine; the third device sends third positioning measurement information to the terminal device, the third positioning measurement information indicating the seventh time interval and the eighth time interval, the seventh time interval being the time interval between time seven and time eight, the eighth time interval being the time interval between time eight and time nine, and the third positioning measurement information being used to determine the position of the terminal device.

[0102] Correspondingly, the transceiver unit is also used for: the terminal device receiving the location information of the third device and the third positioning measurement information from the third device; the processing unit is also used for: the terminal device determining the location of the terminal device based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, the location information of the second device, the third positioning measurement information and the location information of the third device.

[0103] For example, the processing unit is further configured to: determine, based on the first positioning measurement information, the location information of the first device, the location information of the third device, and the third positioning measurement information, the arrival time difference of the positioning reference signal sent by the terminal device to the first device and the third device. ; and the processing unit is also configured to: the terminal device, based on the time difference of arrival and arrival time difference Determine the location of the terminal device.

[0104] In a fifteenth aspect, a positioning device is provided, comprising: a transceiver unit configured to receive first positioning measurement information from a first device and second positioning measurement information from a second device, wherein the first positioning measurement information is used to indicate a first time interval and a second time interval, the first time interval being the time interval between a first moment and a second moment, the second time interval being the time interval between a second moment and a third moment, the second positioning measurement information being used to indicate a fourth time interval and a fifth time interval, the fourth time interval being the time interval between a fourth moment and a fifth moment, and the fifth time interval being the time interval between a fifth moment and a sixth moment, wherein the first moment is the time when the first device transmits a first positioning reference signal, the second moment is the time when the first device receives the second positioning reference signal, the third moment is the time when the first device transmits a third positioning reference signal, the fourth moment is the time when the second device receives the first positioning reference signal, the fifth moment is the time when the second device receives the second positioning reference signal, and the sixth moment is the time when the second device receives the third positioning reference signal, wherein the second moment is before the third moment and after the first moment, the fifth moment is before the sixth moment and after the fourth moment; and a processing unit configured to determine the location of a terminal device based on the first positioning measurement information and the second positioning measurement information.

[0105] In a sixteenth aspect, a positioning device is provided, comprising: a transceiver unit configured to receive first positioning measurement information from a first device and second positioning measurement information from a second device, wherein the first positioning measurement information is used to indicate a first time interval and a second time interval, the first time interval being the time interval between a first moment and a second moment, the second time interval being the time interval between a second moment and a third moment, the second positioning measurement information being used to indicate a fourth time interval and a fifth time interval, the fourth time interval being the time interval between a fourth moment and a fifth moment, and the fifth time interval being the time interval between a fifth moment and a sixth moment, wherein the first moment is the moment when the first device receives a first positioning reference signal, the second moment is the moment when the first device transmits a second positioning reference signal, the third moment is the moment when the first device receives a third positioning reference signal, the fourth moment is the moment when the second device receives the first positioning reference signal, the fifth moment is the moment when the second device receives the second positioning reference signal, and the sixth moment is the moment when the second device receives the third positioning reference signal, wherein the second moment is before the third moment and after the first moment, the fifth moment is before the sixth moment and after the fourth moment; and a processing unit configured to determine the location of a terminal device based on the first positioning measurement information and the second positioning measurement information.

[0106] In conjunction with aspect fifteen or sixteen, in some implementations, the processing unit is further configured to: determine, based on the first positioning measurement information and the second positioning measurement information, the positioning management function network element determines the arrival time difference between the terminal device sending the positioning reference signal to the first device and the second device. The location management function network element uses the time difference of arrival. Determine the location of the terminal device.

[0107] Furthermore, the technical solution of this application also includes a third device (e.g., anchor point device #3), which is implemented in a similar manner to the second device.

[0108] In one possible implementation, the transceiver unit is further configured to: receive a first positioning reference signal and a third positioning reference signal from a first device, and receive a second positioning reference signal from a terminal device, wherein the first positioning reference signal is received at time seven, the second positioning reference signal is received at time eight, and the third positioning reference signal is received at time nine, with time eight occurring after time seven and before time nine; the third device sends third positioning measurement information to the LMF, the third positioning measurement information indicating the seventh time interval T7 and the eighth time interval T8, the seventh time interval being time seven t. 30 and the eighth moment t 31 The time interval between them, the eighth time interval is the eighth time t 31 and the ninth moment t 32 The time interval between these intervals, along with the third positioning measurement information, is used to determine the location of the terminal device.

[0109] In another possible implementation, the transceiver unit is further configured to: receive a first positioning reference signal and a third positioning reference signal from the terminal device, and receive a second positioning reference signal from the first device, wherein the first positioning reference signal is received at time seven, the second positioning reference signal is received at time eight, and the third positioning reference signal is received at time nine, with time eight being after time seven and before time nine; the third device sends third positioning measurement information to the LMF, the third positioning measurement information being used to indicate the seventh time interval and the eighth time interval, the seventh time interval being the time interval between time seven and time eight, the eighth time interval being the time interval between time eight and time nine, and the third positioning measurement information being used to determine the position of the terminal device.

[0110] Correspondingly, the transceiver unit is also used for: the LMF receiving third positioning measurement information from the third device; the processing unit is also used for: the LMF determining the location of the terminal device based on the first positioning measurement information, the second positioning measurement information and the third positioning measurement information.

[0111] For example, the processing unit is further configured to: determine, based on the first positioning measurement information and the third positioning measurement information, the arrival time difference of the positioning reference signal sent by the terminal device to the first device and the third device. ; and the processing unit is also used for: LMF based on the time difference of arrival and arrival time difference Determine the location of the terminal device.

[0112] In conjunction with aspects thirteen through sixteen, in some implementations, the first positioning measurement information includes a first time moment, a second time moment, and a third time moment; or, the first positioning measurement information includes at least two of the following: a first time interval, a second time interval, or a third time interval, wherein the third time interval is the time interval between the first time moment and the third time moment.

[0113] In conjunction with aspects thirteen through sixteen, in some implementations, the second positioning measurement information includes a fourth time point, a fifth time point, and a sixth time point; or, the second positioning measurement information includes at least two of the following: a fourth time interval, a fifth time interval, or a sixth time interval, wherein the sixth time interval is the time interval between the fourth time point and the sixth time point.

[0114] In conjunction with aspects thirteen through sixteen, in some implementations, the first time interval... satisfy: The second time interval satisfy: The third time interval satisfy: Or, the first time interval satisfy: The second time interval satisfy: The third time interval satisfy: ;in, For the second moment, For the first moment, This is the third moment.

[0115] In conjunction with aspects thirteen through sixteen, in some implementations, the fourth time interval... satisfy: The fifth time interval satisfy: The sixth time interval satisfy: Or, the fourth time interval satisfy: The fifth time interval satisfy: The sixth time interval satisfy: .

[0116] In conjunction with aspects 9, 11, 13 or 15, in some implementations, the first positioning reference signal and the third positioning reference signal are transmitted periodically.

[0117] In conjunction with aspects ten, twelfth, fourteenth, or sixteenth, in some implementations, the second positioning reference signal is transmitted periodically.

[0118] Combining aspects thirteen through sixteen, in some implementation methods, the arrival time difference... It can satisfy: ,or, ,in, The time of flight of the positioning reference signal between the first and second devices.

[0119] Combining aspects thirteen through sixteen, in some implementation methods, the arrival time difference... It can also satisfy: ,or, ,in, The flight time of the positioning reference signal between the first and third devices.

[0120] In summary, through the time difference of arrival and arrival time difference The intersection of the two hyperbolas can be determined as the location information of the terminal device.

[0121] In a seventeenth aspect, a first device (e.g., anchor device #1) is provided, comprising a processor, optionally further comprising a memory, the processor for controlling a transceiver to transmit and receive signals, the memory for storing a computer program, the processor for calling and running the computer program from the memory, causing the first device to perform the methods of the first or second aspect described above, and any possible implementation thereof.

[0122] Optionally, the processor may be one or more, and the memory may be one or more.

[0123] Alternatively, the memory can be integrated with the processor, or the memory can be set separately from the processor.

[0124] Optionally, the first device may also include a transceiver, which may specifically be a transmitter (transmitter) and a receiver (receiver).

[0125] In an eighteenth aspect, a second device (e.g., anchor device #2) is provided, including a processor, and optionally, a memory, the processor for controlling a transceiver to transmit and receive signals, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, such that the second device performs the methods of the third or fourth aspect described above, and any possible implementation thereof.

[0126] Optionally, the processor may be one or more, and the memory may be one or more.

[0127] Alternatively, the memory can be integrated with the processor, or the memory can be set separately from the processor.

[0128] Optionally, the second device may also include a transceiver, which may specifically be a transmitter and a receiver.

[0129] In a nineteenth aspect, a terminal device (e.g., a user equipment UE) is provided, including a processor, and optionally, a memory, the processor for controlling a transceiver to transmit and receive signals, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, causing the terminal device to perform the methods of the fifth or sixth aspect above, and any possible implementation thereof.

[0130] Optionally, the processor may be one or more, and the memory may be one or more.

[0131] Alternatively, the memory can be integrated with the processor, or the memory can be set separately from the processor.

[0132] Optionally, the terminal device may also include a transceiver, which may specifically be a transmitter and a receiver.

[0133] In a twentieth aspect, a location management function (e.g., LMF) network element is provided, including a processor, and optionally, a memory, the processor for controlling a transceiver to transmit and receive signals, the memory for storing a computer program, and the processor for calling and running the computer program from the memory, such that the location management function network element performs the methods of the seventh or eighth aspect above, and any possible implementation thereof.

[0134] Optionally, the processor may be one or more, and the memory may be one or more.

[0135] Alternatively, the memory can be integrated with the processor, or the memory can be set separately from the processor.

[0136] Optionally, the location management function network element also includes a transceiver, which can specifically be a transmitter and a receiver.

[0137] In a twenty-first aspect, a communication apparatus is provided, comprising: modules or units for implementing the methods of any of the above aspects or any possible implementations of the aspects.

[0138] In a twenty-second aspect, a communication system is provided, comprising: a first device for performing the methods of the first or second aspect and any possible implementation thereof; a second device for performing the methods of the third or fourth aspect and any possible implementation thereof; a terminal device for performing the methods of the fifth or sixth aspect and any possible implementation thereof; and a location management function network element for performing the methods of the seventh or eighth aspect and any possible implementation thereof.

[0139] In a twentieth aspect, a computer-readable storage medium is provided that stores a computer program or code, which, when executed on a computer, causes the computer to perform the methods of the foregoing aspects or any possible implementation thereof.

[0140] In a twentieth aspect, a chip is provided, including at least one processor coupled to a memory for storing a computer program, the processor for calling and running the computer program from the memory, such that a device having the chip system mounted performs the methods of the foregoing aspects or any possible implementation thereof.

[0141] The chip may include an input circuit or interface for transmitting information or data, and an output circuit or interface for receiving information or data.

[0142] In a twenty-fifth aspect, a computer program product is provided, comprising: computer program code that, when executed by a device, causes the device to perform the methods of the foregoing aspects or any possible implementation thereof. Attached Figure Description

[0143] Figure 1 This is a schematic diagram of a communication system to which this application applies.

[0144] Figure 2a This is a schematic diagram illustrating a conventional positioning method applicable to this application.

[0145] Figure 2b This is a schematic diagram illustrating an example of the time-of-flight calculation principle for a positioning reference signal applicable to the conventional positioning method of this application.

[0146] Figure 3 This is a schematic diagram of a bilateral bidirectional positioning method applicable to this application.

[0147] Figure 4 This is a schematic diagram of a positioning method applicable to this application.

[0148] Figure 5 This is a schematic diagram of a positioning method applicable to this application.

[0149] Figure 6 This is another schematic diagram illustrating the positioning method applicable to this application.

[0150] Figure 7 This is a schematic diagram illustrating an example of the time-of-flight calculation principle for the positioning reference signal applicable to this application.

[0151] Figure 8 This is another schematic diagram illustrating the positioning method applicable to this application.

[0152] Figure 9 This is another schematic diagram illustrating the positioning method applicable to this application.

[0153] Figure 10 This is another schematic diagram illustrating the time-of-flight calculation principle of the positioning reference signal applicable to this application.

[0154] Figure 11 This is a schematic diagram of a positioning device applicable to this application.

[0155] Figure 12 This is another schematic diagram of a positioning device applicable to this application. Detailed Implementation

[0156] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0157] The technical solutions of this application can be applied to various communication systems such as synchronization, measurement, and positioning. For example, Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, and 5G (5G) systems. thGeneration (5G) systems or new radio (NR), etc.

[0158] With the development of communication technology, mobile communication systems will not only support traditional communication, but also support communication such as device-to-device (D2D), machine-to-machine (M2M), machine-type communication (MTC), vehicle-to-everything (V2X), vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-pedestrian (V2P), vehicle-to-network (V2N), long-term evolution-vehicle (LTE-V), machine-type communication (MTC), Internet of Things (IoT), Industrial Internet, long-term evolution-machine (LTE-M), new unlicensed spectrum (NR-U), and vehicle-to-everything (V2X-U). To facilitate understanding of the technical solution of this application, Figure 1 A schematic diagram of a network architecture 100 applicable to embodiments of this application is shown. For example... Figure 1 As shown, the communication system may include multiple anchor devices. These anchor devices include at least one primary serving anchor, such as anchor device 120, and multiple secondary non-serving anchor devices, such as anchor devices 130 and 140. The communication system may also include at least one terminal device 150, such as a user equipment (UE) to be located.

[0159] Optionally, the communication system may also include a location management function (LMF) network element. For example, the LMF 110.

[0160] The anchor devices 120, 130, and 140, as well as the terminal device 150, can be mobile or fixed. Anchor devices 120, 130, and 140, terminal device 150, and the location management function (LMF) network element 110 can all communicate wirelessly via a link. That is, anchor devices 120, 130, and 140 can transmit and receive signals with the LMF network element 110 and the terminal device 150, respectively. Furthermore, anchor device 120 can also transmit and receive signals with anchor devices 130 and 140, respectively.

[0161] For example, anchor devices can provide communication coverage for a specific geographical area and can communicate with terminal devices located within that coverage area. For instance, primary anchor device 120 can send a positioning reference signal (PRS) to secondary anchor device 130; terminal device 150 can also send positioning reference signals to anchor devices 120, 130, and 140; and anchor devices 120, 130, and 140 can send positioning measurement information to location management function (LMF) network element 110 or terminal device 150. Therefore, Figure 1 An anchor devices 120, 130, and 140, terminal device 150, and location management function LMF network element 110 constitute a communication system. In this network architecture, anchor devices 120, 130, and 140, as well as terminal device 150, are connected via a PC5 interface.

[0162] In this application, the anchor devices 120, 130 and 140 can be road side units (RSU), transmit and receive points (TRP), 5G base stations (gNodeB or gNB), etc.

[0163] In this application, terminal device 150 may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication capabilities, as well as various forms of terminals, such as mobile stations (MS), terminals, user equipment (UE), and soft terminals. Examples include water meters, electricity meters, and sensors.

[0164] In this application, the Location Management Function (LMF) network element 110 is located locally in the radio access network (RAN) or on the core network (CN) side. The LMF supports functions such as location calculation, obtaining downlink location measurement results or location estimation from the UE, obtaining uplink location measurement results from the RAN side, and obtaining auxiliary data from the RAN side.

[0165] In this application, "network element" can also be referred to as an entity, device, apparatus, or module, etc., and this application does not specifically limit it. For example, an LMF entity includes the local positioning management function (L-LMF) entity and the core network positioning management function (CN-LMF) entity. In this application, for ease of understanding and explanation, the description of "network element" is omitted in some descriptions; for example, the LMF network element is abbreviated as LMF. In this case, "LMF" should be understood as an LMF network element or LMF entity.

[0166] It should be noted that the embodiments of this application are mainly applicable to side-link (SL) positioning scenarios. Optionally, they are also applicable to cellular uplink (UL) or downlink (DL) positioning scenarios. This application does not specifically limit these applications.

[0167] It should be understood that Figure 1 This is a simplified illustration for ease of understanding only. The communication system 100 may also include other network devices or terminal devices, and this application does not make any specific limitations on this.

[0168] To facilitate understanding of the embodiments of this application, the terminology used in this application will be briefly explained below.

[0169] 1. Crystal oscillator A crystal oscillator, also known as a quartz crystal, is one of the most commonly used components in electronic products, primarily used in oscillator circuits. A crystal oscillator mainly consists of a wafer, conductive adhesive, electrodes, and other components.

[0170] The main parameters of a crystal oscillator include nominal frequency, load capacitance, frequency accuracy, and frequency stability. These parameters determine the quality and performance of the crystal oscillator.

[0171] A crystal oscillator is short for quartz crystal oscillator, also known as an active crystal oscillator, quartz crystal, or simply crystal. It generates the clock frequency signal necessary for the central processing unit (CPU) to execute instructions. All CPU instruction execution is based on this; the higher the clock signal frequency, the faster the CPU typically runs. A crystal oscillator is a thin slice (or wafer) cut from a quartz crystal at a specific azimuth angle.

[0172] Figure 2a This is a schematic diagram illustrating a conventional positioning method applicable to this application.

[0173] That is, a schematic diagram of the Time Difference of Arrival (TDOA) positioning principle. TDOA is achieved by the base station sending a PRS to the mobile device and measuring the transmission delay difference between the mobile device and multiple base stations. As shown in Figure 2(a), including base station 1, base station 2, base station 3 and mobile device, when the distance difference between two base stations (e.g., base station 1 and base station 2) and the mobile device is R... 21 When the mobile device is located with base station 1 and base station 2 as focal points, the difference between the distances to these two focal points is always R. 21 On the hyperbola. Where, the distance difference R 21 This can be obtained by multiplying the time delay difference (i.e., the time delay difference between the signal transmission between the mobile device and the two base stations) and the speed of light. Similarly, based on the distance difference R between the two base stations (e.g., base station 1 and base station 3) and the mobile device... 31 We can obtain another set of data with base stations 1 and 3 as foci, where the difference in distance from these two foci is always R. 31 The hyperbola. Finally, the location of the mobile device can be estimated by the intersection of the two sets of hyperbolas.

[0174] In this implementation, accurate time delay difference is required for positioning, so clock synchronization must be ensured between different base stations.

[0175] Figure 2b This is a schematic diagram illustrating an example of the time-of-flight calculation principle for a positioning reference signal applicable to the conventional positioning method of this application.

[0176] That is, a schematic diagram of the current round-trip time (RTT) positioning principle. RTT positioning obtains the round-trip transmission time by sending a positioning reference signal (PRS) back and forth to achieve device positioning. As shown in Figure 2(b), device A, at its own timestamp... T A1 It continuously sends positioning reference signals to device B, and device B uses its own timestamp. T B1 The positioning reference signal is received at all times. Then, device B records the location at its own timestamp. T B2 Constantly send location response signals to device A, and device A sends its own timestamp. T A2 It continuously receives the positioning response signal. Ultimately, device A utilizes the round-trip time... t round and response time t replyThe time-of-flight (TOF) of a pulse signal between two devices can be calculated.

[0177] Round-trip time:

[0178] Response time:

[0179] Flight time between the two devices:

[0180] Furthermore, the distance between device A and device B is determined as follows:

[0181] Where c is the speed of light, i.e. .

[0182] By using the above-mentioned one-sided two-way positioning principle, the UE to be located can obtain the distance to the three base stations by performing RTT processes with the three base stations respectively, thereby achieving accurate positioning of the UE.

[0183] In this implementation, different devices (e.g., device A and device B) do not need to keep their clocks synchronized; they only need to report the difference in timestamps.

[0184] Different devices will produce different clock drifts, that is, when the clock crystal oscillator has errors... e 1 hour, if time has actually elapsed t Then the time recorded by the device is t (1+) e 1) This means the deviation increases with time t. Because of the error in the crystal oscillator, there is a deviation between the actual measured flight time and the true flight time, thus introducing positioning error. Therefore, RTT requires the response time to be as short as possible to reduce positioning error.

[0185] For example, the following is an error analysis of TOF (Time of Flight of a Pulse Signal between Device A and Device B). Assume the crystal oscillator error of Device A is... e A The crystal oscillator error of device B is e B Therefore, the timestamps actually recorded by device A should be respectively... and The timestamps actually recorded by device B should be respectively and .

[0186] Therefore, the quantities actually substituted into the formula for TOF estimation (i.e., round-trip time and response time) are respectively and This leads to the TOF estimate with error, namely:

[0187] Therefore, the estimated value The deviation from the actual Time of Flow (TOF) is:

[0188] As can be seen from formula (6), the measurement error is related to the response time. t reply The time of flight (TOF) of the pulse signal between device A and device B is related. Generally speaking, t reply The value is much larger than that of TOF, which can be considered... t reply The crystal oscillator plays a dominant role in measurement error. Therefore, the measurement error increases with the increase of response time. To minimize the positioning error introduced by the crystal oscillator, it is necessary to ensure... t reply The smaller the value, the higher the processing speed required from the responder.

[0189] To reduce the impact of clock drift, the IEEE 802.15.4z standard uses the double-sided two-way ranging (DS-TWR) method to accurately locate the device under test (UE).

[0190] Figure 3 This is a schematic diagram illustrating an example of a bilateral bidirectional positioning method applicable to embodiments of this application. DS-TWR can be considered an extension of the RTT scheme. For example... Figure 3 As shown, by measuring the round-trip time between device A and device B, the time of flight (TOF) of the pulse signal between the two devices can be obtained, which is shown in the figure. T prop .

[0191] For example, in the DS-TWR scheme, a total of three messages are transmitted between device A and device B. The first and second messages can be regarded as RTT measurements initiated by device A, and the second and third messages can be regarded as RTT measurements initiated by device B. Correspondingly, two RTT equations can be obtained:

[0192] Therefore, the Time of Flight (TOF) can be obtained as follows:

[0193] Ultimately, considering that devices A and B have different clock crystal oscillator errors... e A ande B The error introduced by clock drift is:

[0194] As can be seen from formula (9), the positioning error is independent of the response time, but only related to... e A , e B Related to Time of Flight (TOF). Because e A and e B Generally 10 -6 The time difference is on the order of magnitude, while the time of time (TOF) is on the order of nanoseconds, so the positioning error is almost negligible.

[0195] Based on the aforementioned bilateral two-way positioning principle, the DS-TWR scheme requires three message exchanges to complete the ranging between two devices. When introduced into the SL scenario for positioning measurement, the UE needs to perform DS-TWR ranging with three anchor point devices respectively, requiring a total of nine message exchanges to determine the UE's accurate positioning.

[0196] In this implementation, the positioning measurement error is independent of the response time, and high positioning accuracy can be guaranteed even if the replay time is long. However, the overall overhead and complexity of this scheme are relatively high.

[0197] Therefore, how to reduce the impact of clock synchronization and clock drift on positioning accuracy while reducing the overall overhead and complexity of the positioning scheme is an urgent technical problem to be solved.

[0198] In view of this, embodiments of this application provide a positioning method that uses a positioning reference signal (PRS) sent by a first device (e.g., anchor device #1) to a second device (e.g., anchor device #2), and the measurement and reporting of the PRS sent by the terminal device, so that the first device and the second device do not need to perform clock synchronization, thereby reducing the impact of clock drift on positioning error, improving positioning accuracy while reducing measurement signaling overhead and complexity on the terminal device side.

[0199] To facilitate understanding of the embodiments of this application, the following points are made: In the embodiments of this application, "at least two" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0200] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0201] In the embodiments of this application, the terms "first," "second," and various numerical designations are used for ease of description and are not intended to limit the scope of the embodiments of this application. For example, they can be used to distinguish different indication information.

[0202] In the embodiments of this application, "for indicating" can include both direct and indirect indication. When describing an indication message as indicating A, it can include whether the indication message directly indicates A or indirectly indicates A, but does not necessarily mean that the indication message carries A.

[0203] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0204] In the embodiments of this application, descriptions such as "when," "under what circumstances," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a specific time. They do not require the device to make a judgment action during implementation, nor do they imply any other limitations.

[0205] In the embodiments of this application, "instruction information" and "configuration information" can be explicit instructions, that is, instructions directly indicated through signaling, or obtained by combining other rules or parameters with parameters indicated by signaling, or by deduction. They can also be implicit instructions, that is, obtained based on rules or relationships, or based on other parameters, or by deduction. This application does not impose specific limitations on them.

[0206] It should be understood that the methods of carrying positioning reference signals, positioning measurement information, etc., involved in this application may be, but are not limited to, one or a combination of two of the following: radio resource control signaling and medium access control (MAC) layer signaling. Specifically, radio resource control signaling includes radio resource control (RRC) signaling; MAC layer signaling includes MAC control element (MAC CE) signaling; and scheduling information may be carried in physical layer (PHY) signaling, which includes downlink control information (DCI) signaling, etc.

[0207] The positioning method in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0208] Figure 4 This is a schematic flowchart of a positioning method 400 provided in an embodiment of this application. The specific implementation steps include: S410, the first device sends a first positioning reference signal and a third positioning reference signal to the second device; Correspondingly, the second device receives the first positioning reference signal and the third positioning reference signal sent from the first device.

[0209] The first device sends the first positioning reference signal at the first moment, and the first device sends the third positioning reference signal at the third moment, with the first moment preceding the third moment.

[0210] Similarly, the second device receives the first positioning reference signal at the fourth moment, and the second device receives the third positioning reference signal at the sixth moment, with the fourth moment preceding the sixth moment.

[0211] The first device may transmit the first positioning reference signal and the third positioning reference signal by broadcasting or by directional transmission. For example, the first device may transmit the first positioning reference signal and the third positioning reference signal to the second device and the third device. This application does not make any specific limitation in this regard.

[0212] In the technical solution of this application, the first device and the second device can be devices with fixed positions (e.g., roadside unit RSU); or, the first device and the second device can be devices with changing positions, and their coordinate information can be obtained through system measurement or active reporting by the devices. This application does not make specific limitations in this regard.

[0213] For example, the first moment is t 10 The third time point is t 12 , t10 Less than t 12 The fourth time is t 20 The sixth time is t 22 , t 20 Less than t 22 .

[0214] It should be noted that in this implementation, the first positioning reference signal and the third positioning reference signal are sent periodically.

[0215] In this configuration, the transmission periods of the first and third positioning reference signals are the same, for example, T = 10 ns. Assuming the time interval between the first and third positioning reference signals transmitted by the first device is 2 ns, then the transmission time of the first positioning reference signal can be considered to be at the 1st ns, and the transmission time of the third positioning reference signal at the 3rd ns. The next transmission time of the first positioning reference signal is at the 11th ns, and the transmission time of the third positioning reference signal is at the 13th ns, and so on; that is, a third positioning reference signal is transmitted 2 ns after each transmission of the first positioning reference signal. Alternatively, it can be considered that the first device periodically transmits positioning reference signals, transmitting two positioning reference signals (the first and third positioning reference signals) each time, with a fixed interval between the two signals transmitted each time, for example, 2 ns; that is, the first device periodically transmits the first and third positioning reference signals with a 2 ns interval.

[0216] As an example and not a limitation, the first device periodically broadcasts a first positioning reference signal and a third positioning reference signal, and correspondingly, multiple devices receive the first positioning reference signal and the third positioning reference signal from the first device. These multiple devices include a second device, a third device, etc.

[0217] For example, the third device receives a first positioning reference signal and a third positioning reference signal from the first device, wherein the first positioning reference signal is received at the seventh time t. 30 The third positioning reference signal was received at the ninth time t. 32 The ninth moment follows the seventh moment.

[0218] S420, the terminal device sends a second positioning reference signal to the first device and the second device; Correspondingly, both the first and second devices receive a second positioning reference signal sent from the terminal device.

[0219] The first device receives the second positioning reference signal at the second moment, which is before the third moment and after the first moment.

[0220] Similarly, the second device receives the second positioning reference signal at the fifth moment, which is before the sixth moment and after the fourth moment.

[0221] It should be noted that the terminal device can send multiple second positioning reference signals, which may or may not be sent periodically.

[0222] In the technical solution of this application, the transmission time of the second positioning reference signal is between the periodically transmitted adjacent first and third positioning reference signals. For example, if the time interval between the transmission of the first and third positioning reference signals by the first device is 2ns, and the time period is 10ns, then the transmission time of the first positioning reference signal can be considered as the 1st ns, the transmission time of the third positioning reference signal as the 3rd ns, and the second positioning reference signal can be transmitted at any time between the 1st and 3rd ns; the next transmission time of the first positioning reference signal is the 11th ns, the next transmission time of the third positioning reference signal is the 13th ns, and the next transmission time of the second positioning reference signal can be transmitted at any time between the 11th and 13th ns. Alternatively, the next second positioning reference signal can also be transmitted with a period of 10ns; and so on.

[0223] It should be noted that the number of second positioning reference signals transmitted can be the same as or different from the number of first positioning reference signals (or third positioning reference signals).

[0224] Optionally, the base station instructs the terminal device to transmit a second positioning reference signal between the 1st ns and the 3rd ns, for example, at the 1.8th ns. Alternatively, the terminal device may also autonomously determine the timing of transmitting the second positioning reference signal, for example, at the 2nd ns, without being controlled by the base station. This application does not impose specific limitations on this.

[0225] For example, the second time step is t. 11 The fifth time is t 21 For example, t 11 Indicates the 2nd ns, t 21 This indicates the 2.2s mark. Assuming the terminal device sends the second positioning reference signal at 1.9ns, the first device can receive the second positioning reference signal at 2ns, and the second device can receive the first positioning reference signal at 2.2ns.

[0226] As an example, and not a limitation, the terminal device periodically broadcasts a second positioning reference signal. Correspondingly, multiple devices receive the second positioning reference signal from the terminal device. These multiple devices include a first device, a second device, a third device, etc.

[0227] For example, the third device receives a second positioning reference signal sent from the terminal device, wherein the second positioning reference signal is received at the eighth time t. 31 The eighth moment is after the seventh moment and before the ninth moment. Further, the first device sends first positioning measurement information, including two specific implementations of step S431 or step S432 below. When the positioning calculation is performed by the terminal device, step S431 is executed; when the positioning calculation is performed by the LMF, step S432 is executed.

[0228] S431, the first device sends the first positioning measurement information and the location information of the first device to the terminal device.

[0229] Correspondingly, the terminal device receives the first positioning measurement information and the location information of the first device from the first device.

[0230] The first positioning measurement information is used to indicate the first time interval and the second time interval. The first time interval is the time interval between the first moment and the second moment, and the second time interval is the time interval between the second moment and the third moment. The first positioning measurement information is used to determine the location of the terminal device.

[0231] It should be noted that the location information of the first device can be obtained by the terminal device from the first device or the location management function (LMF) network element, or it can be obtained through measurement by anchor devices at other known locations. This application does not impose specific limitations on this.

[0232] S432, the first device sends the first positioning measurement information to the LMF.

[0233] Correspondingly, the LMF receives the first positioning measurement information from the first device.

[0234] The first positioning measurement information is used to indicate the first time interval and the second time interval. The first time interval is the time interval between the first moment and the second moment, and the second time interval is the time interval between the second moment and the third moment. The first positioning measurement information is used to determine the location of the terminal device.

[0235] Based on steps S431 and S432: One possible implementation is that the first positioning measurement information includes a first time point, a second time point, and a third time point.

[0236] For example, the first positioning measurement information includes a first time t. 10 The second time point is t 11 and the third time is t 12 For example, t 10 Indicates the 1st second, t 11Indicates the second second, t 12 This indicates the 3rd second.

[0237] In this implementation, the first device feeds back three moments, and the time interval between any two moments can be calculated based on these three moments, namely the first time interval, the second time interval, and the third time interval.

[0238] Another possible implementation is that the first positioning measurement information includes at least two of the following: a first time interval, a second time interval, or a third time interval, where the third time interval is the time interval between the first and third moments. The third time interval can be calculated based on any two of these three time intervals.

[0239] Method 1, First time interval satisfy: The second time interval satisfy: The third time interval satisfy: ,in, For the first moment, For the second moment, This is the third moment.

[0240] Method 2, First time interval satisfy: The second time interval satisfy: The third time interval satisfy: ; in, For the first moment, For the second moment, This is the third moment.

[0241] For example, the first positioning measurement information includes a first time interval T1, a second time interval T2, and a third time interval T3. For instance, T1 represents 1 ns, T2 represents 1 ns, and T3 represents 2 ns; or, T1 represents -1 ns, T2 represents -1 ns, and T3 represents -2 ns.

[0242] In this implementation, expressions for the first time interval, the second time interval, and the third time interval are provided respectively. That is, the first device can feed back at least two time intervals, and subsequently determine the first time interval and the second time interval based on any two time intervals.

[0243] It should be understood that in the technical solution of this application, the time interval can be either positive or negative, and there is no specific limitation on this. It should be noted that, for ease of calculation and use, the first time interval, the second time interval, and the third time interval under the same implementation can all be positive or negative.

[0244] Furthermore, the second device sends second positioning measurement information, including either step S441 or step S442 below. When the positioning calculation is performed by the terminal device, step S441 is executed; when the positioning calculation is performed by the LMF, step S442 is executed.

[0245] S441, the second device sends the second positioning measurement information and the location information of the second device to the terminal device.

[0246] Correspondingly, the terminal device receives the second positioning measurement information and the location information of the second device sent from the terminal device.

[0247] The second positioning measurement information is used to indicate the fourth time interval and the fifth time interval. The fourth time interval is the time interval between the fourth and fifth moments, and the fifth time interval is the time interval between the fifth and sixth moments. The second positioning measurement information is used to determine the location of the terminal device.

[0248] S442, the second device sends the second positioning measurement information to the LMF.

[0249] Correspondingly, the LMF receives the second positioning measurement information sent from the second device.

[0250] The second positioning measurement information is used to indicate the fourth time interval and the fifth time interval. The fourth time interval is the time interval between the fourth and fifth moments, and the fifth time interval is the time interval between the fifth and sixth moments. The second positioning measurement information is used to determine the location of the terminal device.

[0251] Based on steps S441 and S442: One possible implementation is that the second positioning measurement information includes the fourth, fifth, and sixth time points.

[0252] For example, the second positioning measurement information includes a fourth time t. 20 The fifth time is t 21 And the sixth time is t 22 For example, t 20 Indicates the 1.6th second, t 21 Indicates the second and second seconds, t 22 This indicates the 3.6th second.

[0253] In this implementation, the second device feeds back three moments, and the time interval between any two moments can be calculated based on these three moments, namely the fourth time interval, the fifth time interval, and the fifth time interval.

[0254] Another possible implementation is that the second positioning measurement information includes at least two of the following: a fourth time interval, a fifth time interval, or a sixth time interval, where the sixth time interval is the time interval between the fourth and sixth times. The third time interval can be calculated based on any two of these three time intervals.

[0255] Method 1, Fourth Time Interval satisfy: The fifth time interval satisfy: The sixth time interval satisfy: ;in, For the fourth moment, For the fifth moment, This is the sixth moment.

[0256] Method 2, Fourth Time Interval satisfy: The fifth time interval satisfy: The sixth time interval satisfy: ;in, For the fourth moment, For the fifth moment, This is the sixth moment.

[0257] For example, the second positioning measurement information includes a fourth time interval T4, a fifth time interval T5, and a sixth time interval T6. For instance, T4 represents 0.6 ns, T5 represents 0.6 ns, and T6 represents 2 ns; or, T4 represents -0.6 ns, T5 represents -0.6 ns, and T6 represents -2 ns.

[0258] In this implementation, expressions for the fourth, fifth, and sixth time intervals are provided, respectively. That is, the second device can provide feedback of at least two time intervals, which can then be used to determine the fourth and fifth time intervals based on any two time intervals.

[0259] It should be understood that in the technical solution of this application, the time interval can be either positive or negative, and there is no specific limitation on this. It should be noted that, for ease of calculation and use, the fourth, fifth, and sixth time intervals under the same implementation can be simultaneously positive or negative.

[0260] It should be noted that the first positioning measurement information in steps S431 and S432 above, and the second positioning measurement information in steps S441 and S442 above, can be arbitrarily combined when reporting.

[0261] For example, the first positioning measurement information reported by the first device is a first time interval, a second time interval, and a third time interval, and the second positioning measurement information reported by the second device is a fourth time interval, a fifth time interval, and a sixth time interval; or, the first positioning measurement information reported by the first device is any two of a first time interval, a second time interval, or a third time interval. The second positioning measurement information reported by the second device is any two of a fourth time interval, a fifth time interval, or a sixth time interval; or, the first positioning measurement information reported by the first device is any two of a first time interval, a second time interval, or a third time interval, and the second positioning measurement information reported by the second device is a fourth time interval, a fifth time interval, and a sixth time interval. This application does not specifically limit this.

[0262] Furthermore, the technical solution of this application also includes a third device, the specific implementation of which is similar to that of the second device.

[0263] As an example, and not a limitation, the third device sending third positioning measurement information includes the following two specific implementation methods: One possible implementation involves the third device sending third positioning measurement information and its own location information to the terminal device. Correspondingly, the terminal device receives the third positioning measurement information and its own location information from the third device.

[0264] Another possible implementation involves a third device sending third positioning measurement information to the LMF. Correspondingly, the LMF receives the third positioning measurement information sent by the third device.

[0265] The third positioning measurement information is used to indicate the seventh time interval T7 and the eighth time interval T8, where the seventh time interval is the seventh time t. 30 and the eighth moment t 31 The time interval between them, the eighth time interval is the eighth time t 31 and the ninth moment t 32 The time interval between these intervals, along with the third positioning measurement information, is used to determine the location of the terminal device.

[0266] It should be noted that the location information of the third device can be obtained by the terminal device from the third device or the location management function (LMF) network element, or it can be obtained through measurement by anchor devices at other known locations. This application does not impose specific limitations on this.

[0267] One possible implementation is that the third positioning measurement information includes the seventh, eighth, and ninth time points.

[0268] For example, the third positioning measurement information includes the seventh time as t. 30 The eighth time is t 31 And the ninth time is t 32 For example, t 30 Indicates the 1.7ns, t 31 Indicates the 2nd and 3rd seconds, t 32 This indicates the 3.7ns mark.

[0269] In this implementation, the third device provides feedback on three moments, and the time interval between any two moments can be calculated based on these three moments, namely the seventh time interval, the eighth time interval, and the ninth time interval.

[0270] Another possible implementation involves the third positioning measurement information including at least two of the following: a seventh time interval, an eighth time interval, or a ninth time interval, where the ninth time interval is the time interval between the seventh and ninth times. The third time interval can be calculated based on any two of these three time intervals.

[0271] Method 1, Seventh Time Interval satisfy: The eighth time interval satisfy: The ninth time interval satisfy:

[0272] Method 2, Seventh Time Interval satisfy: The eighth time interval satisfy: The ninth time interval satisfy: .

[0273] in, The seventh moment, This is the eighth moment. This is the ninth moment.

[0274] For example, the third positioning measurement information includes a seventh time interval T7, an eighth time interval T8, and a ninth time interval T9. For instance, T7 represents 1.7ns, T8 represents 2.3ns, and T9 represents 3.7ns; or, T7 represents -1.7ns, T8 represents -2.3ns, and T9 represents -3.7ns.

[0275] In this implementation, expressions for the seventh, eighth, and ninth time intervals are provided respectively. That is, the third device can feed back at least two time intervals, and subsequently determine the seventh and eighth time intervals based on any two time intervals.

[0276] It should be noted that the third positioning measurement information can be arbitrarily combined with the first and second positioning measurement information when reporting.

[0277] For example, the first positioning measurement information reported by the first device is the first time interval, the second time interval, and the third time interval; the second positioning measurement information reported by the second device is the fourth time interval, the fifth time interval, and the sixth time interval; and the first positioning measurement information reported by the third device is the seventh time interval, the eighth time interval, and the ninth time interval. Alternatively, the first positioning measurement information reported by the first device is the first time interval, the second time interval, and the third time interval; the second positioning measurement information reported by the second device is any two of the fourth time interval, the fifth time interval, or the sixth time interval; and the third positioning measurement information reported by the third device is any two of the seventh time interval, the eighth time interval, or the ninth time interval. This application does not specifically limit this.

[0278] Further, the location of the terminal device is determined based on the first positioning measurement information and the second positioning measurement information, including two specific implementation methods: step S451 or step S452. When the positioning calculation is performed by the terminal device, step S451 is executed; when the positioning calculation is performed by the LMF, step S452 is executed.

[0279] S451, the terminal device determines its position based on the first positioning measurement information, the position information of the first device, the second positioning measurement information, and the position information of the second device.

[0280] One possible implementation is that the terminal device determines the arrival time difference of the positioning reference signal sent by the terminal device to the first device and the second device based on the first positioning measurement information, the location information of the first device, the location information of the second device, and the second positioning measurement information. Terminal devices based on arrival time difference Determine the location of the terminal device.

[0281] Among them, the time difference of arrival satisfy: ,or, ,in, The time of flight of the positioning reference signal between the first and second devices.

[0282] This implementation provides two forms of representation for the arrival time difference, through which the arrival time difference is expressed. It can be determined that the terminal device is located at a point with the first and second devices as focal points, and the difference in distance between these two focal points is always the time difference of arrival. On the hyperbola.

[0283] Furthermore, the terminal device determines its position based on the first positioning measurement information, the position information of the first device, the second positioning measurement information, and the position information of the second device, including: the terminal device determines its position based on the first positioning measurement information, the position information of the first device, the second positioning measurement information, the position information of the second device, the third positioning measurement information, and the position information of the third device.

[0284] For example, the terminal device can determine the arrival time difference between the positioning reference signal sent by the terminal device and the arrival time of the positioning reference signal at the first device and the third device based on the first positioning measurement information, the location information of the first device, the location information of the third device, and the third positioning measurement information. ; and the terminal device can adjust according to the time difference of arrival. and arrival time difference Accurately determine the location of the terminal equipment.

[0285] Among them, the time difference of arrival satisfy: ,or, ,in, The flight time of the positioning reference signal between the first and third devices.

[0286] This implementation provides two forms of representation for the arrival time difference, through which the arrival time difference is expressed. It can be determined that the terminal device is located at the focal points of the first and third devices, and the difference in distance between the terminal device and these two focal points is always the time difference of arrival. On the hyperbola.

[0287] It should be understood that, through the time difference of arrival and arrival time difference The intersection of the two hyperbolas can be determined as the location information of the terminal device.

[0288] Optionally, the terminal device can also obtain the time difference between the second and third devices based on the second and third positioning measurement information. These three time differences , and Any two time differences can be used for positioning. For the sake of simplicity, we will not go into further detail here.

[0289] In summary, the terminal device can perform triangulation based on the three sets of measurement information: (first positioning measurement information, first device location information), (second positioning measurement information, second device location information), and (third positioning measurement information, third device location information), to accurately determine the location of the terminal device.

[0290] S452, LMF determines the location of the terminal device based on the first positioning measurement information and the second positioning measurement information.

[0291] It should be noted that LMF can directly obtain the location information of the first and second devices. Therefore, in this implementation, the first and second devices do not need to report their location information.

[0292] One possible implementation is that the positioning management function network element determines the arrival time difference between the terminal device sending the positioning reference signal to the first and second devices based on the first and second positioning measurement information. The location management function network element uses the time difference of arrival. Determine the location of the terminal device.

[0293] Among them, the time difference of arrival satisfy: ,or, ,in, The time of flight of the positioning reference signal between the first and second devices.

[0294] This implementation provides two forms of representation for the arrival time difference, through which the arrival time difference is expressed. It can be determined that the terminal device is located at a point with the first and second devices as focal points, and the difference in distance between these two focal points is always the time difference of arrival. On the hyperbola.

[0295] Furthermore, the LMF determines the location of the terminal device based on the first positioning measurement information and the second positioning measurement information, including: the LMF determines the location of the terminal device based on the first positioning measurement information, the second positioning measurement information and the third positioning measurement information.

[0296] For example, the LMF can determine the arrival time difference between the positioning reference signal sent by the terminal device and the first and third devices based on the first and third positioning measurement information. ; and LMF can be based on the time difference of arrival. and arrival time difference Accurately determine the location of the terminal equipment.

[0297] Among them, the time difference of arrival satisfy: ,or, ,in, The flight time of the positioning reference signal between the first and third devices.

[0298] This implementation provides two forms of representation for the arrival time difference, through which the arrival time difference is expressed. It can be determined that the terminal device is located at the focal points of the first and third devices, and the difference in distance between the terminal device and these two focal points is always the time difference of arrival. On the hyperbola.

[0299] It should be understood that, through the time difference of arrival and arrival time difference The intersection of the two hyperbolas can be determined as the location information of the terminal device.

[0300] Optionally, the LMF can also obtain the time difference between the second and third devices based on the second and third positioning measurement information. These three time differences , and Any two time differences can be used for positioning. For the sake of simplicity, we will not go into further detail here.

[0301] In summary, LMF can perform triangulation based on the first, second, and third positioning measurement information to accurately determine the location of the terminal device.

[0302] In this implementation, the first device broadcasts a Position Reference Signal (PRS) twice and receives one PRS; the terminal device broadcasts an SL PRS once; and the second device receives three PRSs. By broadcasting PRS by the first and terminal devices, and recording and reporting the transmission and / or reception time information of the positioning reference signal, the concept of round-trip time (RTT) and time difference of arrival (TDOA) is integrated. This allows the determination of the time difference between the arrival of the signal transmitted by the terminal device at the first and second devices, which is then used to determine the location of the terminal device. This implementation simplifies the overhead and complexity of the terminal device while achieving terminal device positioning.

[0303] As an example and not a limitation, this application is also applicable to terminal devices broadcasting SL positioning reference signals (PRS) twice, a first device broadcasting SL PRS once and receiving PRS twice, and a second device receiving PRS three times. Specific implementation steps include: S460, the terminal device broadcasts a first positioning reference signal and a third positioning reference signal to the first device and the second device.

[0304] Correspondingly, the first device receives the first positioning reference signal and the third positioning reference signal sent from the terminal device, and the second device receives the first positioning reference signal and the third positioning reference signal sent from the terminal device.

[0305] S470, the first device sends a second positioning reference signal to the second device; correspondingly, the second device receives the second positioning reference signal sent by the first device.

[0306] Wherein, the time when the first device receives the first positioning reference signal is the first time, the time when the first device receives the third positioning reference signal is the third time, the time when the first device sends the second positioning reference signal is the second time, the second time is before the third time, and the second time is after the first time.

[0307] The second device receives the first positioning reference signal at the fourth moment, the second device receives the third positioning reference signal at the sixth moment, and the second device receives the second positioning reference signal at the fifth moment. The fifth moment is before the sixth moment and after the fourth moment.

[0308] Optionally, the second positioning reference signal is transmitted periodically, while the first and third positioning reference signals may not be transmitted periodically; this application does not impose specific limitations on this. The second positioning reference signal is transmitted between the transmission of the first and third positioning reference signals.

[0309] Similarly, the first device can send first positioning measurement information to the terminal device or LMF. The first positioning measurement information is used to indicate a first time interval and a second time interval. The first time interval is the time interval between a first moment and a second moment, and the second time interval is the time interval between a second moment and a third moment. The first positioning measurement information is used to determine the position of the terminal device. The specific implementation is similar to steps S431 and S432 in method 400 above, and will not be described in detail here for the sake of brevity.

[0310] Similarly, the second device can send second positioning measurement information to the terminal device or LMF. This second positioning measurement information indicates the fourth and fifth time intervals. The fourth time interval is the time interval between the fourth and fifth moments, and the fifth time interval is the time interval between the fifth and sixth moments. The second positioning measurement information is used to determine the location of the terminal device. The specific implementation is similar to steps S441 and S442 in method 400 above, and for simplicity, will not be elaborated further here.

[0311] Furthermore, the terminal device or LMF can locate the terminal device based on the positioning measurement information reported by the first and second devices. The specific implementation method is similar to steps S451 and S452 in method 400 above, and will not be described in detail here for the sake of brevity.

[0312] It should be noted that although the first time to the sixth time and the first time interval to the sixth time interval in this implementation method have the same names as the first time to the sixth time and the first time interval to the sixth time interval involved in method 400, their specific physical meanings are different.

[0313] It should also be noted that this implementation can also include a third device, the specific implementation of which is similar to that of the second device. For the sake of brevity, further details will not be provided here.

[0314] In summary, through the time difference of arrival It can be determined that the terminal device is located with the first device and the second device as the focal points, and the difference in distance between the terminal device and these two focal points is constant. On the hyperbola, and through the time difference of arrival It can also be determined that the terminal device is located with the first device and the third device as focal points, and the difference in distance between the terminal device and these two focal points is always 1. On a hyperbola, the intersection of the two hyperbolas is the accurate location of the terminal device. That is, the terminal device or LMF can perform triangulation based on the first, second, and third positioning measurement information to determine the location of the terminal device.

[0315] Optionally, the terminal device or LMF can also obtain the time difference between the second and third devices based on the second and third positioning measurement information. . , and Any two time differences can be used for positioning. For the sake of simplicity, we will not go into further detail here.

[0316] In this implementation, the first device broadcasts a Single Range (SL) Positioning Reference Signal (PRS) once and receives two PRS signals. The terminal device broadcasts two SL PRS signals, and the second device receives three PRS signals. By broadcasting PRS signals by the first and terminal devices, and recording and reporting the transmission and / or reception time information of the positioning reference signals, the concept of Round Trip Time (RTT) and Time Difference of Arrival (TDOA) is integrated. This allows the determination of the time difference between the arrival of the signal transmitted by the terminal device at the first and second devices, which is then used to determine the location of the terminal device. This implementation simplifies the overhead and complexity of the terminal device while achieving terminal device positioning.

[0317] To facilitate understanding of the embodiments of this application, the following uses anchor point devices (e.g., anchor point device #1, anchor point device #2), terminal devices (e.g., UE), and positioning management function network elements (e.g., LMF) as examples to illustrate the technical solutions provided in this application. Figure 5 This is a schematic diagram of a positioning method 500 provided in an embodiment of this application. In this implementation, anchor device #1 sends two SL PRS messages, the UE sends one SL PRS message, and anchor device #2 receives three PRS messages. Figure 5 As shown, the specific implementation steps include: S510, anchor device #1 (serving Anchor) (i.e., an example of the first device) sends positioning reference signal #1 (i.e., an example of the first positioning reference signal) to anchor device #2 (non-serving Anchor) (i.e., an example of the second device), and records the sending timestamp t. ser,0 (That is, at the first moment t) 10 an example); Correspondingly, anchor device #2 receives positioning reference signal #1 from anchor device #1 and records the reception timestamp t. non,0 (That is, at the fourth time t) 20 an example).

[0318] For example, the positioning reference signal #1 can be transmitted via broadcast. That is, anchor device #1 can provide communication coverage for a specific geographical area, and anchor device #2 belongs to that geographical area. For instance, anchor device #1 broadcasts an SL PRS signal; correspondingly, anchor device #2 receives the SL PRS signal.

[0319] It should be understood that the use of serving Anchor and non_serving Anchor to represent anchor device #1 and anchor device #2 respectively is merely an illustrative example, mainly to illustrate the difference in operation between the two anchor devices, and this application does not limit other referential methods.

[0320] S520, the UE (i.e., an example of a terminal device) sends positioning reference signal #2 (i.e., an example of a second positioning reference signal) to anchor device #1 and anchor device #2 respectively. Correspondingly, anchor device #1 and anchor device #2 receive the positioning reference signal #2 from the UE and record the receiving timestamp t respectively. ser,1 (That is, at the second time t) 11 (one example) and t non,1 (That is, the fifth time t) 21 an example).

[0321] For example, the positioning reference signal #2 can be transmitted via broadcast. For instance, the UE broadcasts the SL PRS signal; correspondingly, anchor device #1 and anchor device #2 receive the SL PRS signal respectively.

[0322] S530, anchor device #1 sends positioning reference signal #3 (i.e., an example of the third positioning reference signal) to anchor device #2, and records the sending timestamp t. ser,2 (i.e., the third time t) 12 an example); Correspondingly, anchor device #2 receives positioning reference signal #3 from anchor device #1 and records the reception timestamp t. non,2 (That is, the sixth time t) 22 an example).

[0323] For example, the positioning reference signal #1 can be transmitted via broadcast. For instance, anchor device #1 broadcasts an SLPRS signal; correspondingly, anchor device #2 receives the SLPRS signal.

[0324] It should be noted that the aforementioned positioning reference signal #1 and positioning reference signal #3 can be transmitted on specific time and frequency resources at a specific period according to the protocol.

[0325] For example, assuming the period of positioning reference signal #1 and positioning reference signal #3 is T, and the timestamps of the first transmission of positioning reference signal #1 and positioning reference signal #3 are t1 and t3 respectively, then the timestamps of the second transmission of positioning reference signal #1 and positioning reference signal #3 can be t1+T and t3+T. This process continues periodically until the positioning measurement is completed.

[0326] In the technical solution of this application, the positioning reference signal #2 may not be transmitted periodically. The positioning reference signal #2 is transmitted between the adjacent positioning reference signal #1 and positioning reference signal #3.

[0327] For example, assuming that the anchor device #1 sends the positioning reference signal #1 and the positioning reference signal #3 at the 1st ns and 3rd ns respectively, the base station can instruct the UE to send the positioning reference signal #2 between the 1st ns and 3rd ns, for example, at the 2.5th ns; or, the UE can also determine the time to send the positioning reference signal #2 independently without the control of the base station. This application does not make specific limitations on this.

[0328] One possible implementation is that the anchor devices (i.e., anchor device #1 and anchor device #2) can report positioning measurement information to the LMF to determine the UE's location.

[0329] In this implementation, the LMF knows the location information of the anchor point device.

[0330] For example, anchor point devices #1 and #2 can be devices with fixed locations, such as roadside units (RSUs). Alternatively, anchor point devices #1 and #2 can also be devices with changing locations, and their coordinate information can be obtained through system measurement or active reporting by the devices. This application does not specifically limit this.

[0331] S541, Anchor device #1 sends positioning measurement information #1 (i.e., an example of the first positioning measurement information) to LMF (i.e., a location management function network element). Correspondingly, the LMF receives positioning measurement information #1 from anchor point device #1.

[0332] The positioning measurement information #1 may include the first time t ser,0 Second time t ser,1 and the third moment t ser,2 Alternatively, the positioning measurement information #1 may also include a first time interval T1 and a second time interval T2. The first time interval is the time interval between the anchor device #1 sending the positioning reference signal #1 and receiving the positioning reference signal #2, and the second time interval is the time interval between the anchor device #1 receiving the positioning reference signal #2 and sending the positioning reference signal #3.

[0333] For example, the first time interval T 1 and the second time interval T 2 respectively satisfy:

[0334]

[0335] Optionally, the first time interval T 1 and the second time interval T 2 can also satisfy the following separately:

[0336]

[0337] Optionally, the positioning measurement information #1 may also include a third time interval T3. The third time interval is the time interval between the anchor device #1 sending positioning reference signal #1 and positioning reference signal #3 respectively.

[0338] It should be noted that the positioning measurement information #1 may include at least two of the first time interval, the second time interval, and the third time interval. This application does not impose specific limitations on this.

[0339] S542, Anchor device #2 sends positioning measurement information #2 to LMF (i.e., an example of the second positioning measurement information); Correspondingly, the LMF receives positioning measurement information #2 from anchor point device #2.

[0340] The positioning measurement information #2 may include the fourth time t non,0 Fifth moment t non,1 and the sixth moment t non,2 Alternatively, the positioning measurement information #2 may also include a fourth time interval T4 and a fifth time interval T5. The fourth time interval is the time interval between when the anchor device #2 receives positioning reference signal #1 and positioning reference signal #2, respectively, and the fifth time interval is the time interval between when the anchor device #2 receives positioning reference signal #2 and positioning reference signal #3, respectively.

[0341] For example, the fourth time interval T 4 and the fifth time interval T 5 respectively satisfy:

[0342]

[0343] Optionally, the fourth time interval T 4. Fifth time interval T 5 can satisfy the following respectively:

[0344]

[0345] Optionally, the positioning measurement information #2 may also include a sixth time interval T6. This sixth time interval is the time interval between when the anchor device #2 receives the positioning reference signal #1 and the positioning reference signal #3.

[0346] It should be noted that the positioning measurement information #2 may include at least two of the fourth, fifth, and sixth time intervals. This application does not impose specific limitations on this.

[0347] S543, LMF determines the UE's location based on positioning measurement information #1 and positioning measurement information #2.

[0348] For example, using the above formulas (10)-(13), the transmission time difference between the UE and anchor device #1 and anchor device #2 can be calculated as follows:

[0349] in, This represents the transmission time of the positioning reference signal between anchor device #1 and anchor device #2. In this implementation, since the positions of the anchor devices are known, therefore... The quantity is known.

[0350] It should be noted that, in the technical solution of this application, when the time interval indicated by the positioning measurement information (e.g., T 1. T 2. T 4 and T 5) When it is a positive number, then the above formula (14) can also be expressed as:

[0351] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. On the hyperbola.

[0352] Another possible implementation is that, if the LMF (Local Position Filter) does not exist, the anchor device can also report its positioning measurement information to the UE to determine the UE's location. Unlike the above implementation, the UE is unaware of the anchor device's location information; therefore, the UE needs to obtain the anchor device's location information.

[0353] For example, the location information of the anchor device may be received by the UE from the anchor device or LMF, or it may be obtained by measurement through anchor devices at other known locations. This application does not specifically limit this.

[0354] S551, Anchor device #1 sends positioning measurement information #3 (i.e., an example of the first positioning measurement information) and the location information of anchor device #1 (i.e., an example of the location information of the first device) to the UE. Correspondingly, the UE receives positioning measurement information #3 and location information of anchor device #1 from anchor device #1.

[0355] Among them, the positioning measurement information #3 may include the first time t ser,0 Second time t ser,1 and the third moment t ser,2Alternatively, the positioning measurement information #3 may also include a first time interval T1 and a second time interval T2. The first time interval is the time interval between the anchor device #1 sending the positioning reference signal #1 and receiving the positioning reference signal #2, and the second time interval is the time interval between the anchor device #1 receiving the positioning reference signal #2 and sending the positioning reference signal #3.

[0356] For example, the first time interval T 1 and the second time interval T 2 respectively satisfy:

[0357]

[0358] Optionally, the first time interval T 1 and the second time interval T 2 can also satisfy the following separately:

[0359]

[0360] Optionally, the positioning measurement information #1 may also include a third time interval T3. The third time interval is the time interval between the anchor device #1 sending positioning reference signal #1 and positioning reference signal #3 respectively.

[0361] It should be noted that the positioning measurement information #1 may include at least two of the first time interval, the second time interval, and the third time interval. This application does not impose specific limitations on this.

[0362] For example, the location information of anchor device #1 can be the location coordinate information of anchor device #1, that is, the physical address of anchor device #1.

[0363] S552, Anchor device #2 sends positioning measurement information #4 (i.e., an example of the second positioning measurement information) and the location information of anchor device #2 (i.e., an example of the location information of the second device) to the UE. Correspondingly, the UE receives positioning measurement information #4 from anchor point device #2.

[0364] Among them, the positioning measurement information #4 may include the fourth time t non,0 Fifth moment t non,1 and the sixth moment t non,2Alternatively, the positioning measurement information #4 may also include a fourth time interval T4 and a fifth time interval T5. The fourth time interval is the time interval between when the anchor device #2 receives positioning reference signal #1 and positioning reference signal #2, respectively, and the fifth time interval is the time interval between when the anchor device #2 receives positioning reference signal #2 and positioning reference signal #3, respectively.

[0365] For example, the fourth time interval T 4 and the fifth time interval T 5 respectively satisfy:

[0366]

[0367] Optionally, the fourth time interval T 4 and the fifth time interval T 5 can also satisfy the following separately:

[0368]

[0369] Optionally, the positioning measurement information #2 may also include a sixth time interval T6. The sixth time interval is the time interval between when the anchor device #2 receives the positioning reference signal #1 and the positioning reference signal #3, respectively.

[0370] It should be noted that the positioning measurement information #2 may include at least two of the fourth, fifth, and sixth time intervals. This application does not impose specific limitations on this.

[0371] For example, the location information of anchor device #2 can be the location coordinates of anchor device #2, that is, the physical address of anchor device #2.

[0372] S553, the UE determines its position based on the positioning measurement information #3, the position information of the anchor device #1, the position information of the anchor device #2, and the positioning measurement information #4.

[0373] For example, the transmission time difference between the UE and anchor device #1 and anchor device #2 can be calculated using the above formulas (10)-(13). for:

[0374] in, This represents the transmission time of the positioning reference signal between anchor device #1 and anchor device #2. In this implementation, since the positions of the anchor devices are known, therefore... The quantity is known.

[0375] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. On the hyperbola.

[0376] It should be noted that in this embodiment, the number of non-serving Anchors can be greater than or equal to 2. That is, the non-serving Anchors at least include anchor device #3 (i.e., an example of a third device), which operates in the same way as anchor device #2. See [link to specific implementation details] Figure 6 Method 600 is shown.

[0377] Figure 6 This is a schematic diagram of a positioning method 600 provided in an embodiment of this application. In this implementation, anchor device #1 sends two SL PRS messages, the UE sends one SL PRS message, and both anchor device #2 and anchor device #3 receive three PRS messages. Figure 6 As shown, the specific implementation steps include: It should be noted that the following mainly describes the implementation of anchor device #3. The interaction between anchor device #1 and anchor device #2, between anchor device #1 and UE, and between anchor device #2 and UE, and other implementation methods are similar to those in method 500 above. For the sake of brevity, they will not be elaborated on here.

[0378] S610, Anchor device #1 sends positioning reference signal #1 to anchor device #2 and anchor device #3.

[0379] Correspondingly, anchor point device #2 and anchor point device #3 receive positioning reference signal #1 from anchor point device #1.

[0380] Among them, the timestamp of anchor device #3 receiving positioning reference signal #1 is the seventh time t. 30 .

[0381] S620, the UE sends positioning reference signal #2 to anchor device #2 and anchor device #3; Correspondingly, anchor point device #2 and anchor point device #3 receive positioning reference signal #2 from the UE.

[0382] Among them, the timestamp of anchor device #3 receiving positioning reference signal #1 is the eighth time t. 31 .

[0383] S630, Anchor device #1 sends positioning reference signal #3 to anchor device #2 and anchor device #3; Correspondingly, anchor point device #2 and anchor point device #3 receive positioning reference signal #3 from anchor point device #1.

[0384] Among them, the timestamp of anchor device #3 receiving positioning reference signal #3 is the ninth moment t. 32 .

[0385] It should be noted that the aforementioned positioning reference signal #1 and positioning reference signal #3 can be transmitted on specific time and frequency resources at a specific period according to the protocol.

[0386] For example, assuming the period of positioning reference signal #1 and positioning reference signal #3 is T, and the timestamps of the first transmission of positioning reference signal #1 and positioning reference signal #3 are t1 and t3 respectively, then the timestamps of the second transmission of positioning reference signal #1 and positioning reference signal #3 can be t1+T and t3+T. This process continues periodically until the positioning measurement is completed.

[0387] In the technical solution of this application, the positioning reference signal #2 may not be transmitted periodically; the positioning reference signal #2 is transmitted between the positioning reference signal #1 and the positioning reference signal #3.

[0388] For example, assuming that the anchor device #1 sends the positioning reference signal #1 and the positioning reference signal #3 at the 1s and 3s respectively, the base station can instruct the UE to send the positioning reference signal #2 between the 1s and 3s, for example, at the 2.5s; or, the UE can also determine the time to send the positioning reference signal #2 independently without the control of the base station. This application does not make specific limitations on this.

[0389] The implementation of steps S641 and S642 is exactly the same as steps S541 and S542 in method 500, and will not be repeated here for the sake of brevity.

[0390] S643, Anchor device #3 sends positioning measurement information #5 to LMF; Correspondingly, the LMF receives positioning measurement information #5 from anchor point device #1.

[0391] Among them, the location measurement information #5 is used to determine the location of the UE.

[0392] In this implementation, the LMF knows the location information of the anchor point device.

[0393] For example, anchor device #1 and anchor device #2 can be devices with fixed positions, such as roadside units (RSUs). Alternatively, anchor device #3 can also be a device with a changing position, whose coordinate information can be obtained through system measurement or active reporting by the device. This application does not specifically limit this.

[0394] For example, the positioning measurement information #5 may include the seventh time t 30 Eighth moment t31 and the ninth moment t 32 Alternatively, the positioning measurement information #5 may also include a seventh time interval T7 and an eighth time interval T8. The seventh time interval is the time interval between the anchor device #3 receiving positioning reference signals #1 and #2, and the eighth time interval is the time interval between the anchor device #3 receiving positioning reference signals #2 and #3.

[0395] For example, the seventh time interval T 7 and 8 time intervals T 8 respectively satisfy:

[0396]

[0397] Optionally, the seventh time interval T 7 and 8 time intervals T 8 can also satisfy the following:

[0398]

[0399] Optionally, the positioning measurement information #5 may also include a ninth time interval T9. This ninth time interval is the time interval between the anchor device #3 receiving positioning reference signal #1 and positioning reference signal #3.

[0400] It should be noted that the positioning measurement information #5 may include at least two of the seventh, eighth, and ninth time intervals. This application does not impose specific limitations on this.

[0401] S644, LMF determines the UE's location based on positioning measurement information #1, positioning measurement information #2 and positioning measurement information #5.

[0402] For example, LMF calculates the transmission time difference between the UE and anchor devices #1 and #2 as follows:

[0403] Similarly, LMF calculates the transmission time difference between the UE and anchor devices #1 and #3 as follows:

[0404] in, This indicates the transmission time of the positioning reference signal between anchor device #1 and anchor device #2. The flight time of the positioning reference signal between the first and third devices.

[0405] In this implementation, since the location of the anchor point device is known, therefore and It is a known quantity.

[0406] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. The hyperbola lies on the curve. Furthermore, it can be assumed that the UE is also located with anchor devices #1 and #3 as foci, and the difference in distance from these two foci is constant. On the hyperbola.

[0407] Finally, the location of the UE can be determined by the intersection of these two sets of hyperbolas.

[0408] In this implementation, triangulation is performed through signal transmission and reception between at least three anchor point devices and between the anchor point devices and the UE, which enables accurate positioning of the UE.

[0409] The implementation of steps S651 and S652 is exactly the same as steps S551 and S552 in method 500, and will not be repeated here for the sake of brevity.

[0410] S653, Anchor device #3 sends positioning measurement information #6 and the location information of anchor device #3 to the UE; Correspondingly, the UE receives positioning measurement information #6 and location information of anchor device #3 from anchor device #3.

[0411] For example, the positioning measurement information #5 may include the seventh time t 30 Eighth moment t 31 and the ninth moment t 32 Alternatively, the positioning measurement information #5 may also include a seventh time interval T7 and an eighth time interval T8. The seventh time interval is the time interval between the anchor device #3 receiving positioning reference signals #1 and #2, and the eighth time interval is the time interval between the anchor device #3 receiving positioning reference signals #2 and #3.

[0412] For example, the seventh time interval T 7 and 8 time intervals T 8 respectively satisfy:

[0413]

[0414] Optionally, the seventh time interval T 7 and 8 time intervals T 8 can also satisfy the following:

[0415]

[0416] Optionally, the positioning measurement information #6 may also include a ninth time interval TT9. The ninth time interval is the time interval between the anchor device #3 receiving positioning reference signal #1 and positioning reference signal #3.

[0417] It should be noted that the positioning measurement information #6 may include at least two of the seventh, eighth, and ninth time intervals. This application does not specifically limit this.

[0418] For example, the location information of anchor device #3 can be the location coordinates of anchor device #3, that is, the physical address of anchor device #3.

[0419] S654, the UE determines its location based on positioning measurement information #3, positioning measurement information #4 and positioning measurement information #6.

[0420] For example, the UE calculates the transmission time difference between the UE and anchor device #1 and anchor device #2 as follows:

[0421] Similarly, the UE calculates the transmission time difference between the UE and anchor devices #1 and #3 as follows:

[0422] in, This indicates the transmission time of the positioning reference signal between anchor device #1 and anchor device #2. The flight time of the positioning reference signal between the first and third devices.

[0423] In this implementation, since the location of the anchor point device is known, therefore and It is a known quantity.

[0424] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. On the hyperbola, and it can be assumed that the UE is also located with anchor device #1 and anchor device #3 as foci, and the difference in distance between the UE and these two foci is constant. On the hyperbola.

[0425] Finally, the location of the UE can be determined by the intersection of these two sets of hyperbolas.

[0426] Optionally, the time difference between anchor device #2 and anchor point device #3 can also be obtained based on positioning measurement information #2 and positioning measurement information #3. These three time differences , and Any two time differences can be used for UE positioning. For the sake of simplicity, we will not go into further detail here.

[0427] In this implementation, triangulation is performed through signal transmission and reception between at least three anchor point devices and between the anchor point devices and the UE, which enables accurate positioning of the UE.

[0428] Figure 7 This is a schematic diagram illustrating an example of the time-of-flight calculation principle for the positioning reference signal applicable to this application. For example... Figure 7 As shown, anchor device #1 and anchor device #2 exchange and receive positioning reference signals (positioning reference signal #1 and positioning reference signal #3) twice, and the UE exchanges and receives positioning reference signal (positioning reference signal #2) once with anchor device #1 and anchor device #2 respectively.

[0429] Among them, the flight time of positioning reference signal #1 and positioning reference signal #3 between anchor point device #1 and anchor point device #2 are respectively. The interval between the time when anchor device #1 sends positioning reference signal #1 (or positioning reference signal #3) and the time when anchor device #2 receives positioning reference signal #1 (or positioning reference signal #3) is... .

[0430] The time interval between anchor point device #1 sending positioning reference signal #1 and receiving positioning reference signal #2 is T1, and the time interval between receiving positioning reference signal #2 and sending positioning reference signal #3 is T2. The time interval between anchor point device #2 receiving positioning reference signal #2 and receiving positioning reference signal #3 is T5, and the time interval between receiving positioning reference signal #1 and receiving positioning reference signal #2 is T4.

[0431] The following example illustrates this concept, using a time interval that is entirely positive: Specifically, the following two equations can be obtained:

[0432] After the above transformations, we can deduce that:

[0433] The detailed derivation process is as follows:

[0434] Therefore:

[0435] Furthermore, we can obtain:

[0436] The final result is:

[0437] Combining formulas (15) and (19), we can obtain:

[0438] Therefore, after the above transformation, we can deduce that:

[0439] or,

[0440] Or, due to

[0441] Therefore, it can be deduced that:

[0442] The above provides three types The calculation method is as follows, and the error is analyzed using formula (14) as an example. Due to the presence of the device's clock crystal oscillator, the actual measured transmission time difference is... for:

[0443] Among them, e ser and e non These are the clock crystal errors of anchor device #1 and anchor device #2, respectively.

[0444] Therefore, clock drift introduces an error between the measured value and the true value. for:

[0445] As can be seen above, the positioning error Unaffected by response time, only with Related, usually On the order of nanoseconds 10 -6 Order of magnitude, therefore It can be ignored.

[0446] According to the solution provided in this application, by broadcasting positioning reference signals between anchor point devices and between anchor point devices and the UE, the number of signal interactions is reduced to three, thereby reducing overall signaling overhead and computational complexity. Furthermore, this positioning solution does not require clock synchronization, and clock drift has almost no impact on positioning accuracy, thus guaranteeing positioning and ranging accuracy.

[0447] Figure 8 This is another schematic diagram of a positioning method 800 provided in an embodiment of this application. The difference from method 500 is that the UE sends two positioning reference signals, while the anchor device #1 sends only one. That is, the complexity of the anchor device #1 is reduced, while the complexity on the UE side is increased. Figure 8 As shown, the specific implementation steps include: S810, the UE sends positioning reference signal #1 (i.e., an example of the first positioning reference signal) to anchor device #1 (i.e., an example of the first device) and anchor device #2 (i.e., an example of the second device). Correspondingly, anchor device #1 and anchor device #2 receive the positioning reference signal #1 from the UE and record the receiving timestamp t respectively. ser,0 (That is, at the first moment t) 10 (one example) and t non,0 (That is, at the fourth time t) 20 an example).

[0448] For example, the positioning reference signal #1 can be transmitted via broadcast. For instance, the UE broadcasts the SL PRS signal; correspondingly, anchor device #1 and anchor device #2 receive the SL PRS signal respectively.

[0449] S820, anchor device #1 sends positioning reference signal #2 (i.e., an example of the second positioning reference signal) to anchor device #2, and records the sending timestamp t. ser,1 (That is, at the second time t) 11 an example); Correspondingly, anchor device #2 receives positioning reference signal #2 from anchor device #1 and records the reception timestamp t. non,1 (That is, the fifth time t) 21 an example).

[0450] For example, the positioning reference signal #2 can be transmitted via broadcast. That is, anchor device #1 can provide communication coverage for a specific geographical area, and anchor device #2 belongs to that geographical area. For example, anchor device #1 broadcasts an SL PRS signal; correspondingly, anchor device #2 receives the SL PRS signal.

[0451] S830, the UE (i.e., an example of a terminal device) sends positioning reference signal #3 (i.e., an example of a third positioning reference signal) to anchor device #1 and anchor device #2 respectively. Correspondingly, anchor device #1 and anchor device #2 receive the positioning reference signal #3 from the UE and record the receiving timestamp t respectively. ser,2 (i.e., the third time t) 12 (one example) and t non,2 (That is, the sixth time t) 22 an example).

[0452] For example, the positioning reference signal #3 can be transmitted via broadcast. For instance, the UE broadcasts the SL PRS signal; correspondingly, anchor device #1 and anchor device #2 receive the SL PRS signal respectively.

[0453] It should be noted that the aforementioned positioning reference signal #1, positioning reference signal #2 and positioning reference signal #3 can be transmitted on specific time and frequency resources at specific periods according to the protocol.

[0454] For example, assuming the period of positioning reference signal #1 and positioning reference signal #3 is T, and the timestamps of the first transmission of positioning reference signal #1 and positioning reference signal #3 are t1 and t3 respectively, then the timestamps of the second transmission of positioning reference signal #1 and positioning reference signal #3 can be t1+T and t3+T. This process continues periodically until the positioning measurement is completed.

[0455] In this implementation, positioning reference signal #1 and positioning reference signal #3 may not be sent periodically, while positioning reference signal #2 may be sent periodically, and the transmission time of positioning reference signal #2 is between adjacent positioning reference signals #1 and positioning reference signal #3.

[0456] For example, assuming that the anchor device #1 transmits the positioning reference signal #2 at the 2nd ns, the base station can instruct the UE to transmit the positioning reference signal #1 before the 2nd ns, for example, at the 1.5nd ns, and instruct the UE to transmit the positioning reference signal #3 after the 2nd ns, for example, at the 2.6th ns. Alternatively, the UE1 can also determine the timing of transmitting the positioning reference signal #1 and the positioning reference signal #2 independently, without the control of the base station; this application does not specifically limit this.

[0457] In one possible implementation, the anchor devices (i.e., anchor device #1 and anchor device #2) can report positioning measurement information to the LMF to determine the UE's location. In this implementation, the LMF already knows the location information of the anchor devices.

[0458] For example, the coordinate information of anchor device #1 and anchor device #2 can be fixed, such as roadside unit (RSU). Alternatively, the coordinate information of anchor device #1 and anchor device #2 can also be mobile, which can be obtained through system measurement or active reporting by the devices. This application does not specifically limit this.

[0459] S841, Anchor device #1 sends positioning measurement information #1 (i.e., an example of the first positioning measurement information) to LMF (i.e., a location management function network element). Correspondingly, the LMF receives positioning measurement information #1 from anchor point device #1.

[0460] The positioning measurement information #1 may include the first time t ser,0 Second time t ser,1 and the third moment t ser,2 Alternatively, the positioning measurement information #1 may also include a first time interval. T 1 and the second time interval T 2. Wherein, the first time interval is the time interval between the anchor point device #1 receiving the positioning reference signal #1 and sending the positioning reference signal #2, and the second time interval is the time interval between the anchor point device #1 sending the positioning reference signal #2 and receiving the positioning reference signal #3.

[0461] For example, the first time interval T 1 and the second time interval T 2 respectively satisfy:

[0462]

[0463] Optionally, the first time interval T 1 and the second time interval T 2 can also satisfy the following separately:

[0464]

[0465] Optionally, the positioning measurement information #1 may also include a third time interval. T 3. The third time interval is the time interval between the anchor point device #1 receiving positioning reference signal #1 and positioning reference signal #3 respectively.

[0466] It should be noted that the positioning measurement information #1 may include at least two of the first time interval, the second time interval, and the third time interval. This application does not impose specific limitations on this.

[0467] S842, Anchor device #2 sends positioning measurement information #2 to LMF; Correspondingly, the LMF receives positioning measurement information #2 from anchor point device #2.

[0468] The positioning measurement information #2 may include the fourth time t non,0 Fifth moment t non,1 and the sixth moment t non,2 Alternatively, the location measurement information #2 may also include a fourth time interval. T 4 and the fifth time interval T 5. The fourth time interval is the time interval between the anchor point device #2 receiving positioning reference signal #1 and positioning reference signal #2, and the fifth time interval is the time interval between the anchor point device #2 receiving positioning reference signal #2 and positioning reference signal #3.

[0469] For example, the fourth time interval T 4 and the fifth time interval T 5 respectively satisfy:

[0470]

[0471] Optionally, the fourth time interval T 4 and the fifth time interval T 5 can also satisfy the following separately:

[0472]

[0473] Optionally, the positioning measurement information #2 may also include a sixth time interval. T 6. The sixth time interval is the time interval between the anchor point device #2 receiving positioning reference signal #1 and positioning reference signal #3.

[0474] It should be noted that the positioning measurement information #2 may include at least two of the fourth, fifth, and sixth time intervals. This application does not impose specific limitations on this.

[0475] S843, LMF determines the UE's location based on positioning measurement information #1 and positioning measurement information #2.

[0476] For example, using the above formulas (10)-(13), the transmission time difference between the UE and anchor device #1 and anchor device #2 can be calculated as follows:

[0477] in, This indicates the transmission time of the positioning reference signal between anchor point device #1 and anchor point device #2.

[0478] In this implementation, since the location of the anchor point device is known, therefore The quantity is known.

[0479] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. On the hyperbola.

[0480] Another possible implementation is that, if the LMF (Local Position Filter) does not exist, the anchor device can also report its positioning measurement information to the UE to determine the UE's location. Unlike the above implementation, the UE is unaware of the anchor device's location information; therefore, the UE needs to obtain the anchor device's location information.

[0481] For example, the location information of the anchor device may be received by the UE from the anchor device or LMF, or it may be obtained by measurement through anchor devices at other known locations. This application does not specifically limit this.

[0482] S851, Anchor device #1 sends positioning measurement information #3 (i.e., an example of the first positioning measurement information) and anchor device #1's location information (i.e., an example of the first device's location information) to the UE. Correspondingly, the UE receives positioning measurement information #3 and location information of anchor device #1 from anchor device #1.

[0483] Among them, the positioning measurement information #3 may include the first time t ser,0 Second time t ser,1 and the third moment t ser,2 Alternatively, the positioning measurement information #3 may also include a first time interval T1 and a second time interval T2. The first time interval is the time interval between the anchor device #1 receiving the positioning reference signal #1 and sending the positioning reference signal #2, and the second time interval is the time interval between the anchor device #1 sending the positioning reference signal #2 and receiving the positioning reference signal #3.

[0484] For example, the first time interval T 1 and the second time interval T 2 respectively satisfy:

[0485]

[0486] Optionally, the first time interval T 1 and the second time interval T 2 can also satisfy the following separately:

[0487]

[0488] Optionally, the positioning measurement information #1 may also include a third time interval. T 3. The third time interval is the time interval between the anchor point device #1 receiving positioning reference signal #1 and positioning reference signal #3.

[0489] It should be noted that the positioning measurement information #1 may include at least two of the first time interval, the second time interval, and the third time interval. This application does not impose specific limitations on this.

[0490] For example, the location information of anchor device #1 can be the location coordinate information of anchor device #1, that is, the physical address of anchor device #1.

[0491] S852, Anchor device #2 sends positioning measurement information #4 (i.e., an example of the second positioning measurement information) and the location information of anchor device #2 (i.e., an example of the location information of the second device) to the UE. Correspondingly, the UE receives positioning measurement information #4 from anchor point device #2.

[0492] Among them, the positioning measurement information #4 may include the fourth time t non,0 Fifth moment t non,1 and the sixth moment t non,2 Alternatively, the location measurement information #4 may also include a fourth time interval. T 4 and the fifth time interval T 5. Among them, the fourth time interval is the time interval between the anchor point device #2 receiving the positioning reference signal #1 and the positioning reference signal #2, and the fifth time interval is the time interval between the anchor point device #2 receiving the positioning reference signal #2 and the positioning reference signal #3.

[0493] For example, the fourth time interval T 4 and the fifth time interval T 5 respectively satisfy:

[0494]

[0495] Optionally, the fourth time interval T 4 and the fifth time interval T 5 can also satisfy the following separately:

[0496]

[0497] Optionally, the positioning measurement information #2 may also include a sixth time interval. T6. The sixth time interval is determined based on the timing when anchor device #2 receives positioning reference signal #1 and positioning reference signal #3.

[0498] It should be noted that the positioning measurement information #2 may include at least two of the fourth, fifth, and sixth time intervals. This application does not impose specific limitations on this.

[0499] For example, the location information of anchor device #2 can be the location coordinates of anchor device #2, that is, the physical address of anchor device #2.

[0500] S853, the UE determines its position based on positioning measurement information #3, the position information of anchor device #1, the position information of anchor device #2, and positioning measurement information #4.

[0501] For example, the transmission time difference between the UE and anchor device #1 and anchor device #2 can be calculated using the above formulas (10)-(13). for:

[0502] in, This indicates the transmission time of the positioning reference signal between anchor point device #1 and anchor point device #2.

[0503] In this implementation, since the location of the anchor point device is known, therefore The quantity is known.

[0504] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. On the hyperbola.

[0505] It should be noted that in this embodiment, the number of non-serving Anchors can be greater than or equal to 2. That is, the non-serving Anchors at least include anchor device #3 (i.e., an example of a third device), which operates in the same way as anchor device #2. See [link to specific implementation details] Figure 9 Method 900 is shown.

[0506] Figure 9 This is a schematic diagram of a positioning method 900 provided in an embodiment of this application. In this implementation, anchor device #1 sends one SL PRS, the UE sends two SL PRS, and anchor device #2 and anchor device #3 each receive three PRS. Figure 9 As shown, the specific implementation steps include: It should be noted that the following mainly describes the implementation of anchor device #3. The interaction between anchor device #1 and anchor device #2, between anchor device #1 and UE, and between anchor device #2 and UE, and other implementation methods are similar to those in method 500 above. For the sake of brevity, they will not be elaborated on here.

[0507] S910, the UE sends positioning reference signal #1 to anchor device #1, anchor device #2 and anchor device #3.

[0508] Correspondingly, anchor device #1, anchor device #2 and anchor device #3 receive positioning reference signal #1 from the UE.

[0509] Among them, the timestamp of anchor device #3 receiving positioning reference signal #1 is the seventh time t. 30 .

[0510] S920, Anchor device #1 sends positioning reference signal #2 to anchor device #2 and anchor device #3; Correspondingly, anchor point device #2 and anchor point device #3 receive positioning reference signal #2 from anchor point device #1.

[0511] Among them, the timestamp of anchor device #3 receiving positioning reference signal #1 is the eighth time t. 31 .

[0512] S930, the UE sends positioning reference signal #3 to anchor device #1, anchor device #2 and anchor device #3; Correspondingly, anchor device #1, anchor device #2 and anchor device #3 receive positioning reference signal #3 from the UE.

[0513] Among them, the timestamp of anchor device #3 receiving positioning reference signal #3 is the ninth moment t. 32 .

[0514] The implementation of steps S941 and S942 is exactly the same as steps S841 and S842 in method 800, and will not be repeated here for the sake of brevity.

[0515] S943, Anchor device #3 sends positioning measurement information #5 to LMF; Correspondingly, the LMF receives positioning measurement information #5 from anchor point device #1.

[0516] Among them, the location measurement information #5 is used to determine the location of the UE.

[0517] In this implementation, the LMF knows the location information of the anchor point device.

[0518] For example, the coordinate information of anchor device #1 and anchor device #2 can be fixed, such as roadside unit (RSU). Alternatively, the coordinate information of anchor device #3 can be mobile, which can be obtained through system measurement or active reporting by the device. This application does not specifically limit this.

[0519] For example, the positioning measurement information #5 may include the seventh time t 30 Eighth moment t 31 and the ninth moment t 32 Alternatively, the positioning measurement information #5 may also include a seventh time interval T7 and an eighth time interval T8. The seventh time interval is the time interval between the anchor device #3 receiving positioning reference signals #1 and #2, and the eighth time interval is the time interval between the anchor device #3 receiving positioning reference signals #2 and #3.

[0520] For example, the seventh time interval T 7 and 8 time intervals T 8 respectively satisfy:

[0521]

[0522] Optionally, the seventh time interval T 7 and 8 time intervals T 8 can also satisfy the following:

[0523]

[0524] Optionally, the positioning measurement information #5 may also include a ninth time interval. T 9. The ninth time interval is the time interval between the anchor point device #3 receiving positioning reference signal #1 and positioning reference signal #3.

[0525] It should be noted that the positioning measurement information #5 may include at least two of the seventh, eighth, and ninth time intervals. This application does not impose specific limitations on this.

[0526] S944, the LMF determines the UE's location based on positioning measurement information #1, positioning measurement information #2, and positioning measurement information #5.

[0527] For example, LMF calculates the transmission time difference between the UE and anchor devices #1 and #2 as follows:

[0528] Similarly, LMF calculates the transmission time difference between the UE and anchor devices #1 and #3 as follows:

[0529] in, This indicates the transmission time of the positioning reference signal between anchor device #1 and anchor device #2. The flight time of the positioning reference signal between the first and third devices.

[0530] In this implementation, since the location of the anchor point device is known, therefore and It is a known quantity.

[0531] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. The hyperbola lies on the curve. Furthermore, it can be assumed that the UE is also located with anchor devices #1 and #3 as foci, and the difference in distance from these two foci is constant. On the hyperbola.

[0532] Finally, the location of the UE can be determined by the intersection of these two sets of hyperbolas.

[0533] In this implementation, triangulation is performed through signal transmission and reception between at least three anchor point devices and between the anchor point devices and the UE, which enables accurate positioning of the UE.

[0534] The implementation of steps S951 and S952 is exactly the same as steps S851 and S852 in method 800, and will not be repeated here for the sake of brevity.

[0535] S953, Anchor device #3 sends positioning measurement information #6 and the location information of anchor device #3 to the UE; Correspondingly, the UE receives positioning measurement information #6 and location information of anchor device #3 from anchor device #3.

[0536] For example, the positioning measurement information #5 may include the seventh time t 30 Eighth moment t 31 and the ninth moment t 32 Alternatively, the positioning measurement information #5 may also include a seventh time interval T7 and an eighth time interval T8. The seventh time interval is the time interval between the anchor device #3 receiving positioning reference signals #1 and #2, and the eighth time interval is the time interval between the anchor device #3 receiving positioning reference signals #2 and #3.

[0537] For example, the seventh time intervalT 7 and 8 time intervals T 8 respectively satisfy:

[0538]

[0539] Optionally, the seventh time interval T 7 and 8 time intervals T 8 can also satisfy the following:

[0540]

[0541] Optionally, the positioning measurement information #6 may also include a ninth time interval. T 9. The ninth time interval is the time interval between the anchor point device #3 receiving positioning reference signal #1 and positioning reference signal #3.

[0542] It should be noted that the positioning measurement information #6 may include at least two of the seventh, eighth, and ninth time intervals. This application does not specifically limit this.

[0543] For example, the location information of anchor device #3 can be the location coordinates of anchor device #3, that is, the physical address of anchor device #3.

[0544] S954, the UE determines its location based on positioning measurement information #3, positioning measurement information #4 and positioning measurement information #6.

[0545] For example, the UE calculates the transmission time difference between the UE and anchor device #1 and anchor device #2 as follows:

[0546] Similarly, the UE calculates the transmission time difference between the UE and anchor devices #1 and #3 as follows:

[0547] in, This indicates the transmission time of the positioning reference signal between anchor device #1 and anchor device #2. The flight time of the positioning reference signal between the first and third devices.

[0548] In this implementation, since the location of the anchor point device is known, therefore and It is a known quantity.

[0549] Based on this, it can be assumed that the UE is located with anchor device #1 and anchor device #2 as its focal points, and the difference between the distances to these two focal points is always equal to 1 / 2. On the hyperbola, and it can be assumed that the UE is also located with anchor device #1 and anchor device #3 as foci, and the difference in distance between the UE and these two foci is constant. On the hyperbola.

[0550] Finally, the location of the UE can be determined by the intersection of these two sets of hyperbolas.

[0551] Optionally, the time difference between anchor device #2 and anchor point device #3 can also be obtained based on positioning measurement information #2 and positioning measurement information #3. These three time differences , and Any two time differences can be used for UE positioning. For the sake of simplicity, we will not go into further detail here.

[0552] In this implementation, accurate positioning of the UE can be achieved through signal transmission and reception between at least three anchor devices and between the anchor devices and the UE.

[0553] Figure 10 This is another schematic diagram illustrating the time-of-flight calculation principle of the positioning reference signal applicable to this application. For example... Figure 10 As shown, anchor device #1 and anchor device #2 exchange a positioning reference signal PRS (i.e., positioning reference signal #2) once, and the UE exchanges positioning reference signals (i.e., positioning reference signal #1 and positioning reference signal #3) with anchor device #1 and anchor device #2 respectively.

[0554] The time interval between anchor point device #1 receiving positioning reference signal #1 and sending positioning reference signal #2 is: T 1. The time interval between sending positioning reference signal #2 and receiving positioning reference signal #3 is: T 2. The time interval between anchor point device #2 receiving positioning reference signal #1 and positioning reference signal #2 is... T 4. The time interval between receiving positioning reference signal #2 and positioning reference signal #3 is... T 5.

[0555] The following example illustrates this concept, using a time interval that is entirely positive: Specifically, the following two equations can be obtained:

[0556] After the above transformations, we can deduce that:

[0557] The specific derivation process is as follows:

[0558] Therefore:

[0559] Furthermore, we can obtain:

[0560] The final result is:

[0561] Combining formulas (27) and (32), we can obtain:

[0562] Therefore, after the above transformation, we can deduce that:

[0563] or,

[0564] Or, due to

[0565] Therefore, it can be deduced that:

[0566] The above provides three types The calculation method is as follows, and the error is analyzed using formula (28) as an example. Due to the presence of the device's clock crystal oscillator, the actual measured transmission time difference is... for:

[0567] in, e ser and e non These are the clock crystal errors of anchor device #1 and anchor device #2, respectively.

[0568] Therefore, clock drift introduces an error between the measured value and the true value. for:

[0569] As can be seen above, the positioning error Unaffected by response time, only with Related, usually On the order of nanoseconds 10 -6 order of magnitude, therefore It can be ignored.

[0570] According to the solution provided in this application, by broadcasting positioning reference signals between anchor point devices and between anchor point devices and the UE, the number of signal interactions is reduced to three, thereby reducing overall signaling overhead and computational complexity. Furthermore, this positioning solution does not require clock synchronization, and clock drift has almost no impact on positioning accuracy, thus guaranteeing positioning and ranging accuracy.

[0571] The above, combined with Figures 4 to 10 The positioning method provided in the embodiments of this application is described in detail below. Figure 11 and Figure 12 The positioning device provided in the embodiments of this application is described in detail. It should be understood that the description of the embodiments of the positioning device corresponds to the description of the embodiments of the positioning method; therefore, any parts not described in detail can be referred to the foregoing method embodiments.

[0572] Figure 11 This is a schematic block diagram of the positioning device provided in an embodiment of this application. Figure 11 As shown, the communication device 1000 may include a processing unit 1100 and a transceiver unit 1200.

[0573] Optionally, the communication device 1000 may correspond to the first device (e.g., anchor device #1) in the above method embodiments, or a component (such as a circuit, chip, or chip system) configured in the first device.

[0574] It should be understood that the communication device 1000 may correspond to a first device (e.g., anchor device #1) in methods 400, 500, 600, 800, and 900 according to embodiments of this application. The communication device 1000 may include units for performing the methods executed by the first device in the above-described methods. Furthermore, each unit in the communication device 1000 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the above-described methods.

[0575] For example, the transceiver unit 1200 is used for the first device to send a first positioning reference signal and a third positioning reference signal to the second device, wherein the first positioning reference signal is sent at a first moment, the third positioning reference signal is sent at a third moment, and the first moment is before the third moment. The transceiver unit 1200 is also used for the first device to receive a second positioning reference signal from the terminal device, wherein the receiving time of the second positioning reference signal is a second time, the second time is before the third time, and the second time is after the first time; The transceiver unit 1200 is also used for the first device to send first positioning measurement information. The first positioning measurement information is used to indicate a first time interval and a second time interval. The first time interval is the time interval between a first moment and a second moment, and the second time interval is the time interval between a second moment and a third moment. The first positioning measurement information is used to determine the location of the terminal device.

[0576] It should also be understood that when the communication device 1000 is the first device, the transceiver unit 1200 in the communication device 1000 can be implemented by a transceiver, for example, it can correspond to Figure 12 The transceiver 2020 in the communication device 2000 shown in the figure, and the processing unit 1100 in the communication device 1000 can be implemented by at least one processor, for example, corresponding to Figure 12 The processor 2010 in the communication device 2000 shown in the figure.

[0577] It should also be understood that when the communication device 1000 is a chip or chip system configured in the first device, the transceiver unit 1200 in the communication device 1000 can be implemented through input / output interfaces, circuits, etc., and the processing unit 1100 in the communication device 1000 can be implemented through a processor, microprocessor, or integrated circuit integrated on the chip or chip system.

[0578] Optionally, the communication device 1000 may correspond to the second device (e.g., anchor device #2) in the above method embodiments, or a component (such as a circuit, chip, or chip system) configured in the first device.

[0579] It should be understood that the communication device 1000 may correspond to a second device (e.g., anchor device #2) in methods 400, 500, 600, 800, and 900 according to embodiments of this application. The communication device 1000 may include units for performing the methods executed by the second device in the above-described methods. Furthermore, each unit in the communication device 1000 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the above-described methods.

[0580] For example, the transceiver unit 1200 is used for the second device to receive a first positioning reference signal and a third positioning reference signal from the first device, and to receive a second positioning reference signal from the terminal device, wherein the first positioning reference signal is received at a fourth time, the second positioning reference signal is received at a fifth time, the third positioning reference signal is received at a sixth time, the fifth time is after the fourth time, and the fifth time is before the sixth time. The transceiver unit 1200 is also used for the second device to send second positioning measurement information. The second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The fourth time interval is the time interval between the fourth and fifth moments, and the fifth time interval is the time interval between the fifth and sixth moments. The second positioning measurement information is used to determine the location of the terminal device.

[0581] It should also be understood that when the communication device 1000 is a second device, the transceiver unit 1200 in the communication device 1000 can be implemented by a transceiver, for example, it can correspond to Figure 12 The transceiver 2020 in the communication device 2000 shown in the figure, and the processing unit 1100 in the communication device 1000 can be implemented by at least one processor, for example, corresponding to Figure 12 The processor 2010 in the communication device 2000 shown in the figure.

[0582] It should also be understood that when the communication device 1000 is a chip or chip system configured in the second device, the transceiver unit 1200 in the communication device 1000 can be implemented through input / output interfaces, circuits, etc., and the processing unit 1100 in the communication device 1000 can be implemented through a processor, microprocessor, or integrated circuit integrated on the chip or chip system.

[0583] Optionally, the communication device 1000 may correspond to the terminal device (e.g., UE) in the above method embodiments, or a component (such as a circuit, chip, or chip system) configured in the terminal device.

[0584] It should be understood that the communication device 1000 may correspond to a terminal device (e.g., a UE) in methods 400, 500, 600, 800, and 900 according to embodiments of this application. The communication device 1000 may include units for performing the methods executed by the terminal device in the above methods. Furthermore, each unit in the communication device 1000 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the above methods.

[0585] For example, the transceiver unit 1200 is used for the terminal device to send a second positioning reference signal to multiple devices, including a first device and a second device. The receiving time of the second positioning reference signal by the first device is a second time, which is before the third time and after the first time. The first time is the time when the first device sends the first positioning reference signal, and the third time is the time when the first device sends the third positioning reference signal. The receiving time of the second device to receive the second positioning reference signal is a fifth time, which is before the sixth time and after the fourth time. The fourth time is the time when the second device receives the first positioning reference signal, and the sixth time is the time when the second device receives the third positioning reference signal.

[0586] The transceiver unit 1200 is further configured to receive location information of the first device and first positioning measurement information from the first device, and to receive location information of the second device and second positioning measurement information from the second device. The first positioning measurement information is used to indicate a first time interval and a second time interval, and the second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The first time interval is the time interval between a first moment and a second moment, the second time interval is the time interval between a second moment and a third moment, the fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. The processing unit 1100 is used for the terminal device to determine the position of the terminal device based on the first positioning measurement information, the position information of the first device, the second positioning measurement information, and the position information of the second device.

[0587] It should also be understood that when the communication device 1000 is a terminal device, the transceiver unit 1200 in the communication device 1000 can be implemented by a transceiver, for example, it can correspond to Figure 12 The transceiver 2020 in the communication device 2000 shown in the figure, and the processing unit 1100 in the communication device 1000 can be implemented by at least one processor, for example, corresponding to Figure 12 The processor 2010 in the communication device 2000 shown in the figure.

[0588] It should also be understood that when the communication device 1000 is a chip or chip system configured in a terminal device, the transceiver unit 1200 in the communication device 1000 can be implemented through input / output interfaces, circuits, etc., and the processing unit 1100 in the communication device 1000 can be implemented through a processor, microprocessor, or integrated circuit integrated on the chip or chip system.

[0589] Optionally, the communication device 1000 may correspond to a location management function network element (e.g., LMF) in the above method embodiments, or a component (such as a circuit, chip, or chip system) configured in the location management function network element.

[0590] It should be understood that the communication device 1000 may correspond to the location management function (e.g., LMF) network element in methods 400, 500, 600, 800, and 900 according to embodiments of this application. The communication device 1000 may include units for performing the methods executed by the location management function network element in the above methods. Furthermore, each unit in the communication device 1000 and the other operations and / or functions described above are respectively for implementing the corresponding processes of the above methods.

[0591] For example, the transceiver unit 1200 is configured to receive first positioning measurement information from a first device and second positioning measurement information from a second device. The first positioning measurement information is used to indicate a first time interval and a second time interval. The first time interval is the time interval between a first moment and a second moment, and the second time interval is the time interval between a second moment and a third moment. The second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. The fourth time interval is the time interval between a fourth moment and a fifth moment, and the fifth time interval is the time interval between a fifth moment and a sixth moment. The first moment is the time when the first device sends a first positioning reference signal, the second moment is the time when the first device receives a second positioning reference signal, the third moment is the time when the first device sends a third positioning reference signal, the fourth moment is the time when the second device receives a first positioning reference signal, the fifth moment is the time when the second device receives a second positioning reference signal, and the sixth moment is the time when the second device receives a third positioning reference signal. The second moment is before the third moment and after the first moment, the fifth moment is before the sixth moment and after the fourth moment. The processing unit 1100 is used by the positioning management function network element to determine the location of the terminal device based on the first positioning measurement information and the second positioning measurement information.

[0592] It should also be understood that when the communication device 1000 is a location management function network element, the transceiver unit 1200 in the communication device 1000 can be implemented by a transceiver, for example, it can correspond to Figure 12 The transceiver 2020 in the communication device 2000 shown in the figure, and the processing unit 1100 in the communication device 1000 can be implemented by at least one processor, for example, corresponding to Figure 12 The processor 2010 in the communication device 2000 shown in the figure.

[0593] It should also be understood that when the communication device 1000 is a chip or chip system configured in a location management function network element, the transceiver unit 1200 in the communication device 1000 can be implemented through input / output interfaces, circuits, etc., and the processing unit 1100 in the communication device 1000 can be implemented through a processor, microprocessor, or integrated circuit integrated on the chip or chip system.

[0594] Figure 12 This is another schematic block diagram of the communication device 2000 provided in the embodiments of this application. For example... Figure 12 As shown, the communication device 2000 includes a processor 2010, a transceiver 2020, and a memory 2030. The processor 2010, transceiver 2020, and memory 2030 communicate with each other via an internal connection. The memory 2030 stores instructions, and the processor 2010 executes the instructions stored in the memory 2030 to control the transceiver 2020 to transmit and / or receive signals.

[0595] It should be understood that the communication device 2000 may correspond to a network device or terminal device in the above method embodiments, and may be used to execute the various steps and / or processes executed by the network device or terminal device in the above method embodiments. Optionally, the memory 2030 may include read-only memory and random access memory, and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. The memory 2030 may be a separate device or integrated into the processor 2010. The processor 2010 may be used to execute instructions stored in the memory 2030, and when the processor 2010 executes instructions stored in the memory, the processor 2010 is used to execute the various steps and / or processes of the above method embodiments corresponding to the network device or terminal device.

[0596] Optionally, the communication device 2000 is the first device in the preceding embodiments (e.g., anchor device #1).

[0597] Optionally, the communication device 2000 is the second device in the preceding embodiments (e.g., anchor device #2).

[0598] Optionally, the communication device 2000 is the terminal device in the preceding embodiments.

[0599] Optionally, the communication device 2000 is a location management function network element in the preceding embodiments.

[0600] The transceiver 2020 may include a transmitter and a receiver. The transceiver 2020 may further include an antenna, which may be one or more. The processor 2010 and memory 2030 may be integrated with the transceiver 2020 on different chips. For example, the processor 2010 and memory 2030 may be integrated in a baseband chip, and the transceiver 2020 may be integrated in a radio frequency chip. Alternatively, the processor 2010 and memory 2030 may be integrated with the transceiver 2020 on the same chip. This application does not limit this.

[0601] Optionally, the wireless communication device 2000 is a component configured in the first device (e.g., anchor device #1), such as a circuit, chip, chip system, etc.

[0602] Optionally, the wireless communication device 2000 is a component configured in the second device (e.g., anchor device #2), such as a circuit, chip, chip system, etc.

[0603] Optionally, the wireless communication device 2000 is a component configured in a terminal device, such as a circuit, chip, or chip system.

[0604] Optionally, the wireless communication device 2000 is a component configured in a location management function network element device, such as a circuit, chip, chip system, etc.

[0605] The transceiver 2020 can also be a communication interface, such as an input / output interface or circuit. The transceiver 2020, processor 2010, and memory 2030 can all be integrated into the same chip, such as within a baseband chip.

[0606] It should be understood that in the embodiments of this application, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0607] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0608] The method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Additionally, the ASIC can reside in a network device or terminal device. Alternatively, the processor and storage medium can exist as discrete components in the network device or terminal device.

[0609] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0610] It should be understood that in the above embodiments, each embodiment can be an independent solution or a combination thereof according to its internal logic, and all such solutions fall within the protection scope of this application. Terminal devices and / or network devices can execute some or all of the steps in each embodiment. These steps or operations are merely examples, and this application can also perform other operations or variations thereof. Furthermore, the steps can be performed in different orders as presented in the embodiments, and it is not necessary to perform all the operations in the embodiments of this application.

[0611] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0612] As used in this specification, the terms "component," "module," "system," etc., are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process and / or an execution thread, and components may be located on a single computer and / or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0613] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0614] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0615] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0616] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0617] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0618] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0619] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, include: The first device sends a first positioning reference signal and a third positioning reference signal, wherein the first positioning reference signal is sent at a first moment, the third positioning reference signal is sent at a third moment, and the first moment is before the third moment. The first device receives a second positioning reference signal from the terminal device, wherein the second positioning reference signal is received at a second time, which is before the third time and after the first time; The first device sends first positioning measurement information, which is used to indicate a first time interval and a second time interval. The first time interval is the time interval between the first moment and the second moment, and the second time interval is the time interval between the second moment and the third moment. Wherein, the first positioning measurement information, the location information of the first device, the second positioning measurement information reported by the second device, and the location information of the second device are used to determine the location of the terminal device. The second positioning measurement information is used to indicate the fourth time interval and the fifth time interval. The fourth time interval is the time interval between the fourth moment and the fifth moment. The fifth time interval is the time interval between the fifth moment and the sixth moment. The fourth moment is the moment when the second device receives the first positioning reference signal. The fifth moment is the moment when the second device receives the second positioning reference signal. The sixth moment is the moment when the second device receives the third positioning reference signal. The fifth moment is before the sixth moment and after the fourth moment.

2. A positioning method, characterized in that, include: The first device receives a first positioning reference signal and a third positioning reference signal from a terminal device, wherein the first positioning reference signal is received at a first moment, the third positioning reference signal is received at a third moment, and the first moment is before the third moment. The first device sends a second positioning reference signal, wherein the second positioning reference signal is sent at a second time, which is before the third time and after the first time; The first device sends first positioning measurement information, which is used to indicate a first time interval and a second time interval. The first time interval is the time interval between the first moment and the second moment, and the second time interval is the time interval between the second moment and the third moment. Wherein, the first positioning measurement information, the location information of the first device, the second positioning measurement information reported by the second device, and the location information of the second device are used to determine the location of the terminal device. The second positioning measurement information is used to indicate the fourth time interval and the fifth time interval. The fourth time interval is the time interval between the fourth moment and the fifth moment. The fifth time interval is the time interval between the fifth moment and the sixth moment. The fourth moment is the time when the second device receives the first positioning reference signal. The fifth moment is the time when the second device receives the second positioning reference signal. The sixth moment is the time when the second device receives the third positioning reference signal. The fifth moment is before the sixth moment and after the fourth moment.

3. The method according to claim 1 or 2, characterized in that, The first positioning measurement information includes the first time, the second time, and the third time.

4. The method according to claim 1 or 2, characterized in that, The first positioning measurement information includes at least two of the following: the first time interval, the second time interval, or the third time interval, wherein the third time interval is the time interval between the first moment and the third moment.

5. The method according to claim 1 or 2, characterized in that, The first device sends first positioning measurement information, including: The first device sends the first positioning measurement information to the location management function (LMF) network element; or... The first device sends the first positioning measurement information to the terminal device.

6. The method according to claim 4, characterized in that, First time interval satisfy: ， The second time interval satisfy: ， The third time interval satisfy: ； or, First time interval satisfy: ， The second time interval satisfy: ， The third time interval satisfy: ； in, For the first moment, For the second moment, This refers to the third moment.

7. A positioning method, characterized in that, include: The second device receives a first positioning reference signal and a third positioning reference signal from the first device, and receives a second positioning reference signal from the terminal device. Wherein, the first positioning reference signal is received at the fourth moment, the second positioning reference signal is received at the fifth moment, and the third positioning reference signal is received at the sixth moment. The fifth moment is after the fourth moment and before the sixth moment. The second device sends second positioning measurement information, which is used to indicate a fourth time interval and a fifth time interval. The fourth time interval is the time interval between the fourth moment and the fifth moment, and the fifth time interval is the time interval between the fifth moment and the sixth moment. The second positioning measurement information, the location information of the second device, the first positioning measurement information reported by the first device, and the location information of the first device are used to determine the location of the terminal device. The first positioning measurement information is used to indicate a first time interval and a second time interval. The first time interval is the time interval between a first moment and a second moment. The second time interval is the time interval between the second moment and a third moment. The first moment is the time when the first device sends the first positioning reference signal. The second moment is the time when the first device receives the second positioning reference signal. The third moment is the time when the first device sends the third positioning reference signal. The second moment is before the third moment and after the first moment.

8. A positioning method, characterized in that, include: The second device receives a first positioning reference signal and a third positioning reference signal from the terminal device, and receives a second positioning reference signal from the first device. Wherein, the first positioning reference signal is received at the fourth moment, the second positioning reference signal is received at the fifth moment, and the third positioning reference signal is received at the sixth moment. The fifth moment is after the fourth moment and before the sixth moment. The second device sends second positioning measurement information, which is used to indicate a fourth time interval and a fifth time interval. The fourth time interval is the time interval between the fourth moment and the fifth moment, and the fifth time interval is the time interval between the fifth moment and the sixth moment. The second positioning measurement information, the location information of the second device, the first positioning measurement information reported by the first device, and the location information of the first device are used to determine the location of the terminal device. The first positioning measurement information is used to indicate a first time interval and a second time interval. The first time interval is the time interval between a first moment and a second moment. The second time interval is the time interval between the second moment and a third moment. The first moment is the moment when the first device receives the first positioning reference signal. The second moment is the moment when the first device sends the second positioning reference signal. The third moment is the moment when the first device receives the third positioning reference signal. The second moment is before the third moment and after the first moment.

9. The method according to claim 7 or 8, characterized in that, The second positioning measurement information includes the fourth time point, the fifth time point, and the sixth time point.

10. The method according to claim 7 or 8, characterized in that, The second positioning measurement information includes at least two of the following: the fourth time interval, the fifth time interval, or the sixth time interval, wherein the sixth time interval is the time interval between the fourth time moment and the sixth time moment.

11. The method according to claim 7 or 8, characterized in that, The second device sends second positioning measurement information, including: The second device sends the second positioning measurement information to the location management function (LMF) network element; or, The second device sends the second positioning measurement information to the terminal device.

12. The method according to claim 10, characterized in that, The fourth time interval satisfy: ， The fifth time interval satisfy: ， The sixth time interval satisfy: ； or, The fourth time interval satisfy: ， The fifth time interval satisfy: ， The sixth time interval satisfy: ； in, For the fourth time point, For the fifth moment, This refers to the sixth moment.

13. A positioning method, characterized in that, include: The terminal device sends a second positioning reference signal to multiple devices, including a first device and a second device. Wherein, the time at which the first device receives the second positioning reference signal is the second time, the second time is before the third time and after the first time, the first time is the time when the first device sends the first positioning reference signal, and the third time is the time when the first device sends the third positioning reference signal. Wherein, the second device receives the second positioning reference signal at the fifth moment, the fifth moment is before the sixth moment and after the fourth moment, the fourth moment is the second device receiving the first positioning reference signal, and the sixth moment is the second device receiving the third positioning reference signal; The terminal device receives location information from the first device and first positioning measurement information from the first device, and receives location information from the second device and second positioning measurement information from the second device. The first positioning measurement information is used to indicate a first time interval and a second time interval, and the second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. Wherein, the first time interval is the time interval between the first moment and the second moment, the second time interval is the time interval between the second moment and the third moment, the fourth time interval is the time interval between the fourth moment and the fifth moment, and the fifth time interval is the time interval between the fifth moment and the sixth moment; The terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device.

14. A positioning method, characterized in that, include: The terminal device sends a first positioning reference signal and a third positioning reference signal to multiple devices, including a first device and a second device. Wherein, the time when the first device receives the first positioning reference signal is the first time, the time when the first device receives the third positioning reference signal is the third time, the second time is before the third time and after the first time, and the second time is the time when the first device sends the second positioning reference signal. Wherein, the second device receives the first positioning reference signal at the fourth moment, the second device receives the third positioning reference signal at the sixth moment, the fifth moment is before the sixth moment and after the fourth moment, and the fifth moment is the second device receiving the second positioning reference signal. The terminal device receives location information from the first device and first positioning measurement information from the first device, and receives location information from the second device and second positioning measurement information from the second device. The first positioning measurement information is used to indicate a first time interval and a second time interval, and the second positioning measurement information is used to indicate a fourth time interval and a fifth time interval. Wherein, the first time interval is the time interval between the first moment and the second moment, the second time interval is the time interval between the second moment and the third moment, the fourth time interval is the time interval between the fourth moment and the fifth moment, and the fifth time interval is the time interval between the fifth moment and the sixth moment; The terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device.

15. The method according to claim 13 or 14, characterized in that, The first positioning measurement information includes the first time, the second time, and the third time; or, The first positioning measurement information includes at least two of the following: the first time interval, the second time interval, or the third time interval, wherein the third time interval is the time interval between the first moment and the third moment.

16. The method according to claim 13 or 14, characterized in that, The second positioning measurement information includes the fourth time point, the fifth time point, and the sixth time point; or, The second positioning measurement information includes at least two of the following: the fourth time interval, the fifth time interval, or the sixth time interval, wherein the sixth time interval is the time interval between the fourth time moment and the sixth time moment.

17. The method according to claim 15, characterized in that, First time interval satisfy: ， The second time interval satisfy: ， The third time interval satisfy: ； or, First time interval satisfy: ， The second time interval satisfy: ， The third time interval satisfy: ； in, For the first moment, For the second moment, This refers to the third moment.

18. The method according to claim 16, characterized in that, The fourth time interval satisfy: ， The fifth time interval satisfy: ， The sixth time interval satisfy: ； or, The fourth time interval satisfy: ， The fifth time interval satisfy: ， The sixth time interval satisfy: ； in, For the fourth time point, For the fifth moment, This refers to the sixth moment.

19. The method according to claim 13 or 14, characterized in that, The terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device, including: The terminal device determines the arrival time difference between the positioning reference signal sent by the terminal device and the first device and the second device based on the first positioning measurement information, the location information of the first device, the location information of the second device, and the second positioning measurement information. The terminal device determines its location based on the arrival time difference.

20. The method according to claim 19, characterized in that, The arrival time difference satisfy: or, ， in, TOF The time of flight of the positioning reference signal between the first device and the second device.

21. The method according to claim 13 or 14, characterized in that, The method further includes: The terminal device receives location information from a third device and third positioning measurement information from the third device. The third positioning measurement information is used to indicate a seventh time interval and an eighth time interval. The third device belongs to the plurality of devices. Wherein, the seventh time interval is the time interval between the seventh time and the eighth time, the eighth time interval is the time interval between the eighth time and the ninth time, the seventh time is the time when the third device receives the first positioning reference signal, the eighth time is the time when the third device receives the second positioning reference signal, the ninth time is the time when the third device receives the third positioning reference signal, the eighth time is after the seventh time and before the ninth time.

22. The method according to claim 21, characterized in that, The terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, and the location information of the second device, including: The terminal device determines its location based on the first positioning measurement information, the location information of the first device, the second positioning measurement information, the location information of the second device, the third positioning measurement information, and the location information of the third device.

23. A positioning device, characterized in that, include: Units for implementing the method according to any one of claims 1 to 22.

24. A communication device, characterized in that, include: Memory, used to store computer instructions; A processor for executing a computer program stored in the memory to cause the communication device to perform the method as described in any one of claims 1 to 22.

25. A computer-readable storage medium, characterized in that, include: The computer-readable storage medium stores a computer program that, when executed, causes the computer to perform the method as described in any one of claims 1 to 22.

26. A chip, characterized in that, include: A processor for retrieving and running a computer program from memory, causing a positioning device on which the chip is mounted to perform the method as described in any one of claims 1 to 22.

27. A computer program product, characterized in that, When the computer program product is executed on a computer, it causes the computer to perform the method as described in any one of claims 1 to 22.

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