Assisted positioning method and communication device

Abstract

The application provides an assisted positioning method and a communication device, relates to the technical field of wireless communication, and can predict a positioning integrity protection level PL, select a positioning scheme through the predicted positioning integrity protection level PL, so that the predicted PL corresponding to the selected positioning scheme meets a positioning integrity performance index, and the selected positioning scheme has a lower processing complexity. The method comprises the following steps: a first network device sends first information to a monitoring device, wherein the first information comprises a predicted position of a first user equipment; then, the first network device receives positioning integrity assistance information from the monitoring device, wherein the positioning integrity assistance information is determined based on the predicted position of the first user equipment; and then, the first network device predicts a positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information.

Description

[0001] This application claims priority to the Chinese Patent Application No. 202210122261.5, filed on February 9, 2022, entitled "A positioning scheme determination method", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of wireless communication, in particular to an auxiliary positioning method and a communication device. BACKGROUND

[0003] In a radio access technology (RAT-dependent) positioning scenario in the third generation partnership project (3GPP), a network device compares a positioning integrity protection level (PL) and an alert limit (AL) to obtain a positioning integrity result. The PL is determined by the network device based on positioning measurement data and coordinate information of a reference device, error variance, etc. The positioning measurement data and error variance information are related to a positioning method.

[0004] However, if the reference device selected by the network device is not suitable (e.g., the position and number of the reference device are not suitable) or the positioning method is not suitable, the PL cannot meet the positioning integrity performance index, or the amount of positioning measurement data is large, which increases the data processing complexity. SUMMARY

[0005] The present application provides an auxiliary positioning method and a communication device, which can predict a positioning integrity protection level (PL), select a positioning scheme through the predicted positioning integrity protection level (PL), so that the predicted PL corresponding to the selected positioning scheme meets the positioning integrity performance index, and the selected positioning scheme has a lower processing complexity.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, an auxiliary positioning method is provided. An execution subject of the method can be a first network device or a chip applied in the first network device. Hereinafter, the execution subject is taken as an example of the first network device. The method comprises: sending, by the first network device, first information to a monitoring device. The first information comprises a predicted position of a first user equipment. Then, the first network device receives positioning integrity assistance information from the monitoring device. The positioning integrity assistance information is determined based on the predicted position of the first user equipment. Then, the first network device predicts a positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information.

[0008] Since the positioning integrity assistance information is determined based on the predicted position of the first user equipment, the positioning integrity assistance information can better reflect the real situation of the environment where the first user equipment is located. In addition, the auxiliary positioning method increases the process of predicting the PL. The predicted PL can be the PL of at least two positioning schemes. Therefore, the first network device can select a positioning scheme based on the predicted PL, so that the predicted PL corresponding to the selected positioning scheme meets the positioning integrity performance index, and the selected positioning scheme has a lower processing complexity.

[0009] In a possible design, the method further comprises: receiving, by the first network device, second information from the first user equipment. The second information comprises the positioning integrity performance index, the predicted position of the first user equipment, and error variance information of the first user equipment. The first network device predicts the positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information, specifically comprising: predicting the positioning integrity protection level PL according to the second information and the positioning integrity assistance information.

[0010] That is, the first network device acquires the predicted position of the first user equipment by receiving the second information. In addition, the first network device can also take into account the error variance information and noise error information of the first user equipment to predict the PL, which helps to improve the accuracy of the predicted PL.

[0011] In a possible design, the first network device predicts the positioning integrity protection level PL according to the second information and the positioning integrity assistance information, specifically comprising: predicting a first PL and a second PL according to the second information and the positioning integrity assistance information. The method further comprises: determining, by the first network device, a positioning manner and a reference device for positioning the first user equipment according to the first PL and the second PL.

[0012] That is, the predicted PL is the PL of at least two positioning schemes, so the first network device can select one positioning scheme from the at least two positioning schemes based on the predicted PL, so that the selected positioning scheme corresponds to a predicted PL that meets the positioning integrity performance indicator, and so that the selected positioning scheme has a lower processing complexity.

[0013] In a possible design, the positioning integrity assistance information includes error variance information of the first reference device and error variance information of the second reference device. The first network device predicts the first PL and the second PL according to the second information and the positioning integrity assistance information, including: predicting the first PL according to the second information and the error variance information of the first reference device, and predicting the second PL according to the second information and the error variance information of the second reference device. The first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

[0014] The error variance information is related to a positioning manner, which can be a positioning technology defined in a communication protocol. That is, the first network device selects different positioning manners and / or selects different reference devices, which means that the first network device selects different positioning schemes. Different positioning schemes correspond to different PLs, so the first network device can predict the PLs of different positioning schemes to enable the first network device to select a better positioning scheme from the different positioning schemes to meet the positioning integrity indicator, and to help reduce data processing complexity in actual positioning measurement.

[0015] In a possible design, the monitoring device is the first reference device or the second reference device. That is, the monitoring device, in addition to having a monitoring function, can also serve as a reference point to enable the first network device to position the first user device based on the reference point.

[0016] In a possible design, before receiving the second information from the first user device, the method further includes: the first network device sends a first request message to the first user device, where the first request message is used to request the first user device to send the second information. In this way, even if the first user device does not actively provide the second information to the first network device, the first user device can provide the second information to the first network device in response to the first request message, so that the first network device can predict the PL in a timely manner.

[0017] In a possible design, the monitoring device is a second network device, for example, the monitoring device is an access network device.

[0018] In a possible design, the first information is a positioning information request message. That is, the first network device sends the first information to the monitoring device through the positioning information request message.

[0019] In a possible design, the first information is a transceiving node information request message. That is, the first network device sends the first information to the monitoring device through the transceiving node information request message.

[0020] In a possible design, the first information is carried in a integrity information request information element, so as to transmit the first information through the integrity information request information element.

[0021] In a possible design, the monitoring device is a second user equipment, and the second user equipment is different from the first user equipment.

[0022] In a possible design, the first information is a location request message. That is, the first network device sends the first information to the monitoring device through the location request message.

[0023] In a possible design, the first information is carried in an integrity information assistance data information element, so as to transmit the first information through the integrity information assistance data information element.

[0024] In a possible design, the monitoring device is a second user equipment, and the second user equipment is different from the first user equipment.

[0025] In a possible design, the positioning integrity assistance information includes error variance information of the first reference device and error variance information of the second reference device.

[0026] In a possible design, the monitoring device is the first reference device or the second reference device.

[0027] In a possible design, the monitoring device is a second network device.

[0028] In a possible design, the first information is a positioning information request message.

[0029] In a possible design, the first information is a transceiving node information request message.

[0030] In a possible design, the first information is carried in an integrity information request information element.

[0031] In a possible design, the monitoring device is a second user equipment, where the second user equipment is different from the first user equipment.

[0032] In a possible design, the first information is a location request message.

[0033] In a possible design, the first information is carried in a integrity information assistance data cell.

[0034] In a third aspect, an auxiliary positioning method is provided. The execution subject of the method can be a first network device or a chip applied in the first network device. Hereinafter, the execution subject is taken as an example for description. The method comprises the following steps: the first network device sends first information to a monitoring device, where the first information comprises a predicted location of a first user equipment; and the first network device receives positioning integrity assistance information from the monitoring device, where the positioning integrity assistance information is determined based on the predicted location of the first user equipment.

[0035] Since the positioning integrity assistance information is determined based on the predicted location of the first user equipment, the positioning integrity assistance information can better reflect the real situation of the environment where the first user equipment is located, and the positioning integrity assistance information can be used to predict a PL, and the predicted PL can be a PL of at least two positioning schemes, so as to lay a foundation for selecting a better positioning scheme for the first network device. The better positioning scheme can be understood as a selected positioning scheme corresponding to a predicted PL satisfying a positioning integrity performance index, and the selected positioning scheme having a lower positioning processing complexity.

[0036] In a possible design, the method further comprises: the first network device predicts a positioning integrity protection level PL based on the predicted location of the first user equipment and the positioning integrity assistance information.

[0037] In a possible design, the method further comprises: the first network device receives second information from the first user equipment, where the second information comprises a positioning integrity performance index, a predicted location of the first user equipment, and error variance information of the first user equipment; and the first network device predicts the positioning integrity protection level PL based on the predicted location of the first user equipment and the positioning integrity assistance information, specifically comprising: predicting the positioning integrity protection level PL based on the second information and the positioning integrity assistance information.

[0038] In a possible design, the first network device predicts the PL according to the second information and the positioning integrity assistance information, specifically including: predicting the first PL and the second PL according to the second information and the positioning integrity assistance information. The method further includes: the first network device determining the positioning mode and the reference device for positioning the first user equipment according to the first PL and the second PL.

[0039] In a possible design, the positioning integrity assistance information includes error variance information of the first reference device and error variance information of the second reference device. The first network device predicts the first PL and the second PL according to the second information and the positioning integrity assistance information, specifically including: predicting the first PL according to the second information and the error variance information of the first reference device; and predicting the second PL according to the second information and the error variance information of the second reference device. The first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

[0040] In a possible design, before receiving the second information from the first user equipment, the method further includes: the first network device sending a first request message to the first user equipment. The first request message is used to request the first user equipment to send the second information.

[0041] In a fourth aspect, an auxiliary positioning method is provided. The execution subject of the method can be a first user equipment or a chip applied in the first user equipment. Hereinafter, the execution subject is taken as an example for description. The method includes: the first user equipment receiving positioning integrity assistance information from a monitoring device, and then predicting a PL according to a predicted position of the first user equipment and the positioning integrity assistance information.

[0042] In this way, the positioning integrity assistance information can better reflect the real situation of the environment where the first user equipment is located, and the auxiliary positioning method adds a process of predicting the PL. The predicted PL can be the PL of at least two positioning schemes. Therefore, the first user equipment can suggest a positioning scheme to the first network device based on the predicted PL, so that the predicted PL corresponding to the suggested positioning scheme meets the positioning integrity performance index, and the suggested positioning scheme has a lower processing complexity.

[0043] In a possible design, the first user equipment predicts the positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information, specifically including: predicting the first PL and the second PL according to the positioning integrity performance indicator, the error variance information of the first user equipment, the predicted position of the first user equipment, and the positioning integrity assistance information. The method further includes: determining, by the first user equipment, the positioning mode and the reference device for positioning the first user equipment according to the first PL and the second PL.

[0044] In a possible design, the positioning integrity assistance information includes the error variance information of the first reference device and the error variance information of the second reference device. The first user equipment predicts the first PL and the second PL according to the positioning integrity performance indicator, the error variance information of the first user equipment, the predicted position of the first user equipment, and the positioning integrity assistance information, specifically including: predicting the first PL according to the positioning integrity performance indicator, the error variance information of the first user equipment, the predicted position of the first user equipment, and the error variance information of the first reference device; and predicting the second PL according to the positioning integrity performance indicator, the error variance information of the first user equipment, the predicted position of the first user equipment, and the error variance information of the second reference device. The first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

[0045] In a possible design, the monitoring device is the first reference device or the second reference device.

[0046] In a possible design, the method further includes: sending, by the first user equipment, first information to the first network device, where the first information includes information of the positioning mode and the reference device for positioning the first user equipment.

[0047] In a possible design, the monitoring device is the second network device.

[0048] In a possible design, the monitoring device is the second user equipment. The second user equipment is different from the first user equipment.

[0049] In a possible design, the monitoring device is the second user equipment. The second user equipment is different from the first user equipment.

[0050] The communication apparatus comprises a processing unit, a sending unit and a receiving unit. The sending unit is configured to send first information to a monitoring device, wherein the first information comprises a predicted position of a first user equipment. The receiving unit is configured to receive positioning integrity assistance information from the monitoring device, wherein the positioning integrity assistance information is determined based on the predicted position of the first user equipment. The processing unit is configured to predict a positioning integrity protection level PL based on the predicted position of the first user equipment and the positioning integrity assistance information.

[0051] In a possible design, the receiving unit is further configured to receive second information from the first user equipment, wherein the second information comprises a positioning integrity performance indicator, the predicted position of the first user equipment and error variance information of the first user equipment. The processing unit is configured to predict the positioning integrity protection level PL based on the predicted position of the first user equipment and the positioning integrity assistance information, specifically including predicting the positioning integrity protection level PL based on the second information and the positioning integrity assistance information.

[0052] In a possible design, the processing unit is configured to predict the positioning integrity protection level PL based on the second information and the positioning integrity assistance information, specifically including predicting a first PL and a second PL based on the second information and the positioning integrity assistance information. The processing unit is further configured to determine a positioning mode and a reference device for positioning the first user equipment based on the first PL and the second PL.

[0053] In a possible design, the positioning integrity assistance information comprises error variance information of a first reference device and error variance information of a second reference device. The processing unit is configured to predict the first PL and the second PL based on the second information and the positioning integrity assistance information, including predicting the first PL based on the second information and the error variance information of the first reference device, and predicting the second PL based on the second information and the error variance information of the second reference device. The first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

[0054] In a possible design, the monitoring device is the first reference device or the second reference device.

[0055] In a possible design, before receiving the second information from the first user equipment, the sending unit is further configured to send a first request message to the first user equipment, wherein the first request message is used to request the first user equipment to send the second information.

[0056] In a possible design, the monitoring device is a second network device.

[0057] In a possible design, the first information is a positioning information request message.

[0058] In a possible design, the first information is a transceiving node information request message.

[0059] In a possible design, the first information is carried in a integrity information request information element.

[0060] In a possible design, the monitoring device is a second user equipment, and the second user equipment is different from the first user equipment.

[0061] In a possible design, the first information is a location request message.

[0062] In a possible design, the first information is carried in a integrity information assistance data information element.

[0063] In a sixth aspect, a communication apparatus is provided, which can be the monitoring device in the second aspect or any possible design of the second aspect, or a chip realizing the functions of the monitoring device; the communication apparatus includes modules, units or means realizing the corresponding functions of the above method, which can be realized by hardware, software or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0064] The communication apparatus includes a processing unit, a sending unit and a receiving unit. The processing unit is configured to control the receiving unit to receive first information from a first network device, where the first information includes a predicted location of a first user equipment. The processing unit is further configured to control the sending unit to send positioning integrity assistance information to the first network device, where the positioning integrity assistance information is determined based on the predicted location of the first user equipment, and the positioning integrity assistance information is used to predict a positioning integrity protection level PL.

[0065] In a possible design, the positioning integrity assistance information includes error variance information of a first reference device and error variance information of a second reference device.

[0066] In a possible design, the communication apparatus is the first reference device or the second reference device.

[0067] In a possible design, the communication apparatus is a second network device.

[0068] In a possible design, the first information is a location information request message.

[0069] In a possible design, the first information is a transceiving node information request message.

[0070] In a possible design, the first information is carried in a integrity information request information element.

[0071] In a possible design of the method, the communication apparatus is a second user equipment, and the second user equipment is different from the first user equipment.

[0072] In a possible design of the method, the first information is a location request message.

[0073] In a possible design of the method, the first information is carried in a integrity information assistance data information element.

[0074] In a seventh aspect, a communication apparatus is provided, which can be the first network device in the third aspect or any possible design of the third aspect, or a chip realizing the functions of the first network device; the communication apparatus includes modules, units, or means realizing the corresponding functions of the method, which can be implemented by hardware, software, or by executing corresponding software by hardware. The hardware or software includes one or more modules or units corresponding to the functions.

[0075] The communication apparatus includes a processing unit, a sending unit, and a receiving unit. The processing unit is configured to control the sending unit to send first information to a monitoring device, where the first information includes a predicted position of a first user equipment. The processing unit is further configured to control the receiving unit to receive positioning integrity assistance information from the monitoring device, where the positioning integrity assistance information is determined based on the predicted position of the first user equipment.

[0076] In a possible design of the communication apparatus, the processing unit is further configured to predict a positioning integrity protection level PL based on the predicted position of the first user equipment and the positioning integrity assistance information.

[0077] In a possible design of the communication apparatus, the receiving unit is further configured to receive second information from the first user equipment, where the second information includes a positioning integrity performance indicator, the predicted position of the first user equipment, and error variance information of the first user equipment. The processing unit is configured to predict the positioning integrity protection level PL based on the predicted position of the first user equipment and the positioning integrity assistance information, and specifically includes predicting the positioning integrity protection level PL based on the second information and the positioning integrity assistance information.

[0078] In a possible design of the communication apparatus, the processing unit is configured to predict the positioning integrity protection level PL based on the second information and the positioning integrity assistance information, and specifically includes predicting a first PL and a second PL based on the second information and the positioning integrity assistance information. The processing unit is further configured to determine a positioning mode and a reference device for positioning the first user equipment based on the first PL and the second PL.

[0079] In a possible design, the positioning integrity assistance information includes error variance information of the first reference device and error variance information of the second reference device. The processing unit is configured to predict the first PL and the second PL according to the second information and the positioning integrity assistance information, specifically including: predicting the first PL according to the second information and the error variance information of the first reference device; and predicting the second PL according to the second information and the error variance information of the second reference device; wherein the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device; or the first reference device is different from the second reference device.

[0080] In a possible design, the sending unit is further configured to send a first request message to the first user device before receiving the second information from the first user device, where the first request message is used to request the first user device to send the second information.

[0081] In an eighth aspect, a communication apparatus is provided, which can be the first user device in the fourth aspect or any possible design of the fourth aspect, or a chip realizing the functions of the first user device. The communication apparatus includes modules, units, or means realizing the corresponding functions of the above method, which can be implemented by hardware, software, or by executing corresponding software with hardware. The hardware or software includes one or more modules or units corresponding to the above functions.

[0082] The communication apparatus includes a processing unit, a sending unit, and a receiving unit. The receiving unit is configured to receive positioning integrity assistance information from a monitoring device. The processing unit is configured to predict a positioning integrity protection level PL according to a predicted position of the communication apparatus and the positioning integrity assistance information.

[0083] In a possible design, the processing unit is configured to predict the positioning integrity protection level PL according to a predicted position of the communication apparatus and the positioning integrity assistance information, specifically including: predicting a first PL and a second PL according to a positioning integrity performance index, error variance information of the communication apparatus, the predicted position of the communication apparatus, and the positioning integrity assistance information. The processing unit is further configured to determine a positioning mode and a reference device for positioning the communication apparatus according to the first PL and the second PL.

[0084] In a possible design, the positioning integrity assistance information includes error variance information of the first reference device and error variance information of the second reference device. The processing unit is configured to predict the first PL and the second PL according to the positioning integrity performance indicator, the error variance information of the communication apparatus, the predicted position of the communication apparatus, and the positioning integrity assistance information, specifically including: predicting the first PL according to the positioning integrity performance indicator, the error variance information of the communication apparatus, the predicted position of the communication apparatus, and the error variance information of the first reference device; and predicting the second PL according to the positioning integrity performance indicator, the error variance information of the communication apparatus, the predicted position of the communication apparatus, and the error variance information of the second reference device. The first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Alternatively, the first reference device is different from the second reference device.

[0085] In a possible design, the monitoring device is the first reference device or the second reference device.

[0086] In a possible design, the sending unit is further configured to send first information to the first network device, where the first information includes information about a positioning manner for positioning the communication apparatus and a reference device.

[0087] In a possible design, the monitoring device is the second network device.

[0088] In a possible design, the monitoring device is the second user device, where the second user device is different from the communication apparatus.

[0089] In a ninth aspect, a communication apparatus is provided, including a processor and a memory. The memory is configured to store computer instructions, and when the processor executes the instructions, the communication apparatus performs the method performed by the first network device in any of the aspects or possible designs of the aspects. The communication apparatus can be the first network device in the first aspect or any of the possible designs of the first aspect, or can be the first network device in the third aspect or any of the possible designs of the third aspect, or a chip implementing the functions of the first network device.

[0090] In a tenth aspect, a communication apparatus is provided, including a processor. The processor is coupled with a memory and is configured to read instructions in the memory and execute the instructions, so that the communication apparatus performs the method performed by the first network device in any of the aspects or possible designs of the aspects. The communication apparatus can be the first network device in the first aspect or any of the possible designs of the first aspect, or can be the first network device in the third aspect or any of the possible designs of the third aspect, or a chip implementing the functions of the first network device.

[0091] In an eleventh aspect, a chip is provided, comprising a processing circuit and an input / output interface. The input / output interface is configured to communicate with a module outside the chip, for example, the chip can be a chip for implementing the first network device function in the first aspect or any possible design of the first aspect. The processing circuit is configured to execute computer programs or instructions to implement the method in the first aspect or any possible design of the first aspect. For another example, the chip can be a chip for implementing the first network device function in the third aspect or any possible design of the third aspect. The processing circuit is configured to execute computer programs or instructions to implement the method in the third aspect or any possible design of the third aspect.

[0092] In a twelfth aspect, a communication apparatus is provided, comprising: a processor and a memory; the memory is configured to store computer instructions, when the processor executes the instructions, the communication apparatus performs the method executed by the monitoring device in any one of the aspects or any possible design of the aspect. The communication apparatus can be the monitoring device in the second aspect or any possible design of the second aspect, or a chip for implementing the monitoring device function.

[0093] In a thirteenth aspect, a communication apparatus is provided, comprising: a processor; the processor is coupled with a memory, configured to read the instructions in the memory and execute, so as to make the communication apparatus perform the method executed by the monitoring device in any one of the aspects or any possible design of the aspect. The communication apparatus can be the monitoring device in the second aspect or any possible design of the second aspect, or a chip for implementing the monitoring device function.

[0094] In a fourteenth aspect, a chip is provided, comprising a processing circuit and an input / output interface. The input / output interface is configured to communicate with a module outside the chip, for example, the chip can be a chip for implementing the monitoring device function in the second aspect or any possible design of the second aspect. The processing circuit is configured to execute computer programs or instructions to implement the method in the second aspect or any possible design of the second aspect.

[0095] In a fifteenth aspect, a communication apparatus is provided, comprising: a processor and a memory; the memory is configured to store computer instructions, when the processor executes the instructions, the communication apparatus performs the method executed by the first user equipment in any one of the aspects or any possible design of the aspect. The communication apparatus can be the first user equipment in the fourth aspect or any possible design of the fourth aspect, or a chip for implementing the first user equipment function.

[0096] In a sixteenth aspect, a communication apparatus is provided, which comprises a processor; the processor is coupled with a memory and used to read instructions in the memory and execute the instructions, so as to enable the communication apparatus to perform the method performed by the first user equipment in any one of the above aspects or any possible design of the above aspects. The communication apparatus can be the first user equipment in the fourth aspect or any possible design of the fourth aspect, or a chip for implementing the functions of the first user equipment.

[0097] In a seventeenth aspect, a chip is provided, which comprises a processing circuit and an input / output interface. The input / output interface is used to communicate with a module outside the chip, for example, the chip can be a chip for implementing the functions of the first user equipment in the fourth aspect or any possible design of the fourth aspect. The processing circuit is used to run a computer program or instructions, so as to implement the method in the fourth aspect or any possible design of the fourth aspect.

[0098] In an eighteenth aspect, a computer readable storage medium is provided, which stores instructions, when the instructions are run on a computer, the computer can execute the method in any one of the above aspects.

[0099] In a nineteenth aspect, a computer program product is provided, which comprises instructions, when the instructions are run on a computer, the computer can execute the method in any one of the above aspects.

[0100] In a twentieth aspect, a circuit system is provided, which comprises a processing circuit, and the processing circuit is configured to execute the method in any one of the above aspects.

[0101] The technical effects brought by any one of the fifth aspect to the twentieth aspect can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0102] Figure 1 A schematic diagram of a positioning system architecture is provided for the embodiments of the present application;

[0103] Figure 2a A working principle diagram of a positioning method is provided for the embodiments of the present application;

[0104] Figure 2b A working principle diagram of another positioning method is provided for the embodiments of the present application;

[0105] Figure 3 A method flowchart for determining a positioning integrity result is provided for the embodiments of the present application;

[0106] Figure 4 A method flowchart of an auxiliary positioning method is provided for the embodiments of the present application;

[0107] Figure 5 Method flow chart of another auxiliary positioning method provided by an embodiment of the present application;

[0108] Figure 6 Method flow chart of another auxiliary positioning method provided by an embodiment of the present application;

[0109] Figure 7 Method flow chart of another auxiliary positioning method provided by an embodiment of the present application;

[0110] Figure 8 Method flow chart of another auxiliary positioning method provided by an embodiment of the present application;

[0111] Figure 9 Method flow chart of another auxiliary positioning method provided by an embodiment of the present application;

[0112] Figure 10 Structure schematic diagram of a communication apparatus provided by an embodiment of the present application;

[0113] Figure 11 Structure schematic diagram of a communication apparatus provided by an embodiment of the present application. DETAILED DESCRIPTION

[0114] The terms "first" and "second" and the like in the description of the present application and in the claims of the present application are used for distinguishing between similar objects, or for distinguishing between the same object for different purposes, and are not necessarily used to describe a particular sequential order. Also, the terms "comprises", "comprising", "includes", "including" and the like means "including, but not limited to". The processes, methods, articles, or equipment that includes a series of steps or units are not limited to the listed steps or units, but can include other not listed steps or units, or can also include other steps or units inherent to the processes, methods, articles, or equipment. It is noted that the terms "exemplary" and "for example" are used herein to mean "an example of" or "an example", and are not used in a restrictive sense to denote comparison or superiority. The terms "exemplary" and "for example" are used to present certain examples, one or more embodiments or designs of the present application, and are not used in a limiting sense to denote comparison or superiority.

[0115] Figure 1 Architecture schematic diagram of a positioning system provided by an embodiment of the present application. As shown in the figure, the positioning system includes a user equipment (user equipment, UE) 11, a reference device 12, a monitoring device 13 and a core network device 14. Figure 1

[0116] ​User equipment 11 includes a device that provides voice and / or data connectivity to a user. Specifically, the user equipment 11 includes a device that provides voice connectivity, or a device that provides data connectivity, or a device that provides both voice and data connectivity. For example, the user equipment 11 can include a handheld device having wireless connection capability, or a processing device connected to a wireless modem. The user equipment can communicate with a core network via a radio access network (RAN), exchange voice or data with the RAN, or exchange both voice and data with the RAN. The user equipment can include a terminal device, a wireless user equipment, a mobile user equipment, a device-to-device (D2D) user equipment, a vehicle to everything (V2X) user equipment, a machine-to-machine / machine-type communications (M2M / MTC) user equipment, an internet of things (IoT) user equipment, a subscriber unit, a subscriber station, a mobile station, a remote station, an access point (AP), a remote terminal, an access terminal, a user terminal, a user agent, or a user device, etc. For example, the user equipment can include a mobile telephone (also known as a "cellular" telephone), a computer with mobile capability, a portable, pocket, hand-held, built-in, or car-mounted device, etc. For example, the user equipment can include a personal communication service (PCS) phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), etc. The user equipment can also include a restricted device, such as a low-energy device, or a device with limited storage capability, or a device with limited computing capability, etc. For example, the user equipment can include a bar code, a radio frequency identification (RFID), a sensor, a global positioning system (GPS), a laser scanner, etc.

[0117] The various user equipment as introduced above, if located on a vehicle (for example, placed in or installed in a vehicle), can be considered as on-board user equipment, which is also referred to as on-board unit (OBU) for example.

[0118] In embodiments of the present application, the user equipment can also include a relay. Alternatively, it can be understood that all devices capable of data communication with a base station can be regarded as user equipment.

[0119] In embodiments of the present application, the device for implementing the function of the user equipment can be the user equipment, or a device capable of supporting the user equipment to implement the function, such as a chip system, which can be installed in the user equipment. In embodiments of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices. In the technical solutions provided in embodiments of the present application, the device for implementing the function of the terminal is taken as an example of the user equipment for introduction.

[0120] The reference device 12 is configured to provide a positioning reference point, so that the core network device 14 performs positioning on the user equipment 11 based on the reference point. As a possible implementation, the reference device 12 can be an access network device. The access network device can be an access point of wireless communication or wired communication, such as a transmit and receive point (TRP), a road side unit (RSU), a base station or a base station controller, a wireless-fidelity (WiFi) access point or a WiFi controller, or a fixed network access point, etc. The base station can include various types of base stations, such as a micro base station (also referred to as a small station), a macro base station, a relay station, an access point, etc., which are not limited in the embodiments of the present application. In the embodiments of the present application, the base station can be a base transceiver station (BTS) in a global system for mobile communication (GSM) or a code division multiple access (CDMA) system, a node B in a wideband code division multiple access (WCDMA) system, an evolutional node B (eNB or e-NodeB) in a long term evolution (LTE) system, an eNB in an internet of things (IoT) or a narrow band-internet of things (NB-IoT) system, a base station in a fifth generation (5G) mobile communication network or a future evolutional public land mobile network (PLMN), which are not limited in the embodiments of the present application. In this case, the user equipment 11 communicates with the reference device 12 through a Uu interface.

[0121] As another possible implementation, the reference device 12 can be a user equipment, which can refer to the introduction of the user equipment 11, which is not described herein.

[0122] It should be noted that the reference device can also be referred to as a reference station, which is only taken as an example in the embodiments of the present application, and is uniformly described herein, which is not described herein.

[0123] The monitoring device 13 is configured to monitor the reference device 12. As a possible implementation, the monitoring device 13 can be an access network device, which can be referred to the description of the reference device 12 and will not be repeated here. As another possible implementation, the monitoring device 13 can be a user equipment, which can be referred to the description of the user equipment 11 and will not be repeated here.

[0124] It should be noted that the monitoring device can also be referred to as a monitoring station. In the embodiments of the present application, the monitoring device is taken as an example for description, and the same applies here and will not be repeated hereinafter.

[0125] The core network device 14 includes an access and mobility management function (AMF) network element, a location management function (LMF) network element, and the like. The AMF network element can implement gateway functions, and the LMF network element can implement positioning center functions, such as performing positioning calculation on the user equipment according to measurement results of other network elements. The AMF network element and the LMF network element can communicate with each other. For example, the AMF network element and the LMF network element can be connected through an NLs interface. The main functions of the AMF network element include connection management, mobility management, registration management, access authentication and authorization, reachability management, security context management, and other access and mobility related functions. The LMF network element is a device or component deployed in the core network to provide positioning functions for the user equipment.

[0126] It should be understood that the access network device and the core network device both belong to network devices. When the reference device 12 is implemented as an access network device and the monitoring device 13 is also implemented as an access network device, the reference device 12, the monitoring device 13, and the core network device 14 all belong to network devices.

[0127] In order to facilitate understanding of the embodiments of the present application, the following will first briefly describe the terms involved in the embodiments of the present application. It should be understood that these descriptions are only for the purpose of facilitating understanding of the embodiments of the present application, and should not constitute any limitation on the present application.

[0128] 1. Positioning mode

[0129] In the embodiments of the present application, the positioning mode refers to a positioning technology defined in a communication protocol, such as a time difference of arrival (TDOA) positioning technology, a round-trip time (RTT) positioning technology, and the like.

[0130] TDOA is a positioning technology that measures the transmission time delay difference between the user equipment and multiple reference devices.

[0131] like Figure 2a As shown, the reference devices are implemented as base stations. Reference devices 1 and 2 send positioning reference signals (PRS) to the user equipment, thus obtaining a distance difference of R21 between reference devices 1 and 2 and the user equipment, resulting in hyperbola 2-1 with the two reference devices (reference devices 1 and 2) as foci and a constant distance difference of R21 between them. The user equipment is located on hyperbola 2-1. Similarly, reference devices 1 and 3 send PRS to the user equipment, thus obtaining a distance difference of R31 between reference devices 1 and 3 and the user equipment, resulting in hyperbola 3-1 with the two reference devices (reference devices 1 and 3) as foci and a constant distance difference of R31 between them. The user equipment is located on hyperbola 3-1. The intersection of hyperbola 2-1 and hyperbola 3-1 represents the estimated location of the user equipment. Due to the need for accurate time delay difference, clock synchronization is required between reference devices 1, 2, and 3.

[0132] RTT achieves positioning by sending positioning reference signals back and forth to obtain the round-trip transmission time, without the need for clock synchronization.

[0133] like Figure 2b As shown, reference device 1 and user equipment send reference signals back and forth to obtain the time of flight (TOF) between the two reference devices 1 and user equipment. The TOF satisfies the following formula:

[0134]

[0135] Where TOF represents the time of flight, T A1 T represents the time when reference device 1 sends a reference signal to user equipment. B1 T represents the time at which the user equipment receives the reference signal from reference device 1. B2 T represents the time when the user equipment sends a reference signal to reference device 1. A2 This indicates the moment when reference device 1 receives the reference signal from user equipment. The distance between reference device 1 and user equipment is obtained by multiplying the time of flight between them by the speed of light.

[0136] Similarly, using the same processing method, the distances between reference device 2 and user equipment, as well as the distances between reference device 3 and user equipment, are obtained. Then, based on the principle of triangulation, the estimated position of the user equipment is obtained.

[0137] 2. Positioning integrity

[0138] Positioning integrity refers to the ability of a positioning system to promptly issue an alarm when the positioning error exceeds an allowable threshold. Positioning integrity is used to characterize the reliability of a positioning system's positioning accuracy.

[0139] The following provides an example of the positioning integrity performance indicators:

[0140] The alert limit (AL) refers to the maximum positioning error allowed by the positioning system to meet the expected application requirements. AL is preset and related to specific services; different services may have different ALs. For example, the AL for service 1 is denoted as AL1, and the AL for service 2 is denoted as AL2.

[0141] Protection level (PL) refers to the statistical upper limit of positioning error while meeting positioning integrity performance indicators. PL is calculated and depends on the positioning method and reference equipment. For example, different positioning methods and different reference equipment will result in different calculated PLs.

[0142] For example, such as Figure 3 As shown, the positioning observation data is related to the positioning method. For example, taking TDOA positioning technology, the positioning observation data may include the aforementioned distance difference R21 and distance difference R31. Taking RTT positioning technology as an example, the positioning observation data may include the aforementioned Time of Flight (TOF), or the positioning observation data may include the aforementioned time T. A1 Time T A2 Time T B1 and time T B2 Positioning observation data can be monitored by user equipment and provided to network devices (such as LMF network elements), or it can be monitored by a reference device and provided to network devices. Reference device coordinates are the position coordinates of the reference device. Error variance information σ 2 It can be the error variance of the reference device, such as the error variance information σ in TDOA positioning mode. 2 This can include clock synchronization error variance and multipath error variance. In RTT positioning mode, the error variance information σ 2 This can include multipath error variance. Network devices can determine a pseudorange observation linearization model based on positioning observation data and reference device coordinates, and then determine the slope (SLOPE) based on the pseudorange observation linearization model. The network device then uses the error variance information σ... 2 The probability of missed detection, the probability of false alarm, and the degree of freedom information determine p. bias Then based on p biasand a slope (SLOPE) to determine a positioning integrity PL. When PL > AL, the network device determines that the positioning scheme is unavailable. Conversely, when PL≤ AL, the network device determines that the positioning scheme is available.

[0143] However, if the reference device selected by the network device is not suitable (e.g., the position, quantity, etc. of the reference device is not suitable) or the positioning manner is not suitable, the PL cannot meet the positioning integrity performance index, or the amount of positioning measurement data is large, which increases the data processing complexity.

[0144] Therefore, embodiments of the present application provide two kinds of assisted positioning methods (i.e., the first kind of assisted positioning method and the second kind of assisted positioning method described below), which are suitable for Figure 1 The system shown in FIG. 1, such as a RAT-dependent positioning scenario. In embodiments of the present application, the positioning manner refers to a positioning technology defined in a communication protocol, such as a TDOA positioning technology, an RTT positioning technology, etc. The positioning scheme refers to positioning by information provided by multiple reference devices under a certain positioning manner. That is, the selected positioning manner is different, and the positioning scheme is different, and / or the selected reference device is different, and the positioning scheme is also different. The names of messages between network elements in the embodiments of the present application described below or the names of parameters in the messages are only examples, and other names can also be used in specific implementations. Here, it is uniformly stated that the following will not be described in detail.

[0145] The first kind of assisted positioning method provided by embodiments of the present application is applied to a first network device. In the first kind of assisted positioning method provided by embodiments of the present application, the first network device sends first information to a monitoring device, wherein the first information includes a predicted position of a first UE. Then, the first network device receives positioning integrity assistance information from the monitoring device, wherein the positioning integrity assistance information is determined based on the predicted position of the first UE. Then, the first network device predicts positioning integrity PL corresponding to different positioning schemes according to the predicted position of the first UE and the positioning integrity assistance information. Finally, the first network device selects a positioning scheme whose predicted positioning integrity PL meets the positioning integrity performance index and has lower positioning processing complexity based on the predicted PL. The first kind of assisted positioning method provided by embodiments of the present application has the advantages that, on the one hand, the positioning integrity assistance information is determined based on the predicted position of the first UE, so the positioning integrity assistance information can better reflect the real situation of the environment where the first UE is located. On the other hand, the first kind of assisted positioning method provided by embodiments of the present application increases the process of predicting PL, and the positioning scheme, i.e., the positioning manner and the reference device used to position the first UE, is selected based on the predicted PL, so that both the positioning integrity performance index and the positioning processing complexity are considered.

[0146] Next, the first kind of assisted positioning method provided by embodiments of the present application will be described in detail in combination withFigures 4 to 7 The first auxiliary positioning method provided by the embodiment of the application is introduced as follows:

[0147] As shown in the figure, the first auxiliary positioning method 400 provided by the embodiment of the application includes the following steps: Figure 4

[0148] S401, the first network device sends first information to the monitoring device. Correspondingly, the monitoring device receives the first information from the first network device.

[0149] The first information includes predicted position information of the first UE. For example, the predicted position information of the first UE can be a predicted coordinate, denoted as

[0150] For example, the first network device can be an LMF network element or other network element with positioning function, and the embodiment of the application does not limit this. The monitoring device can be a second network device, such as an access network device, or a second UE. The first UE and the second UE are different.

[0151] As a possible implementation, when the monitoring device is a second network device, the first information in S401 is carried in an integrity information request (Integrity Information Request) information element (IE). The integrity information request information element is one of the following messages: a positioning information request (POSITIONING INFORMATION REQUEST) message or a transceiving node information request (TRP INFORMATION REQUEST) message. That is, the first network device sends the first information to the monitoring device through the positioning information request message. Alternatively, the first network device sends the first information to the monitoring device through the transceiving node information request message.

[0152] As another possible implementation, when the monitoring device is a second UE, the first information in S401 is carried in an integrity assisted data (Integrity assisted data) information element. The integrity assisted data information element is an information element in a location request (Request Location Information) message. That is, the first network device sends the first information to the monitoring device through the location request message.

[0153] It should be understood that, in addition to the information elements or messages introduced above, the first information can also be carried in other information elements or other messages, and the embodiment of the application does not limit this.

[0154] Optionally, as shown in the figure, the first auxiliary positioning method 400 further includes the following steps: Figure 5 ​As shown, the first network device further performs S404:

[0155] S404, the first UE sends second information to the first network device. Correspondingly, the first network device receives the second information from the first UE.

[0156] The second information at least includes the predicted position of the first UE. For example, the predicted position of the first UE can refer to the first information in S401, which will not be repeated here.

[0157] In some embodiments, the first UE can determine the predicted position of the first UE in the following two ways (as described below, way 1 and way 2).

[0158] Way 1, the predicted position of the first UE can be a coordinate estimated by measurement. For example, the first UE estimates the position at the current time based on the position information before the current time and the measurement information of the inertial navigation. The position of the first UE at time 1 is recorded as position 1, and time 1 is a time before the current time. The measurement information of the inertial navigation can include the speed of the first UE. The first UE estimates the position of the first UE at the current time based on the time length between the current time and time 1 and the speed of the first UE, that is, the predicted position of the first UE.

[0159] Way 2, a coordinate determined based on a fixed route and the current time. For example, for material tracking and other applications, at a certain time, the material appears at a certain position, so the first UE determines the predicted position based on the time point. In this case, the predicted position refers to the position where the material is expected to appear. In the embodiments of the present application, the position where the material is expected to appear can be understood as the predicted position of the first UE.

[0160] Optionally, the second information further includes a positioning integrity performance indicator and / or error variance information of the first UE. For example, the positioning integrity performance indicator includes at least one of AL, missed detection probability and false alarm probability. The AL, missed detection probability and false alarm probability in the second information are related to the service of the first UE. Taking AL as an example, the service of the first UE includes service 1. Correspondingly, the AL in the second information is related to service 1. In the embodiments of the present application, the false alarm probability can also be described as the false detection probability. In the embodiments of the present application, only the false alarm probability is taken as an example for description.

[0161] For example, the error variance information of the first UE includes measurement error variance information of the first UE and noise error variance information of the first UE In the case of TDOA positioning mode, the measurement error variance information of the first UE may include the error caused by the first UE measuring the PRS (e.g., the time of arrival of the PRS), for example, the first UE measures T B1 and the error caused by T B2 The noise error variance information of the first UE is the positioning error variance caused by the thermal noise of the first UE, which is related to the hardware performance of the first UE, which will not be described here.

[0162] Optionally, the second information in S404 can be carried in a positioning request message, i.e., the first UE sends the second information to the first network device through the positioning request message. Correspondingly, the first network device receives the second information from the first UE through the positioning request message. Alternatively, the second information in S404 can also be carried in an integrity information information element. The integrity information information element is an information element in a location information providing (Provide Location Information) message. That is, the first UE sends the second information to the first network device through the location information providing message. Of course, the second information can also be carried in other information elements or other messages, which are not limited by the embodiments of the present application.

[0163] It should be understood that S404 is an optional step. In some embodiments, the first UE predicts its own position to obtain the predicted position of the first UE. In this case, the first UE performs S404. In other embodiments, other network elements, such as the first network device, predict the position of the first UE to obtain the predicted position of the first UE. In this case, S404 does not need to be performed.

[0164] It should be noted that in the case where S404 is performed, as a possible implementation, as shown in the dashed box of "Method 1" in Figure 5 , the first UE needs to be positioned, and the first UE performs S404. Alternatively, the positioning system presets a period for the first UE to report the second information, and the first UE performs S404 according to the preset period. In this case, the first network device obtains the second information that is more consistent with the current environment of the first UE. As another possible implementation, as shown in the dashed box of "Method 2" in Figure 5 , the first network device needs to position the first UE, and S405 is performed:

[0165] S405, the first network device sends a first request message to the first UE. Correspondingly, the first UE receives the first request message from the first network device.

[0166] The first request message is used to request the first UE to send the second information. For example, the first request message can be a request location information message. The request location information message includes an integrity information request information element to request the first UE to send the second information.

[0167] For the first UE, the first UE performs S404 in response to the first request message, which can enable the first network device to obtain the second information in time and avoid the problem of low transmission resource utilization caused by frequent reporting of the second information.

[0168] For the monitoring device, after receiving the first information, the monitoring device performs S402:

[0169] S402, the monitoring device sends positioning integrity assistance information to the first network device. Correspondingly, the first network device receives the positioning integrity assistance information from the monitoring device.

[0170] The positioning integrity assistance information is determined based on the predicted position information of the first UE.

[0171] For example, for the monitoring device, after receiving the first information, the monitoring device determines k reference devices according to the predicted position of the first UE, which are respectively referred to as reference device 1, reference device 2, reference device 3, …, and reference device k. The distance between each of the above k reference devices and the predicted position of the first UE is less than or equal to a preset value. The positioning integrity assistance information includes error variance information of each of the above multiple reference devices.

[0172] For example, taking the error variance information of one reference device (such as the i-th reference device, where i is an integer, 1≤i≤k) as an example, the positioning integrity assistance information is introduced: the positioning integrity assistance information includes clock synchronization error variance information of the i-th reference device data error variance information of the i-th reference device and multipath error variance information of the i-th reference device The clock synchronization error variance information of the i-th reference device It can be understood that the clock synchronization error variance information of the i-th reference device is the error variance information between the clock of the i-th reference device itself and the absolute clock. The data error variance information of the i-th reference device It can be understood that the data error variance information of the i-th reference device is the error between the position coordinates of the i-th reference device and the true coordinates, and the error variance between the height information of the i-th reference device and the true height. The multipath error variance information of the i-th reference device It can be understood as the multipath error variance information between the i-th reference device and the monitoring device. The error variance information of other reference devices can be similarly understood.

[0173] S403, the first network device predicts the positioning integrity PL according to the predicted position of the first UE and the positioning integrity assistance information.

[0174] Wherein, the predicted position of the first UE can refer to the introduction of S401, and the positioning integrity assistance information can refer to the introduction of S402, which will not be repeated here.

[0175] For example, still taking the i-th reference device as an example, in the case of TDOA positioning mode, the positioning integrity assistance information used to predict the positioning integrity PL includes the clock synchronization error variance information of the i-th reference device The data error variance information of the i-th reference device And the multipath error variance information of the i-th reference device In the case of RTT positioning mode, the positioning integrity assistance information used to predict the positioning integrity PL includes the data error variance information of the i-th reference device And the multipath error variance information of the i-th reference device The error variance information of other reference devices can be similarly understood. The value of i is related to the reference device selected by the first network device. That is, the positioning mode selected by the first network device is different, and the positioning integrity assistance information used to predict the positioning integrity PL is also different. Or, the reference device selected by the first network device is different, and the positioning integrity assistance information used to predict the positioning integrity PL is also different.

[0176] Optionally, as shown in Figure 5 In the case that the first network device performs S404, S403 is implemented as S4031:

[0177] S4031, the first network device predicts the positioning integrity PL according to the second information and the positioning integrity assistance information.

[0178] Wherein, the second information can refer to the introduction of S404, which will not be repeated here.

[0179] For example, the PL predicted in S4031 can be two or more. Taking two PLs as an example, they are respectively recorded as first PL and second PL. That is, as shown in Figure 6 S4031 is implemented as S40311:

[0180] S40311, the first network device predicts the first PL and the second PL according to the second information and the positioning integrity assistance information.

[0181] For example, S40311 can be implemented as steps a and b:

[0182] Step a, the first network device predicts the first PL according to the second information and error variance information of the first reference device.

[0183] For example, still taking k reference devices as an example, the first reference device can include one or more reference devices in the above k reference devices, such as n reference devices. For example, the first reference device includes reference device 1, reference device 2, reference device 3, …, reference device n.

[0184] For example, in the case of TDOA positioning mode, the error variance information of the first reference device includes clock synchronization error variance information of the first reference device, first reference device data error variance information, and multipath error variance information of the first reference device. In the case of RTT positioning mode, the error variance information of the first reference device includes first reference device data error variance information and multipath error variance information of the first reference device.

[0185] For example, as shown in Figure 7 For a certain positioning mode and reference device under the positioning mode, the first network device determines a pseudo-range observation linearization model based on the predicted position of the first UE (such as the predicted coordinates of the first UE), the real coordinates of the reference device, and the error variance information (such as the sum of the error variance information of the first UE and the error variance information of the first reference device). For example, the pseudo-range observation linearization model satisfies the following formula:

[0186] Y = HX + ε Formula (2)

[0187] Wherein, Y represents the distance difference between the predicted position of the first UE and the real coordinates of the reference device, X represents the difference between the predicted position of the first UE and the real position of the first UE, H represents the observation matrix, and ε represents the error variance information.

[0188] Wherein, the observation matrix H satisfies the following formula:

[0189]

[0190] Wherein, represents the predicted coordinates of the first UE in the x-axis, represents the predicted coordinates of the first UE in the y-axis, represents the predicted coordinates of the first UE in the z-axis, x i represents the real coordinates of the i-th reference device in the x-axis, y irepresents the real coordinate of the i-th reference device on the y-axis, z i represents the real coordinate of the i-th reference device on the z-axis, i is an integer, 1≤i≤k.

[0191] wherein the error variance information ε satisfies the following formula:

[0192]

[0193] Exemplarily, in the TDOA positioning mode, i is an integer, 1≤i≤k, represents the clock synchronization error variance information of the i-th reference device, represents the data error variance information of the i-th reference device, represents the multipath error variance information of the i-th reference device, represents the measurement error variance information of the first UE, represents the noise error variance information of the first UE.

[0194] It should be noted that in the application embodiment, the error variance information of the first UE, such as and may be provided by the first UE to the first network device, which will be described in detail in the case that the second information includes the error variance information of the first UE in S404. Of course, in the case that the second information does not include the error variance information of the first UE, the error variance information of the first UE can also be determined by the first network device autonomously. Exemplarily, the first network device selects some general values to represent the error variance information of the first UE. The general values selected by the first network device can be the values frequently used by the first network device in the historical prediction of PL.

[0195] Then, the first network device predicts the first PL based on the error method information (such as the sum of the error variance information of the first UE and the error variance information of the first reference device), the missing detection probability, the degree of freedom, the false alarm probability, and the pseudo-range observation linearization model. Exemplarily, the first PL satisfies the following formula:

[0196]

[0197] wherein, represents the first PL, max i∈[1,n] () represents the maximum value operator from n parameters, represents the square value of the element in the first row and the i-th column of the matrix A, represents the square value of the element in the second row and the i-th column of the matrix A, represents the square value of the element in the third row and the i-th column of the matrix A, S ii represents the element in the i-th row and the i-th column of the matrix S, λ represents a non-central parameter of a non-central chi-square distribution with n-a degrees of freedom, and λ can be determined based on the missed detection probability and the false alarm probability.

[0198] It should be noted that in the embodiments of the present application, the degrees of freedom are as follows: n-a degrees of freedom. Wherein, n represents the number of the first reference device, and a represents a constant. For example, when determining the two-dimensional coordinates of the first UE, the value of a is 3. Correspondingly, n is a positive integer, and n≥3. For another example, when determining the three-dimensional coordinates of the first UE, the value of a is 4. Correspondingly, n is a positive integer, and n≥4. In the embodiments of the present application, only the three-dimensional coordinate positioning is taken as an example for introduction.

[0199] In the embodiments of the present application, the missed detection probability is introduced as follows: the missed detection probability can be provided by the first UE to the first network device, which is described in detail in the case that the second information includes the positioning integrity performance index in S404, and the positioning integrity performance index in the second information includes the missed detection probability. Of course, in the case that the second information does not include the missed detection probability, the missed detection probability can also be determined by the first network device. Exemplarily, there is a corresponding relationship between different services and missed detection probabilities, such as service 1 corresponding to missed detection probability 1, and service 2 corresponding to missed detection probability 2. When the first network device has learned the service of the first UE, such as the service of the first UE being the above-mentioned service 1, the first network device determines the missed detection probability to be the above-mentioned missed detection probability 1 in combination with the corresponding relationship between different services and missed detection probabilities. Similarly, in the case that there is a corresponding relationship between different services and false alarm probabilities, even if the second information does not include the false alarm probability, the first network device can also determine the false alarm probability by the above-mentioned process. In the case that there is a corresponding relationship between different services and ALs, even if the second information does not include the AL, the first network device can also determine the AL by the above-mentioned process. Wherein, the matrix A satisfies the following formula:

[0200] A = (H T WH) -1 H T W formula (6)

[0201] Wherein, H represents an observation matrix, and the specific calculation process can be referred to formula (3),

[0202] Wherein, the matrix S is determined based on the pseudo-range residual matrix determined based on formula (2) to formula (4). Wherein, the pseudo-range residual matrix satisfies the following formula:

[0203] ω = (I-H(H T WH) -1 H T W) ε = S ε = (H T WH) -1 HT W Formula (7)

[0204] Wherein, ω represents pseudo-range residual matrix, I represents unit matrix, H represents observation matrix, W can refer to the introduction of formula (6), and ε represents error variance information, which can refer to the introduction of formula (3), and details are not repeated here.

[0205] Based on formula (7), the matrix S satisfies the following formula:

[0206] S = I - H (H T WH) -1 H T W Formula (8)

[0207] Wherein, I represents unit matrix, H represents observation matrix, and W can refer to the introduction of formula (6), and details are not repeated here.

[0208] Step b, the first network device predicts the second PL according to the second information and the error variance information of the second reference device.

[0209] Wherein, as a possible implementation, the first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device.

[0210] For example, still taking k reference devices as an example, the first reference device includes the above-mentioned reference device 1, reference device 2 and reference device 3. Correspondingly, the second reference device includes the above-mentioned reference device 1, reference device 2 and reference device 3. In the case of adopting positioning mode TDOA in step a, the positioning mode adopted in step b can be RTT. Correspondingly, the error variance information of the first reference device includes the clock synchronization error variance information of the first reference device, the data error variance information of the first reference device and the multipath error variance information of the first reference device. The error variance information of the second reference device includes the data error variance information of the second reference device and the multipath error variance information of the second reference device. In the case of adopting positioning mode RTT in step a, the positioning mode adopted in step b can be TDOA. Correspondingly, the error variance information of the first reference device includes the data error variance information of the first reference device and the multipath error variance information of the first reference device. The error variance information of the second reference device includes the clock synchronization error variance information of the second reference device, the data error variance information of the second reference device and the multipath error variance information of the second reference device.

[0211] Wherein, as another possible implementation, the first reference device is different from the second reference device, which can be understood as that the number of the first reference device is different from the number of the second reference device. Alternatively, the number of the first reference device is the same as the number of the second reference device, but the specific reference devices included in the first reference device and the second reference device are different.

[0212] Exemplarily, still taking k reference devices as an example, the first reference devices include the above-mentioned reference device 1, reference device 2 and reference device 3, the second reference devices include the above-mentioned reference device 1 and reference device 2, or the second reference devices include the above-mentioned reference device 2 and reference device 3, or the second reference devices include the above-mentioned reference device 3 and reference device 4, or the second reference devices include the above-mentioned reference device 2, reference device 3 and reference device 4, or the second reference devices include the above-mentioned reference device 1, reference device 2, reference device 3 and reference device 4.

[0213] Exemplarily, in the case of the positioning mode being TDOA, the error variance information of the second reference device includes the clock synchronization error variance information of the second reference device, the data error variance information of the second reference device and the multipath error variance information of the second reference device. In the case of the positioning mode being RTT, the error variance information of the second reference device includes the data error variance information of the second reference device and the multipath error variance information of the second reference device.

[0214] Exemplarily, the process of calculating the second PL in step b can refer to the introduction of step a, which will not be repeated here.

[0215] Correspondingly, in the case that the first network device performs S40311, the first network device further performs S406:

[0216] S406, the first network device determines the positioning mode and the reference device used for positioning the first UE according to the first PL and the second PL.

[0217] Exemplarily, the first network device selects one PL from the first PL and the second PL according to a preset condition, and takes the positioning mode corresponding to the selected PL as the positioning mode for positioning the first UE, and takes the reference device corresponding to the selected PL as the reference device for positioning the first UE. The preset condition that the selected PL satisfies includes one or more of the following:

[0218] Pre-set condition 1: the selected PL is less than or equal to AL. Exemplarily, taking the selected PL as the first PL as an example, the first PL is less than AL, or the first PL is equal to AL.

[0219] Pre-set condition 2: the reference device corresponding to the selected PL is smaller in quantity. Exemplarily, still taking the selected PL as the first PL as an example, the reference device corresponding to the first PL can refer to the first reference device in step a. Correspondingly, the unselected PL can be the above-mentioned second PL. The reference device corresponding to the second PL can refer to the second reference device in step b. The reference device quantity of the first reference device is less than the reference device quantity of the second reference device.

[0220] Precondition 3: the selected PL corresponds to a positioning scheme with less measurement times. For example, in the case of TDOA positioning, the first UE performs one PRS measurement with each reference device, as shown in FIG. 3. In the case of RTT positioning, the first UE performs two PRS measurements with each reference device, as shown in FIG. 4. Thus, taking the case of the same number of reference devices corresponding to the first PL and the second PL as an example, if the first PL corresponds to the TDOA positioning scheme and the second PL corresponds to the RTT positioning scheme, the selected PL is the first PL. Figure 2a Figure 2b

[0221] It should be understood that the above three preconditions are only examples in the embodiments of the present application, and the preconditions can also include other conditions, which are not limited in the embodiments of the present application. When the preconditions include two or more of the above conditions, each precondition can be configured with a priority, and the selected PL at least satisfies the precondition with a higher priority. For the first PL and the second PL, the more preconditions that are satisfied, the higher the possibility of being selected. For example, the first PL satisfies the precondition 1, the precondition 2 and the precondition 3, and the second PL satisfies the precondition 1 and the precondition 2. In this case, the selected PL is the first PL.

[0222] Thus, the positioning scheme and the reference device for positioning the first UE are determined based on at least two PLs, so as to better balance the positioning integrity performance index and the processing complexity of the first UE in performing positioning measurement. In this case, the positioning scheme and the reference device determined by the first network device satisfy the positioning integrity performance index and reduce the processing complexity of the first UE in performing positioning measurement.

[0223] It should be understood that in the embodiments of the present application, the monitoring device and the reference device can be different devices. Of course, the monitoring device can also be a reference device. For example, the monitoring device is the first reference device or the second reference device, which is not limited in the embodiments of the present application.

[0224] ​​The second auxiliary positioning method provided in the embodiments of the present application is applied to the first UE. In the second auxiliary positioning method provided in the embodiments of the present application, the first UE receives the positioning integrity assistance information from the monitoring device. Then, the first UE predicts the positioning integrity PL corresponding to different positioning schemes according to the predicted position of the first UE and the positioning integrity assistance information. Finally, the first UE suggests the first network device a positioning scheme that meets the positioning integrity performance index and has lower positioning processing complexity, according to the predicted positioning integrity PL. The second auxiliary positioning method provided in the embodiments of the present application has the advantages that, on the one hand, part or all of the positioning integrity assistance information can better reflect the real situation of the environment where the first UE is located. On the other hand, the second auxiliary positioning method provided in the embodiments of the present application adds the process of predicting the PL, and then the first UE suggests the first network device a positioning method and a reference device for positioning the first UE based on the positioning scheme corresponding to the predicted PL, which takes into account both the positioning integrity performance index and the processing complexity of the first UE for positioning measurement.

[0225] In the following, the second auxiliary positioning method provided in the embodiments of the present application is introduced in combination with Figures 8 to 9 the accompanying drawings.

[0226] As shown in the accompanying drawings, Figure 8 the second auxiliary positioning method 800 provided in the embodiments of the present application includes the following steps.

[0227] S801. The monitoring device sends the positioning integrity assistance information to the first UE. Correspondingly, the first UE receives the positioning integrity assistance information from the monitoring device.

[0228] For example, the positioning integrity assistance information in S801 includes clock synchronization error variance information reference device data error variance information and multipath error variance information For details of each parameter, refer to the introduction of S402, which is not repeated here.

[0229] For example, the monitoring device can send the positioning integrity assistance information to the first UE in a broadcast manner. The positioning integrity assistance information can be carried in a system information block (SIB).

[0230] S802. The first UE predicts the positioning integrity PL according to the predicted position of the first UE and the positioning integrity assistance information.

[0231] For example, the first UE determines a positioning method and the selected multiple reference devices in advance, and then selects part of the positioning integrity assistance information received in S801 to predict the positioning integrity PL. Alternatively, the first UE predicts the positioning integrity PL according to the predicted position of the first UE and all the positioning integrity assistance information. The positioning integrity assistance information used to predict the PL is determined based on the predicted position of the first UE. That is, the first UE selects multiple reference devices based on the predicted position of the first UE, and the positioning integrity assistance information used to predict the PL includes the error variance information of each of the multiple reference devices. The process of predicting the PL by the first UE can refer to the description of S403, and will not be repeated here.

[0232] Optionally, the PL predicted in S802 includes the first PL and the second PL, and the specific process can refer to the description of S40311, and will not be repeated here. In this case, as shown in FIG. 8, the first UE further performs S803: Figure 9

[0233] S803, the first UE determines the positioning method and the reference devices used to position the first UE according to the first PL and the second PL.

[0234] The implementation process of S803 can refer to the description of S406, and will not be repeated here.

[0235] Optionally, in the case where the first UE performs S803, the first UE further performs S804:

[0236] S804, the first UE sends third information to the first network device. Correspondingly, the first network device receives the third information from the first UE.

[0237] The third information includes information of the positioning method and the reference devices used to position the first UE, to suggest the positioning method and the reference devices to the first network device. For example, the third information can be carried in a positioning request message, and the third information can also be carried in other messages, which are not limited in the embodiments of the present application.

[0238] Correspondingly, for the first network device, the first network device refers to the third information to determine the positioning method and the reference devices used to position the first UE, to meet the positioning integrity requirement and reduce the processing complexity of the first UE.

[0239] ​The above describes the scheme provided by the embodiments of the present application mainly from the perspective of interaction between network elements. Correspondingly, the embodiments of the present application further provide a communication apparatus, which can be a network element in the above method embodiments, or an apparatus containing the above network element, or a component applicable to the network element. It can be understood that, to implement the above functions, the communication apparatus contains the hardware structure and / or software module for performing the respective functions. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed in the present application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in the form of hardware or computer software driving hardware 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 the present application.

[0240] An exemplary, Figure 10 A structure diagram of a communication apparatus 1000 is shown. The communication apparatus 1000 includes a processing unit 1001, a sending unit 1002, and a receiving unit 1003.

[0241] In one possible example, taking the communication apparatus 1000 as a first network device, the processing unit 1001 is configured to support the first network device to perform S403 in the method and / or other processing operations required by the first network device in the embodiments of the present application. The sending unit 1002 is configured to support the first network device to perform S401 in the method and / or other sending operations required by the first network device in the embodiments of the present application. The receiving unit 1003 is configured to support the first network device to perform S402 in the method and / or other receiving operations required by the first network device in the embodiments of the present application. Figure 4 Figure 4 Figure 4

[0242] In another possible example, taking the communication apparatus 1000 as a monitoring device, the processing unit 1001 is configured to support other processing operations required by the monitoring device in the embodiments of the present application. The sending unit 1002 is configured to support the monitoring device to perform S402 in the method and / or other sending operations required by the monitoring device in the embodiments of the present application. The receiving unit 1003 is configured to support the monitoring device to perform S401 in the method and / or other receiving operations required by the monitoring device in the embodiments of the present application. Figure 4 Figure 4

[0243] In another possible example, taking the communication apparatus 1000 as a monitoring device, the processing unit 1001 is configured to support other processing operations required by the monitoring device in the embodiments of the present application. The sending unit 1002 is configured to support the monitoring device to perform S402 in the method and / or other sending operations required by the monitoring device in the embodiments of the present application. The receiving unit 1003 is configured to support the monitoring device to perform S401 in the method and / or other receiving operations required by the monitoring device in the embodiments of the present application.​​​​​Figure 8 S802, and / or other processing operations performed by the first UE in embodiments of the present application. The transmitting unit 1002 is configured to support other transmission operations performed by the first UE in embodiments of the present application. The receiving unit 1003 is configured to support other receiving operations performed by the first UE in embodiments of the present application.

[0244] In yet another possible example, the communication apparatus 1000 is taken as the first UE, the processing unit 1001 is configured to support the first UE to perform Figure 8 S802, and / or other processing operations performed by the first UE in embodiments of the present application. The transmitting unit 1002 is configured to support other transmission operations performed by the first UE in embodiments of the present application. The receiving unit 1003 is configured to support other receiving operations performed by the first UE in embodiments of the present application. Figure 8 S802, and / or other processing operations performed by the first UE in embodiments of the present application. The transmitting unit 1002 is configured to support other transmission operations performed by the first UE in embodiments of the present application. The receiving unit 1003 is configured to support other receiving operations performed by the first UE in embodiments of the present application.

[0245] Optionally, the communication apparatus 1000 can further include a storage unit 1004 configured to store program codes and data of the communication apparatus, and the data can include, but is not limited to, raw data or intermediate data, etc.

[0246] The processing unit 1001 can be a processor or a controller, for example, a CPU, a general-purpose processor, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processing unit can implement or execute various example logical blocks, modules and circuits described in connection with the present disclosure. The processor can also be a combination of implementing computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0247] The transmitting unit 1002 can be a communication interface, a transmitter or a transmitting circuit, etc., wherein the communication interface is a general term, and in specific implementation, the communication interface can include multiple interfaces.

[0248] The receiving unit 1003 can be a communication interface, a receiver or a receiving circuit, etc., wherein the communication interface is a general term, and in specific implementation, the communication interface can include multiple interfaces.

[0249] The transmitting unit 1002 and the receiving unit 1003 can be physically or logically implemented as the same unit.

[0250] The storage unit 1004 can be a memory.

[0251] When the processing unit 1001 is a processor, the sending unit 1002 and the receiving unit 1003 are communication interfaces, and the storage unit 1004 is a memory, the communication device involved in the embodiments of this application can be... Figure 11 As shown.

[0252] See Figure 11 As shown, the communication device includes a processor 1101, a communication interface 1102, and a memory 1103. Optionally, the communication device may also include a bus 1104. The communication interface 1102, processor 1101, and memory 1103 can be interconnected via the bus 1104; the bus 1104 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 1104 can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0253] Optionally, embodiments of this application also provide a computer program product carrying computer instructions, which, when executed on a computer, causes the computer to perform the methods described in the above embodiments.

[0254] Optionally, embodiments of this application also provide a computer-readable storage medium that stores computer instructions that, when executed on a computer, cause the computer to perform the methods described in the above embodiments.

[0255] Optionally, embodiments of this application also provide a chip, including: a processing circuit and a transceiver circuit, which are used to implement the methods described in the above embodiments. The processing circuit is used to perform processing actions in the corresponding method, and the transceiver circuit is used to perform receiving / transmitting actions in the corresponding method.

[0256] In the embodiments described above, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as digital video disc (DVD)), or semiconductor media (such as solid state drive (SSD)) and the like.

[0257] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. In actual implementation, another division mode can be used, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed units can be indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical or other forms.

[0258] The units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on a plurality of devices. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0259] Those skilled in the art can clearly understand the application by the description of the above embodiments, and the application can be realized by means of software and necessary universal hardware, of course, can also be realized by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solutions of the application can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, hard disk or optical disk, etc., including a number of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute the methods described in various embodiments of the application.

[0260] The above is only a specific implementation of the application, but the protection scope of the application is not limited to this, changes or replacements within the technical scope disclosed by the application should be covered in the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope of the claims.

Claims

1. An assisted positioning method, characterized by, The method is applied to a first network device, and the method comprises: sending first information to a monitoring device, wherein the first information comprises a predicted position of a first user equipment; receiving positioning integrity assistance information from the monitoring device, wherein the positioning integrity assistance information comprises error variance information corresponding to reference devices, the reference devices are determined based on the predicted position of the first user equipment, and the number of the reference devices is at least two; predicting a positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information.

2. The method of claim 1, wherein, The method further comprises: receiving second information from the first user equipment, wherein the second information comprises a positioning integrity performance indicator, a predicted position of the first user equipment, and error variance information of the first user equipment; The method further comprises: predicting the positioning integrity protection level PL according to the second information and the positioning integrity assistance information.

3. The method of claim 2, wherein, The method further comprises: predicting a first PL and a second PL according to the second information and the positioning integrity assistance information; The method further comprises: determining a positioning mode and reference devices for positioning the first user equipment according to the first PL and the second PL.

4. The method of claim 3, wherein, The positioning integrity assistance information comprises error variance information of a first reference device and error variance information of a second reference device; The method further comprises: predicting the first PL according to the second information and the error variance information of the first reference device; predicting the second PL according to the second information and the error variance information of the second reference device; The first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Or, the first reference device is different from the second reference device.

5. The method of claim 4, wherein, The monitoring device is the first reference device or the second reference device.

6. The method according to any one of claims 2 to 5, characterized in that, Before receiving the second information from the first user equipment, the method further comprises: sending a first request message to the first user equipment, wherein the first request message is used to request the first user equipment to send the second information.

7. The method according to any one of claims 1 to 6, characterized in that, The monitoring device is a second network device.

8. The method of claim 7, wherein, The first information is a positioning information request message or a transceiving node information request message.

9. The method of claim 8, wherein, The first information is carried in an integrity information request information element.

10. The method according to any one of claims 1 to 6, characterized in that, The monitoring device is a second user equipment, and the second user equipment is different from the first user equipment.

11. The method of claim 10, wherein, The first information is a position request message.

12. The method of claim 11, wherein, The first information is carried in an integrity information assistance data information element.

13. An assisted positioning method, characterized by, The method is applied to a monitoring device, and the method comprises: receiving first information from a first network device, wherein the first information comprises a predicted position of a first user equipment; sending positioning integrity assistance information to the first network device, wherein the positioning integrity assistance information comprises error variance information of reference devices, the reference devices are determined based on the predicted position of the first user equipment, the number of the reference devices is at least two, and the positioning integrity assistance information is used to predict a positioning integrity protection level PL.

14. The method of claim 13, wherein, The positioning integrity assistance information comprises error variance information of a first reference device and error variance information of a second reference device.

15. The method of claim 14, wherein, The monitoring device is the first reference device or the second reference device.

16. The method according to any one of claims 13 to 15, characterized in that, The monitoring device is a second network device.

17. The method of claim 16, wherein, The first information is a positioning information request message or a transceiving node information request message.

18. The method of claim 17, wherein, The first information is carried in an integrity information request information element.

19. The method according to any one of claims 13 to 15, characterized in that, The monitoring device is a second user equipment, wherein the second user equipment is different from the first user equipment.

20. The method of claim 19, wherein, The first information is a position request message.

21. The method of claim 20, wherein, The first information is carried in an integrity information assistance data information element.

22. An assisted positioning method, characterized by, The method is applied to a first user equipment, and the method comprises: receiving positioning integrity assistance information from a monitoring device, wherein the positioning integrity assistance information comprises error variance information of reference devices, the reference devices are determined based on a predicted position of the first user equipment, and the number of the reference devices is at least two; predicting a positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information.

23. The method of claim 22, wherein, The predicting of the positioning integrity protection level PL according to the predicted position of the first user equipment and the positioning integrity assistance information comprises: predicting a first PL and a second PL according to second information and the positioning integrity assistance information, wherein the second information comprises a positioning integrity performance indicator, error variance information of the first user equipment, and the predicted position of the first user equipment; The method further comprises: determining a positioning mode and reference devices for positioning the first user equipment according to the first PL and the second PL.

24. The method of claim 23, wherein, The positioning integrity assistance information comprises error variance information of a first reference device and error variance information of a second reference device. The predicting of the first PL and the second PL according to the second information and the positioning integrity assistance information comprises: predicting the first PL according to the second information and the error variance information of the first reference device; predicting the second PL according to the second information and the error variance information of the second reference device; The first reference device is the same as the second reference device, and the error variance information of the first reference device is different from the error variance information of the second reference device. Or, the first reference device is different from the second reference device.

25. The method of claim 23 or 24, wherein, The method further comprises: sending first information to a first network device, wherein the first information comprises information of a positioning mode and reference devices for positioning the first user equipment.

26. A network device, comprising: The method further comprises: A processor and a memory coupled to the processor, the memory storing program instructions that, when executed by the processor, implement the method of any of claims 1-12.

27. A monitoring device, characterized by Comprising: A processor and a memory coupled to the processor, the memory storing program instructions that, when executed by the processor, implement the method of any of claims 13-21.

28. A user equipment, comprising: Comprising: A processor and a memory coupled to the processor, the memory storing program instructions that, when executed by the processor, implement the method of any of claims 22-25.

29. A chip, characterized by A processor and an input / output interface for receiving signals from other devices outside the chip and transmitting to the processor or sending signals from the processor to other devices outside the chip, the processor being configured to implement the method of any of claims 1-12, or to implement the method of any of claims 13-21, or to implement the method of any of claims 22-25, by logic circuitry or by executing code instructions.

30. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions that, when executed, implement the method of any of claims 1-12, or implement the method of any of claims 13-21, or implement the method of any of claims 22-25.

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