Positioning method and apparatus, user equipment, and storage medium

Abstract

The application discloses a positioning method, which is executed by a first wireless communication device. The positioning method comprises the following steps: the first wireless communication device receives a target reference signal (RS) sent by a second wireless communication device; and the first wireless communication device sends a first signal to a third wireless communication device, wherein the first signal is a reflection signal corresponding to the target RS, and the first signal is used for indicating positioning-related information of the first wireless communication device and the second 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, the positioning systems of 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 positioning mobile wireless communication devices is a pressing problem that needs to be solved. Summary of the Invention

[0003] This application provides a positioning method that can accurately locate mobile wireless communication devices.

[0004] In a first aspect, a positioning method is provided, performed by a first wireless communication device, the method comprising: the first wireless communication device receiving a target reference signal RS transmitted by a second wireless communication device; the first wireless communication device transmitting a first signal to a third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning-related information of the first wireless communication device and the second wireless communication device.

[0005] In a second aspect, a positioning method is provided, performed by a second wireless communication device, the method comprising: the second wireless communication device sending a first reference signal RS to a third wireless communication device and sending a target RS to a first wireless communication device; wherein the first RS and the target RS are used to indicate positioning-related information of the first wireless communication device and the second wireless communication device.

[0006] Thirdly, a positioning method is provided, executed by a third wireless communication device, the method comprising: the third wireless communication device receiving a first reference signal RS sent by a second wireless communication device; the third wireless communication device receiving a first signal sent by a first wireless communication device, the first signal being a reflected signal corresponding to a target RS, the target RS being an RS sent by the second wireless communication device to the first wireless communication device; and the third wireless communication device locating the first wireless communication device and the second wireless communication device based on the first RS and the first signal.

[0007] Fourthly, a positioning method is provided, executed by a target device, the method comprising: in a first time slot, the target device, acting as a first wireless communication device, receiving a target reference signal RS transmitted by a second wireless communication device, and transmitting a first signal to a third wireless communication device, the first signal being a reflected signal corresponding to the target RS; in a second time slot, the target device, acting as a second wireless communication device, transmitting the first reference signal RS to the third wireless communication device, and transmitting the target RS to the first wireless communication device; in a third time slot, the target device, acting as a third wireless communication device, receiving the first RS transmitted by the second wireless communication device, receiving the first signal transmitted by the first wireless communication device, and positioning the first wireless communication device and the second wireless communication device based on the first RS and the first signal; wherein the first wireless communication device is used to execute the positioning method of the first aspect, the second wireless communication device is used to execute the positioning method of the second aspect, and the third wireless communication device is used to execute the positioning method of the third aspect.

[0008] Fifthly, a positioning device is provided, comprising: a receiving module and a transmitting module. The receiving module is configured to receive a target reference signal RS transmitted by a second wireless communication device. The transmitting module is configured to transmit a first signal to a third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning-related information of the first and second wireless communication devices.

[0009] In a sixth aspect, a positioning device is provided, comprising: a transmitting module. The transmitting module is configured to transmit a first reference signal RS to a third wireless communication device and a target RS to a first wireless communication device; wherein the first RS and the target RS are used to indicate positioning-related information of the first wireless communication device and the second wireless communication device.

[0010] A seventh aspect provides a positioning device, comprising: a receiving module and a positioning module. The receiving module is configured to receive a first reference signal RS transmitted by a second wireless communication device; and to receive a first signal transmitted by the first wireless communication device, wherein the first signal is a reflected signal corresponding to a target RS, and the target RS is the RS transmitted by the second wireless communication device to the first wireless communication device. The positioning module is configured to locate the first wireless communication device and the second wireless communication device based on the first RS and the first signal received by the receiving module.

[0011] Eighthly, a positioning device is provided, comprising: a receiving module, a transmitting module, and a positioning module. The receiving module is configured, in a first time slot, as a first wireless communication device, to receive a target reference signal RS transmitted by a second wireless communication device and to transmit a first signal to a third wireless communication device, the first signal being a reflected signal corresponding to the target RS. The transmitting module is configured, in a second time slot, as the second wireless communication device, to transmit the first reference signal RS to the third wireless communication device and to transmit the target RS to the first wireless communication device. The receiving module is further configured, in a third time slot, as the third wireless communication device, to receive the first RS transmitted by the second wireless communication device and to receive the first signal transmitted by the first wireless communication device. The positioning module is configured to locate the first wireless communication device and the second wireless communication device based on the first RS and the first signal received by the receiving module. The first wireless communication device is configured to execute the positioning device as described in the fifth aspect, the second wireless communication device is configured to execute the positioning device as described in the sixth aspect, and the third wireless communication device is configured to execute the positioning device as described in the seventh aspect.

[0012] A ninth aspect provides a terminal including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein when executed by the processor, the program or instructions implement the steps of the positioning method as described in the first aspect, or the steps of the positioning method as described in the second aspect, or the steps of the positioning method as described in the third aspect, or the steps of the positioning method as described in the fourth aspect.

[0013] In a tenth aspect, a terminal is provided, including a processor and a communication interface, wherein the processor is configured to receive a target reference signal RS sent by a second wireless communication device and send a first signal to a third wireless communication device, the first signal being a reflected signal corresponding to the target RS, and the first signal being used to indicate positioning-related information of the first wireless communication device and the second wireless communication device.

[0014] Eleventhly, a terminal is provided, including a processor and a communication interface, wherein the processor is used to send a first reference signal RS to a third wireless communication device and to send a target RS to a first wireless communication device; wherein the first RS and the target RS are used to indicate positioning-related information of the first wireless communication device and the second wireless communication device.

[0015] In a twelfth aspect, a terminal is provided, including a processor and a communication interface, wherein the processor is configured to receive a first reference signal RS sent by a second wireless communication device; receive a first signal sent by the first wireless communication device, the first signal being a reflected signal corresponding to a target RS, the target RS being an RS sent by the second wireless communication device to the first wireless communication device; and locate the first wireless communication device and the second wireless communication device based on the first RS and the first signal received by the receiving module.

[0016] In a thirteenth aspect, a terminal is provided, including a processor and a communication interface. The processor is configured to, in a first time slot, act as a first wireless communication device, receive a target reference signal RS transmitted by a second wireless communication device and transmit a first signal to a third wireless communication device, the first signal being a reflected signal corresponding to the target RS. In a second time slot, act as the second wireless communication device, transmit the first reference signal RS to the third wireless communication device and transmit the target RS to the first wireless communication device. In a third time slot, act as the third wireless communication device, receive the first RS transmitted by the second wireless communication device and the first signal transmitted by the first wireless communication device, and perform positioning of the first and second wireless communication devices based on the first RS and the first signal received by the receiving module. The first wireless communication device is configured to execute the UE as described in the tenth aspect, the second wireless communication device is configured to execute the UE as described in the eleventh aspect, and the third wireless communication device is configured to execute the UE as described in the twelfth aspect.

[0017] In a fourteenth aspect, a readable storage medium is provided, on which a program or instructions are stored, the program or instructions satisfying at least one of the following: when executed by a processor of a first communication device, implementing the steps of the positioning method as described in the first aspect; when executed by a processor of a second communication device, implementing the steps of the positioning method as described in the second aspect; when executed by a processor of a third communication device, implementing the steps of the positioning method as described in the third aspect; and when executed by a processor of a target communication device, implementing the steps of the positioning method as described in the fourth aspect.

[0018] In a fifteenth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run a program or instructions to implement the steps of the positioning method as described in the first aspect, or the steps of the positioning method as described in the second aspect, or the steps of the positioning method as described in the third aspect, or the steps of the positioning method as described in the fourth aspect.

[0019] In a sixteenth 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 positioning method as described in the first aspect, or the steps of the positioning method as described in the second aspect, or the steps of the positioning method as described in the third aspect, or the steps of the positioning method as described in the fourth aspect.

[0020] In a seventeenth aspect, a positioning system is provided, the positioning system comprising a first wireless communication device as described in the first aspect, a second wireless communication device as described in the second aspect, a third communication device as described in the third aspect, and / or a target device as described in the fourth aspect, the positioning system being configured to perform and implement the steps of the positioning method as described in the first aspect, or implement the steps of the positioning method as described in the second aspect, or implement the steps of the positioning method as described in the third aspect, or implement the steps of the positioning method as described in the fourth aspect.

[0021] In this embodiment, a first wireless communication device receives a target reference signal RS sent by a second wireless communication device. The first wireless communication device then sends a first signal to a third wireless communication device. The first signal is a reflected signal corresponding to the target RS and is used to indicate the positioning-related information of the first and second wireless communication devices. Since the first wireless communication device can receive the target RS sent by the second wireless communication device and send the reflected signal corresponding to the target RS, i.e., the first signal, to the third wireless communication device, and this first signal is used to indicate the positioning-related information of the first and second wireless communication devices, accurate positioning of the wireless communication devices can be achieved without the need for calibrating the UE or gNB. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the timing error of a gNB provided in an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of a Precision Time Protocol (PTP) provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram illustrating the principle of a precise time protocol provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of a backscatter-based localization model provided in an embodiment of this application;

[0027] Figure 6 This is one of the schematic diagrams of a positioning method provided in an embodiment of this application;

[0028] Figure 7 This is a second schematic diagram of a positioning method provided in an embodiment of this application;

[0029] Figure 8 This is a third schematic diagram of a positioning method provided in an embodiment of this application;

[0030] Figure 9 This is a fourth schematic diagram of a positioning method provided in an embodiment of this application;

[0031] Figure 10 This is the fifth schematic diagram of a positioning method provided in the embodiments of this application;

[0032] Figure 11 This is a sixth schematic diagram of a positioning method provided in an embodiment of this application;

[0033] Figure 12 This is the seventh schematic diagram of a positioning method provided in the embodiments of this application;

[0034] Figure 13 This is one of the structural schematic diagrams of a positioning device provided in the embodiments of this application;

[0035] Figure 14 This is a second schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0036] Figure 15 This is the third schematic diagram of a positioning device provided in the embodiments of this application;

[0037] Figure 16 This is the fourth schematic diagram of a positioning device provided in the embodiments of this application;

[0038] Figure 17 This is a schematic diagram of the hardware structure of a communication device provided in an embodiment of this application;

[0039] Figure 18 This is a schematic diagram of the hardware structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0040] 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.

[0041] 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., includes 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.

[0042] 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 the term NR is used in most of the following description; however, these technologies can also be applied to applications other than NR systems, such as 6th generation (6G) radio systems. thGeneration 6G communication system.

[0043] Figure 1 This 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). The 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.

[0044] The following explains some concepts and / or terms involved in the positioning method, apparatus, user equipment, and storage medium provided in the embodiments of this application.

[0045] 1. Timing error of gNB / UE transmitting Tx / receiving Rx

[0046] 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.

[0047] like Figure 2 As 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 50-100 ns, this will also lead to a UE positioning error of 15-30m.

[0048] 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.

[0049] 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.

[0050] 2. Precise Time Protocol

[0051] 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 clock synchronizes 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, the time offset between the master and slave clocks can be calculated based on four timestamps captured between the master and slave clocks, i.e., reference times T1, T2, T3, and T4. 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).

[0052] 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 3As shown, the time of clock A is t. A (For the sending end) and t′ A (For the receiving end), and the time of clock B is t. B (For the receiver) and t′ B (For the sending end). Therefore, t A and t B The time difference (from A to B) is t Δ =t A -t B , and t′ B and t′ A The time difference (from A to B) is t′ Δ =t′ B -t′ A However, due to the difference in RF between the master clock and slave clock, generally speaking, t A ≠t′ A and t B ≠t′ B . Figure 4 This is based on the principle of a precise time protocol.

[0053] However, the clock calibration between A and B can be calculated using the following formula:

[0054] The propagation delay between A and B can be derived using the following formula: Among them, t d It 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, i.e., t′ Δ =t Δ Then the clock calibration value t between A and B Δ The propagation delay t between A and B d The values ​​can be calculated using the following formulas:

[0055] and

[0056] 3. Localization method based on backscatter reflection

[0057] 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, identify the reflecting object, and track it. Figure 4This paper illustrates a backscatter-based positioning model. The transmitter is the i-th Tx UE, which transmits a positioning reference signal (PRS). The k-th 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, which receives the backscatter reflected signal, as well as the reflected signal from an unknown reflector and the diameter signal of the transmitter. Notably, the k-th backscatter reflected signal is a valid signal; the gNB can receive it and calculate the specific coordinates of the target backscatter, similar to GPS signal reception. However, using this method, at least four gNBs are required to guarantee relative positioning accuracy. Figure 5 As shown, L gNBs receive signals and simultaneously locate the i-th Tx UE and the k-th Backscatter.

[0058] It should be noted that the gNB can also receive reflected signals from other backscatters (excluding the reflected signal from the k-th backscatter), reflected signals 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.

[0059] 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 J unknown reflectors (objects).

[0060] Considering signal reflection from an unknown reflector, the signal transmitted by the i-th UE and received by the l-th gNB in ​​the n-th symbol of the m-th time slot is:

[0061]

[0062] In this context, the Tx UE transmits a positioning pilot reference signal (i.e., PRS) s[n] in the nth symbol, and the s[n] signal is transmitted via channel response in time slot m. It is directly received by the l-th gNB, and at the same time, the s[n] signal is responded to through the channel. It is received by the k-th backscatter. The k-th backscatter received signal is received by b in the same time slot m. k，m Symbol modulation, and with the channel response Reflected to the l-th gNB, α is the complex attenuation of the backscattered signals S. j It is the attenuation coefficient of the j-th unknown reflector, including the radar cross section (RCS). and These are the reflection channel responses for the j-th unknown reflector, respectively, for the Tx UE and for the gNB. l，m [n] is the additive white Gaussian noise (AWGN) received by the l-th gNB in ​​time slot m, where the n-th symbol has zero mean and a noise power spectral density of... In addition, the time slot interval T slot RS symbol interval T sym N times, that is, T slot =NT sym , where N = 1, 2, ...

[0063] 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 described 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 an unknown reflector.

[0064] 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.

[0065] 4. Backscatter Modulation Signal Design

[0066] The backscatter modulated signal can be designed using OOK. The k-th backscatter can be based on the On / Off modulation sequence B. k The modulation sequence of a signal modulated by a reflected signal can be represented by the following matrix:

[0067]

[0068] Among them, b k，m It is a modulation symbol modulated by the k-th backscatter and transmitted in the m-th time slot, where k = 1, 2, ..., M, and m = 1, 2, ..., M+1.

[0069] In this embodiment of the application, in order to derive the positioning signal from the k-th Backscatter, the received signal can be calculated using the following method:

[0070]

[0071] It should be noted that the PRS signal sent from the i-th UE is also reflected by other backscatters (except for the k-th backscatter) and unknown reflectors, but these signals can be completely eliminated by the l-th gNB.

[0072] In this embodiment of the application, in order to derive the i-th UE positioning signal, the received signal can be calculated using the following method:

[0073]

[0074] Optionally, in this embodiment, the backscatter modulation signal can be designed using BPSK. The k-th backscatter can be based on the BPSK modulation sequence B. k The modulation sequence of a signal modulated by a reflected signal can be represented by the following matrix:

[0075]

[0076] Among them, b k，m It is a modulation symbol modulated by the k-th backscatter and transmitted in the m-th time slot, where k = 1, 2, ..., M, and m = 1, 2, ..., M+2.

[0077] In this embodiment of the application, in order to derive the positioning signal from the k-th tag, the received signal can be calculated using the following method:

[0078]

[0079] In this embodiment of the application, in order to derive the UE positioning signal, the received signal can be calculated using the following method:

[0080]

[0081] 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 k-th backscatter can be based on the BPSK modulation sequence B. k The signal modulated reflected signal, the Hadamard code modulation sequence can be represented by the following matrix:

[0082]

[0083] Optionally, in this embodiment of the application, when M=4, the Hadamard Code modulation sequence can be represented by the following matrix:

[0084]

[0085] Among them, b k，m It is a modulation symbol modulated by the k-th backscatter and transmitted in the m-th time slot, where k = 1, 2, ..., M and m = 1, 2, ..., M.

[0086] In this embodiment of the application, in order to derive the positioning signal from the k-th tag, the received signal can be calculated using the following method:

[0087]

[0088] Where k = 1, 2, ..., M-1.

[0089] In this embodiment of the application, in order to derive the UE positioning signal, the received signal can be calculated using the following method:

[0090]

[0091] It should be noted that the maximum number of backscatters that a Hadamard code can support is 2. n -1. 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.

[0092] 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 5.05dB ≤ ΔSNR < 6dB. Since the signal from the UE positioning backscatter and then reflected to the gNB can be completely eliminated, compared with the OOK scheme, the BPSK scheme can achieve an SNR gain of 0dB ≤ ΔSNR ≤ 3.8dB.

[0093] 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.

[0094] This application embodiment can accurately locate wireless communication devices by utilizing the interrelationships between them without requiring transceiver clock calibration.

[0095] 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.

[0096] 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.

[0097] More specifically, 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 diameter signal.

[0098] Example 1

[0099] This application provides a positioning method. Figure 6 A flowchart of a positioning method provided in an embodiment of this application is shown. Figure 6 As shown, the positioning method provided in this application embodiment may include the following steps 201 and 202.

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

[0101] Optionally, in the embodiments of this application, the target RS 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).

[0102] Optionally, in this embodiment of the application, the first wireless communication device can act as a reflection device, modulate the target RS after receiving the target RS sent by the second wireless communication device, and reflect the modulated RS to other devices.

[0103] 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 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 positioning method provided in this application.

[0104] It should be noted that any S-UE can be considered as a fixed UE, gNB, Road Side Unit (RSU), or Vehicle To Everything UE with mobility.

[0105] Optionally, in the embodiments of this application, the aforementioned target RS can be configured, pre-configured, pre-defined, protocol-agreed, or determined autonomously by the S-UE, etc.

[0106] Step 202: The first wireless communication device sends a first signal to the third wireless communication device.

[0107] In this embodiment of the application, the first signal is a reflected signal corresponding to the target RS, and the first signal is used to indicate the positioning-related information of the first wireless communication device and the second wireless communication device.

[0108] 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.

[0109] It should be noted that, taking the wireless communication device as an example, any S-UE can act as the first wireless communication device, the second wireless communication device, or the third wireless communication device. However, within the same time slot, an S-UE cannot act as the first wireless communication device, the second wireless communication device, and the third wireless communication device simultaneously.

[0110] Optionally, in this embodiment of the application, the position of the first wireless communication device is fixed, or the position of the first wireless communication device moves along a first trajectory; wherein, the position of the first wireless communication device is known information of the third wireless communication device.

[0111] Optionally, in this embodiment of the application, three S-UEs are included: a first wireless communication device, a second wireless communication device, and a third wireless communication device. In this embodiment of the application, the propagation delay of the RS signal between any two S-UEs can be obtained to locate all S-UEs, or to locate some S-UEs as needed.

[0112] Optionally, in this embodiment of the application, before step 202 above, in combination with Figure 6 ,like Figure 7 As shown, the positioning method provided in this application embodiment further includes the following step 301.

[0113] Step 301: The first wireless communication device modulates the target RS by modulating the modulation sequence signal to obtain the first signal.

[0114] 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.

[0115] 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.

[0116] Optionally, in this embodiment of the application, after the first wireless communication device, acting as a reflector, receives the target RS sent by the second wireless communication device, modulates the target RS according to the modulation sequence to obtain a first signal, it can send the first signal to the third wireless communication device to indicate the location-related information of the first and second wireless communication devices to the third wireless communication device.

[0117] This application provides a positioning method executed by a first wireless communication device. The first wireless communication device receives a target reference signal RS sent by a second wireless communication device. The first wireless communication device then sends a first signal to a third wireless communication device. The first signal is a reflected signal corresponding to the target RS and is used to indicate positioning-related information of the first and second wireless communication devices. Since the first wireless communication device can receive the target RS sent by the second wireless communication device and send the reflected signal corresponding to the target RS, i.e., the first signal, to the third wireless communication device, which indicates positioning-related information of the first and second wireless communication devices, accurate positioning of the wireless communication device can be achieved without the need for UE or gNB calibration.

[0118] Example 2

[0119] This application provides a positioning method. Figure 8 A flowchart of a positioning method provided in an embodiment of this application is shown. Figure 8 As shown, the positioning method provided in this application embodiment may include the following step 401.

[0120] Step 401: The second wireless communication device sends a first reference signal RS to the third wireless communication device and sends a target RS to the first wireless communication device.

[0121] The first RS and the target RS are used to indicate the location-related information of the first wireless communication device and the second wireless communication device.

[0122] Optionally, in this embodiment of the application, the second wireless communication device may send a first RS to the third wireless communication device at a first preset time, and send a target RS to the first wireless communication device at a second preset time, wherein the first preset time is the same as the second preset time, or the first preset time is different from the second preset time.

[0123] Optionally, in the embodiments of this application, the first RS and the target RS are the same physical signal or different physical signals.

[0124] Optionally, in the embodiments of this application, the first RS and / or the target RS includes at least one of the following: tracking reference signal TRS, channel state information reference signal CSI-RS, and positioning reference signal PRS.

[0125] Optionally, in the embodiments of this application, step 401 can be implemented by step 401a or step 401b as described below.

[0126] Step 401a: The second wireless communication device sends a first RS to the third wireless communication device at a first time, and sends a target RS to the first wireless communication device at a second time.

[0127] Optionally, in this embodiment of the application, the second wireless communication device can send a first RS to the third wireless communication device at a first time, and send a target RS to the first wireless communication device again at a second time, so that the second wireless communication device can send signals to the third wireless communication device through two paths.

[0128] Step 401b: The second wireless communication device sends the first RS to the third wireless communication device at a third time, and simultaneously sends the target RS to the first wireless communication device.

[0129] Optionally, in this embodiment of the application, the second wireless communication device may send a first RS to the third wireless communication device at a third time, and simultaneously send a target RS to the first wireless communication device, so that the second wireless communication device can send signals to the third wireless communication device through two paths.

[0130] This application provides a positioning method executed by a second wireless communication device. The second wireless communication device sends a first reference signal RS to a third wireless communication device and a target RS to a first wireless communication device. Since the first RS and the target RS include positioning-related information for indicating the first and second wireless communication devices, the wireless communication devices can be accurately positioned without the need to calibrate the UE or gNB.

[0131] Example 3

[0132] This application provides a positioning method. Figure 9A flowchart of a positioning method provided in an embodiment of this application is shown. Figure 9 As shown, the positioning method provided in this application embodiment may include the following steps 501 to 503.

[0133] Step 501: The third wireless communication device receives the first reference signal RS sent by the second wireless communication device.

[0134] Optionally, in this embodiment of the application, the third wireless communication device may receive the first RS transmitted by the second wireless communication device through a direct path.

[0135] Step 502: The third wireless communication device receives the first signal sent by the first wireless communication device.

[0136] In this embodiment of the application, the first signal is a reflected signal corresponding to the target RS, and the target RS is the RS sent by the second wireless communication device to the first wireless communication device.

[0137] Optionally, in this embodiment of the application, the third wireless communication device may receive the first signal sent by the first wireless communication device through a reflection path simultaneously after receiving the first RS.

[0138] Step 503: The third wireless communication device locates the first wireless communication device and the second wireless communication device based on the first RS and the first signal.

[0139] Optionally, in this embodiment of the application, the third wireless communication device may perform calculations on the first RS and the first signal after receiving them, thereby enabling it to locate the first wireless communication device and the second wireless communication device.

[0140] Optionally, in the embodiments of this application, step 503 can be implemented by steps 503a to 503c as described below.

[0141] Step 503a: The third wireless communication device determines the diameter signal based on the first RS.

[0142] In this embodiment of the application, the diameter signal is:

[0143]

[0144] Where A2 is determined by the signal gain of the modulated sequence signal, w' 2,3 [n] represents the additive white Gaussian noise (AWGN) received by the second wireless communication device in the nth symbol, where AWGN includes interference signals.

[0145] Step 503b: The third wireless communication device determines the reflection path signal based on the first signal.

[0146] In this embodiment of the application, the reflection path signal is:

[0147]

[0148] Where A1 is determined by the signal gain of the modulated sequence signal, and w″ 2.3 [n] represents the additive white Gaussian noise (AWGN) received by the second wireless communication device in the nth symbol, where AWGN includes interference signals.

[0149] Optionally, in this embodiment of the application, the third wireless communication device may receive the first RS transmitted by the second wireless communication device through a direct path in the m-th time slot, wherein the direct path of the first RS is: h 2,3 (τ 2,3 ), and experienced a time delay τ 2,3 In the same time slot, the third wireless communication device can receive a first signal sent from the second wireless communication device to the first wireless communication device, modulated and reflected by the first wireless communication device, wherein the reflection path of the first signal is: h 2,1 (τ 2,1 ) and h 1,3 (τ 1,3 And managed the time delay τ 2,1 and τ 1,3 The reflection paths of the signals reflected by the unknown device j are respectively and

[0150] It should be noted that within the same time slot, because the first wireless communication device directly uses modulation symbol b... k,m The target RS is modulated and transmitted immediately. Therefore, it can be assumed that there is no additional processing delay during the modulation process. The modulation and reflection process can be understood as a process of power amplification and forwarding of the received signal, i.e., Amplify-and-Forward (AF). Therefore, the total signal received by the third wireless communication device can be expressed as:

[0151]

[0152] Wherein, α′ is the complex attenuated backscattered signal coefficient transmitted by the first wireless communication device, including the power amplification factor applied by the first wireless communication device to the received signal. j It is the attenuation coefficient of the j-th unknown reflector, including the radar cross-section.

[0153] Optionally, in this embodiment of the application, after the third wireless communication device acquires the total signal, it can perform calculations to separate the diameter signal and the reflection path signal from the total signal and determine the diameter signal and the reflection path signal.

[0154] Step 503c: The third wireless communication device locates the first wireless communication device and the second wireless communication device based on the diameter signal and the reflection path signal.

[0155] Optionally, in the embodiments of this application, the above step 503c can be implemented by the following steps 503c1 and 503c2.

[0156] Step 503c1: The third wireless communication device determines the first time delay based on the diameter signal and the second time delay based on the reflected path signal.

[0157] The first delay is the delay of the diameter signal transmitted from the second wireless communication device to the third wireless communication device. The second delay is the delay of the reflection path signal transmitted from the second wireless communication device to the third wireless communication device via the first wireless communication device.

[0158] In this embodiment of the application, the first delay is: in, For the first time delay, The time offset τ for the diameter signal transmitted by the second wireless communication device 2,3 The total propagation time of the diameter signal transmitted from the second wireless communication device to the third wireless communication device. The time offset for the third wireless communication device to receive the diameter signal.

[0159] In this embodiment of the application, the second delay is: in, This is the second time delay. The time offset τ for the second wireless communication device to send the reflection path signal 2,1 τ is the propagation time of the target RS signal transmitted from the second wireless communication device to the first wireless communication device. 1,3 The propagation time of the reflected path signal transmitted from the first wireless communication device to the third wireless communication device. The time offset for the third wireless communication device to receive the reflected path signal.

[0160] In this embodiment of the application, the timing errors experienced by the sending end and the receiving end are respectively and Because the radio frequency (RF) signals at the transmitting and receiving ends are different, therefore

[0161] Step 503c2: The third wireless communication device locates the first wireless communication device and the second wireless communication device based on the first delay and the second delay.

[0162] Optionally, in the embodiments of this application, step 503c2 can be implemented by steps a and b below.

[0163] Step a: The third wireless communication device determines the first propagation delay difference based on the first delay and the second delay.

[0164] In this embodiment, the first propagation delay difference is the difference between the propagation time of the first RS and the propagation time of the target RS. Furthermore, the first propagation delay difference is:

[0165]

[0166] in, This is the first propagation delay difference. This is the second time delay. This is the first time delay.

[0167] It should be noted that the first propagation delay difference is the propagation delay difference of the signal transmitted from the second wireless communication device, modulated by the first wireless communication device, and reflected to the third wireless communication device. Therefore, the propagation delay difference of the signal transmitted from the third wireless communication device, modulated by the first wireless communication device, and reflected to the second wireless communication device can be obtained as follows:

[0168]

[0169] Therefore, based on the distinctness of propagation delays, it can be determined that...

[0170] Step b: The third wireless communication device locates the first wireless communication device and the second wireless communication device based on the first propagation delay difference.

[0171] Optionally, in the embodiments of this application, combined with Figure 9 ,like Figure 10 As shown, prior to step 503 above, the positioning method provided in this application embodiment further includes steps 601 and 701 as described below.

[0172] Step 601: The third wireless communication device receives the second information sent by the first wireless communication device.

[0173] In this embodiment of the application, the first information includes a third delay and a fourth delay. The third delay and the fourth delay are determined by the third wireless communication device based on the diameter signal and the reflection path signal, respectively, when the second wireless communication device and the first wireless communication device are mutually converted.

[0174] In this embodiment, the third delay is the delay of the diameter signal sent from the second wireless communication device after the first conversion to the third wireless communication device; the fourth delay is the delay of the reflection path signal sent from the second wireless communication device after the first conversion to the third wireless communication device via the first wireless communication device after the first conversion.

[0175] It should be noted that when the first wireless communication device and the second wireless communication device switch to each other for the first time, the process of determining the third and fourth delays can refer to the process of determining the first and second delays described above. To avoid repetition, it will not be repeated here.

[0176] Step 701: The third wireless communication device locates the first wireless communication device and the second wireless communication device based on the third delay and the fourth delay.

[0177] Optionally, in the embodiments of this application, step 701 above can be specifically implemented by step 701a below.

[0178] Step 701a: The third wireless communication device determines the second propagation delay difference based on the third delay and the fourth delay.

[0179] In this embodiment of the application, the aforementioned second propagation delay difference is the difference between the propagation time of the first RS transmitted by the second wireless communication device after the first conversion and the propagation time of the target RS after the first conversion.

[0180] In this embodiment of the application, the second propagation delay difference is:

[0181]

[0182] in, This is the first propagation delay difference. This is the fourth time delay. This is the third time delay.

[0183] Optionally, embodiments of this application provide, in conjunction with Figure 9 ,like Figure 11 As shown, prior to step 503 above, the positioning method provided in this application embodiment further includes steps 602 and 702 as described below.

[0184] Step 602: The third wireless communication device receives the third information sent by the second wireless communication device.

[0185] In this embodiment of the application, the second information includes a fifth delay and a sixth delay. The fifth delay and the sixth delay are determined by the second wireless communication device based on the diameter signal and the reflection path signal, respectively, when the third wireless communication device and the first wireless communication device are mutually converted.

[0186] In this embodiment, the fifth delay is the delay of the diameter signal sent from the second-converted first wireless communication device to the second-converted third wireless communication device; the sixth delay is the delay of the reflection path signal sent from the second-converted third wireless communication device to the second-converted third wireless communication device via the second wireless communication device.

[0187] It should be noted that in the case of the second conversion between the third wireless communication device and the first wireless communication device, the process of determining the fifth and sixth delays can refer to the process of determining the first and second delays described above. To avoid repetition, it will not be repeated here.

[0188] Optionally, in this embodiment of the application, after step 602 above, the positioning method provided in this embodiment of the application further includes the following step 702.

[0189] Step 702: The third wireless communication device locates the third wireless communication device and the first wireless communication device based on the fifth and sixth time delays.

[0190] Optionally, in the embodiments of this application, step 702 above can be specifically implemented by step 702a below.

[0191] It should be noted that the positioning method provided in this application embodiment can also perform the above steps 601 and 602, that is, the positioning method provided in this application embodiment includes steps 501 to 503, steps 601 and 602.

[0192] Step 702a: The third wireless communication device determines the second propagation delay difference based on the fifth delay and the sixth delay.

[0193] In this embodiment of the application, the aforementioned third propagation delay difference is the difference between the propagation time of the first RS transmitted by the second wireless communication device after the second conversion and the propagation time of the target RS after the second conversion.

[0194] In this embodiment of the application, the third propagation delay difference is:

[0195]

[0196] in, This is the first propagation delay difference. This is the sixth delay. This is the fifth time delay.

[0197] Optionally, in the embodiments of this application, the above step 503c can be specifically implemented by the following step 503c3.

[0198] Step 503c3: The third wireless communication device determines the target distance based on the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference.

[0199] In this embodiment of the application, the target distance includes a first distance, a second distance, and a third distance;

[0200] In this embodiment of the application, the first distance is the distance between the third wireless communication device and the first wireless communication device, the second distance is the distance between the third wireless communication device and the second wireless communication device, and the third distance is the distance between the first wireless communication device and the second wireless communication device.

[0201] Optionally, in this embodiment of the application, after obtaining the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference, the third wireless communication device can obtain at least three equations, and obtain the propagation delay (i.e., positioning delay parameter) between S and UE through the at least three equations, and identify them in a vector manner so that the third wireless communication device can determine the target distance.

[0202] Optionally, in the embodiments of this application, step 503c3 above can be specifically implemented by step c below.

[0203] Step c: The third wireless communication device acquires at least three positioning equations, determines the target number of positioning equations from the at least three positioning equations, and determines the target distance based on the target number of positioning equations.

[0204] The localization equation is: y = Ax, where y is the localization equation vector related to the propagation delay difference, and the elements of the localization equation vector are... x is the positioning delay parameter vector, and the elements of the positioning delay parameter vector are τ. 2,3 =[x] 2,3 A is the positioning equation matrix, which is determined based on the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference.

[0205] Optionally, in this embodiment of the application, the positioning delay parameter vector is obtained through x = (A T A) -1 A T y is determined, and the positioning delay parameter vector x is represented as:

[0206]

[0207] Optionally, in this embodiment, the localization equation vector y related to the propagation delay difference can be expressed as:

[0208]

[0209] Optionally, in this embodiment, the positioning equation matrix A can be represented as:

[0210]

[0211] In this embodiment, the third wireless communication device can receive a first signal reflected by the first wireless communication device through a reflection path, and simultaneously receive a first RS transmitted by the second wireless communication device through a direct path. Based on the first signal and the first RS, a first propagation delay difference can be determined. Then, the first and second wireless communication devices exchange data to determine a second propagation delay difference, and the first and third wireless communication devices exchange data to determine a third propagation delay difference. Thus, the third wireless communication device can summarize and calculate the first, second, and third propagation delay differences, and determine the distances between the third and first wireless communication devices, the third and second wireless communication devices, and the first and second wireless communication devices.

[0212] Optionally, in this embodiment of the application, the number of at least three positioning equations is a first number; the "determining the target number of positioning equations from at least three positioning equations" in step c above can be specifically implemented through the following step c1.

[0213] Step c1: When the position of the third wireless communication device is fixed, the third wireless communication device obtains the second quantity and determines the target quantity based on the second quantity and the number of positioning equations related to the reflection path of the third wireless communication device.

[0214] The first quantity is: The second quantity is: The number of targets is less than or equal to K represents the number of wireless communication devices in the positioning group.

[0215] Optionally, in this embodiment of the application, the third wireless communication device can exchange with the first wireless communication device and the second wireless communication device respectively, thereby obtaining at least six delays and calculating the distance between the first wireless communication device, the second wireless communication device and the third wireless communication device according to at least three equations.

[0216] Optionally, in this embodiment of the application, by fixing the third wireless communication device, the number of positioning equations can be reduced to a second number. The second number of positioning equations can be used to calculate the positioning delay parameters between (K-1) S-UEs (all S-UEs except the third wireless communication device). If it is necessary to determine the positioning delay parameters between (K-1) S-UEs and the third wireless communication device, the target number of positioning equations can be determined by the second number of positioning equations and a positioning equation related to the reflection path of the third wireless communication device.

[0217] 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 it is necessary to locate all S-UEs, the number of equations that need to be summarized and calculated is huge. Although a large number of equations can achieve 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. This simplifies the steps of the third wireless communication device in locating the first and second wireless communication devices and improves the efficiency of the third wireless communication device in locating the first and second wireless communication devices.

[0218] This application provides a positioning method executed by a third wireless communication device. The third wireless communication device receives a first reference signal RS sent by a second wireless communication device; the third wireless communication device also receives a first signal sent by a first wireless communication device, the first signal being a reflected signal corresponding to a target RS, where the target RS is the RS sent by the second wireless communication device to the first wireless communication device; the third wireless communication device performs positioning for both the first and second wireless communication devices based on the first RS and the first signal. Since the third wireless communication device can perform positioning for both the first and second wireless communication devices based on the first RS sent by the second wireless communication device via a direct path and the first signal modulated and reflected by the first wireless communication device, accurate positioning of the wireless communication devices can be achieved without the need for UE or gNB calibration.

[0219] Example 4

[0220] This application provides a positioning method. Figure 12 A flowchart of a positioning method provided in an embodiment of this application is shown. Figure 12 As shown, the positioning method provided in this application embodiment may include the following steps 801 to 804.

[0221] Step 801: In the first time slot, the target device, acting as the first wireless communication device, receives the target reference signal RS sent by the second wireless communication device and sends a first signal to the third wireless communication device.

[0222] In this embodiment of the application, the first signal mentioned above is the reflected signal corresponding to the target RS.

[0223] Step 802: In the second time slot, the target device, as the second wireless communication device, sends a first reference signal RS to the third wireless communication device and sends a target RS to the first wireless communication device.

[0224] Step 803: In the third time slot, the target device, as the third wireless communication device, receives the first RS sent by the second wireless communication device and receives the first signal sent by the first wireless communication device.

[0225] Step 804: The target device locates the first wireless communication device and the second wireless communication device based on the first RS and the first signal.

[0226] The first wireless communication device is used to perform the positioning method as described in the previous embodiment, the second wireless communication device is used to perform the positioning method as described in embodiment two, and the third communication device is used to perform the positioning method as described in embodiment three.

[0227] It should be noted that this application embodiment does not impose any restrictions on the execution order of steps 801 to 803 described above. Figure 12 The diagram illustrates one possible execution sequence of steps 801 to 803.

[0228] This application provides a positioning method executed by a target device. In a first time slot, the target device, acting as a first wireless communication device, receives a target reference signal RS sent by a second wireless communication device and sends a first signal to a third wireless communication device. In a second time slot, the target device, acting as the second wireless communication device, sends the first reference signal RS to the third wireless communication device and sends a target RS to the first wireless communication device. In a third time slot, the target device, acting as the third wireless communication device, receives the first RS sent by the second wireless communication device and the first signal sent by the first wireless communication device, and positions the first and second wireless communication devices based on the first RS and the first signal. Since the first, second, and third wireless communication devices can exchange information in different time slots and acquire at least one measurement by sending RS, and then send the acquired measurement to the third wireless communication device, the third wireless communication device can summarize and calculate all the data and position the first and second wireless communication devices. Thus, accurate positioning of the wireless communication devices can be achieved without the need for calibrating the UE or gNB.

[0229] The positioning method provided in this application can be executed by a positioning device. This application uses the positioning execution method as an example to illustrate the positioning device provided in this application.

[0230] Figure 13 A schematic diagram of a possible structure of the positioning device involved in an embodiment of this application is shown. For example... Figure 13 As shown, the positioning device 40 may include a receiving module 41 and a transmitting module 42.

[0231] The receiving module 41 is used to receive the target reference signal RS sent by the second wireless communication device. The transmitting module 42 is used to send a first signal to the third wireless communication device. The first signal is a reflected signal corresponding to the target RS, and the first signal is used to indicate the positioning-related information of the first and second wireless communication devices.

[0232] This application provides a positioning device. Since the first wireless communication device can receive the target RS sent by the second wireless communication device and send the reflected signal corresponding to the target RS, i.e., the first signal, to the third wireless communication device, the positioning-related information of the first and second wireless communication devices can be indicated. Thus, the wireless communication devices can be accurately positioned without the need to introduce a calibration UE or gNB.

[0233] In one possible implementation, the positioning device further includes a modulation module. The modulation module is used to modulate the target RS with a modulation sequence signal to obtain the first signal before the transmitting module 42 transmits the first signal to the third wireless communication device.

[0234] In one possible implementation, the modulated sequence signal is determined by any of the following: On-Off Keying (OOK), Binary Phase Shift Keying (BPSK), or Code Division Multiplexing (CDM) Orthogonal Code.

[0235] In one possible implementation, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices within 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 within different time slots; or, the first wireless communication device, the second wireless communication device, and the third wireless communication device switch between each other within different time slots.

[0236] In one possible implementation, the target RS includes at least one of the following: a tracking reference signal (TRS), a channel state information reference signal (CSI-RS), and a positioning reference signal (PRS).

[0237] In one possible implementation, the position of the first wireless communication device is fixed, or the position of the first wireless communication device moves along a first trajectory; wherein the position of the first wireless communication device is known information of the third wireless communication device.

[0238] The positioning method provided in this application can be executed by a positioning device. This application uses the example of a positioning device executing the positioning method to illustrate the positioning device provided in this application.

[0239] Figure 14 A schematic diagram of a possible structure of the positioning device involved in an embodiment of this application is shown. For example... Figure 14 As shown, the positioning device 50 may include a transmitting module 51.

[0240] The transmitting module 51 is configured to transmit a first reference signal RS to the third wireless communication device and a target RS to the first wireless communication device. The first RS and the target RS are used to indicate positioning-related information of the first and second wireless communication devices.

[0241] This application provides a positioning device in which a second wireless communication device sends a first reference signal RS to a third wireless communication device and a target RS to a first wireless communication device. Since the first RS and the target RS include positioning-related information for indicating the first and second wireless communication devices, the wireless communication devices can be accurately located without the need to calibrate the UE or gNB.

[0242] In one possible implementation, the transmitting module 51 is specifically configured to transmit a first RS to a third wireless communication device at a first time, and transmit a target RS to the first wireless communication device at a second time. Alternatively, it may transmit the first RS to the third wireless communication device at a third time, and simultaneously transmit the target RS to the first wireless communication device.

[0243] In one possible implementation, the first RS and the target RS are the same physical signal or different physical signals; the first RS and / or the target RS include at least one of the following: a tracking reference signal TRS, a channel state information reference signal CSI-RS, and a positioning reference signal PRS.

[0244] The positioning method provided in this application can be executed by a positioning device. This application uses the example of a positioning device executing the positioning method to illustrate the positioning device provided in this application.

[0245] Figure 15 A schematic diagram of a possible structure of the positioning device involved in an embodiment of this application is shown. For example... Figure 15 As shown, the positioning device 60 may include a receiving module 61 and a positioning module 62.

[0246] The receiving module 61 is used to receive a first reference signal RS sent by the second wireless communication device and a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS, and the target RS is the RS sent by the second wireless communication device to the first wireless communication device. The positioning module 62 is used to locate the first wireless communication device and the second wireless communication device based on the first RS and the first signal received by the receiving module 61.

[0247] This application provides a positioning device in which a third wireless communication device can locate the first wireless communication device and the second wireless communication device based on the first RS transmitted by the second wireless communication device through a direct path and the first signal modulated and reflected by the first wireless communication device. In this way, the wireless communication device can be accurately located without the need to introduce a calibration UE or gNB.

[0248] In one possible implementation, the positioning module 62 is specifically configured to determine a diameter signal based on a first RS; determine a reflection path signal based on a first signal; and locate a first wireless communication device and a second wireless communication device based on the diameter signal and the reflection path signal.

[0249] In one possible implementation, the positioning module 62 is specifically configured to determine a first time delay based on the diameter signal, determine a second time delay based on the reflection path signal, and locate the first wireless communication device and the second wireless communication device based on the first and second time delays. The first time delay is the time delay of the diameter signal transmitted from the second wireless communication device to the third wireless communication device; the second time delay is the time delay of the reflection path signal transmitted from the second wireless communication device to the third wireless communication device via the first wireless communication device.

[0250] In one possible implementation, the positioning module 62 is specifically used to determine a first propagation delay difference based on a first delay and a second delay, the propagation delay difference being the difference between the propagation time of the first RS and the propagation time of the target RS, and to locate the first wireless communication device and the second wireless communication device based on the first propagation delay difference.

[0251] In one possible implementation, the receiving module 61 is further configured to receive second information sent by the first wireless communication device before the positioning module 62 performs positioning of the first wireless communication device and the second wireless communication device based on the first RS and the first signal; and / or, receive third information sent by the second wireless communication device. The first information includes a third delay and a fourth delay, which are determined by the third wireless communication device based on the diameter signal and the reflection path signal, respectively, in the case of a first conversion between the second and first wireless communication devices. 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. The second information includes a fifth delay and a sixth delay, which are determined by the second wireless communication device based on the diameter signal and the reflection path signal, respectively, in the case of a second conversion between the third and first wireless communication devices. 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 via the second wireless communication device.

[0252] In one possible implementation, the positioning module 62 is further configured to locate the first wireless communication device and the second wireless communication device based on a third delay and a fourth delay after the receiving module 61 receives the second information sent by the first wireless communication device. The positioning module 62 is also configured to locate the third wireless communication device and the first wireless communication device based on a fifth delay and a sixth delay after the receiving module 61 receives the third information sent by the first wireless communication device.

[0253] In one possible implementation, the positioning module 62 is specifically configured to determine a second propagation delay difference based on a third delay and a fourth delay, wherein the second propagation delay difference is the difference between the propagation time of the first RS transmitted by the second wireless communication device after the first conversion and the propagation time of the target RS after the first conversion. The positioning module 62 is also specifically configured to determine the second propagation delay difference based on a fifth delay and a sixth delay, wherein the third propagation delay difference is the difference between the propagation time of the first RS transmitted by the second wireless communication device after the second conversion and the propagation time of the target RS after the second conversion.

[0254] In one possible implementation, the positioning module 62 is specifically configured to determine the target distance based on a first propagation delay difference, a second propagation delay difference, and a third propagation delay difference. The target distance includes the first distance, the second distance, and the third distance; the first distance is the distance between the third wireless communication device and the first wireless communication device, the second distance is the distance between the third wireless communication device and the second wireless communication device, and the third distance is the distance between the first wireless communication device and the second wireless communication device.

[0255] In one possible implementation, the diameter signal is:

[0256] Where A2 is determined by the signal gain of the modulated sequence signal, w' 2,3 [n] represents the additive white Gaussian noise (AWGN) received by the second wireless communication device in the nth symbol, where AWGN includes interference signals.

[0257] In one possible implementation, the reflection path signal is:

[0258] Where A1 is determined by the signal gain of the modulated sequence signal, and w″ 2.3 [n] represents the additive white Gaussian noise (AWGN) received by the second wireless communication device in the nth symbol, where AWGN includes interference signals.

[0259] In one possible implementation, the first delay is: in, For the first time delay, The time offset τ for the diameter signal transmitted by the second wireless communication device 2,3 The total propagation time of the diameter signal transmitted from the second wireless communication device to the third wireless communication device. The time offset for the third wireless communication device to receive the diameter signal; the second delay is: in, This is the second time delay. The time offset τ for the second wireless communication device to send the reflection path signal 2,1 τ is the propagation time of the target RS signal transmitted from the second wireless communication device to the first wireless communication device. 1,3 The propagation time of the reflected path signal transmitted from the first wireless communication device to the third wireless communication device. The time offset for the third wireless communication device to receive the reflected path signal; wherein the timing errors experienced by the transmitting end and the receiving end are respectively and The radio frequency (RF) signals at the transmitting and receiving ends are different.

[0260] In one possible implementation, the first propagation delay difference is:

[0261] in, For the difference in propagation delay, This is the second time delay. This is the first time delay.

[0262] In one possible implementation, the positioning module 62 is specifically used to acquire at least three positioning equations, determine the target number of positioning equations from the at least three positioning equations, and determine the target distance based on the target number of positioning equations. The positioning equation is: y = Ax, where y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector are... x is the positioning delay parameter vector, and the elements of the positioning delay parameter vector are τ. 2,3 =[x] 2,3 A is the positioning equation matrix, which is determined based on the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference.

[0263] In one possible implementation, the positioning delay parameter vector is obtained through x = (A T A) -1 A T y is determined.

[0264] In one possible implementation, the number of at least three positioning equations is a first quantity; the positioning module 62 is specifically used to obtain a second quantity when the location of the third wireless communication device is a fixed location, and to determine the target quantity based on the second quantity and the number of positioning equations related to the reflection path of the third wireless communication device. The first quantity is: The second quantity is: The number of targets is less than or equal to K represents the number of wireless communication devices in the positioning group.

[0265] The positioning method provided in this application can be executed by a positioning device. This application uses the example of a positioning device executing the positioning method to illustrate the positioning device provided in this application.

[0266] Figure 16 A schematic diagram of a possible structure of the positioning device involved in an embodiment of this application is shown. For example... Figure 16 As shown, the positioning device 70 may include a receiving module 71, a transmitting module 72, and a positioning module 73.

[0267] The receiving module 71 is configured to, in a first time slot, act as a first wireless communication device to receive a target reference signal RS transmitted by a second wireless communication device and to transmit a first signal to a third wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS. The transmitting module 72 is configured to, in a second time slot, act as a second wireless communication device to transmit the first reference signal RS to the third wireless communication device and to transmit the target RS to the first wireless communication device. The receiving module 71 is also configured to, in a third time slot, act as a third wireless communication device to receive the first RS transmitted by the second wireless communication device and to receive the first signal transmitted by the first wireless communication device. The positioning module 73 is configured to, based on the first RS and the first signal received by the receiving module, locate the first wireless communication device and the second wireless communication device. The first wireless communication device is configured to execute the positioning method as described in steps 201 and 202, the second wireless communication device is configured to execute the positioning method as described in step 401, and the third wireless communication device is configured to execute the positioning method as described in steps 501 to 503.

[0268] This application provides a positioning device in which a first, second, and third wireless communication device can exchange information with each other in different time slots. By transmitting RS (Remote Signal), each device acquires at least one measurement and sends the acquired measurement to the third wireless communication device. The third wireless communication device can then aggregate and calculate all the data to locate the first and second wireless communication devices. Thus, accurate positioning of the wireless communication devices can be achieved without the need for a calibration UE or gNB.

[0269] 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 include, but is not limited to, the type of terminal 11 listed above; other devices can be servers, network attached storage (NAS), etc., and this application embodiment does not specifically limit the type.

[0270] The positioning device provided in this application embodiment can achieve... Figures 6 to 9 The various processes implemented in the positioning method embodiment achieve the same technical effect, and will not be described again here to avoid repetition.

[0271] 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 programs 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 positioning 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 positioning method embodiments and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0272] This application embodiment also provides a terminal, including a processor and a communication interface. The processor is used to receive a target reference signal RS sent by a second wireless communication device; and to send a first signal to a third wireless communication device. The first signal is a reflected signal corresponding to the target RS, and the first signal is used to indicate positioning-related information of the first and second wireless communication devices. This terminal embodiment corresponds to the above-described terminal-side method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and achieve the same technical effect. Specifically, Figure 18 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0273] 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.

[0274] 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.

[0275] 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.

[0276] 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.

[0277] 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.

[0278] 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.

[0279] In the case where terminal 100 is the terminal described in Embodiment 1

[0280] The radio frequency unit 101 is used to receive the target reference signal RS sent by the second wireless communication device and to send a first signal to the third wireless communication device. The first signal is a reflected signal corresponding to the target RS and is used to indicate the positioning-related information of the first and second wireless communication devices.

[0281] This application provides a terminal in which a first wireless communication device can receive a target RS sent by a second wireless communication device and send a reflected signal corresponding to the target RS, i.e., a first signal, to a third wireless communication device. The first signal is used to indicate the positioning-related information of the first and second wireless communication devices. In this way, the wireless communication devices can be accurately located without the need to introduce a calibration UE or gNB.

[0282] Optionally, in this embodiment of the application, the processor 110 is configured to modulate the target RS by a modulation sequence signal to obtain the first signal before sending the first signal to the third wireless communication device.

[0283] In the case where terminal 100 is the terminal described in Embodiment 2,

[0284] The radio frequency unit 101 is used to send a first reference signal RS to the third wireless communication device and a target RS to the first wireless communication device. The first RS and the target RS are used to indicate positioning-related information of the first and second wireless communication devices.

[0285] This application provides a terminal in which a second wireless communication device sends a first reference signal RS to a third wireless communication device and a target RS to a first wireless communication device. Since the first RS and the target RS include positioning-related information for indicating the first and second wireless communication devices, the wireless communication devices can be accurately located without the need to calibrate the UE or gNB.

[0286] Optionally, in this embodiment, the radio frequency unit 101 is specifically configured to transmit a first RS to a third wireless communication device at a first time, and transmit a target RS to the first wireless communication device at a second time. Alternatively, it may transmit the first RS to the third wireless communication device at a third time, and simultaneously transmit the target RS to the first wireless communication device.

[0287] In the case where terminal 100 is the terminal described in Embodiment 3,

[0288] The radio frequency unit 101 is used to receive a first reference signal RS sent by the second wireless communication device and a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS, and the target RS is the RS sent by the second wireless communication device to the first wireless communication device. The processor 110 is used to locate the first wireless communication device and the second wireless communication device based on the first RS and the first signal.

[0289] This application provides a terminal in which a third wireless communication device can locate the first wireless communication device and the second wireless communication device based on the first RS transmitted by the second wireless communication device through a direct path and the first signal modulated and reflected by the first wireless communication device. In this way, the wireless communication device can be accurately located without the need to introduce a calibration UE or gNB.

[0290] Optionally, in this embodiment of the application, the processor 110 is specifically configured to determine a diameter signal based on a first RS; determine a reflection path signal based on a first signal; and locate a first wireless communication device and a second wireless communication device based on the diameter signal and the reflection path signal.

[0291] Optionally, in this embodiment, the processor 110 is specifically configured to determine a first time delay based on the diameter signal, determine a second time delay based on the reflection path signal, and locate the first wireless communication device and the second wireless communication device based on the first and second time delays. The first time delay is the time delay of the diameter signal transmitted from the second wireless communication device to the third wireless communication device; the second time delay is the time delay of the reflection path signal transmitted from the second wireless communication device to the third wireless communication device via the first wireless communication device.

[0292] Optionally, in this embodiment of the application, the processor 110 is specifically configured to determine a first propagation delay difference based on a first delay and a second delay, wherein the propagation delay difference is the difference between the propagation time of the first RS and the propagation time of the target RS, and locate the first wireless communication device and the second wireless communication device based on the first propagation delay difference.

[0293] Optionally, in this embodiment, the radio frequency unit 101 is further configured to receive second information sent by the first wireless communication device before locating the first wireless communication device and the second wireless communication device based on the first RS and the first signal; and / or receive third information sent by the second wireless communication device. The first information includes a third delay and a fourth delay, which are determined by the third wireless communication device based on the diameter signal and the reflection path signal, respectively, in the case of a first conversion between the second and first wireless communication devices. 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. The second information includes a fifth delay and a sixth delay, which are determined by the second wireless communication device based on the diameter signal and the reflection path signal, respectively, in the case of a second conversion between the third and first wireless communication devices. 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 via the second wireless communication device.

[0294] Optionally, in this embodiment, the processor 110 is further configured to, after receiving the second information sent by the first wireless communication device, locate the first wireless communication device and the second wireless communication device based on a third delay and a fourth delay. The processor is also configured to, after receiving the third information sent by the first wireless communication device, locate the third wireless communication device and the first wireless communication device based on a fifth delay and a sixth delay.

[0295] Optionally, in this embodiment of the application, the processor 110 is specifically configured to determine a second propagation delay difference based on a third delay and a fourth delay, wherein the second propagation delay difference is the difference between the propagation time of the first RS transmitted by the second wireless communication device after the first conversion and the propagation time of the target RS after the first conversion; and to determine a second propagation delay difference based on a fifth delay and a sixth delay, wherein the third propagation delay difference is the difference between the propagation time of the first RS transmitted by the second wireless communication device after the second conversion and the propagation time of the target RS after the second conversion.

[0296] Optionally, in this embodiment of the application, the processor 110 is specifically configured to determine the target distance based on the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference. The target distance includes the first distance, the second distance, and the third distance; the first distance is the distance between the third wireless communication device and the first wireless communication device, the second distance is the distance between the third wireless communication device and the second wireless communication device, and the third distance is the distance between the first wireless communication device and the second wireless communication device.

[0297] Optionally, in this embodiment, the processor 110 is specifically configured to acquire at least three positioning equations, determine the target number of positioning equations from the at least three positioning equations, and determine the target distance based on the target number of positioning equations. The positioning equation is: y = Ax, where y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector are... x is the positioning delay parameter vector, and the elements of the positioning delay parameter vector are τ. 2,3 =[x] 2,3 A is the positioning equation matrix, which is determined based on the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference.

[0298] Optionally, in this embodiment, the number of at least three positioning equations is a first number; the processor 110 is specifically configured to obtain a second number when the location of the third wireless communication device is a fixed location, and determine the target number based on the second number and the number of positioning equations related to the reflection path of the third wireless communication device. The first number is: The second quantity is: The number of targets is less than or equal to K represents the number of wireless communication devices in the positioning group.

[0299] In the case where terminal 100 is the terminal described in Embodiment 4

[0300] Optionally, in this embodiment, the radio frequency unit 101 is configured to, in a first time slot, act as a first wireless communication device, receive a target reference signal RS transmitted by a second wireless communication device, and transmit a first signal to a third wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS; in a second time slot, act as a second wireless communication device, transmit the first reference signal RS to the third wireless communication device, and transmit the target RS to the first wireless communication device; and in a third time slot, act as a third wireless communication device, receive the first RS transmitted by the second wireless communication device, and receive the first signal transmitted by the first wireless communication device. The processor 110 is configured to locate the first wireless communication device and the second wireless communication device based on the first RS and the first signal. The first wireless communication device is configured as a terminal executing the location methods in steps 201 and 202, the second wireless communication device is configured as a terminal executing the location methods in step 401, and the third wireless communication device is configured as a terminal executing the location methods in steps 501 to 503.

[0301] This application provides a terminal in which a first wireless communication device, a second wireless communication device, and a third wireless communication device can exchange information with each other in different time slots. By transmitting RS (Remote Signal), each device acquires at least one measurement and sends the acquired measurement to the third wireless communication device. The third wireless communication device can then aggregate and calculate all the data and locate the first and second wireless communication devices. Thus, accurate location of the wireless communication devices can be achieved without the need for a calibration UE or gNB.

[0302] 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, the third communication device, and the target device, they implement the various processes of the above-described positioning method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0303] 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.

[0304] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described positioning method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0305] 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.

[0306] 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, the third communication device, and the target device to implement the various processes of the above-described positioning method embodiments and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0307] This application also provides a positioning system, which includes a first wireless communication device, a second wireless communication device, a third communication device, and / or a target device as described above. The positioning system is used to execute and implement the various processes of the positioning method embodiments in this application, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0308] 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.

[0309] 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.

[0310] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A positioning method, characterized by, The method is performed by a first wireless communication device, and the method comprises: The first wireless communication device receives a target reference signal (RS) sent by a second wireless communication device; The first wireless communication device sends a first signal to a third wireless communication device, the first signal being a reflection signal corresponding to the target RS, the first signal being obtained by modulating the target RS by a modulation sequence signal, the first signal being used to indicate positioning-related information of the first wireless communication device and the second wireless communication device, the positioning-related information being used to co-locate the first wireless communication device and the second wireless communication device with a first RS, wherein the first RS is from the second wireless communication device.

2. The method of claim 1, wherein, The modulation sequence signal is determined by any one of the following manners: on-off keying (OOK), binary phase shift keying (BPSK), and code division multiplexing (CDM) orthogonal code.

3. The method according to claim 1 or 2, characterized in that, The first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in a same time slot. Alternatively, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in different time slots. Alternatively, the first wireless communication device, the second wireless communication device, and the third wireless communication device are converted with each other in different time slots.

4. The method of claim 1, wherein, The target RS comprises at least one of the following: a tracking reference signal (TRS), a channel state information reference signal (CSI-RS), and a positioning reference signal (PRS).

5. The method of any one of claims 1-4, the position of the first wireless communication device is fixed, or the position of the first wireless communication device moves along a first trajectory; wherein, The position of the first wireless communication device is known information of the third wireless communication device.

6. A positioning method characterized by, The method is performed by a second wireless communication device, and the method comprises: The second wireless communication device sends a first reference signal (RS) to a third wireless communication device and sends a target RS to a first wireless communication device; The first RS and the target RS are used to indicate positioning-related information of the first wireless communication device and the second wireless communication device, the positioning-related information being used to co-locate the first wireless communication device and the second wireless communication device with a first signal, the first signal being obtained by modulating the target RS by a modulation sequence signal, the first signal being from the first wireless communication device.

7. The method of claim 6, wherein: The second wireless communication device sends a first RS to a third wireless communication device and sends a target RS to a first wireless communication device, comprising: The second wireless communication device sends the first RS to the third wireless communication device at a first time and sends the target RS to the first wireless communication device at a second time; Alternatively, The second wireless communication device sends the first RS to the third wireless communication device at a third time and simultaneously sends the target RS to the first wireless communication device.

8. The method according to claim 6 or 7, characterized in that, The first RS and the target RS are the same physical signal or different physical signals. The first RS and / or the target RS comprise at least one of the following: a tracking reference signal (TRS), a channel state information reference signal (CSI-RS), and a positioning reference signal (PRS).

9. A positioning method characterized by, The method is performed by a third wireless communication device, and the method comprises: The third wireless communication device receives a first reference signal (RS) sent by a second wireless communication device; The third wireless communication device receives a first signal sent by a first wireless communication device, the first signal being a reflection signal corresponding to a target RS, the target RS being an RS sent by the second wireless communication device to the first wireless communication device; The third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the first RS and the first signal, the first signal being obtained by modulating the target RS by a modulation sequence signal.

10. The method of claim 9, wherein, The third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the first RS and the first signal, comprising: The third wireless communication device determines a diameter signal according to the first RS; The third wireless communication device determines a reflection diameter signal according to the first signal; The third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the diameter signal and the reflection diameter signal.

11. The method of claim 10, wherein, The third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the diameter signal and the reflection diameter signal, comprising: The third wireless communication device determines a first time delay according to the diameter signal, and determines a second time delay according to the reflection diameter signal; The first time delay is a time delay of the diameter signal sent by the second wireless communication device to the third wireless communication device; The second time delay is a time delay of the reflection diameter signal sent by the second wireless communication device to the third wireless communication device via the first wireless communication device; The third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the first time delay and the second time delay.

12. The method of claim 11, wherein, The third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the first time delay and the second time delay, comprising: The third wireless communication device determines a first propagation delay difference amount according to the first time delay and the second time delay, the first propagation delay difference amount being a difference amount between a propagation time of the first RS and a propagation time of the target RS; The third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the first propagation delay difference amount.

13. The method according to any one of claims 10 to 12, characterized in that, Before the third wireless communication device performs positioning on the first wireless communication device and the second wireless communication device according to the first RS and the first signal, the method further comprises: The third wireless communication device receives first information sent by the first wireless communication device; and / or, The third wireless communication device receives second information sent by the second wireless communication device; The first information includes a third time delay and a fourth time delay, which are respectively determined by the third wireless communication device according to a diameter signal and a reflected diameter signal in the case that the second wireless communication device and the first wireless communication device are mutually first converted. The third time delay is a time delay of a diameter signal sent by the second wireless communication device after first conversion to the third wireless communication device, and the fourth time delay is a time delay of the reflected diameter signal sent by the first wireless communication device after first conversion to the third wireless communication device via the first wireless communication device after first conversion. The second information includes a fifth time delay and a sixth time delay, which are respectively determined by the second wireless communication device according to a diameter signal and a reflected diameter signal in the case that the third wireless communication device and the first wireless communication device are mutually second converted. The fifth time delay is a time delay of a diameter signal sent by the first wireless communication device after second conversion to the third wireless communication device after second conversion, and the sixth time delay is a time delay of the reflected diameter signal sent by the third wireless communication device after second conversion to the third wireless communication device after second conversion via the second wireless communication device.

14. The method of claim 13, wherein, After the third wireless communication device receives the first information sent by the first wireless communication device, the method further includes: The third wireless communication device positions the first wireless communication device and the second wireless communication device according to the third time delay and the fourth time delay. After the third wireless communication device receives the second information sent by the first wireless communication device, the method further includes: The third wireless communication device positions the third wireless communication device and the first wireless communication device according to the fifth time delay and the sixth time delay.

15. The method of claim 14, wherein, The third wireless communication device positions the first wireless communication device and the second wireless communication device according to the third time delay and the fourth time delay, including: The third wireless communication device determines a second propagation delay difference amount according to the third time delay and the fourth time delay, the second propagation delay difference amount being a difference amount between a propagation time of a first RS sent by the second wireless communication device after first conversion and a propagation time of a target RS after first conversion. The third wireless communication device positions the third wireless communication device and the first wireless communication device according to the fifth time delay and the sixth time delay, including: The third wireless communication device determines a third propagation delay difference amount according to the fifth time delay and the sixth time delay, the third propagation delay difference amount being a difference amount between a propagation time of a first RS sent by the second wireless communication device after second conversion and a propagation time of a target RS after second conversion.

16. The method according to any one of claims 12 to 15, characterized in that, The third wireless communication device positions the first wireless communication device and the second wireless communication device according to the diameter signal and the reflected diameter signal, including: The third wireless communication device determines a target distance according to the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference; The target distance includes a first distance, a second distance, and a third distance; The first distance is a distance between the third wireless communication device and the first wireless communication device, the second distance is a distance between the third wireless communication device and the second wireless communication device, and the third distance is a distance between the first wireless communication device and the second wireless communication device.

17. The method according to any one of claims 10 to 16, characterized in that, The diameter signal is: ; wherein is determined by a signal gain of the modulated sequence signal, respectively an additive white Gaussian noise, AWGN, received by the third wireless communication device in the first symbol, the AWGN comprising an interference signal therein.

18. The method according to any one of claims 10 to 16, characterized in that, The reflected path signal is: ; wherein, determined by a signal gain of the modulated sequence signal, and respectively an additive white Gaussian noise, AWGN, received by the third wireless communication device in the first symbol, the AWGN including an interference signal therein.

19. The method of any one of claims 11-18, wherein The first time delay is: ; wherein, is a time offset for transmitting the Diameter signal from the first wireless communication device, is a time offset for transmitting the Diameter signal from the second wireless communication device, is a total propagation time for the Diameter signal transmitted from the second wireless communication device to the third wireless communication device, is a time offset for receiving the Diameter signal at the third wireless communication device; The second time delay is: ; wherein, is a second time delay, is a time offset for transmitting the specular signal by the second wireless communication device, is a propagation time for a target RS signal transmitted from the second wireless communication device to the first wireless communication device, is a propagation time for a specular signal transmitted from the first wireless communication device to the third wireless communication device, is a time offset for receiving the specular signal by the third wireless communication device; Wherein the timing errors experienced by the transmitting end and the receiving end are respectively and , The radio frequency signals RF of the sending end and the receiving end are different, .

20. The method of any one of claims 12-19, wherein The first propagation delay difference amount is: ; wherein, is the first propagation delay difference amount, is a second time delay, is a first time delay.

21. The method of any one of claims 15-20, wherein The third wireless communication device determines a target distance according to the first propagation delay difference, the second propagation delay difference, and the third propagation delay difference, including: The third wireless communication device obtains at least three positioning equations, determines a target number of positioning equations from the at least three positioning equations, and determines a target distance according to the target number of positioning equations; wherein the positioning equation is: , is a positioning equation vector related to the propagation delay difference quantity, an element of the positioning equation vector being , is a positioning delay parameter vector, an element of the positioning delay parameter vector being , is a positioning equation matrix, determined according to the first propagation delay difference quantity, the second propagation delay difference quantity, and the third propagation delay difference quantity.

22. The method of claim 21, wherein The positioning delay parameter vector is determined by determining.

23. The method of claim 21, wherein, The number of the at least three positioning equations is a first number; The determination of the target number of positioning equations from the at least three positioning equations includes: In a case where the position of the third wireless communication device is a fixed position, the third wireless communication device obtains a second number and determines the target number according to the second number and a number of positioning equations related to the reflection path of the third wireless communication device; wherein the first number is: ; the second number is: ; the target number is less than or equal to , is the number of wireless communication devices in the positioning group.

24. A positioning method characterized by, The method is performed by a target device, and the method includes: In a first time slot, the target device, as a first wireless communication device, receives a target reference signal (RS) sent by a second wireless communication device and sends a first signal to a third wireless communication device, the first signal being a reflection signal of the target RS; the first signal is obtained by modulating the target RS with a modulation sequence signal; In a second time slot, the target device, as the second wireless communication device, sends a first reference signal (RS) to the third wireless communication device and sends the target RS to a first wireless communication device; In a third time slot, the target device, as the third wireless communication device, receives the first RS sent by the second wireless communication device and receives the first signal sent by the first wireless communication device; According to the first RS and the first signal, the first wireless communication device and the second wireless communication device are positioned; The first wireless communication device is configured to perform the positioning method of any one of claims 1-5, the second wireless communication device is configured to perform the positioning method of any one of claims 6-8, and the third wireless communication device is configured to perform the positioning method of any one of claims 9-23.

25. A positioning device, characterized by The apparatus is applied to a first wireless communication device and includes a receiving module and a sending module; The receiving module is configured to receive a target reference signal (RS) sent by a second wireless communication device; The sending module is configured to send a first signal to a third wireless communication device, the first signal being a reflection signal corresponding to the target RS, the first signal being obtained by modulating the target RS by a modulation sequence signal, the first signal being used to indicate positioning-related information of the first wireless communication device and the second wireless communication device, the positioning-related information being used to co-locate the first wireless communication device and the second wireless communication device with the first RS, and the first RS being from the second wireless communication device.

26. The apparatus of claim 25, wherein, The modulation sequence signal is determined by any one of the following manners: on-off keying (OOK) manner, binary phase shift keying (BPSK) manner, and code division multiplexing (CDM) orthogonal code manner.

27. The apparatus of claim 25 or 26, wherein, The first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in a same time slot. Alternatively, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in different time slots. Alternatively, the first wireless communication device, the second wireless communication device, and the third wireless communication device are converted with each other in different time slots.

28. The apparatus of claim 25, wherein, The target RS includes at least one of the following: tracking reference signal (TRS), channel state information reference signal (CSI-RS), and positioning reference signal (PRS).

29. The apparatus of any one of claims 25-28, the first wireless communication device being positionally fixed or the first wireless communication device moving along a first trajectory; wherein, The position of the first wireless communication device is known information of the third wireless communication device.

30. A positioning device, characterized by The apparatus is applied to a second wireless communication device, and the apparatus includes a sending module. The sending module is configured to send a first reference signal (RS) to a third wireless communication device, and send a target RS to a first wireless communication device. The first RS and the target RS are used to indicate positioning-related information of the first wireless communication device and the second wireless communication device, and the positioning-related information is used to co-locate the first wireless communication device and the second wireless communication device with a first signal, the first signal being obtained by modulating the target RS by a modulation sequence signal, and the first signal being from the first wireless communication device.

31. The apparatus of claim 30, wherein The sending module is specifically configured to send the first RS to the third wireless communication device at a first time, and send the target RS to the first wireless communication device at a second time. Alternatively, the sending module is specifically configured to send the first RS to the third wireless communication device at a third time, and send the target RS to the first wireless communication device at the same time.

32. The apparatus of claim 30 or 31, wherein, The first RS and the target RS are the same physical signal or different physical signals. The first RS and / or the target RS include at least one of the following: tracking reference signal (TRS), channel state information reference signal (CSI-RS), and positioning reference signal (PRS).

33. A positioning device, characterized by The apparatus is applied to a third wireless communication device, and the apparatus includes a receiving module and a positioning module. The receiving module is configured to receive a first reference signal (RS) sent by a second wireless communication device, and receive a first signal sent by a first wireless communication device, the first signal being a reflection signal corresponding to a target RS, the target RS being an RS sent by the second wireless communication device to the first wireless communication device. The positioning module is configured to perform positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module, the first signal being obtained by modulating the target RS by a modulation sequence signal.

34. The apparatus of claim 33, wherein The positioning module is specifically configured to determine a diameter signal according to the first RS, determine a reflection diameter signal according to the first signal, and perform positioning for the first wireless communication device and the second wireless communication device according to the diameter signal and the reflection diameter signal.

35. The apparatus of claim 34, wherein The positioning module is specifically configured to determine a first time delay according to the diameter signal, determine a second time delay according to the reflection diameter signal, and perform positioning for the first wireless communication device and the second wireless communication device according to the first time delay and the second time delay. The first time delay is a time delay of the diameter signal sent by the second wireless communication device to a third wireless communication device. The second time delay is a time delay of the reflection diameter signal sent by the second wireless communication device to the third wireless communication device via the first wireless communication device.

36. The apparatus of claim 35, wherein The positioning module is specifically configured to determine a first propagation delay difference amount according to the first time delay and the second time delay, the first propagation delay difference amount being a difference amount between a propagation time of the first RS and a propagation time of the target RS, and perform positioning for the first wireless communication device and the second wireless communication device according to the first propagation delay difference amount.

37. The apparatus of any one of claims 34 to 36, wherein The receiving module is further configured to receive first information sent by the first wireless communication device before the positioning module performs positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal. And / or receive second information sent by the second wireless communication device. The first information includes a third time delay and a fourth time delay, the third time delay and the fourth time delay being respectively determined by the third wireless communication device according to the diameter signal and the reflection diameter signal in a case where the second wireless communication device and the first wireless communication device are mutually first converted. The third time delay is a time delay of the diameter signal sent by the second wireless communication device to the third wireless communication device after the first conversion; and the fourth time delay is a time delay of the reflection diameter signal sent by the second wireless communication device to the third wireless communication device via the first wireless communication device after the first conversion. The second information includes a fifth time delay and a sixth time delay, which are respectively determined by the second wireless communication device according to a diameter signal and the reflected diameter signal in the case that the third wireless communication device and the first wireless communication device are mutually second converted. The fifth time delay is a time delay of a diameter signal sent by the first wireless communication device after the second conversion to the third wireless communication device after the second conversion, and the sixth time delay is a time delay of the reflected diameter signal sent by the third wireless communication device after the second conversion to the third wireless communication device after the second conversion via the second wireless communication device.

38. The device of claim 37, wherein, The positioning module is further configured to, after the receiving module receives the first information sent by the first wireless communication device, position the first wireless communication device and the second wireless communication device according to the third time delay and the fourth time delay. The positioning module is further configured to, after the receiving module receives the second information sent by the first wireless communication device, position the third wireless communication device and the first wireless communication device according to the fifth time delay and the sixth time delay.

39. The apparatus of claim 38, wherein The positioning module is specifically configured to determine a second propagation delay difference amount according to the third time delay and the fourth time delay, the second propagation delay difference amount being a difference amount between a propagation time of the first RS sent by the second wireless communication device after the first conversion and a propagation time of the target RS after the first conversion. The positioning module is specifically configured to determine a third propagation delay difference amount according to the fifth time delay and the sixth time delay, the third propagation delay difference amount being a difference amount between a propagation time of the first RS sent by the second wireless communication device after the second conversion and a propagation time of the target RS after the second conversion.

40. The apparatus of any one of claims 36 to 39, wherein The positioning module is specifically configured to determine a target distance according to a first propagation delay difference amount, a second propagation delay difference amount and a third propagation delay difference amount. The target distance includes a first distance, a second distance and a third distance. The first distance is a distance between the third wireless communication device and the first wireless communication device, the second distance is a distance between the third wireless communication device and the second wireless communication device, and the third distance is a distance between the first wireless communication device and the second wireless communication device.

41. The apparatus of any one of claims 34-40, wherein, The diameter signal is: ; wherein is determined by a signal gain of the modulated sequence signal, respectively an additive white Gaussian noise, AWGN, received by the second wireless communication device in the first and second symbols, the AWGN comprising an interference signal therein.

42. The apparatus of any one of claims 34-40, wherein, The reflected path signal is: ; wherein, determined by a signal gain of the modulated sequence signal, and respectively, additive white Gaussian noise (AWGN) received by the second wireless communication device in the first symbol, the AWGN including an interference signal therein.

43. The apparatus of any one of claims 35 to 42, wherein The first time delay is: ; wherein, is a time offset for the first wireless communication device to transmit the Diameter signal, is a time offset for the second wireless communication device to transmit the Diameter signal, is a total propagation time for the Diameter signal transmitted from the second wireless communication device to the third wireless communication device, is a time offset for the third wireless communication device to receive the Diameter signal; The second time delay is: ; wherein, is a second time delay, is a time offset for transmitting the specular signal from the second wireless communication device, is a propagation time for a target RS signal transmitted from the second wireless communication device to the first wireless communication device, is a propagation time for a specular signal transmitted from the first wireless communication device to the third wireless communication device, is a time offset for receiving the specular signal by the third wireless communication device; Wherein the timing errors experienced by the transmitting end and the receiving end are respectively and , The radio frequency signals RF of the sending end and the receiving end are different, .

44. The apparatus of any one of claims 36 to 43, wherein The first propagation delay difference amount is: , wherein, is the first propagation delay difference amount, is a second time delay, is a first time delay.

45. The apparatus of any one of claims 39 to 44, wherein The positioning module is specifically configured to obtain at least three positioning equations, determine a target number of positioning equations from the at least three positioning equations, and determine a target distance according to the target number of positioning equations. wherein the positioning equation is: , is a positioning equation vector related to the propagation delay difference quantity, an element of the positioning equation vector being , is a positioning delay parameter vector, an element of the positioning delay parameter vector being , is a positioning equation matrix, determined according to the first propagation delay difference quantity, the second propagation delay difference quantity, and the third propagation delay difference quantity.

46. The apparatus of claim 45, wherein The positioning delay parameter vector is determined by determining.

47. The device of claim 45, wherein, The number of the at least three positioning equations is a first number; The positioning module is specifically configured to obtain a second number in a case that the position of the third wireless communication device is a fixed position, and determine the target number according to the second number and the number of the positioning equations related to the reflection path of the third wireless communication device; wherein the first number is: ; the second number is: ; the target number is less than or equal to , is the number of wireless communication devices in the positioning group.

48. A positioning device, characterized by The apparatus comprises a receiving module, a sending module and a positioning module; The receiving module is configured to receive, as a first wireless communication device, a target reference signal (RS) sent by a second wireless communication device in a first time slot, and send, as the first wireless communication device, a first signal to a third wireless communication device, the first signal being a reflection signal of the target RS, the first signal being obtained by modulating the target RS by a modulation sequence signal; The sending module is configured to send, as the second wireless communication device, a first reference signal (RS) to the third wireless communication device in a second time slot, and send the target RS to the first wireless communication device; The receiving module is further configured to receive, as the third wireless communication device, the first RS sent by the second wireless communication device in a third time slot, and receive the first signal sent by the first wireless communication device; The positioning module is configured to perform positioning on the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module. The first wireless communication device is configured to perform the positioning apparatus of any one of claims 25 to 29, the second wireless communication device is configured to perform the positioning apparatus of any one of claims 30 to 32, and the third wireless communication device is configured to perform the positioning apparatus of any one of claims 33 to 47.

49. A terminal, characterized by A processor and a memory are included, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the positioning method of any one of claims 1 to 24.

50. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, and at least one of the following is met: The programs or instructions are executed by the processor of the first wireless communication device to implement the steps of the positioning method of any one of claims 1 to 5; The programs or instructions are executed by the processor of the second wireless communication device to implement the steps of the positioning method of any one of claims 6 to 8; The programs or instructions are executed by the processor of the third wireless communication device to implement the steps of the positioning method of any one of claims 9 to 23; The programs or instructions are executed by the processor of the target device to implement the steps of the positioning method of claim 24.

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