Group positioning methods, devices, user equipment and storage media

Abstract

This application discloses a group positioning method executed by a first wireless communication device. The group positioning method according to embodiments of this application includes: in a positioning group, the first wireless communication device acquires target location information, which indicates the relative distance between the first, second, and third wireless communication devices in the same positioning group; the first wireless communication device determines the absolute coordinate position of the third wireless communication device based on the target location information, first coordinate information of the first wireless communication device, and second coordinate information of the second wireless communication device; wherein the positioning group includes at least the first, second, and third wireless communication devices, and the first and second coordinate information are known to the first wireless communication device.

Description

Technical Field

[0001] This application belongs to the field of communication technology, and specifically relates to a group positioning method, device, user equipment and storage medium. Background Technology

[0002] In communication systems, group positioning systems for mobile wireless communication devices (e.g., mobile user equipment, sidelink user equipment, or gNB) suffer from timing errors in signal transmission and reception, as well as mobility issues, which affect their positioning accuracy. Therefore, to improve positioning accuracy, mobile wireless communication devices need to periodically calibrate their clocks. To reduce timing errors in signal transmission or reception, a calibration UE or gNB with a known accurate location can be introduced. However, when mobile wireless communication devices are constantly moving and may be outside signal coverage, calibration using these methods is difficult. Therefore, accurately obtaining the location of mobile wireless communication devices in group positioning is a pressing problem to be solved. Summary of the Invention

[0003] This application provides a group positioning method that can accurately obtain the location of mobile wireless communication devices in a group positioning.

[0004] In a first aspect, a group positioning method is provided, executed by a first wireless communication device. The method includes: in a positioning group, the first wireless communication device acquires target location information, the target location information indicating the relative distance between the first wireless communication device, the second wireless communication device, and the third wireless communication device in the same positioning group; the first wireless communication device determines the absolute coordinate position of the third wireless communication device based on the target location information, first coordinate information of the first wireless communication device, and second coordinate information of the second wireless communication device; wherein the positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, and the first coordinate information and the second coordinate information are known to the first wireless communication device.

[0005] Secondly, a group positioning device is provided, comprising: an acquisition module and a determination module. The acquisition module is used to acquire target location information within the positioning group, the target location information indicating the relative distance between a first wireless communication device, a second wireless communication device, and a third wireless communication device within the same positioning group. The determination module is used to determine the absolute coordinate position of the third wireless communication device based on the target location information, first coordinate information of the first wireless communication device, and second coordinate information of the second wireless communication device. The positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, and the first and second coordinate information are known to the first wireless communication device.

[0006] Thirdly, a terminal is provided, the communication device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0007] Fourthly, a terminal is provided, including a processor and a communication interface. The processor is configured to acquire target location information within a positioning group, the target location information indicating the relative distance between a first wireless communication device, a second wireless communication device, and a third wireless communication device within the same positioning group; and to determine the absolute coordinate position of the third wireless communication device based on the target location information, first coordinate information of the first wireless communication device, and second coordinate information of the second wireless communication device. The positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, and the first and second coordinate information are known to the first wireless communication device.

[0008] Fifthly, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0009] In a sixth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being used to run programs or instructions to implement the steps of the method described in the first aspect.

[0010] In a seventh aspect, a computer program / program product is provided, the computer program / program product being stored in a non-volatile storage medium, the program / program product being executed by at least one processor to implement the steps of the method as described in the first aspect.

[0011] Eighthly, a group positioning system is provided, the group positioning system comprising a first wireless communication device, a second wireless communication device, and a third wireless communication device as described in the first aspect, the group positioning system being used to perform and implement the steps of the group positioning method as described in the first aspect.

[0012] In this embodiment, the process is performed by a first wireless communication device. Within the positioning group, the first wireless communication device acquires target location information, which indicates the relative distance between the first, second, and third wireless communication devices within the same positioning group. The first wireless communication device determines the absolute coordinate position of the third wireless communication device based on the target location information, its first coordinate information, and the second coordinate information of the second wireless communication device. The positioning group includes at least the first, second, and third wireless communication devices, and the first and second coordinate information are known to the first wireless communication device. Since the first wireless communication device can acquire the target location information of other devices in the positioning group and determine the absolute coordinate position of the third wireless communication device within the same positioning group based on this target location information and the coordinate information of the first and second wireless communication devices, it eliminates the need for a calibration UE or gNB with a known accurate location. Therefore, even when the mobile wireless communication device is constantly moving and may be outside signal coverage, calibration and positioning of all devices in the positioning group can be performed. Thus, the position of the mobile wireless communication device within the group positioning can be accurately obtained. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0014] Figure 2 This is a schematic diagram of the timing error of a gNB provided in an embodiment of this application;

[0015] Figure 3 This is a schematic diagram of a Precision Time Protocol (PTP) provided in an embodiment of this application;

[0016] Figure 4 This is a schematic diagram illustrating the principle of a precise time protocol provided in an embodiment of this application;

[0017] Figure 5 This is a schematic diagram of a backscatter-based localization model provided in an embodiment of this application;

[0018] Figure 6 This is a schematic diagram of a group location method provided in an embodiment of this application;

[0019] Figure 7This is one of the schematic diagrams illustrating a group location method provided in an embodiment of this application;

[0020] Figure 8 This is a second schematic diagram illustrating a group location method provided in an embodiment of this application;

[0021] Figure 9 This is a third example of a group location method provided in the embodiments of this application;

[0022] Figure 10 This is a fourth example of a group location method provided in the embodiments of this application;

[0023] Figure 11 This is the fifth example of a group location method provided in the embodiments of this application;

[0024] Figure 12 This is a sixth example of a group location method provided in the embodiments of this application;

[0025] Figure 13 This is the seventh example of a group location method provided in the embodiments of this application;

[0026] Figure 14 This is the eighth example of a group location method provided in the embodiments of this application;

[0027] Figure 15 This is a ninth example of a group location method provided in the embodiments of this application;

[0028] Figure 16 This is a schematic diagram of the structure of a group positioning device provided in an embodiment of this application;

[0029] Figure 17 This is a schematic diagram of the hardware structure of a communication device provided in an embodiment of this application;

[0030] Figure 18 This is a schematic diagram of the hardware structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0032] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, the first object can be one or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects. For example, A and / or B includes only A, only B, and A and B; A, B, and / or C includes at least one of A, B, and C, i.e., including A; B; C; A and B; B and C; A and C; A, B, and C (7 in total), and so on. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0033] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and NR terminology is used in most of the following description; however, these technologies can also be applied to applications beyond NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0034] Figure 1This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 can also be referred to as a terminal device or user equipment (UE). Terminal 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), etc. Wearable devices include smartwatches, wristbands, headphones, glasses, etc. It should be noted that this application does not limit the specific type of terminal 11. Network-side device 12 can be a base station or a core network. The base station can be referred to as a node B, evolved node B, access point, base transceiver station (BTS), radio base station, radio transceiver, basic service set (BSS), extended service set (ESS), B node, evolved B node (eNB), home B node, home evolved B node, WLAN access point, WiFi node, transmitting and receiving point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this application embodiment, only the base station in the NR system is used as an example, but the specific type of base station is not limited.

[0035] The following explains some concepts and / or terms involved in the group positioning method, apparatus, user equipment and storage medium provided in the embodiments of this application.

[0036] 1. Timing error of gNB / UE transmitting Tx / receiving Rx

[0037] Currently, the timing errors of gNB and UE are divided into two types: one is the clock error between gNB and UE, and the other is the calibration error between gNB and UE.

[0038] like Figure 2As shown, at the gNB end, error calibration can be achieved through the Precision Time Protocol (PTP). Due to the asymmetry of the channel / link between the master clock and the slave clock, some residual calibration errors still exist in PTP. Furthermore, since the error between the master clock and the slave clock cannot be completely eliminated, and the current residual calibration error of gNB is generally 50~100ns, this will also lead to a UE positioning error of 15~30m.

[0039] At the UE end, there are also two types of timing errors. However, for the UE end, if the received signals arriving from different directions pass through the same radio frequency (RF) chain in the same antenna panel, these two errors can be completely eliminated. Figure 2 This refers to the timing error of gNB.

[0040] It should be noted that the timing calibration (TC) mechanism of gNB cannot distinguish between these two error components from the overall time of arrival (TOA) or time difference of arrival (TDOA) measurements.

[0041] 2. Precise Time Protocol

[0042] PTP is primarily used to define synchronization information used between master and slave clocks, similar to the server and client model in Network Time Protocol (NTP). The master clock is the time provider, while the slave clocks synchronize with it. For example, the grandmaster is the master clock synchronized with a time reference (such as GPS or Code Division Multiple Access (CDMA)). Clock synchronization over a network requires at least one master clock and one slave clock, where multiple slave clocks can synchronize with a single master clock. Typically, four timestamps are captured between the master and slave clocks, forming a reference time. , , and To calculate the time offset between the master and slave clocks, such as Figure 3 As shown. The slave clock can be adjusted to match the difference between itself and the master clock using time offset. Figure 3 For Precision Time Protocol (PTP).

[0043] It should be noted that the principle of the precise time protocol is that the master clock and slave clock send and receive calibration signals to complete clock calibration. For example... Figure 3 As shown, the time of clock A is (For the sending end) and (For the receiving end), and the time of clock B is (For the receiving end) and (For the sending end). Therefore, and The time difference (from A to B) is ,and and The time difference (from A to B) is However, due to the differences in RF between the master clock and slave clock terminals, generally speaking, and . Figure 4 This is based on the principle of a precise time protocol.

[0044] However, the clock calibration between A and B can be calculated using the following formula:

[0045] The propagation delay between A and B can be derived using the following formula: ;in, This is the propagation delay between A and B. If the changes in the master and slave clocks during the round trip of the wireless communication device are negligible, that is... Then the clock calibration value between A and B The propagation delay value between A and B The values ​​can be calculated using the following formulas:

[0046] and .

[0047] 3. Localization method based on backscatter reflection

[0048] Currently, wireless communication devices can be located using backscatter. In methods that use backscatter for location, relevant information such as the ID (e.g., EPC) provided by the backscatter can be obtained, which allows the receiver to easily determine the location of the reflecting object, confirm the reflecting object, and track the reflecting object. Figure 4 This illustrates a backscatter-based localization model. The transmitter is the first... The first Tx UE transmits a positioning reference signal (PRS), the first... Each backscatter signal modulates its associated ID information onto the received signal using Binary Phase Shift Keying (BPSK), On-Off Keying (OOK), or CDM orthogonal code signals, and then reflects it back to the receiver. The receiver is a gNB, capable of receiving the backscatter reflected signal, as well as the reflected signal from the unknown reflector and the diameter signal from the transmitter. It is worth noting that the first... Each backscattered signal is a valid signal. A gNB can receive these signals and calculate the specific coordinates of the target's backscatter, similar to how GPS signals are received. However, using this method, at least four gNBs are required to guarantee relative positioning accuracy. Figure 5 As shown, L gNBs receive signals and for the first... The first Tx UE and the first Simultaneous localization using backscatter.

[0049] It should be noted that the gNB can also receive reflected signals from other backscatter (excluding the first one). The signals include backscattered reflections, reflections from unknown reflectors, and the diameter signal from the transmitting end. However, these signals are interference signals, and therefore need to be eliminated before positioning calculations to ensure positioning accuracy. Figure 5 This is a backscatter-based localization model.

[0050] according to Figure 5 As shown, in the embodiment of positioning based on backscatter, it can be assumed that there are I Tx UEs, L gNBs, M backscatter (also known as tags) and K unknown reflectors (objects).

[0051] Considering signal reflection from an unknown reflector, the signal transmitted by the nth UE and received by the lth gNB in ​​the nth symbol of the nth time slot is:

[0052] ;

[0053] Among them, Tx UE is in the first The positioning pilot reference signal (i.e., PRS) is transmitted in each symbol. , Signal in time slot Channel response It is directly received by the l-th gNB, and at the same time Signal response through the channel by One Backscatter receiver. Backscatter received signals in the same time slot China Symbol modulation, and with the channel response Reflected to the l-th gNB, It is the complex attenuation of the backscattered signals (S). It includes the radar cross section (RCS). Attenuation coefficient of an unknown reflector and These are the first for Tx UE and the second for gNB respectively. The reflection channel response of an unknown reflector. In the time slot The first in The additive white Gaussian noise (AWGN) received by the l-th gNB has zero mean and a noise power spectral density of . In addition, the interval between time slots RS symbol interval 10 times, that is, ,in, .

[0054] It should be noted that, in the above embodiments, for simplicity, the channel response can be considered as a static channel, and the channel response does not change within a certain period of time. Therefore, the channel response expressed in the description is independent of the time slot, but the embodiments described in this application can also be applied to scenarios with dynamic channel responses. The embodiments of this application consider the interference problem of target backscatter in this scenario. Through the above formula, it can be determined that three terms can be considered as interference terms. The first term is the diameter signal from the Tx UE, the second term is the backscatter reflection signal (including target backscatter reflection signal and non-target backscatter reflection signal), and the third term is the reflection signal from the unknown reflector.

[0055] In this embodiment, the target for localization is the Tx UE and the target backscatter. For Tx UE localization, since the diameter signal from the Tx UE to the gNB is much larger than the reflected signals from the backscatter and unknown reflectors, this interference has a relatively smaller impact on Tx UE localization performance. However, for backscatter localization, interference from reflected signals from the Tx UE, other backscatter, and unknown reflectors must be considered.

[0056] 4. Backscatter Modulation Signal Design

[0057] The backscatter modulated signal can be designed using OOK. The nth backscatter can be based on the On / Off modulation sequence. The modulation sequence of a signal modulated by a reflected signal can be represented by the following matrix:

[0058] ;

[0059] in, It is a modulation symbol modulated by the nth backscatter and transmitted in the nth time slot. ,and .

[0060] In this embodiment of the application, in order to derive the positioning signal from the nth Backscatter, the received signal can be calculated using the following method:

[0061] ;

[0062] It should be noted that the PRS signal sent from the nth UE is also reflected by other backscatters (except for the nth backscatter) and unknown reflectors, but these signals can be completely eliminated by the lth gNB.

[0063] In this embodiment of the application, in order to derive the nth UE positioning signal, the received signal can be calculated using the following method:

[0064] ;

[0065] Optionally, in this embodiment, the backscatter modulation signal can be designed using BPSK. The nth backscatter can be based on the BPSK modulation sequence. The modulation sequence of a signal modulated by a reflected signal can be represented by the following matrix:

[0066] ;

[0067] in, It is a modulation symbol modulated by the nth backscatter and transmitted in the nth time slot. ,and .

[0068] In this embodiment of the application, in order to derive the positioning signal from the Nth tag, the received signal can be calculated using the following method:

[0069] ;

[0070] In this embodiment of the application, in order to derive the UE positioning signal, the received signal can be calculated using the following method:

[0071]

[0072] Optionally, in this embodiment, the backscatter modulated signal can be designed using the CDM orthogonal code method. For example, using Hadamard code as the modulation sequence symbol, the nth backscatter can be based on the BPSK modulation sequence. The signal modulated reflected signal, the Hadamard code modulation sequence can be represented by the following matrix:

[0073] ;

[0074] Optionally, in the embodiments of this application, in In this case, the Hadamard Code modulation sequence can be represented by the following matrix:

[0075] ;

[0076] in, It is a modulation symbol modulated by the nth backscatter and transmitted in the nth time slot. ,and .

[0077] In this embodiment of the application, in order to... The location signal is exported from the tag. The received signal can be calculated using the following method:

[0078] ;

[0079] in, .

[0080] In this embodiment of the application, in order to derive the UE positioning signal, the received signal can be calculated using the following method:

[0081]

[0082] It should be noted that the maximum number of backscatters that a Hadamard code can support is... Therefore, the gain obtained using the Hadamard code solution is much higher than that of the OOK or BPSK solutions, but its code flexibility is relatively poor.

[0083] In this embodiment, since the k-th backscatter positioning signal is relatively simple, the diameter signal from the UE to the gNB and the received signal from the UE to the gNB reflected by other backscatters (except the k-th backscatter) can be completely eliminated; the signal from the UE to the gNB reflected by unknown reflectors can also be completely eliminated. Therefore, compared with the OOK scheme, the BPSK scheme can achieve an SNR gain of [missing value]. Since the signal from the UE location to the backscatter and then reflected to the gNB can be completely eliminated, the BPSK scheme can achieve an SNR gain of [value missing] compared to the OOK scheme. .

[0084] Currently, the positioning systems of mobile wireless communication devices (such as Mobile User Equipment, Sidelink User Equipment, and gNB) suffer from Rx / Tx timing errors, affecting their positioning accuracy. Therefore, to improve positioning accuracy, wireless communication devices need to periodically calibrate their clocks. A direct method to overcome Rx / Tx timing errors is to introduce a calibration UE or gNB with a known accurate location or trajectory. However, in real-world scenarios, especially when the wireless communication device is moving and may be outside coverage area, effectively setting up a calibration UE or gNB with an accurate location remains a significant challenge.

[0085] This application embodiment can accurately locate wireless communication devices by utilizing the interrelationships between them without requiring transceiver clock calibration.

[0086] It should be noted that the wireless communication device in this application can be any device with wireless transceiver function, such as a terminal, base station, Internet of Things device, vehicle wireless device, wireless tag, etc., and the location of the wireless communication device can be fixed or mobile.

[0087] Specifically, at a first time, the first wireless communication device transmits a reference signal RS, and the second wireless communication device receives the RS signal. At a second time, the first wireless communication device transmits the RS signal again, and the third wireless communication device receives the RS signal and modulates and reflects the signal using a modulation sequence signal (i.e., OOK, BPSK, or CDM orthogonal code). The second wireless communication device receives the RS signal transmitted by the first wireless communication device, and also receives the modulated and reflected signal from the third wireless communication device.

[0088] Furthermore, the second wireless communication device performs addition and subtraction operations on the RS signals received at the first time and the second time to separate the diameter signal from the first wireless communication device to the second wireless communication device, thereby calculating the delay of the diameter signal. At the same time, it also separates the reflected signal from the first wireless communication device through the third wireless communication device and modulated to the second wireless communication device, thereby calculating the delay of the reflected path signal.

[0089] Furthermore, when the number of devices acting as the first wireless communication device within the positioning group reaches a certain level, and they transmit RS signals at different times, the second wireless communication device can accurately locate all wireless communication devices within the positioning group without needing to calibrate the transceiver clock.

[0090] This application provides a group location method. Figure 6 A flowchart of a group location method provided in an embodiment of this application is shown. Figure 6 As shown, the group location method provided in this application embodiment may include the following steps 201 and 202.

[0091] Step 201: In the positioning group, the first wireless communication device acquires the target location information.

[0092] In this embodiment of the application, the target location information is used to indicate the relative distance between the first wireless communication device, the second wireless communication device and the third wireless communication device in the same location group.

[0093] Optionally, in the embodiments of this application, the first wireless communication device can be a user equipment (UE), a base station, a side link device (S-UE), a mobile user equipment, an Internet of Things (IoT) device, a vehicle-mounted wireless device, etc. In this embodiment, the first wireless communication device is an S-UE as an example to illustrate the group positioning method between mobile wireless communication devices. Scenarios using other mobile wireless communication devices as examples, or scenarios between mobile wireless communication devices and source base stations, are also protected in the group positioning method provided in this application.

[0094] It should be noted that, taking the wireless communication device as an example, any S-UE can be considered as a fixed UE, gNB, Road Side Unit (RSU), or Vehicle To Everything UE with mobility.

[0095] Optionally, in this embodiment of the application, there are multiple positioning groups, and the first wireless communication device in each positioning group is the head wireless communication device, and at least one of the second wireless communication device and the third wireless communication device is the auxiliary wireless communication device in the positioning group.

[0096] Optionally, in this embodiment, the position of the head wireless communication device is a fixed position, and the positions of other devices in the positioning group other than the head wireless communication device are determined by the positions of the head wireless communication devices in different positioning subgroups. The auxiliary wireless communication device is a connection node between at least two positioning groups.

[0097] Optionally, in this embodiment of the application, the head wireless communication device is used to perform at least one of the following: receiving a first RS, transmitting a second RS, and obtaining at least one positioning equation corresponding to the first signal; receiving measurement data information of communication devices other than the head wireless communication device in the positioning group, and obtaining at least one positioning equation corresponding to the strategy data information; wherein, the positioning equation is used by the head wireless communication device to determine the positioning delay parameter; the positioning delay parameter and at least one positioning equation parameter are used by the head wireless communication device to locate other wireless communication devices.

[0098] For example, Figure 7 A group positioning model diagram provided in an embodiment of this application is shown. For example... Figure 7 As shown, there are K S-UEs in the sidechain positioning group. In this embodiment, all S-UEs can be located by obtaining the path propagation delay between any two S-UEs. Alternatively, depending on the needs of the service, some S-UEs in the positioning group can be located to simplify the positioning system.

[0099] Optionally, in this embodiment of the application, the "first wireless communication device obtains target location information" in step 201 above can be specifically implemented through the following steps 201a and 201b.

[0100] Step 201a: The first wireless communication device receives the first reference signal RS sent by the third wireless communication device and receives the first signal sent by the second wireless communication device.

[0101] In this embodiment of the application, the first signal is a reflected signal corresponding to the first RS, and the first RS is the RS sent by the third wireless communication device to the second wireless communication device.

[0102] Optionally, in the embodiments of this application, the aforementioned first RS and / or first signal may be configured, pre-configured, pre-defined, protocol-agreed, or determined autonomously by the S-UE, etc., by the network-side device.

[0103] Optionally, in the embodiments of this application, the first RS and / or the first signal mentioned above includes at least one of the following: Tracking Reference Signal (TRS), Channel-State Information Reference Signal (CSI-RS), Positioning Reference Signal (PRS), and Sounding Reference Signal (SRS).

[0104] Optionally, in the embodiments of this application, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in the same time slot; or, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in different time slots; or, the first wireless communication device, the second wireless communication device, and the third wireless communication device switch between each other in different time slots.

[0105] It should be noted that during the implementation of the group positioning process, the implementation of the S-UE can be carried out by all three S-UEs. Any S-UE can act as the first, second, or third wireless communication device, but within the same time slot, a single S-UE cannot simultaneously act as the first, second, and third wireless communication device. Figure 8 As shown, within a time slot, the nth S-UE can act as the first UE, the lth S-UE can act as the second UE, and the nth S-UE can act as the third UE.

[0106] Step 201b: The first wireless communication device determines the target location information based on the first RS and the first signal.

[0107] Optionally, in this embodiment, the nth S-UE in the positioning group transmits an RS signal as a first wireless communication device, the modulated sequence signal of the nth S-UE in the positioning group is modulated and amplified by power and reflected as a third wireless communication device, and the signal received by the lth S-UE in the positioning group as a second wireless communication device can be obtained by simple addition and subtraction operations to obtain the diameter signal and the reflection path signal, respectively.

[0108] Optionally, in the embodiments of this application, the above-mentioned modulation sequence signal is determined by any of the following methods: On-Off Keying (OOK) mode, Binary Phase Shift Keying (BPSK) mode, and Code Division Multiplexing (CDM) orthogonal code mode.

[0109] It should be noted that the method by which the first wireless communication device modulates the target RS using the modulation sequence signal can refer to the method described in the Backscatter modulation signal design above. To avoid repetition, it will not be repeated here.

[0110] Optionally, in this embodiment of the application, the third wireless communication device in the positioning group can, after determining the diameter signal and the reflection path signal based on the first RS and the first signal, determine the diameter signal and the reflection path signal, and determine the first delay and the second delay based on the diameter signal and the reflection path signal. It can also determine the first propagation delay difference based on the first delay and the second delay, wherein the first delay is the delay of the direct path of the first RS, the second delay is the delay of the reflection path of the first signal, and the first propagation delay difference is the difference between the propagation time of the first RS and the propagation time of the first signal. Furthermore,

[0111] Optionally, in this embodiment of the application, if the nth S-UE transmits the RS signal in the nth symbol of the nth time slot... Send to the l-th S-UE. The direct path used is: And experienced a delay This signal is received by the nth S-UE in the same nth time slot, modulated, and reflected. Its indirect path is: and They experienced delays respectively and The indirect paths through which signals are reflected from unknown objects are respectively and Furthermore, the signal received by the nth S-UE is directly represented by the symbol over the entire time slot R. Modulation is performed and transmitted immediately. Here, assuming no additional processing delay during modulation, the modulation and reflection process is essentially a simple power amplification and forwarding of the received signal, i.e., an Amplify-and-Forward (AF) process. Therefore, the total signal received by the l-th S-UE can be expressed as:

[0112] ;

[0113] in, It is a complex attenuation backscatter signal coefficient, including the power amplification factor of the received signal by the nth S-UE.

[0114] Optionally, in this embodiment of the application, the first delay is determined by... Determined; among them, To send from the i-th wireless communication device to the i-th The delay of the diameter signal of a wireless communication device. The time offset for the i-th wireless communication device to send the diameter signal To send from the i-th wireless communication device to the i-th The total propagation time of the diameter signal of a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

[0115] Optionally, in this embodiment of the application, the second delay is determined by... Determined; among them, For a message transmitted from the i-th wireless communication device and reflected by the k-th wireless communication device to the i-th wireless communication device... The time delay of the reflected path signal of a wireless communication device. The time offset for the i-th wireless communication device to send the reflection path signal. To send from the i-th wireless communication device to the i-th The propagation time of a signal from a wireless communication device For from the first The wireless communication device sends to the first The propagation time of a signal from a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

[0116] Optionally, in this embodiment of the application, the diameter signal is: ;in, Determined by the signal gain of the modulated sequence signal. They were respectively in the second The additive white Gaussian noise (AWGN) received by the i-th wireless communication device in the symbol, wherein the AWGN includes interference signals.

[0117] Optionally, in this embodiment, the reflection path signal is: ;in, Determined by the signal gain of the modulated sequence signal, and They were respectively in the second The additive white Gaussian noise (AWGN) received by the i-th wireless communication device in the symbol, wherein the AWGN includes interference signals.

[0118] Optionally, in this embodiment of the application, the propagation delay difference is: ;in, For the difference in propagation delay, This is the second time delay. This is the first time delay.

[0119] Optionally, in this embodiment, the third wireless communication device receives first information sent by the first wireless communication device. The first information includes a third delay and a fourth delay. The third and fourth delays are determined by the third wireless communication device based on the diameter signal and the reflection path signal, respectively, when the second and first wireless communication devices undergo a first conversion. Specifically, the third delay is the delay of the diameter signal sent from the second wireless communication device to the third wireless communication device after the first conversion; the fourth delay is the delay of the reflection path signal sent from the second wireless communication device to the third wireless communication device via the first wireless communication device after the first conversion. Therefore, after obtaining the third and fourth delays, the third wireless communication device can determine the second propagation delay difference based on the third and fourth delays.

[0120] Optionally, in this embodiment, the third wireless communication device receives second information sent by the second wireless communication device. The second information includes a fifth delay and a sixth delay. The fifth and sixth delays are determined by the second wireless communication device based on the diameter signal and the reflection path signal, respectively, when the third and first wireless communication devices undergo a second conversion. Specifically, the fifth delay is the delay of the diameter signal sent from the first wireless communication device after the second conversion to the third wireless communication device after the second conversion; the sixth delay is the delay of the reflection path signal sent from the third wireless communication device after the second conversion to the third wireless communication device after the second conversion. Therefore, after acquiring the fifth and sixth delays, the third wireless communication device can determine the third propagation delay difference based on the fifth and sixth delays.

[0121] Optionally, in this embodiment of the application, after determining the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference, the third wireless communication device may determine the positioning delay parameter based on at least one positioning equation according to the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference, and determine the target location information according to the positioning delay parameter.

[0122] Optionally, in the embodiments of this application, the positioning equation parameters for the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference can be expressed as follows:

[0123]

[0124]

[0125]

[0126] By solving the above three linear equations, the propagation delay between S and UE can be obtained, that is, , ,and ,

[0127] Optionally, in this embodiment, the positioning delay parameter is determined by the propagation delay difference, and the propagation delay between S-UE (referred to as the positioning delay parameter) can be represented by a vector.

[0128] ;

[0129] Optionally, in this embodiment of the application, the number of elements in the positioning delay parameter vector is:

[0130] Where K is the number of communication devices involved in the positioning group.

[0131] Optionally, in this embodiment of the application, the positioning equation is: Where y is the localization equation vector related to the propagation delay difference, and the elements of the localization equation vector are... , This is the positioning delay parameter vector, and its elements are: , This is the positioning equation matrix.

[0132] Optionally, in this embodiment of the application, the positioning delay parameter vector is obtained through... Confirmed. Here, y can be represented as:

[0133] ;

[0134] Optionally, in the embodiments of this application, The positioning equation matrix, whose elements are 1, 0, -1, can be represented as:

[0135] ;

[0136] Optionally, in the embodiments of this application, The positioning delay parameter vector can be represented as:

[0137] .

[0138] Optionally, in the embodiments of this application, the above step 201b can be implemented by the following step 201b1.

[0139] Step 201b1: The head wireless communication device determines the target positioning equation from the first number of positioning equations it has acquired.

[0140] In this embodiment of the application, the number of target positioning equations is less than or equal to a first number, the first number being a positive integer greater than or equal to 3, and at least some of the target positioning equations correspond to the first RS and the first signal.

[0141] Optionally, in this embodiment of the application, the position of the head wireless communication device is a fixed position, and the number of head wireless communication devices in each positioning group is 1. The positions of other wireless communication devices besides the head wireless communication device are determined by the head wireless communication device.

[0142] Optionally, in the embodiments of this application, step 201b1 can be implemented by step a below.

[0143] Step a: When the position of the head wireless communication device is fixed, the head wireless communication device reduces the number of positioning equations from the first number to the second number, and determines the target number based on the second number and the number of positioning equations related to the reflection path of the head wireless communication device.

[0144] Wherein, the first quantity is: The second quantity is: The number of targets is less than or equal to , This refers to the number of wireless communication devices in the positioning group.

[0145] In this embodiment, since the third wireless communication device is responsible for summarizing and calculating all data, when the number of S-UEs is large or increases, if positioning of all S-UEs is required, the number of equations that need to be summarized and calculated is enormous. Although a large number of equations can lead to more accurate positioning among all S-UEs, it also involves more link resources. Therefore, if all required positioning delay parameters can be obtained, the number of positioning equations can be reduced.

[0146] For example, such as Figure 9 As shown, a Header S-UE (HS-UE) can be preset in the positioning group, for example, the second wireless communication device (i.e., the first... Each S-UE is used as an HS-UE. The main purpose of the HS-UE is to aggregate all measurement data and calculate the positioning delay parameters.

[0147] Optionally, in this embodiment, the first propagation delay difference can be expressed as: Where i and k are variable numbers, and Non-variable, that is, , In other words, the first One S-UE is fixed as the receiving S-UE.

[0148] Optionally, in this embodiment of the application, by fixing the first For each S-UE, the number of localization equations can be reduced to a second number, which can be used to calculate Between the S-UEs (excluding the first one) The positioning delay parameters for all S-UEs (excluding the individual S-UE), if the requirement is determined. The S-UE and the first The positioning delay parameter between each S-UE can be obtained through the second number of positioning equations and the first... A localization equation related to the reflection path of each S-UE, and a localization equation that determines the number of targets, i.e., in Based on the existing positioning equations, add one more and the first A localization equation related to the S-UE reflection path, wherein the number of targets is less than or equal to .

[0149] For example, as shown in Table 1, Table 1 is a graph showing the relationship between the number of UEs involved in group positioning, the number of positioning delay parameters, and the number of available positioning equations. This graph illustrates the number of UEs involved in group positioning. The relationship between the number of positioning delay parameters and the number of positioning equations. It is worth noting that when the number of S-UEs... The number of positioning delay parameters and positioning equations is growing exponentially.

[0150]

[0151] Table 1

[0152] For example, as shown in Table 2, Table 2 is a graph showing the relationship between the number of S-UEs involved in group positioning, the number of positioning delay parameters, and the number of available positioning equations. This graph lists the number of S-UEs involved in group positioning. The relationship between the number of positioning delay parameters and the number of positioning equations. It is worth noting that the maximum required number of positioning equations has been significantly reduced compared to Table 1.

[0153]

[0154] Table 2

[0155] For example, such as Figure 10 As shown, taking K=4 as an example, the method for HS-UE to obtain target location information in the positioning group is explained.

[0156] First, according to Table 1 above, when K=4, ,and Therefore, the positioning delay parameter can be represented by the following vector:

[0157] ;

[0158] Furthermore, all propagation delay differences associated with the localization equations, i.e., the localization equation parameters, can be enumerated as follows:

[0159] ;

[0160] Secondly, based on the reciprocity of propagation delay, the parameters of the above positioning equation can be reduced by half. Therefore, the parameters of this positioning equation can be derived from... Positioning equation vector This means, that is:

[0161] ;

[0162] Furthermore, according to the positioning equation vector The relationships between groups S-UE can be determined, i.e., based on Determine the positioning delay parameter vector, where matrix A can be represented as:

[0163] ;

[0164] Finally, through the analysis of The equation can be solved by obtaining the positioning delay parameter vector using the following calculation method. ,Right now:

[0165] ;

[0166] For example, such as Figure 11 As shown, taking K=4 as an example, the method of reducing the number of calculation equations in the positioning group is explained.

[0167] Optionally, in this embodiment of the application, the first [part] can be fixed here. One S-UE acts as the receiving S-UE and locates all other S-UEs.

[0168] First, according to Table 2 above, when K=4, The positioning delay parameter can be represented by the following vector:

[0169] ;

[0170] Secondly, according to Table 2, the relationship between the number of S-UEs involved in group positioning and the number of positioning equations is as follows: Therefore, in the first Assuming one S-UE acts as the receiving UE and the relative coordinates of other S-UEs can be calculated, the positioning equation is represented by the following vector:

[0171] ;

[0172] Furthermore, according to the positioning equation vector It can determine the relationships between UEs in the positioning group, that is The matrix A can be represented as follows:

[0173]

[0174] It should be noted that, through the positioning equation vector Only solutions , and Unable to solve , and Therefore, if the requirement is to solve for and the first... The positioning delay parameter associated with the first S-UE can then be obtained through the first... The localization equations related to the reflection path of each S-UE are calculated.

[0175] Optionally, in this embodiment, the last positioning equation parameter in the positioning equation vector can be... use To replace, that is, the positioning equation vector is represented as:

[0176] ;

[0177] Optionally, in the embodiments of this application, These are the parameters of the positioning equation, which are related to the difference between the diameter signal received by the l-th S-UE and the reflection path signal modulated by the l-th S-UE. Therefore... These are considered to be the localization equation parameters related to the reflection path of the l-th S-UE. (Based on the localization equation vector...) It is possible to determine the relationships between groups S-UE, that is, , where matrix A can be represented as:

[0178] ;

[0179] It should be noted that the above positioning equations are vectors By analyzing the matrix By solving the inverse matrix, all positioning delay parameter vectors can be derived. .

[0180] Optionally, in the embodiments of this application, in order to understand the matrix For the positioning delay parameter vector There is a solution; similarly, it can be obtained by solving a linear equation. We can then obtain the positioning delay parameter in step 1 (i.e., Step-1, or S-1 for short). , and It can be solved. Then, by locating the equation vector... Given the known positioning delay parameters, in step-2 (i.e., S-2), the positioning delay parameters... and It can be solved. Finally, by locating the equation vector... Given the known positioning delay parameters, in step-3 (i.e., S-3), the positioning delay parameters... It can be solved.

[0181] Similarly, the last positioning equation parameter in the positioning equation vector can also be used. use (or Instead, the positioning equation vector is represented as:

[0182] ;

[0183] Optionally, in this embodiment, the last positioning equation parameter in the positioning equation vector can also be... use (or Instead, the positioning equation vector is represented as:

[0184] ;

[0185] Optionally, in this embodiment, when one equation in the positioning equation is replaced by the positioning equation related to the l-th S-UE reflection path, the positioning delay parameter vector... There will be a solution. Based on the above, with K=4, only 6 positioning equations are needed to determine the positioning delay parameter vector. Solving this problem requires at least one localization equation related to the l-th S-UE reflection path. Therefore, this embodiment demonstrates that the required number of localization equations is less than or equal to... .

[0186] Optionally, in the embodiments of this application, it should be noted that, due to the positioning equation vector The receiving S-UE represented by the last positioning equation parameter is not the l-th S-UE. Therefore, the receiving S-UE eventually needs to feed back the corresponding positioning equation parameter measurement to the l-th S-UE so that the l-th S-UE can locate the S-UEs in all positioning groups.

[0187] For example, when K=5, the l-th S-UE can be fixed as the receiving S-UE, and all other S-UEs can be located.

[0188] First, according to Table 2, Therefore, the positioning delay parameter can be represented by the following vector:

[0189] ;

[0190] Secondly, consider The vector serves as the positioning equation vector, and the last positioning equation parameter in the positioning equation vector is... That is, the positioning equation vector is represented as:

[0191] ;

[0192] Furthermore, according to the positioning equation vector It can determine the relationships between groups of UEs, that is, Where A can be represented as The matrix:

[0193]

[0194] ;

[0195] It should be noted that the above positioning equations are vectors Through the By solving the inverse matrix, all positioning delay parameter vectors can be derived. .

[0196] Alternatively, by solving the linear equation, it can be seen that in step-1 (i.e., S-1), the positioning delay parameter... , , , and It can be solved. Then, by locating the equation vector... Given the known positioning delay parameters, in step-2 (i.e., S-2), the positioning delay parameters... It can be solved. Similarly, by locating the equation vector... Given the known positioning delay parameters, in step-3 (i.e., S-3), the positioning delay parameters... and It can be solved. Finally, by locating the equation vector... Given the known positioning delay parameters, in step-4 (i.e., S-4), the positioning delay parameters... and It can be solved.

[0197] Optionally, in the embodiments of this application, in In this case, only 11 positioning equations are needed to determine the positioning delay parameter vector. Solving this problem requires at least one localization equation related to the l-th S-UE reflection path. Therefore, this embodiment demonstrates that the required number of localization equations is less than or equal to... .

[0198] Step 202: The first wireless communication device determines the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device.

[0199] The positioning group includes at least a first wireless communication device, a second wireless communication device, and a third wireless communication device, wherein the first coordinate information and the second coordinate information are known to the first wireless communication device.

[0200] Optionally, in this embodiment of the application, step 201 is a method for relative positioning between S-UEs in a positioning group, such as... Figure 12 As shown, if the reference position is based on S-UE-1, then other... The S-UE positions of each are relatively fixed, but can rotate around S-UE-1: for example, if the relative S-UE position coordinates of Case-1 and Case-2 are fixed, then their absolute position coordinates are different.

[0201] Optionally, in this embodiment of the application, a head (HS-UE) and an auxiliary S-UE (i.e., Assistant S-UE, AS-UE) are set in the positioning group, and the positions of the HS-UE and AS-UE are fixed, such as the Road Side Unit (RSU) device used in sidelink communication. Figure 13 As shown, the l-th is an HS-UE, and the i-th is an AS-UE. The l-th HS-UE will perform relative positioning of the S-UEs in the positioning group using the positioning method described in step 201, and then calculate the absolute coordinates of the other S-UEs based on the fixed coordinates of the l-th HS-UE and the fixed coordinates of the AS-UE.

[0202] It should be noted that, in this case, the number of resources used in the positioning group is the same as the number of resources used in the relative positioning method.

[0203] Optionally, in this embodiment of the application, as can be seen from Table 2 above, if the number of positioning delay parameters is Then the number of positioning equations is However, when the number of positioning delay parameters is small, the difference between the number of positioning delay parameters and the number of positioning equations is not significant. But as the number of positioning delay parameters increases, the difference becomes substantial. Therefore, the number of S-UEs in each positioning group should not be too large. However, since the size of the positioning group is uncontrollable and depends on specific business and application scenarios, dividing the positioning group into multiple smaller positioning groups can be considered to reduce the size of each positioning group.

[0204] For example, such as Figure 14 As shown, if a positioning group with K members is divided into L positioning groups, each positioning group has one HS-UE, and there is at least one interconnected AS-UE between any two adjacent positioning groups. Since the positioning operation is performed in each positioning group, each HS-UE will perform relative positioning of the S-UEs within the positioning group using the positioning method described in step 201, and then calculate the absolute coordinates of other S-UEs based on the fixed coordinates of each HS-UE and the relative coordinates of the shared AS-UEs.

[0205] It should be noted that the size of the location group associated with HS-UE is configurable; that is, the size of the group may vary for different locations, depending on the specific business, application scenario and requirements.

[0206] In this embodiment of the application, by dividing the positioning group into multiple positioning groups, the number of positioning equations can be significantly reduced, that is, the overhead of RS resources can be significantly reduced.

[0207] For example, such as Figure 15 As shown, each positioning group consists of four identical S-UEs, and each positioning group has one HS-UE, one AS-UE, and two other S-UEs. In this example, a large positioning group can be divided into six smaller positioning groups, with a total of six HS-UEs, and the coordinate positions of the HS-UEs in each positioning group are fixed. Different adjacent positioning groups are interconnected through an AS-UE, thereby achieving the function of fixing the S-UE coordinates between adjacent positioning groups. In this embodiment, it can be calculated that the number of members in a positioning group is 19 S-UEs.

[0208] It should be noted that the coordinates of the HS-UE are fixed, but the coordinates of the AS-UE do not need to be fixed. For example, in V2X application scenarios, the HS-UE can be a fixed RSU, while the AS-UE can be a mobile V2X UE.

[0209] In this embodiment of the application, if the number of positioning delay parameters and the number of positioning equations are calculated using the calculation method in Table 2, it can be determined that: and Therefore, a very large-scale positioning system is required to support this (i.e., powerful positioning computing capabilities and abundant RS resources). If the positioning group segmentation absolute positioning method is used, the number of positioning delay parameters and the number of positioning equations are respectively: and That is, the number of positioning delay parameters is reduced by 4.75 times, while the number of positioning equations is reduced by 7.3 times. This significantly increases the computational burden on the positioning system and the demand for RS resources.

[0210] This application provides a group positioning method. In a positioning group, a first wireless communication device acquires target location information, which indicates the relative distance between the first, second, and third wireless communication devices in the same positioning group. The first wireless communication device determines the absolute coordinate position of the third wireless communication device based on the target location information, its first coordinate information, and the second coordinate information of the second wireless communication device. The positioning group includes at least the first, second, and third wireless communication devices, and the first and second coordinate information are known to the first wireless communication device. Since the first wireless communication device can acquire the target location information of other devices in the positioning group and determine the absolute coordinate position of the third wireless communication device based on this target location information and the coordinate information of the first and second wireless communication devices, it eliminates the need for a calibration UE or gNB with a known accurate location. Therefore, even when the mobile wireless communication device is constantly moving and may be outside the signal coverage area, calibration and positioning of all devices in the positioning group can be performed. Thus, the position of the mobile wireless communication device in the group positioning can be accurately obtained.

[0211] Optionally, in this embodiment of the application, the number of head wireless communication devices in each positioning group is 1. Before step 202 above, the group positioning method provided in this embodiment of the application further includes the following step 301.

[0212] Step 301: The head wireless communication device determines the relative coordinate positions of other wireless devices in the positioning group besides the head wireless communication device.

[0213] In this embodiment, the location of the head wireless communication device is not fixed.

[0214] Optionally, in this embodiment of the application, after step 301 above, the group location method provided in this embodiment of the application further includes step 401 below.

[0215] Step 401: The head wireless communication device sends the positioning result information to the target receiving device.

[0216] In this embodiment of the application, the positioning result information is used to indicate the relative coordinate positions of other wireless devices besides the head wireless communication device.

[0217] Optionally, in this embodiment of the application, after step 202 above, the group location method provided in this embodiment of the application further includes step 501 as follows.

[0218] Step 501: The head wireless communication device sends the positioning result information to the target receiving device.

[0219] In this embodiment of the application, the positioning result information is used to indicate the absolute coordinate position.

[0220] In this embodiment, the head wireless communication device can send absolute coordinates to the target receiving device. Therefore, there is no need to introduce a calibration UE or gNB with a known accurate location. Thus, even when the mobile wireless communication device is constantly moving and may be outside the signal coverage area, all devices in the positioning group can be calibrated and located. Therefore, the location of the mobile wireless communication device in the group positioning can be accurately obtained.

[0221] The group positioning method provided in this application can be executed by a group positioning device. This application uses the example of a group positioning device executing the group positioning method to illustrate the group positioning device provided in this application.

[0222] Figure 16 A schematic diagram of a possible structure of the group positioning device involved in an embodiment of this application is shown. For example... Figure 16 As shown, the positioning device 40 may include an acquisition module 41 and a determination module 42.

[0223] The acquisition module 41 is used to acquire target location information within the positioning group. This target location information indicates the relative distance between the first, second, and third wireless communication devices within the same positioning group. The determination module 42 is used to determine the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. The positioning group includes at least the first, second, and third wireless communication devices, and the first and second coordinate information are already known to the first wireless communication device.

[0224] This application provides a positioning device. A first wireless communication device can obtain the target location information of other devices in the positioning group, and determine the absolute coordinate position of a third wireless communication device in the same positioning group based on the target location information and the coordinate information of the first and second wireless communication devices. This does not require the introduction of a calibration UE or gNB with a known accurate position. Therefore, even when the mobile wireless communication device is constantly moving and may be outside the signal coverage area, it can still calibrate and locate all devices in the positioning group. Thus, the position of the mobile wireless communication device in the group positioning can be accurately obtained.

[0225] In one possible implementation, the acquisition module 41 is specifically used to receive a first reference signal RS sent by a third wireless communication device and a first signal sent by a second wireless communication device, wherein the first signal is a reflected signal corresponding to the first RS and the first RS is the RS sent by the third wireless communication device to the second wireless communication device; and to determine the target location information based on the first RS and the first signal.

[0226] In one possible implementation, there are multiple positioning groups, with a first wireless communication device in each positioning group being a head wireless communication device, and at least one of a second wireless communication device and a third wireless communication device being an auxiliary wireless communication device in the positioning group; wherein, the auxiliary wireless communication device is a connection node between at least two positioning groups.

[0227] In one possible implementation, the head wireless communication device is used to perform at least one of the following: receiving a first RS; transmitting a second RS; acquiring at least one positioning equation corresponding to the first signal; reflecting the first RS and acquiring at least one positioning equation through other wireless communication devices; receiving measurement data information from communication devices other than the head wireless communication device in the positioning group, and acquiring at least one positioning equation corresponding to the measurement data information; wherein the positioning equation is used by the head wireless communication device to determine positioning delay parameters, and the positioning delay parameters and at least one positioning equation parameter are used by the head wireless communication device to locate other wireless communication devices.

[0228] In one possible implementation, the determining module 42 is specifically used by the head wireless communication device to determine a target positioning equation from a first number of positioning equations acquired; wherein the number of target positioning equations is less than or equal to the first number, the first number is a positive integer greater than or equal to 3, and at least some of the positioning equations in the target positioning equations correspond to the first RS and the first signal.

[0229] In one possible implementation, in each positioning group, there is one head wireless communication device. The determining module 72 is further configured to determine the relative coordinate positions of other wireless devices in the positioning group besides the head wireless communication device before determining the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. The position of the head wireless communication device is not fixed.

[0230] In one possible implementation, the positioning device group further includes a transmitting module. The transmitting module is further configured to, after determining the relative coordinate positions of other wireless devices in the positioning group besides the head wireless communication device, transmit positioning result information to the target receiving device, the positioning result information indicating the relative coordinate positions of the other wireless devices besides the head wireless communication device.

[0231] In one possible implementation, the location of the head wireless communication device is fixed, and there is one head wireless communication device in each positioning group. The locations of other wireless devices besides the head wireless communication device are determined by the head wireless communication device.

[0232] In one possible implementation, the positioning device further includes a transmitting module. The transmitting module is configured to transmit positioning result information to the target receiving device after the determining module 42 determines the absolute coordinate position of the third wireless communication device. The positioning result information is used to indicate the absolute coordinate position.

[0233] In one possible implementation, the determining module 42 is specifically configured to, when the position of the head wireless communication device is fixed, reduce the number of a first number of positioning equations to a second number, and determine the target number based on the second number and the number of positioning equations related to the reflection path of the head wireless communication device; wherein the first number is: The second quantity is: The target quantity is less than or equal to , This represents the number of wireless communication devices in the positioning group.

[0234] In one possible implementation, the positioning delay parameter is determined by a propagation delay difference, which is the difference between the propagation time of the first RS and the propagation time of the second RS; the propagation delay difference is determined by a first delay and a second delay, where the first delay is the delay of the direct path of the first RS and the second delay is the delay of the reflection path of the second RS.

[0235] In one possible implementation, the first delay is determined by... Determined; among them, To send from the i-th wireless communication device to the i-th The delay of the diameter signal of a wireless communication device. The time offset for the i-th wireless communication device to send the diameter signal To send from the i-th wireless communication device to the i-th The total propagation time of the diameter signal of a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

[0236] In one possible implementation, the diameter signal is: ;in, Determined by the signal gain of the modulated sequence signal. They were respectively in the second The additive white Gaussian noise (AWGN) received by the i-th wireless communication device in the symbol, wherein the AWGN includes interference signals.

[0237] In one possible implementation, the second delay is determined by... Determined; among them, For a message transmitted from the i-th wireless communication device and reflected by the k-th wireless communication device to the i-th wireless communication device... The time delay of the reflected path signal of a wireless communication device. The time offset for the i-th wireless communication device to send the reflection path signal. To send from the i-th wireless communication device to the i-th The propagation time of a signal from a wireless communication device For from the first The wireless communication device sends to the first The propagation time of a signal from a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

[0238] In one possible implementation, the reflection path signal is: ;in, Determined by the signal gain of the modulated sequence signal, and They were respectively in the second The additive white Gaussian noise (AWGN) received by the i-th wireless communication device in the symbol, wherein the AWGN includes interference signals.

[0239] In one possible implementation, the difference in propagation delay is: ;in, For the difference in propagation delay, This is the second time delay. This is the first time delay.

[0240] In one possible implementation, the positioning equation is: Where y is the localization equation vector related to the propagation delay difference, and the elements of the localization equation vector are... , This is the positioning delay parameter vector, and its elements are: , This is the positioning equation matrix.

[0241] In one possible implementation, the positioning delay parameter vector is transmitted via... Sure.

[0242] In one possible implementation, the denominator of the number of elements in the positioning delay parameter vector is: Where K is the number of communication devices involved in the positioning group.

[0243] The positioning device in this application embodiment can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or other devices besides a terminal. For example, the terminal can be, but is not limited to, the type of terminal 11 listed above, and other devices can be servers, network attached storage (NAS), etc., and this application embodiment does not specifically limit the types.

[0244] The positioning device provided in this application embodiment can achieve... Figure 6 The various processes implemented in the group positioning method embodiment achieve the same technical effect, and will not be described again here to avoid repetition.

[0245] Optional, such as Figure 17 As shown in the illustration, this application also provides a communication device 1400, including a processor 1401 and a memory 1402. The memory 1402 stores a program or instructions that can run on the processor 1401. For example, when the communication device 1400 is a terminal, the program or instructions executed by the processor 1401 implement the various steps of the above-described group location method embodiments and achieve the same technical effect. When the communication device 1400 is a network-side device, the program or instructions executed by the processor 1401 implement the various steps of the above-described group location method embodiments and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0246] This application embodiment also provides a terminal, including a processor and a communication interface. The processor is used to acquire target location information, which indicates the relative distance between a first wireless communication device, a second wireless communication device, and a third wireless communication device in the same positioning group. The processor 110 is used to determine the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. The positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, and the first and second coordinate information are known to the first wireless communication device.

[0247] This terminal embodiment corresponds to the aforementioned terminal-side method embodiment. All implementation processes and methods of the aforementioned method embodiments can be applied to this terminal embodiment and achieve the same technical effect. Specifically, Figure 18 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0248] The terminal 100 includes, but is not limited to, at least some of the following components: radio frequency unit 101, network module 102, audio output unit 103, input unit 104, sensor 105, display unit 106, user input unit 107, interface unit 108, memory 109, and processor 110.

[0249] Those skilled in the art will understand that the terminal 100 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 110 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 18 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0250] It should be understood that, in this embodiment, the input unit 104 may include a graphics processing unit (GPU) 1041 and a microphone 1042. The GPU 1041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 106 may include a display panel 1061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 107 includes at least one of a touch panel 1071 and other input devices 1072. The touch panel 1071 is also called a touch screen. The touch panel 1071 may include a touch detection device and a touch controller. Other input devices 1072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0251] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 101 can transmit it to the processor 110 for processing; in addition, the radio frequency unit 101 can send uplink data to the network-side device. Typically, the radio frequency unit 101 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0252] The memory 109 can be used to store software programs or instructions, as well as various data. The memory 109 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 109 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 109 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0253] Processor 110 may include one or more processing units; optionally, processor 110 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 110.

[0254] The radio frequency unit 101 is used to acquire target location information within the positioning group. This target location information indicates the relative distance between the first, second, and third wireless communication devices within the same positioning group. The processor 110 is used to determine the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. The positioning group includes at least the first, second, and third wireless communication devices, and the first and second coordinate information are already known to the first wireless communication device.

[0255] This application provides a terminal in which a first wireless communication device can obtain the target location information of other devices in a positioning group, and determine the absolute coordinate position of a third wireless communication device in the same positioning group based on the target location information and the coordinate information of the first and second wireless communication devices. This does not require the introduction of a calibration UE or gNB with a known accurate location. Therefore, even when the mobile wireless communication device is constantly moving and may be outside the signal coverage area, it is possible to calibrate and locate all devices in the positioning group. Thus, the position of the mobile wireless communication device in the group positioning can be accurately obtained.

[0256] Optionally, in this embodiment of the application, the radio frequency unit 101 is specifically used to receive a first reference signal RS sent by a third wireless communication device, and to receive a first signal sent by a second wireless communication device, wherein the first signal is a reflected signal corresponding to the first RS, and the first RS is the RS sent by the third wireless communication device to the second wireless communication device; and to determine the target location information based on the first RS and the first signal.

[0257] Optionally, in this embodiment of the application, the processor 110 is specifically used to determine a target positioning equation from the first number of positioning equations obtained by the head wireless communication device; wherein the number of target positioning equations is less than or equal to the first number, the first number is a positive integer greater than or equal to 3, and at least some of the positioning equations in the target positioning equations correspond to the first RS and the first signal.

[0258] Optionally, in this embodiment of the application, the radio frequency unit 101 is used to send positioning result information to the target receiving device after determining the absolute coordinate position of the third wireless communication device. The positioning result information is used to indicate the absolute coordinate position.

[0259] Optionally, in this embodiment, the processor 110 is specifically configured to, when the location of the head wireless communication device is a fixed location, reduce the number of a first number of positioning equations to a second number, and determine the target number based on the second number and the number of positioning equations related to the reflection path of the head wireless communication device; wherein, the first number is: The second quantity is: The target quantity is less than or equal to , This represents the number of wireless communication devices in the positioning group.

[0260] Optionally, in this embodiment of the application, in each positioning group, the number of head wireless communication devices is 1, and the processor 110 is further configured to determine the relative coordinate positions of other wireless devices in the positioning group other than the head wireless communication device before determining the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. The position of the head wireless communication device is not fixed.

[0261] Optionally, in this embodiment of the application, the radio frequency unit 101 is further configured to send positioning result information to the target receiving device after determining the relative coordinate positions of other wireless devices in the positioning group besides the head wireless communication device. The positioning result information is used to indicate the relative coordinate positions of other wireless devices besides the head wireless communication device.

[0262] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described access method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0263] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0264] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by at least one of the processors of the first communication device, the second communication device, and the third communication device, they implement the various processes of the above-described group positioning method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0265] The processor is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0266] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described group positioning method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0267] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0268] This application also provides a computer program / program product, which is stored in a storage medium. The computer program / program product is executed by at least one of the processors of the first communication device, the second communication device, and the third communication device to implement the various processes of the above-described group positioning method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0269] This application also provides a group positioning system, which includes a first wireless communication device, a second wireless communication device, and a third communication device as described above. The group positioning system is used to execute and implement the various processes of the group positioning method embodiments in this application, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0270] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0271] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0272] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A group positioning method, characterized in that, Performed by a first wireless communication device, the method includes: In the positioning group, the first wireless communication device acquires target location information, which is used to indicate the relative distance between the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group; The first wireless communication device determines the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device; The positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, wherein the first coordinate information and the second coordinate information are known to the first wireless communication device. Wherein, the first wireless communication device acquires target location information, including: The first wireless communication device receives a first reference signal RS sent by the third wireless communication device and receives a first signal sent by the second wireless communication device, wherein the first signal is a reflected signal corresponding to the first RS; The first wireless communication device determines the target location information based on the first RS and the first signal; The first wireless communication device is at least used to acquire at least one positioning equation corresponding to the first signal, and to reflect the first RS and acquire at least one positioning equation through other wireless communication devices. The positioning equation is used by the first wireless communication device to determine the positioning delay parameter. The positioning delay parameter and at least one positioning equation parameter are used by the first wireless communication device to locate other wireless communication devices. The positioning delay parameter is determined by the propagation delay difference, which is the difference between the propagation time of the first RS and the propagation time of the first signal.

2. The method according to claim 1, wherein the first RS is an RS sent by the third wireless communication device to the second wireless communication device.

3. The method according to claim 2, characterized in that, The number of positioning groups is multiple, and the first wireless communication device in each positioning group is a head wireless communication device, and at least one of the second wireless communication device and the third wireless communication device is an auxiliary wireless communication device in the positioning group. The auxiliary wireless communication device is a connection node between at least two positioning groups.

4. The method according to claim 3, characterized in that, The head wireless communication device is also used to perform at least one of the following: Receive the first RS; Send the second RS; The system receives measurement data from communication devices in the positioning group other than the head wireless communication device, and obtains at least one positioning equation corresponding to the measurement data.

5. The method according to claim 4, characterized in that, The first wireless communication device determines the target location information based on the first RS and the first signal, including: The head wireless communication device determines the target positioning equation from the first number of positioning equations it has acquired; Wherein, the number of target positioning equations is less than or equal to the first number, the first number is a positive integer greater than or equal to 3, and at least some of the target positioning equations correspond to the first RS and the first signal.

6. The method according to any one of claims 3 to 5, characterized in that, In each positioning group, the number of head wireless communication devices is one. Before the first wireless communication device determines the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device, the method further includes: The head wireless communication device determines the relative coordinate positions of other wireless devices in the positioning group besides the head wireless communication device, and the position of the head wireless communication device is not fixed.

7. The method according to claim 6, characterized in that, After the head wireless communication device determines the relative coordinate positions of other wireless devices in the positioning group besides the head wireless communication device, the method further includes: The head wireless communication device sends positioning result information to the target receiving device, and the positioning result information is used to indicate the relative coordinate positions of other wireless devices besides the head wireless communication device.

8. The method according to any one of claims 3 to 5, characterized in that, The location of the head wireless communication device is a fixed location. In each positioning group, there is one head wireless communication device. The locations of other wireless devices besides the head wireless communication device are determined by the head wireless communication device.

9. The method according to any one of claims 3 to 8, characterized in that, After the first wireless communication device determines the absolute coordinate position of the third wireless communication device, the method further includes: The head wireless communication device sends positioning result information to the target receiving device, and the positioning result information is used to indicate the absolute coordinate position.

10. The method according to any one of claims 5 to 9, characterized in that, The head wireless communication device determines the target positioning equation from the first number of acquired positioning equations, including: The head wireless communication device reduces the number of the first number of positioning equations to a second number, and determines the target number based on the second number and the number of positioning equations related to the reflection path of the head wireless communication device. Wherein, the first quantity is: The second quantity is: The number of targets is less than or equal to , This refers to the number of wireless communication devices in the positioning group.

11. The method according to claim 4, characterized in that, The propagation delay difference is the difference between the propagation time of the first RS and the propagation time of the second RS; The propagation delay difference is determined by a first delay and a second delay, wherein the first delay is the delay of the direct path of the first RS and the second delay is the delay of the reflection path of the second RS.

12. The method according to claim 11, characterized in that, The first delay is caused by Sure; in, To send from the i-th wireless communication device to the i-th The delay of the diameter signal of a wireless communication device. The time offset for the i-th wireless communication device to send the diameter signal To send from the i-th wireless communication device to the i-th The total propagation time of the diameter signal of a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

13. The method according to claim 12, characterized in that, The diameter signal is: ; in, Determined by the signal gain of the modulated sequence signal. They were respectively in the second Additive white Gaussian noise (AWGN) received by the i-th wireless communication device in a symbol, wherein the AWGN includes an interference signal.

14. The method according to claim 11, characterized in that, The second delay is caused by Sure; in, For a message transmitted from the i-th wireless communication device and reflected by the k-th wireless communication device to the i-th wireless communication device... The time delay of the reflected path signal of a wireless communication device. The time offset for the i-th wireless communication device to send the reflection path signal. To send from the i-th wireless communication device to the i-th The propagation time of a signal from a wireless communication device For from the first The wireless communication device sends to the first The propagation time of a signal from a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

15. The method according to claim 14, characterized in that, The reflection path signal is: in, Determined by the signal gain of the modulated sequence signal. They were respectively in the second Additive white Gaussian noise (AWGN) received by the i-th wireless communication device in a symbol, wherein the AWGN includes an interference signal.

16. The method according to any one of claims 11 to 15, characterized in that, The difference in propagation delay is: ; in, The difference in propagation delay is the amount of time. This is the second time delay. This is the first delay.

17. The method according to claim 4 or 5, characterized in that, The positioning equation is: ; Where y is the localization equation vector related to the propagation delay difference, and the elements of the localization equation vector are: , This is a positioning delay parameter vector, and the elements of the positioning delay parameter vector are... , This is the positioning equation matrix.

18. The method according to claim 17, characterized in that, The positioning delay parameter vector is passed through Sure.

19. The method according to claim 17 or 18, characterized in that, The number of elements included in the positioning delay parameter vector is: ; Where K is the number of communication devices involved in the positioning group.

20. A group positioning device, characterized in that, The device includes: an acquisition module and a determination module; The acquisition module is used to acquire target location information in the positioning group, and the target location information is used to indicate the relative distance between the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group; The determining module is used to determine the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. The positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, wherein the first coordinate information and the second coordinate information are known to the first wireless communication device. Specifically, the acquisition module is used to receive a first reference signal RS sent by the third wireless communication device and a first signal sent by the second wireless communication device, wherein the first signal is a reflected signal corresponding to the first RS, and to determine the target location information based on the first RS and the first signal. The first wireless communication device is at least used to acquire at least one positioning equation corresponding to the first signal, and to reflect the first RS and acquire at least one positioning equation through other wireless communication devices. The positioning equation is used by the first wireless communication device to determine the positioning delay parameter. The positioning delay parameter and at least one positioning equation parameter are used by the first wireless communication device to locate other wireless communication devices. The positioning delay parameter is determined by the propagation delay difference, which is the difference between the propagation time of the first RS and the propagation time of the first signal.

21. The apparatus according to claim 20, characterized in that, The first RS is the RS sent by the third wireless communication device to the second wireless communication device.

22. The apparatus according to claim 21, characterized in that, The number of positioning groups is multiple, and the first wireless communication device in each positioning group is a head wireless communication device, and at least one of the second wireless communication device and the third wireless communication device is an auxiliary wireless communication device in the positioning group. The auxiliary wireless communication device is a connection node between at least two positioning groups.

23. The apparatus according to claim 22, characterized in that, The head wireless communication device is used to perform at least one of the following: Receive the first RS; Send the second RS; The system receives measurement data from communication devices in the positioning group other than the head wireless communication device, and obtains at least one positioning equation corresponding to the measurement data.

24. The apparatus according to claim 23, characterized in that, The determining module is specifically used by the head wireless communication device to determine the target positioning equation from the first number of positioning equations obtained; Wherein, the number of target positioning equations is less than or equal to the first number, the first number is a positive integer greater than or equal to 3, and at least some of the target positioning equations correspond to the first RS and the first signal.

25. The apparatus according to any one of claims 22 to 24, characterized in that, In each of the positioning groups, the number of the head wireless communication devices is one. The determining module is further configured to determine the relative coordinate positions of other wireless devices in the positioning group, excluding the head wireless communication device, before determining the absolute coordinate position of the third wireless communication device based on the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. The position of the head wireless communication device is not fixed.

26. The apparatus according to claim 25, characterized in that, The device further includes: a transmitting module; The transmitting module is further configured to, after determining the relative coordinate positions of the other wireless devices in the positioning group besides the head wireless communication device, send positioning result information to the target receiving device, wherein the positioning result information is used to indicate the relative coordinate positions of the other wireless devices besides the head wireless communication device.

27. The apparatus according to any one of claims 22 to 24, characterized in that, The location of the head wireless communication device is a fixed location. In each positioning group, there is one head wireless communication device. The locations of other wireless devices besides the head wireless communication device are determined by the head wireless communication device.

28. The apparatus according to any one of claims 22 to 25, characterized in that, The device further includes: a transmitting module; The transmitting module is used to send positioning result information to the target receiving device after the determining module determines the absolute coordinate position of the third wireless communication device. The positioning result information is used to indicate the absolute coordinate position.

29. The apparatus according to any one of claims 24 to 26, characterized in that, The determining module is specifically used to reduce the number of positioning equations from a first number to a second number when the position of the head wireless communication device is a fixed position, and to determine the target number based on the second number and the number of positioning equations related to the reflection path of the head wireless communication device. Wherein, the first quantity is: The second quantity is: The number of targets is less than or equal to , This refers to the number of wireless communication devices in the positioning group.

30. The apparatus according to claim 23, characterized in that, The propagation delay difference is the difference between the propagation time of the first RS and the propagation time of the second RS; The propagation delay difference is determined by a first delay and a second delay, wherein the first delay is the delay of the direct path of the first RS and the second delay is the delay of the reflection path of the second RS.

31. The apparatus according to claim 30, characterized in that, The first delay is caused by Sure; in, To send from the i-th wireless communication device to the i-th The delay of the diameter signal of a wireless communication device. The time offset for the i-th wireless communication device to send the diameter signal To send from the i-th wireless communication device to the i-th The total propagation time of the diameter signal of a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

32. The apparatus according to claim 31, characterized in that, The diameter signal is: ; in, Determined by the signal gain of the modulated sequence signal. They were respectively in the second Additive white Gaussian noise (AWGN) received by the i-th wireless communication device in a symbol, wherein the AWGN includes an interference signal.

33. The apparatus according to claim 30, characterized in that, The second delay is caused by Sure; in, For a message transmitted from the i-th wireless communication device and reflected by the k-th wireless communication device to the i-th wireless communication device... The time delay of the reflected path signal of a wireless communication device. The time offset for the i-th wireless communication device to send the reflection path signal. To send from the i-th wireless communication device to the i-th The propagation time of a signal from a wireless communication device For from the first The wireless communication device sends to the first The propagation time of a signal from a wireless communication device The time offset for the diameter signal received by the l-th wireless communication device.

34. The apparatus according to claim 33, characterized in that, The reflection path signal is: in, Determined by the signal gain of the modulated sequence signal. They were respectively in the second Additive white Gaussian noise (AWGN) received by the i-th wireless communication device in a symbol, wherein the AWGN includes an interference signal.

35. The apparatus according to any one of claims 30 to 34, characterized in that, The difference in propagation delay is: ; in, The difference in propagation delay is the amount of time. This is the second time delay. This is the first delay.

36. The apparatus according to claim 23 or 24, characterized in that, The positioning equation is: ; Where y is the localization equation vector related to the propagation delay difference, and the elements of the localization equation vector are: , The positioning delay parameter vector is defined as follows: , This is the positioning equation matrix.

37. The apparatus according to claim 36, characterized in that, The positioning delay parameter vector is passed through Sure.

38. The apparatus according to claim 36 or 37, characterized in that, The number of elements included in the positioning delay parameter vector is: ; Where K is the number of communication devices involved in the positioning group.

39. A terminal, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the group location method as described in any one of claims 1 to 19.

40. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the group location method steps as described in any one of claims 1 to 19.

Images