Positioning method, device and readable storage medium

Abstract

The application discloses a positioning method, device and readable storage medium, and belongs to the technical field of communication. The method comprises the following steps: a terminal receives a first message; and the terminal determines positioning information according to the first message. The first message comprises at least one of first line-of-sight (LOS) indication information, first non-line-of-sight (NLOS) indication information and first correction information.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of communication, and particularly relates to a positioning method, a device and a readable storage medium. BACKGROUND

[0002] In positioning, there are synchronization errors between network side devices, device group delays and angle errors between network devices and terminal devices, and for UE-based positioning methods, how to let the UE alleviate the errors when positioning by itself has no corresponding conclusion, and especially even if the UE receives the same base station signal, with the change of the environment or channel condition between the base station and the UE, how to effectively eliminate the errors has no corresponding solution. SUMMARY

[0003] The embodiments of the present application provide a positioning method, a device and a readable storage medium, which can solve the problem that there is no way for the UE to alleviate the errors when positioning by itself.

[0004] In a first aspect, a positioning method is provided, comprising:

[0005] The terminal receives a first message;

[0006] The terminal determines positioning information according to the first message;

[0007] The first message includes at least one of first LOS indication information, first NLOS indication information and first correction information.

[0008] In a second aspect, a positioning method is provided, comprising:

[0009] The LMF determines a first message, and the first message is used for a terminal to determine positioning information.

[0010] The LMF sends the first message to the terminal;

[0011] The first message includes at least one of first LOS indication information, first NLOS indication information and first correction information.

[0012] In a third aspect, a positioning method is provided, comprising:

[0013] The PRU determines a first message, and the first message is used for a terminal to determine positioning information.

[0014] The PRU sends the first message to the terminal;

[0015] The first message includes at least one of first LOS indication information, first NLOS indication information and first correction information.

[0016] In a fourth aspect, a positioning apparatus is provided, comprising:

[0017] A first receiving module configured to receive, by a terminal, a first message.

[0018] A first determining module configured to determine, by the terminal, positioning information according to the first message.

[0019] The first message comprises at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0020] In a fifth aspect, a positioning apparatus is provided, comprising:

[0021] A second determining module configured to determine, by a LMF, a first message, wherein the first message is used by a terminal to determine positioning information.

[0022] A first sending module configured to send, by the LMF, the first message to the terminal.

[0023] The first message comprises at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0024] In a sixth aspect, a positioning apparatus is provided, comprising:

[0025] A third determining module configured to determine, by a PRU, a first message, wherein the first message is used by a terminal to determine positioning information.

[0026] A second sending module configured to send, by the PRU, the first message to the terminal.

[0027] The first message comprises at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0028] In a seventh aspect, a terminal is provided, comprising a processor and a memory, wherein 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 method according to the first aspect.

[0029] In an eighth aspect, a terminal is provided, comprising a processor and a communication interface, wherein the communication interface is configured to receive, by the terminal, a first message; and the processor is configured to determine, by the terminal, positioning information according to the first message; and the first message comprises at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0030] A ninth aspect provides a network-side device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the second or third aspect.

[0031] In a tenth aspect, a network-side device is provided, including a processor and a communication interface, wherein the processor is used for an LMF to determine a first message, the first message being used by a terminal to determine location information, and the communication interface is used by the LMF to send the first message to the terminal; wherein the first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0032] Alternatively, the processor is used by the PRU to determine a first message, the first message being used by the terminal to determine location information; the communication interface is used by the PRU to send the first message to the terminal; wherein the first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0033] Eleventhly, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0034] In a twelfth 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 method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0035] In a thirteenth aspect, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the method as described in the first aspect, or the steps of the method as described in the second aspect, or the steps of the method as described in the third aspect.

[0036] In this embodiment of the application, the terminal receives a first message containing LOS indication information and / or NLOS indication information, as well as correction information, and determines the positioning information according to the first message. In this way, the terminal can perform error correction according to the LOS and NLOS state of the terminal when positioning itself, so as to achieve accurate positioning. Attached Figure Description

[0037] Figure 1is one of flow diagrams of the positioning method provided by the embodiments of the present application;

[0038] Figure 2 is one of flow diagrams of the positioning method provided by the embodiments of the present application;

[0039] Figure 3 is one of flow diagrams of the positioning method provided by the embodiments of the present application;

[0040] Figure 4a is one of flow diagrams of the embodiments provided by the embodiments of the present application;

[0041] Figure 4b is one of flow diagrams of the embodiments provided by the embodiments of the present application;

[0042] Figure 5 is one of structural diagrams of the positioning apparatus provided by the embodiments of the present application;

[0043] Figure 6 is one of structural diagrams of the positioning apparatus provided by the embodiments of the present application;

[0044] Figure 7 is one of structural diagrams of the positioning apparatus provided by the embodiments of the present application;

[0045] Figure 8 is one of structural diagrams of the communication device provided by the embodiments of the present application;

[0046] Figure 9 is one of structural diagrams of the terminal provided by the embodiments of the present application;

[0047] Figure 10 is one of structural diagrams of the network side device provided by the embodiments of the present application; DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0049] The terms "first", "second", and the like in the description and in the claims of the present application are used for distinguishing between similar objects discussed in the specification and claims and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the application described herein are capable of functioning in other sequences than the one described herein. The term "first", "second", and the like, as used in the description and the claims of the present application, are not used to denote or otherwise identify a specific sequential or chronological order, except where specifically set forth in the description of the application. Rather, these terms are used in the sense of first, second, etc. to generally designate different components. In general, the terms "first", "second", and the like, are used to designate different components, and are not necessarily used to designate the order or the number of the components. For example, a first component can be one or more, and a second component can be one or more. In addition, the term "and / or" in the description and the claims of the present application means at least one of the connected objects, and the character " / " generally means an "or" relationship between the front and rear associated objects.

[0050] It is worth noting that the techniques described in the embodiments of the present 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 the embodiments of the present application are often used interchangeably, and the described techniques can be used in the above-mentioned systems and radio technologies, as well as in other systems and radio technologies. The following description describes a New Radio (NR) system for the purpose of example, and NR terminology is used in most of the following description, but these techniques can also be applied outside the NR system application, such as 6th Generation (6G) communication systems. th Generation,6G) communication systems.

[0051] In the embodiments of the present application, the terminal can be a terminal-side device such as a mobile phone, a tablet personal computer (Tablet Personal Computer), a laptop computer (Laptop Computer), a personal digital assistant (Personal Digital Assistant, PDA), a palm computer, a netbook, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmented reality, AR) / virtual reality (virtual reality, VR) device, a robot, a wearable device, a vehicle-mounted device (VUE), a pedestrian terminal (PUE), a smart home (a home device with a wireless communication function, such as a refrigerator, a television, a washing machine, or furniture, etc.), a game console, a personal computer (personal computer, PC), a teller machine, or a self-service machine, etc. The wearable device includes a smart watch, a smart bracelet, a smart earphone, smart glasses, smart jewelry (a smart bracelet, a smart necklace, a smart ring, a smart necklace, a smart ankle bracelet, a smart ankle chain, etc.), a smart wristband, smart clothing, etc. It should be noted that the specific type of the terminal is not limited in the embodiments of the present application. The network-side device can include an access network device or a core network device, wherein the access network device can also be referred to as a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a radio access network unit. The access network device can include a base station, a WLAN access point or a WiFi node, etc. The base station can be referred to as a node B, an evolved node B (eNB), an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service set (Basic Service Set, BSS), an extended service set (Extended Service Set, ESS), a home node B, a home evolved node B, a transmitting receiving point (Transmitting Receiving Point, TRP), or some other appropriate term in the art, as long as the same technical effect is achieved. The base station is not limited to a specific technical term, and it should be noted that only the base station in the NR system is taken as an example for introduction in the embodiments of the present application, and the specific type of the base station is not limited.The core network device can include, but is not limited to, at least one of the following: a core network node, a core network function, a mobility management entity (MME), an access and mobility management function (AMF), a session management function (SMF), a user plane function (UPF), a policy control function (PCF), a policy and charging rules function (PCRF), an edge application server discovery function (EASDF), a unified data management (UDM), a unified data repository (UDR), a home subscriber server (HSS), a centralized network configuration (CNC), a network repository function (NRF), a network exposure function (NEF), a local NEF (L-NEF), a binding support function (BSF), an application function (AF), an LMF, an E-SMLC, and the like. It should be noted that only the core network device in the NR system is taken as an example for introduction in the embodiments of the present application, and the specific type of the core network device is not limited.

[0052] In order to better understand the technical solutions of the present application, first, the following contents are introduced:

[0053] NR positioning

[0054] 1. NR positioning is Uu interface, positioning based on signal measurement between base station and UE;

[0055] 2. In the Rel-17 NR positioning enhancement stage, the reporting of line of sight (LOS) and non-line of sight (NLOS) indication information and the reporting of multi-path measurement results are supported;

[0056] In positioning, there are synchronization errors between network side devices and between network devices and terminal devices, device group delay and angle error, etc., and Rel-17 is ready to introduce a positioning reference unit (PRU) to alleviate the errors, but for UE-based positioning methods, how to let ordinary UEs alleviate the errors when positioning themselves, and taking into account the channel conditions (such as LOS or NLOS) in which the UE is located, there is no corresponding conclusion.

[0057] In addition, Rel-17 introduces a positioning reference unit (PRU), which only considers reporting measurement information or position information, and does not consider the correction information calculated by the PRU in the LOS state according to its own position information and measurement information, and the correction information calculated by the PRU in the NLOS state according to its own position information and measurement information, and the corresponding errors are not the same.

[0058] For example, in one case:

[0059] The correction information or error source in the LOS state includes synchronization error, device group delay (Tx TEG, Rx TEG, RxTx TEG of TRP) and angle error

[0060] The correction information or error source in the NLOS state: synchronization error, device group delay (Tx TEG, Rx TEG, RxTx TEG of TRP) and angle error, and ranging error introduced by NLOS;

[0061] The present application further considers the combination of the information reported by the PRU and the LOS condition, and / or the relationship between the correction information and the LOS condition, to further alleviate the positioning errors caused by the synchronization errors, device group delays and angle errors between the network side devices and the terminal devices.

[0062] Explanation of the term:

[0063] Group delay information (also known as Time error group (TEG)): The group delay of sending or receiving one or more signals is the same (or the difference is less than a certain threshold), which can be understood as a TEG; This error information can also be called panel information;

[0064] TEG can include Tx TEG, Rx TEG, RxTx TEG, or {Rx TEG, Tx TEG};

[0065] Tx timing error: From the perspective of signal transmission, there is a time delay from the time of generating a digital signal at baseband to the time of transmitting an RF signal from a Tx antenna. To support positioning, a UE / TRP can implement internal calibration / compensation of Tx time delay for the transmission of DL PRS / UL SRS signals. The Tx time delay remaining after calibration or the uncalibrated Tx time delay is defined as Tx timing error. The UE-side Tx timing error can be understood as the time from baseband (BB) to antenna (Ant).

[0066] Rx timing error: From the perspective of signal reception, there is a time delay from the time of receiving an RF signal at a Rx antenna to the time of baseband processing. To support positioning, a UE / TRP can implement internal calibration / compensation of Rx time delay for the measurement of DL PRS / UL SRS before reporting the measurement. The Rx time delay remaining after calibration or the uncalibrated Rx time delay is defined as Rx timing error. The UE-side Rx timing error can be understood as the time from Ant to BB.

[0067] UE Tx‘timing error group’(UE Tx TEG): A UE Tx TEG is associated with the transmission of one or more UL SRS resources for positioning, whose Tx timing errors are within a certain range. SRS transmitted by the same Tx panel can be associated with the same UE Tx TEG.

[0068] TRP Tx‘timing error group’(TRP Tx TEG): A TRP Tx TEG is associated with the transmission of one or more DL PRS resources, whose Tx timing errors are within a certain range. PRS transmitted by the same Tx panel can be associated with the same TRP Tx TEG.

[0069] UE Rx‘timing error group’(UE Rx TEG): A UE Rx TEG is associated with one or more DL measurements, whose Rx timing errors are within a certain range. PRS measured by the same Rx panel can be associated with the same UE Rx TEG.

[0070] TRP Rx timing error group (TRP Rx TEG): A TRP Rx TEG is associated with one or multiple UL measurements whose Rx timing error is within a certain range. SRS measured by the same Rx panel can be considered to be associated with the same TRP Tx TEG.

[0071] UE RxTx timing error group (UE RxTx TEG): A UE RxTx TEG is associated with one or multiple UE Rx-Tx time difference measurements and one or multiple UL SRS resources whose “Rx timing error + Tx timing error” is within a certain range.

[0072] TRP RxTx timing error group (TRP RxTx TEG): A TRP RxTx TEG is associated with one or multiple gNB Rx-Tx time difference measurements and one or multiple DL PRS resources whose “Rx timing error + Tx timing error” is within a certain range.

[0073] The positioning method provided by the embodiments of the present application is described in detail below in combination with the accompanying drawings and some embodiments and application scenarios thereof.

[0074] Referring to Figure 1 The embodiments of the present application provide a positioning method, and the execution subject of the method is a terminal, and the method comprises the following steps:

[0075] Step 101: The terminal receives a first message.

[0076] Step 102: The terminal determines positioning information according to the first message.

[0077] The first message comprises at least one of first LOS indication information, first NLOS indication information and first correction information.

[0078] The first LOS indication information and the first NLOS indication information are used to indicate the LOS and NLOS states of the terminal, and the first correction information is used to correct the obtained position information.

[0079] The information contained in the first message can also be referred to as positioning assistance information.

[0080] In the embodiments of the present application, the terminal receives a first message containing LOS indication information and / or NLOS indication information and correction information, and determines the positioning information according to the first message. In this way, the terminal can correct errors according to the LOS and NLOS states of the terminal when positioning itself, and achieve accurate positioning.

[0081] It should be noted that, in the embodiments of the present application, the source of the first message received by the terminal can be a location management function (LMF) or a PRU. For example, if the PRU is deployed close to the terminal, the PRU can provide the terminal with the LOS indication information and / or NLOS indication information and correction information, so as to make the positioning of the terminal more accurate.

[0082] In a possible implementation, the first correction information includes one or more of the following:

[0083] (1) group delay information (also referred to as TEG);

[0084] (2) synchronization information (such as RTD, synchronization error between base stations or TRPs, etc.);

[0085] (3) absolute delay information introduced by NLOS (such as absolute time, absolute delay introduced by NLOS relative to LOS, or further, the relationship between the absolute delay introduced by NLOS relative to LOS and the position of the UE (such as the relationship between the position of the UE and the position of the PRU, the relationship between the position of the UE and the position of the TRP or the reference cell));

[0086] (4) ranging error information.

[0087] In a possible implementation, the first correction information includes one or more of the following:

[0088] (1) reference signal time difference (RSTD) measurement correction information (such as RSTD error or RSTD compensation value);

[0089] (2) Rx-Tx time difference measurement correction information (such as Rx-Tx time difference error or Rx-Tx time difference compensation value);

[0090] (3) time of arrival (TOA) measurement correction information (such as TOA error or TOA compensation value);

[0091] (4) Angle error information; such as AOA, or AOD error or correction value, or antenna center point offset, antenna transmission angle offset.

[0092] In one possible implementation, the first correction information further comprises one or more of the following:

[0093] (1) Time error group identification information, such as TEG ID, including but not limited to Rx TEG ID, Tx TEG ID, Rx Tx TEG ID;

[0094] (2) Transmission and reception point identification information, such as TRP ID, base station identification information, absolute radio frequency channel number (ARFCN).

[0095] Further, the time error group identification is associated with the positioning reference signal identification information, wherein the positioning reference signal comprises at least one of the downlink positioning reference signal and the uplink positioning reference signal.

[0096] In one possible implementation, the first correction information comprises: correction information corresponding to LOS, and / or correction information corresponding to NLOS, that is, the terminal can receive two kinds of first correction information, one is the first correction information a corresponding to the LOS case, and the other is the first correction information b corresponding to the NLOS case, the information content of the first correction information a and the first correction information b is as described above.

[0097] It is worth noting that the content of the first correction information a carried by the LOS case and the first correction information b carried by the NLOS case can be different, such as the first correction information a carrying at least one of the group delay and the synchronization error; while the first correction information b carrying the absolute time delay introduced by NLOS, and / or the relationship between the absolute time delay introduced by NLOS and the UE position / or ranging.

[0098] For example, the first correction information a carries at least one of the group delay, the synchronization error, and the ranging error; while the first correction information b carries one or more of the reference signal time difference RSTD measurement correction information, the transmission and reception time difference measurement correction information, the time of arrival TOA measurement correction information, and the angle error information.

[0099] In another embodiment, the content of the first correction information a carried by the LOS case and the first correction information b carried by the NLOS case is the same, and the numerical value is different, such as the absolute time delay introduced by NLOS is 0 in the LOS case, and other values in the NLOS case.

[0100] In a possible implementation, the first LOS indication information and / or the first NLOS indication information is carried in the first correction information.

[0101] In a possible implementation, the first correction information is correction information for correcting measurement results between the terminal and the plurality of TRPs, i.e., the terminal receives the first correction information corresponding to the plurality of TRPs, and corrects the measurement results between the terminal and the plurality of TRPs by using the first correction information, so as to make the positioning more accurate.

[0102] Alternatively, the first correction information is correction information for correcting measurement results between the plurality of adjacent TRPs and the reference TRP of the terminal, i.e., the terminal receives the first correction information between the plurality of adjacent TRPs and the reference TRP, and corrects the measurement results between the adjacent TRPs and the reference TRP by using the first correction information, which can be specifically the measurement result difference between the adjacent TRPs and the reference TRP, so as to make the positioning more accurate.

[0103] Specifically, in the embodiments of the present application, the TRP ID is the ID of the adjacent TRP, and it is worth noting that the TRP ID is used to identify the network device associated with a specific location, and the specific information of the TRP ID can be local identification information (such as dl-PRS-ID, taking a value of 0 to 255, such as PCI) or base station identification information.

[0104] Further, the LOS indication information is information indicating that the first correction information corresponding to the TRP ID is correction information corresponding to LOS.

[0105] Optionally, the terminal also needs to receive identification information of the reference TRP.

[0106] Further, in a possible implementation, the first correction information is correction information for correcting measurement results of one or more positioning reference signal resources (PRS resources) of each of the plurality of TRPs, i.e., the first correction information specifically corrects the measurement results of the PRS resources.

[0107] Alternatively, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of TRPs in the plurality of adjacent TRPs and the reference TRP of the terminal.

[0108] Alternatively, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of TRPs and the terminal. Since one TRP can have one or more TEGs, the first correction information specifically corrects the measurement results of one or more TEGs of the TRP.

[0109] Alternatively,

[0110] The first correction information is correction information for correcting a measurement result between one or more TEGs of each of a plurality of neighboring TRPs of the terminal and a reference TRP;

[0111] Specifically, in the embodiments of the present application, the first correction information includes PRS resource identification information (such as PRS resource ID, PRS resource set ID);

[0112] Specifically, the TEG ID is related to the PRS resource identification information; for example, one TEG ID is associated with one or more PRS resources.

[0113] Further, the LOS indication information is information indicating that the first correction information corresponding to the PRS resource is correction information corresponding to LOS.

[0114] In a possible implementation, the terminal receives the first message, including: the terminal receives the first message from the LMF;

[0115] The first correction information is determined by the LMF according to the position information and / or measurement information reported by one or more PRUs, or the first correction information is determined by the LMF according to the second correction information and the second LOS and / or second NLOS indication information reported by one or more PRUs.

[0116] In the embodiments of the present application, one way is that the LMF determines the first correction information according to the position information and / or measurement information obtained from the PRU and provides it to the terminal; another way is that the PRU first reports the second correction information and the second LOS and / or second NLOS indication information to the LMF, and then the LMF determines the first correction information based on the PRU report information; it should be noted that the second correction information can be the same as or different from the first correction information, that is, the correction information provided by the PRU and the correction information finally provided by the LMF to the terminal can be different or the same, which depends on the determination processing on the LMF side.

[0117] In a possible implementation, the group delay information includes one or more of the following:

[0118] (1) Group delay group identification information;

[0119] (2) Group delay difference information;

[0120] (3) Reference group delay identification information;

[0121] (4) Group delay value information; including specific group delay value, group delay variance and mean;

[0122] (5) Group latency threshold. There can be one or more group latency thresholds.

[0123] In a possible implementation, before the terminal receives the first message, the method further includes:

[0124] The terminal sends capability information to the LMF or the PRU;

[0125] The capability information is used to indicate whether the terminal supports receiving the first correction information.

[0126] Further, the capability information is used to indicate that the terminal supports receiving the correction information corresponding to the LOS, or the capability information is used to indicate that the terminal supports receiving the correction information corresponding to the NLOS.

[0127] In a possible implementation, the terminal determines the positioning information according to the first message, including:

[0128] The terminal determines the positioning information according to the correction information corresponding to the LOS, or the terminal determines the positioning information according to the correction information corresponding to the NLOS. That is, the terminal selects the corresponding correction information for positioning correction according to the LOS or NLOS state.

[0129] In a possible implementation, the first message further includes:

[0130] A compensation identifier is used to indicate whether the positioning information is compensated based on the first correction information. The compensation identifier is used to indicate the accuracy of the positioning information determined by the terminal. If the positioning information is compensated based on the first correction information, the positioning information obtained by the terminal is more accurate.

[0131] In a possible implementation, the positioning information includes one or more of the following:

[0132] (1) Absolute position information;

[0133] (2) Relative position information;

[0134] (3) Position information error value;

[0135] (4) Signal measurement information error value;

[0136] (5) Compensation identifier is used to indicate whether the positioning information is compensated based on the first correction information. That is, the compensation identifier can be included in the first message or the positioning information.

[0137] In a possible implementation, the measurement information reported by the PRU to the LMF includes one or more of the following:

[0138] RSTD measurement result;

[0139] a round-trip time (RTT) measurement result;

[0140] an angle of arrival (AOA) measurement result;

[0141] an angel of departure (AOD) measurement result;

[0142] a reference signal receiving power (RSRP);

[0143] multipath measurement information;

[0144] LOS indication information;

[0145] The multipath measurement information includes one or more of the following:

[0146] a power of a first path or a multipath;

[0147] a time delay of a first path or a multipath;

[0148] a TOA of a first path or a multipath;

[0149] an RSTD of a first path or a multipath;

[0150] an antenna subcarrier phase difference of a first path or a multipath;

[0151] an antenna subcarrier phase of a first path or a multipath.

[0152] In a possible implementation, before the terminal receives the first message, the method further includes:

[0153] The terminal sends a request message to the LMF or the PRU;

[0154] The request message is used to request the first message.

[0155] Referring to Figure 2 The embodiments of the present application provide a positioning method, and an execution subject of the method is an LMF. The method includes the following steps:

[0156] Step 201: The LMF determines a first message, and the first message is used for a terminal to determine positioning information.

[0157] Step 202: The LMF sends the first message to the terminal.

[0158] The first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0159] In the embodiments of the present application, the terminal receives a first message containing LOS indication information and / or NLOS indication information and correction information, and determines the positioning information according to the first message, so that the terminal can correct errors according to the LOS and NLOS states of the terminal when positioning itself, and realize accurate positioning.

[0160] In a possible implementation, the first correction information includes one or more of the following:

[0161] (1) group delay information;

[0162] (2) synchronization information;

[0163] (3) absolute delay information introduced by NLOS;

[0164] (4) ranging error information.

[0165] In a possible implementation, the first correction information includes one or more of the following:

[0166] (1) RSTD measurement correction information;

[0167] (2) transmission and reception time difference measurement correction information;

[0168] (3) TOA measurement correction information;

[0169] (4) angle error information.

[0170] In a possible implementation, the first correction information further includes one or more of the following:

[0171] (1) time error group identification information;

[0172] (2) transmission and reception point identification information.

[0173] In a possible implementation, the time error group identification is associated with the positioning reference signal identification information.

[0174] In a possible implementation, the first correction information includes: correction information corresponding to LOS, and / or correction information corresponding to NLOS.

[0175] In a possible implementation, the first LOS indication information and / or the first NLOS indication information is carried in the first correction information.

[0176] In a possible implementation, the first correction information is correction information for correcting measurement results between the terminal and multiple TRPs.

[0177] Alternatively, the first correction information is correction information for correcting measurement results between multiple adjacent TRPs of the terminal and a reference TRP.

[0178] In a possible implementation, the first correction information is correction information for correcting measurement results of one or more PRS resources of each of the plurality of TRPs;

[0179] Alternatively,

[0180] The first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of TRPs between the plurality of adjacent TRPs and the reference TRP;

[0181] Alternatively,

[0182] The first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of adjacent TRPs and the reference TRP;

[0183] Alternatively,

[0184] The first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of adjacent TRPs and the reference TRP.

[0185] In a possible implementation, the LMF determines the first message, comprising:

[0186] The first correction information determined by the LMF according to the position information and / or measurement information reported by the one or more PRUs, wherein the first correction information is determined by the LMF according to a difference between actual measurement values and ideal measurement values of the PRU, and the ideal measurement values are determined according to the position information of the PRU and the position information of the TRP;

[0187] Alternatively, the LMF determines the first correction information according to the second correction information reported by the one or more PRUs and the second LOS and / or second NLOS indication information, wherein the second correction information is determined by the PRU according to a difference between actual measurement values and ideal measurement values of the PRU, and the ideal measurement values are determined according to the position information of the PRU and the position information of the TRP.

[0188] In a possible implementation, the group delay information comprises one or more of the following:

[0189] (1) group delay group identification information;

[0190] (2) group delay difference information;

[0191] (3) reference group delay identification information;

[0192] (4) group delay value information;

[0193] (5) group delay threshold.

[0194] In a possible implementation, before the LMF sends the first message to the terminal, the method further includes:

[0195] The LMF receives capability information from the terminal.

[0196] The capability information is used to indicate whether the terminal supports receiving the first correction information.

[0197] In a possible implementation, the capability information is used to indicate that the terminal supports receiving correction information corresponding to the LOS, or the capability information is used to indicate that the terminal supports receiving correction information corresponding to the NLOS.

[0198] In a possible implementation, the measurement information includes one or more of the following:

[0199] An RSTD measurement result;

[0200] An RTT measurement result;

[0201] An AOA measurement result;

[0202] An AOD measurement result;

[0203] RSRP;

[0204] Multipath measurement information;

[0205] LOS indication information;

[0206] The multipath measurement information includes one or more of the following:

[0207] Power of a first path or a multipath;

[0208] Time delay of a first path or a multipath;

[0209] TOA of a first path or a multipath;

[0210] RSTD of a first path or a multipath;

[0211] Antenna subcarrier phase difference of a first path or a multipath;

[0212] Antenna subcarrier phase of a first path or a multipath.

[0213] In a possible implementation, before the LMF sends the first message to the terminal, the method further includes:

[0214] The LMF receives a request message from the terminal;

[0215] The request message is used to request the first message.

[0216] Referring to Figure 3The embodiment of the application provides a positioning method, and the execution subject of the method is a PRU, and the method comprises the following steps:

[0217] Step 301: The PRU determines a first message, and the first message is used for the terminal to determine positioning information.

[0218] Step 302: The PRU sends the first message to the terminal.

[0219] The first message comprises at least one of first LOS indication information, first NLOS indication information and first correction information.

[0220] In a possible implementation, before the PRU sends the first message to the terminal, the method further comprises the following steps:

[0221] The PRU receives capability information from the terminal.

[0222] The capability information is used for indicating whether the terminal supports receiving the first correction information.

[0223] In a possible implementation, the method further comprises the following steps:

[0224] The PRU sends position information and / or measurement information to the terminal, so that the terminal determines the first correction information.

[0225] Alternatively, the PRU sends second correction information and second LOS and / or second NLOS indication information to the terminal, so that the terminal determines the first correction information.

[0226] In the embodiment of the application, the PRU directly sends the position information and / or the measurement information to the terminal, or the PRU directly sends the second correction information and the second LOS and / or the second NLOS indication information to the terminal, to assist the terminal in autonomous positioning.

[0227] The information content of the first message and the first correction information can refer to the corresponding description of the terminal and the LMF side, and details are not described herein.

[0228] In a possible implementation, before the PRU sends the first message to the terminal, the method further comprises the following steps:

[0229] The PRU receives a request message from the terminal.

[0230] The request message is used for requesting the first message.

[0231] The technical scheme of the application is described below in combination with specific implementation examples:

[0232] Example one, see Figure 4a ;

[0233] Step 0. PRU position & measurement result request information;

[0234] NR-DL-TDOA-RequestLocationInformation

[0235] The location server uses the IE NR-DL-TDOA-RequestLocationInformation to request NR DL-TDOA location measurements from the target device, as follows:

[0236]

[0237]

[0238] The above (1) means: report measurement results along with panel information;

[0239] The above (2) means: report measurement results along with group delay group information;

[0240] The above (3) means: 1. There is information indicating that the position and measurement information are requested to be reported at the same time; further, when this information element appears, the position and / or measurement information is reported when the information indicating UE-based positioning appears; further, when this information element appears, the request is requested at the same time;

[0241] The above (4) means: position information quality request;

[0242] The above (5) means: dynamic state, motion trajectory reporting;

[0243] The above (6) and (7) means: panel or TEG configuration used for measurement or transmission; 1. It can be the number; further, when it is 1, the panel or TEG used is determined according to the rules; the rules can be the reference panel, or the panel used to receive the QCL signal, the panel with the largest energy, etc. 2. It can be a specific identifier;

[0244] Position reporting information

[0245] As shown in Table 1:

[0246] Table 1

[0247]

[0248] The reported position information includes at least one of the following:

[0249] (1) Panel identification information;

[0250] (2) Group delay identification information (PS: The group delay information is when the group delay difference of the two transmitted or measured reference signals is less than threshold 4. The group delay identification information is the same);

[0251] (3) Report absolute or relative position information and / or first signal measurement information;

[0252] (4) Report absolute or relative position information and / or second signal measurement information;

[0253] (5) The quality of the reported position information is higher than the first threshold, or the reported position error is less than the second threshold;

[0254] (6) The reported position information includes;

[0255] (7) One or more of error information, group delay information, and error compensation information;

[0256] (8) Report position information, which includes at least one of the following:

[0257] (8.1) Report angle positioning information;

[0258] (8.2) Report Rat-independent positioning information;

[0259] NR-DL-TDOA-SignalMeasurementInformation (measurement information)

[0260] The target device provides NR DL-TDOA measurements to the positioning server using the IE NR DL TDOA Signal Measurement Information.

[0261] 1. dl-PRS-ReferenceInfo defines the "RSTD reference" TRP. nr-RSTD's and nr-RSTD-ResultDiff's in nr-DL-TDOA-MeasList are provided relative to the "RSTD reference" TRP.

[0262] 2. The "RSTD reference" TRP can be the same as the "assistance data reference" TRP provided by nr-DL-PRS-ReferenceInfo in the IE NR-DL-PRS-AssistanceData, or it can be different

[0263] 3. The target device includes zero values for nr-RSTD and nr-RSTDResultDiff for the "RSTD reference" TRP in nr-DL-TDOA-MeasList.

[0264]

[0265]

[0266]

[0267] Example two, see Figure 4b The difference between example one and example two is that the PRU provides the second correction information and the LOS and / or NLOS indication information to the LMF, and the LMF determines the first correction information according to the second correction information and the LOS and / or NLOS indication information. For specific processes, see example one, which will not be repeated here.

[0268] The positioning method provided by the embodiments of the present application can be executed by a positioning device. In the embodiments of the present application, the positioning device is taken as an example to illustrate the positioning device provided by the embodiments of the present application.

[0269] See Figure 5 The embodiments of the present application provide a positioning device 500, which comprises:

[0270] The first receiving module 501 is configured to receive a first message.

[0271] The first determining module 502 is configured to determine positioning information according to the first message.

[0272] The first message comprises at least one of the first LOS indication information, the first NLOS indication information and the first correction information.

[0273] In a possible implementation, the first correction information comprises one or more of the following:

[0274] Group delay information;

[0275] Synchronization information;

[0276] Absolute delay information introduced by NLOS;

[0277] Ranging error information.

[0278] In a possible implementation, the first correction information comprises one or more of the following:

[0279] Reference signal time difference RSTD measurement correction information;

[0280] Transmission and reception time difference measurement correction information;

[0281] Arrival time TOA measurement correction information;

[0282] Angle error information.

[0283] In a possible implementation, the first correction information further comprises one or more of the following:

[0284] time error group identification information;

[0285] transmission reception point identification information.

[0286] In a possible implementation, the time error group identification is associated with positioning reference signal identification information.

[0287] In a possible implementation, the first correction information comprises: correction information corresponding to LOS, and / or correction information corresponding to NLOS.

[0288] In a possible implementation, the first LOS indication information and / or the first NLOS indication information is carried in the first correction information.

[0289] In a possible implementation, the first correction information is correction information for correcting measurement results between the terminal and the plurality of TRPs.

[0290] Alternatively, the first correction information is correction information for correcting measurement results between the plurality of neighboring TRPs of the terminal and the reference TRP.

[0291] In a possible implementation, the first correction information is correction information for correcting measurement results of one or more PRS resources of each of the plurality of TRPs.

[0292] Alternatively,

[0293] The first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of TRPs between the plurality of neighboring TRPs of the terminal and the reference TRP.

[0294] Alternatively,

[0295] The first correction information is correction information for correcting measurement results between the terminal and one or more TEGs of each of the plurality of TRPs.

[0296] Alternatively,

[0297] The first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of neighboring TRPs of the terminal and the reference TRP.

[0298] In a possible implementation, the first receiving module is configured to:

[0299] receive a first message from a location management function (LMF);

[0300] The first correction information is determined by the LMF according to position information and / or measurement information reported by one or more positioning reference units (PRUs), or the first correction information is determined by the LMF according to second correction information and second LOS and / or second NLOS indication information reported by one or more PRUs.

[0301] In a possible implementation, the group delay information includes one or more of the following:

[0302] group delay set identification information;

[0303] group delay difference information;

[0304] reference group delay identification information;

[0305] group delay value information;

[0306] group delay threshold.

[0307] In a possible implementation, the apparatus further includes:

[0308] a third sending module, configured to send capability information to the LMF or the PRU before receiving the first message;

[0309] The capability information is used to indicate whether to support receiving the first correction information.

[0310] In a possible implementation, the capability information is used to indicate support for receiving correction information corresponding to LOS, or the capability information is used to indicate support for receiving correction information corresponding to NLOS.

[0311] In a possible implementation, the first determining module is configured to:

[0312] determine the positioning information according to the correction information corresponding to the LOS;

[0313] or,

[0314] determine the positioning information according to the correction information corresponding to the NLOS.

[0315] In a possible implementation, the first message further includes:

[0316] compensation identification, used to indicate whether the positioning information is compensated based on the first correction information;

[0317] In a possible implementation, the positioning information includes one or more of the following:

[0318] absolute position information;

[0319] Relative position information

[0320] Position information error value

[0321] Signal measurement information error value

[0322] A compensation identifier is used to indicate whether the positioning information is compensated based on the first correction information.

[0323] In a possible implementation, the measurement information includes one or more of the following:

[0324] RSTD measurement result

[0325] Round trip time (RTT) measurement result

[0326] Angle of arrival (AOA) measurement result

[0327] Angle of departure (AOD) measurement result

[0328] Reference signal received power (RSRP)

[0329] Multipath measurement information

[0330] LOS indication information

[0331] The multipath measurement information includes one or more of the following:

[0332] Power of a first path or a multipath

[0333] Time delay of a first path or a multipath

[0334] TOA of a first path or a multipath

[0335] RSTD of a first path or a multipath

[0336] Antenna subcarrier phase difference of a first path or a multipath

[0337] Antenna subcarrier phase of a first path or a multipath

[0338] In a possible implementation, the apparatus further includes:

[0339] A second receiving module is configured to send a request message to the LMF or the PRU before receiving the first message.

[0340] The request message is used to request the first message.

[0341] Referring to Figure 6 , the embodiments of the present application provide a positioning apparatus 600, which includes:

[0342] A second determining module 601 is configured to determine a first message, and the first message is used for a terminal to determine positioning information

[0343] The first sending module 602 is configured to send a first message to the terminal.

[0344] The first message comprises at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0345] In a possible implementation, the first correction information comprises one or more of the following:

[0346] group delay information;

[0347] synchronization information;

[0348] absolute time delay information introduced by NLOS;

[0349] ranging error information.

[0350] In a possible implementation, the first correction information comprises one or more of the following:

[0351] RSTD measurement correction information;

[0352] transmission and reception time difference measurement correction information;

[0353] TOA measurement correction information;

[0354] angle error information.

[0355] In a possible implementation, the first correction information further comprises one or more of the following:

[0356] time error group identification information;

[0357] transmission and reception point identification information.

[0358] In a possible implementation, the time error group identification is associated with positioning reference signal identification information.

[0359] In a possible implementation, the first correction information comprises correction information corresponding to LOS and / or correction information corresponding to NLOS.

[0360] In a possible implementation, the first LOS indication information and / or the first NLOS indication information is carried in the first correction information.

[0361] In a possible implementation, the first correction information is correction information for correcting measurement results between the terminal and a plurality of TRPs.

[0362] Alternatively, the first correction information is correction information for correcting measurement results between a plurality of neighboring TRPs of the terminal and a reference TRP.

[0363] In a possible implementation, the first correction information is correction information for correcting measurement results of one or more PRS resources of each of the plurality of TRPs;

[0364] Alternatively, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of TRPs between the plurality of adjacent TRPs and the reference TRP;

[0365] Alternatively, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of TRPs and the terminal;

[0366] Alternatively, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of adjacent TRPs and the reference TRP.

[0367] In a possible implementation, the second determining module is configured to:

[0368] determine the first correction information according to the position information and / or the measurement information reported by one or more PRUs, wherein the first correction information is determined according to a difference between actual measurement values of the PRU and ideal measurement values, and the ideal measurement values are determined according to the position information of the PRU and the position information of the TRP;

[0369] Alternatively,

[0370] determine the first correction information according to second correction information reported by one or more PRUs and second LOS and / or second NLOS indication information, wherein the second correction information is determined by the PRU according to a difference between actual measurement values of the PRU and ideal measurement values, and the ideal measurement values are determined according to the position information of the PRU and the position information of the TRP.

[0371] In a possible implementation, the group delay information includes one or more of the following:

[0372] group delay group identification information;

[0373] group delay difference information;

[0374] reference group delay identification information;

[0375] group delay value information;

[0376] group delay threshold.

[0377] In a possible implementation, the apparatus further includes:

[0378] a third receiving module, configured to receive capability information from the terminal before sending the first message to the terminal;

[0379] The capability information is used to indicate whether the terminal supports receiving the first correction information.

[0380] In a possible implementation, the capability information is used to indicate that the terminal supports receiving correction information corresponding to the LOS, or the capability information is used to indicate that the terminal supports receiving correction information corresponding to the NLOS.

[0381] In a possible implementation, the measurement information includes one or more of the following:

[0382] an RSTD measurement result;

[0383] an RTT measurement result;

[0384] an AOA measurement result;

[0385] an AOD measurement result;

[0386] RSRP;

[0387] multipath measurement information;

[0388] LOS indication information;

[0389] The multipath measurement information includes one or more of the following:

[0390] a power of a first path or a multipath;

[0391] a time delay of a first path or a multipath;

[0392] a TOA of a first path or a multipath;

[0393] an RSTD of a first path or a multipath;

[0394] an antenna subcarrier phase difference of a first path or a multipath;

[0395] an antenna subcarrier phase of a first path or a multipath.

[0396] In a possible implementation, the apparatus further includes:

[0397] a third receiving module, configured to receive a request message from the terminal before sending the first message to the terminal;

[0398] The request message is used to request the first message.

[0399] Referring to Figure 7 , the embodiments of the present application provide a positioning method, including:

[0400] The third determining module 701 is configured to determine a first message, wherein the first message is used for the terminal to determine the positioning information.

[0401] The second sending module 702 is configured to send the first message to the terminal.

[0402] The first message comprises at least one of first LOS indication information, first NLOS indication information and first correction information.

[0403] In a possible implementation, the apparatus further comprises:

[0404] The fourth receiving module is configured to receive capability information from the terminal before sending the first message to the terminal.

[0405] The capability information is used to indicate whether the terminal supports receiving the first correction information.

[0406] In a possible implementation, the apparatus further comprises:

[0407] The fourth sending module is configured to:

[0408] send position information and / or measurement information to the terminal, so that the terminal determines the first correction information;

[0409] or, send second correction information and second LOS and / or second NLOS indication information to the terminal, so that the terminal determines the first correction information.

[0410] In a possible implementation, the apparatus further comprises:

[0411] The fifth receiving module is configured to receive a request message from the terminal before sending the first message to the terminal.

[0412] The request message is used to request the first message.

[0413] The positioning apparatus in the embodiments of the present application can be an electronic device, for example, an electronic device with an operating system, or a component in an electronic device, for example, an integrated circuit or a chip. The electronic device can be a terminal or other devices. For example, the terminal can include but is not limited to the types of the terminal 11 listed above, and the other devices can be a server, a network attached storage (NAS) or the like, which are not limited in the embodiments of the present application.

[0414] The positioning apparatus provided in the embodiments of the present application can achieve the following effects. Figures 1 to 3The method embodiments of the positioning method achieve the respective processes and achieve the same technical effects. To avoid repetition, the respective processes and the same technical effects achieved by the method embodiments of the positioning method will not be described here.

[0415] Optionally, as shown in Figure 8 The communication device 800 is a terminal, and the program or instructions are executed by the processor 801 to implement the respective steps of the positioning method embodiments and achieve the same technical effects. The communication device 800 is a network side device, and the program or instructions are executed by the processor 801 to implement the respective steps of the positioning method embodiments and achieve the same technical effects. To avoid repetition, the respective processes and the same technical effects achieved by the method embodiments of the positioning method will not be described here.

[0416] The terminal provided by the embodiment of the present application comprises a processor and a communication interface. The processor is configured to determine positioning information according to the first message. The communication interface is configured to receive the first message. The terminal embodiment corresponds to the terminal side method embodiment described above. The respective implementation processes and implementation manners of the method embodiments described above can be applied to the terminal embodiment, and the same technical effects can be achieved. Specifically, Figure 9 To implement the hardware structure of the terminal according to the embodiment of the present application.

[0417] The terminal 900 comprises, but is not limited to, at least part of the components such as a radio frequency unit 901, a network module 902, an audio output unit 903, an input unit 904, a sensor 905, a display unit 906, a user input unit 907, an interface unit 908, a memory 909, and a processor 910.

[0418] Those skilled in the art can understand that the terminal 900 can further comprise a power supply (such as a battery) for supplying power to the respective components. The power supply can be logically connected to the processor 910 through a power management system, so as to realize the functions of power management, discharge management, and power consumption management through the power management system. Figure 9 The terminal structure shown in the foregoing embodiment does not constitute a limitation on the terminal. The terminal can comprise more or fewer components than those shown in the figure, or some components can be combined, or different components can be arranged, which will not be described here.

[0419] It should be understood that in the embodiments of the present application, the input unit 904 can include a graphics processing unit (GPU) 9041 and a microphone 9042. The graphics processor 9041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 906 can include a display panel 9061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 907 includes at least one of a touch panel 9071 and other input devices 9072. The touch panel 9071 is also called a touch screen. The touch panel 9071 can include two parts of a touch detection device and a touch controller. The other input devices 9072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), trackballs, mice, joysticks, etc., which will not be described here.

[0420] In the embodiments of the present application, after the radio frequency unit 901 receives the downlink data from the network side device, it can be transmitted to the processor 910 for processing. In addition, the radio frequency unit 901 can send uplink data to the network side device. Generally, the radio frequency unit 901 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0421] The memory 909 can be used to store software programs or instructions and various data. The memory 909 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), etc. In addition, the memory 909 can include a volatile memory or a non-volatile memory, or the memory 909 can include both volatile and non-volatile memories. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 909 in the embodiments of the present application includes but is not limited to these and any other suitable types of memories.

[0422] The processor 910 can include one or more processing units; optionally, the processor 910 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 910.

[0423] The radio frequency unit 901 is configured to receive, by a terminal, a first message

[0424] The processor 910 is configured to determine, by the terminal, positioning information according to the first message.

[0425] The first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

[0426] Optionally, the first correction information comprises one or more of the following:

[0427] group delay information;

[0428] synchronization information;

[0429] absolute delay information introduced by NLOS;

[0430] ranging error information.

[0431] Optionally, the first correction information comprises one or more of the following:

[0432] reference signal time difference (RSTD) measurement correction information;

[0433] transmission and reception time difference measurement correction information;

[0434] time of arrival (TOA) measurement correction information;

[0435] angle error information.

[0436] Optionally, the first correction information further comprises one or more of the following:

[0437] time error group identification information;

[0438] transmission and reception point identification information.

[0439] Optionally, the time error group identification is associated with positioning reference signal identification information.

[0440] Optionally, the first correction information comprises correction information corresponding to LOS and / or correction information corresponding to NLOS.

[0441] Optionally, the first LOS indication information and / or the first NLOS indication information is carried in the first correction information.

[0442] Optionally, the first correction information is correction information for correcting measurement results between the terminal and multiple TRPs;

[0443] or, the first correction information is correction information for correcting measurement results between multiple neighboring TRPs of the terminal and a reference TRP.

[0444] Optionally, the first correction information is correction information for correcting measurement results of one or more positioning reference signal resources (PRS resources) of each of the multiple TRPs by the terminal;

[0445] Alternatively, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of TRPs of the plurality of neighboring TRPs and a reference TRP of the terminal;

[0446] Alternatively, the first correction information is correction information for correcting measurement results between the terminal and one or more TEGs of each of the plurality of TRPs.

[0447] Alternatively, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of neighboring TRPs of the terminal and a reference TRP.

[0448] Optionally, the radio frequency unit 901 is configured to:

[0449] The terminal receives a first message from a location management function (LMF);

[0450] The first correction information is determined by the LMF according to position information and / or measurement information reported by one or more positioning reference units (PRUs), or the first correction information is determined by the LMF according to second correction information and second LOS and / or second NLOS indication information reported by one or more PRUs.

[0451] Optionally, the group delay information includes one or more of the following:

[0452] Group delay group identification information;

[0453] Group delay difference information;

[0454] Reference group delay identification information;

[0455] Group delay value information;

[0456] Group delay threshold.

[0457] Optionally, the radio frequency unit 901 is configured to:

[0458] Before the terminal receives the first message, the terminal sends capability information to the LMF or the PRU;

[0459] The capability information is used to indicate whether the terminal supports receiving the first correction information.

[0460] Optionally, the capability information is used to indicate that the terminal supports receiving correction information corresponding to LOS, or the capability information is used to indicate that the terminal supports receiving correction information corresponding to NLOS.

[0461] Optionally, the processor 910 is configured to:

[0462] The terminal determines the positioning information according to the correction information corresponding to the LOS;

[0463] Alternatively,

[0464] The terminal determines the positioning information according to the correction information corresponding to the NLOS.

[0465] Optionally, the first message further includes:

[0466] A compensation identifier, used to indicate whether the positioning information is compensated based on the first correction information;

[0467] The positioning information includes one or more of the following:

[0468] Absolute position information;

[0469] Relative position information;

[0470] Position information error value;

[0471] Signal measurement information error value;

[0472] A compensation identifier, used to indicate whether the positioning information is compensated based on the first correction information.

[0473] Optionally, the measurement information includes one or more of the following:

[0474] RSTD measurement result;

[0475] Round trip time RTT measurement result;

[0476] Angle of arrival AOA measurement result;

[0477] Angle of departure AOD measurement result;

[0478] Reference signal received power RSRP;

[0479] Multipath measurement information;

[0480] LOS indication information;

[0481] The multipath measurement information includes one or more of the following:

[0482] Power of the first path or multipath;

[0483] Time delay of the first path or multipath;

[0484] TOA of the first path or multipath;

[0485] RSTD of the first path or multipath;

[0486] Antenna subcarrier phase difference of the first path or multipath;

[0487] Antenna subcarrier phase of a first path or multipath.

[0488] Optionally, the radio frequency unit 901 is configured to: before the terminal receives the first message, the terminal sends a request message to the LMF or the PRU.

[0489] The request message is used to request the first message.

[0490] The embodiment of the application also provides a network side device, which can be an LMF or a PRU, as shown in the figure, the network side device 1000 comprises a processor 1001, a network interface 1002 and a memory 1003. Wherein, the network interface 1002 is, for example, a common public radio interface (common public radio interface, CPRI). Figure 10

[0491] Specifically, the network side device 1000 of the embodiment of the application further comprises instructions or programs stored on the memory 1003 and executable on the processor 1001, and the processor 1001 invokes the instructions or programs in the memory 1003 to execute the method shown in the figure and achieve the same technical effect. To avoid repetition, it will not be described here. Figure 6 、 7 The modules shown in the figure execute the method and achieve the same technical effect. To avoid repetition, it will not be described here.

[0492] The embodiment of the application also provides a readable storage medium, the readable storage medium stores programs or instructions, the programs or instructions are executed by the processor to realize each process of the above positioning method embodiment, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0493] The processor is the processor in the terminal in the above embodiment. The readable storage medium comprises a computer readable storage medium, such as a computer readable memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0494] The embodiment of the application further provides a chip, the chip comprises a processor and a communication interface, the communication interface and the processor are coupled, the processor is used to run programs or instructions, realize each process of the above positioning method embodiment, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0495] It should be understood that the chip mentioned in the embodiment of the application can also be called a system chip, a system chip, a chip system or a system on chip.

[0496] ​The embodiment of the present application further provides a computer program / program product stored in a storage medium, which is executed by at least one processor to implement the processes of the above positioning method embodiment, and achieves the same technical effects. To avoid repetition, details are not described herein.

[0497] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, so that processes, methods, articles, or apparatuses that comprise a list of elements not only include those elements, but also include other elements that are not expressly listed, or other elements inherent in such processes, methods, articles, or apparatuses. Without more limitations, the element defined by the sentence "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element. In addition, it should be pointed out that the scope of the methods and apparatuses in the embodiments of the present application is not limited to performing functions in the order shown or discussed, but can also include performing functions in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from that described, and various steps can also be added, omitted, or combined. In addition, features described with reference to certain examples can be combined in other examples.

[0498] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and a necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the method described in each embodiment of the present application.

[0499] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative, not restrictive, and those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

Claims

1. A positioning method, characterized by, Comprising: a terminal receiving a first message; the terminal determining positioning information according to the first message; wherein the first message comprises at least one of first line of sight (LOS) indication information and first non line of sight (NLOS) indication information, and first correction information; the first correction information in the LOS state comprises at least one of synchronization error, group delay information and angle error; and / or, the first correction information in the NLOS state comprises ranging error introduced by NLOS; the terminal determining positioning information according to the first message, comprising: the terminal performing error correction according to the first message and the LOS and / or NLOS state of the terminal to determine the positioning information.

2. The method of claim 1, wherein, the first correction information in the NLOS state further comprises one or more of: group delay information; synchronization information; angle error information; absolute time delay information introduced by NLOS; and / or, the first correction information in the LOS state further comprises: ranging error information.

3. The method of claim 1, wherein, the first correction information in the LOS and / or NLOS state further comprises one or more of: reference signal time difference (RSTD) measurement correction information; transmit and receive time difference measurement correction information; time of arrival (TOA) measurement correction information.

4. The method according to claim 2 or 3, characterized in that, the first correction information in the LOS and / or NLOS state further comprises one or more of: time error group (TEG) identification information; transmission and reception point (TRP) identification information.

5. The method of claim 4, wherein, the TEG identification is associated with positioning reference signal identification information.

6. The method of claim 1, wherein, the first LOS indication information and / or the first NLOS indication information is carried in the first correction information.

7. The method of any one of claims 1 to 6, wherein: the first correction information is correction information for correcting measurement results between the terminal and a plurality of TRPs; or, the first correction information is correction information for correcting measurement results between a plurality of neighboring TRPs of the terminal and a reference TRP.

8. The method of claim 7, wherein: the first correction information is correction information for correcting measurement results of one or more positioning reference signal (PRS) resources of each of the plurality of TRPs by the terminal; or, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of TRPs between the plurality of neighboring TRPs of the terminal and a reference TRP; or, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of TRPs by the terminal; or, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the plurality of neighboring TRPs of the terminal and a reference TRP.

9. The method of claim 1, wherein, the terminal receiving a first message, comprising: the terminal receiving the first message from a location management function (LMF). The first correction information is determined by the LMF according to position information and / or measurement information reported by one or more positioning reference units (PRUs), or the first correction information is determined by the LMF according to second correction information and second LOS and / or second NLOS indication information reported by one or more PRUs.

10. The method of claim 1 or 2, wherein, The group delay information includes one or more of the following: Group delay group identification information; Group delay difference information; Reference group delay identification information; Group delay value information; Group delay threshold.

11. The method of claim 1, wherein, Before the terminal receives the first message, the method further includes: The terminal sends capability information to the LMF or the PRU; The capability information is used to indicate whether the terminal supports receiving the first correction information.

12. The method of claim 11, wherein: The capability information is used to indicate that the terminal supports receiving correction information corresponding to the LOS, or the capability information is used to indicate that the terminal supports receiving correction information corresponding to the NLOS.

13. The method of claim 1, wherein, The terminal determines the positioning information according to the first message, including: The terminal determines the positioning information according to the correction information corresponding to the LOS; or The terminal determines the positioning information according to the correction information corresponding to the NLOS.

14. The method of any one of claims 1 to 13, wherein: The first message further includes: A compensation identifier used to indicate whether the positioning information is compensated based on the first correction information.

15. The method of any one of claims 1 to 13, wherein: The positioning information includes one or more of the following: Absolute position information; Relative position information; Position information error value; Signal measurement information error value; A compensation identifier used to indicate whether the positioning information is compensated based on the first correction information.

16. The method of claim 9, wherein: The measurement information includes one or more of the following: RSTD measurement result; Round trip time (RTT) measurement result; Angle of arrival (AOA) measurement result; Angle of departure (AOD) measurement result; Reference signal received power (RSRP); Multipath measurement information; LOS indication information; The multipath measurement information includes one or more of the following: Power of the first path or the multipath; Time delay of the first path or the multipath; TOA of the first path or the multipath; RSTD of the first path or the multipath; Antenna subcarrier phase difference of the first path or the multipath; Antenna subcarrier phase of the first path or the multipath. Before the terminal receives the first message, the method further includes:

17. The method of claim 1, wherein, The terminal sends a request message to the LMF or the PRU; The request message is used to request the first message. The method includes:

18. A positioning method characterized by, The LMF determines a first message used by a terminal to determine positioning information; The LMF sends the first message to the terminal, so that the terminal determines the positioning information according to the first message and error correction according to the LOS and / or NLOS state of the terminal; The first message includes at least one of the first LOS indication information and the first NLOS indication information, and the first correction information. ​ The first correction information in the LOS state comprises at least one of the following: synchronization error, group delay information, and angle error; 19. The method of claim 18, wherein, And / or, the first correction information in the NLOS state comprises ranging error introduced by NLOS. The first correction information in the NLOS state further comprises one or more of the following: group delay information; synchronization information; angle error information; absolute time delay information introduced by NLOS; And / or, the first correction information in the LOS state further comprises:

20. The method of claim 18, wherein, ranging error information. The first correction information in the LOS state and / or NLOS state further comprises one or more of the following: RSTD measurement correction information; transmission and reception time difference measurement correction information; 21. The method according to claim 19 or 20, characterized in that, TOA measurement correction information. The first correction information in the LOS state and / or NLOS state further comprises one or more of the following: time error group identification information; 22. The method of claim 21, wherein, transmission and reception point identification information.

23. The method of claim 18, wherein, The time error group identification is associated with positioning reference signal identification information. The first LOS indication information and / or first NLOS indication information is carried in the first correction information.

24. The method of any one of claims 18 to 22, wherein: the first correction information is correction information for correcting measurement results between the terminal and multiple TRPs; Or, the first correction information is correction information for correcting measurement results between multiple adjacent TRPs of the terminal and a reference TRP.

25. The method of claim 24, wherein: the first correction information is correction information for correcting measurement results of one or more positioning reference signal resources (PRS resources) of each of the multiple TRPs with the terminal; Or, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of TRPs between the multiple adjacent TRPs of the terminal and a reference TRP; Or, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the multiple TRPs and the terminal; Or, 26. The method of claim 18, wherein, the first correction information is correction information for correcting measurement results between one or more TEGs of each of the multiple adjacent TRPs of the terminal and a reference TRP. The LMF determines a first message comprising: the first correction information determined by the LMF according to the position information and / or measurement information reported by one or more PRUs, wherein the first correction information is determined by the LMF according to the difference between the actual measurement value of the PRU and the ideal measurement value, and the ideal measurement value is determined according to the position information of the PRU and the position information of the TRP; Or, The LMF determines the first correction information according to second correction information reported by one or more PRUs and second LOS and / or second NLOS indication information, wherein the second correction information is determined by the PRU according to a difference between an actual measurement value of the PRU and an ideal measurement value determined according to position information of the PRU and position information of a TRP.

27. The method of claim 18 or 19, wherein, The group delay information includes one or more of: group delay set identification information; group delay difference information; reference group delay identification information; group delay value information; and a group delay threshold.

28. The method of claim 23, wherein, Before the LMF sends the first message to the terminal, the method further includes: The LMF receives capability information from the terminal; wherein the capability information is used to indicate whether the terminal supports receiving the first correction information.

29. The method of claim 28, wherein: the capability information is used to indicate that the terminal supports receiving correction information corresponding to LOS, or the capability information is used to indicate that the terminal supports receiving correction information corresponding to NLOS.

30. The method of claim 26, wherein: the measurement information includes one or more of: an RSTD measurement result; an RTT measurement result; an AOA measurement result; an AOD measurement result; RSRP; multipath measurement information; LOS indication information; wherein the multipath measurement information includes one or more of: a power of a first path or a multipath; a time delay of a first path or a multipath; a TOA of a first path or a multipath; an RSTD of a first path or a multipath; an antenna subcarrier phase difference of a first path or a multipath; and an antenna subcarrier phase of a first path or a multipath.

31. The method of claim 18, wherein, Before the LMF sends the first message to the terminal, the method further includes: The LMF receives a request message from the terminal; wherein the request message is used to request the first message.

32. A method of positioning, comprising: The method further includes: a PRU determines a first message, the first message being used by a terminal to determine positioning information; the PRU sends the first message to the terminal, so that the terminal performs error correction according to the first message and a LOS and / or NLOS state in which the terminal is located to determine positioning information; wherein the first message includes at least one of first LOS indication information and first NLOS indication information, and first correction information; the first correction information in the LOS state includes at least one of synchronization error, group delay information, and angle error; and / or, the first correction information in the NLOS state includes ranging error introduced by NLOS.

33. The method of claim 32, wherein, Before the PRU sends the first message to the terminal, the method further includes: The PRU receives capability information from the terminal; wherein the capability information is used to indicate whether the terminal supports receiving the first correction information.

34. The method of claim 32, wherein, The method further includes: the PRU sends position information and / or measurement information to the terminal, which is used by the terminal to determine the first correction information; or, the PRU sends second correction information and second LOS and / or second NLOS indication information to the terminal, which is used by the terminal to determine the first correction information.

35. The method of claim 32, wherein, Before the PRU sends the first message to the terminal, the method further comprises: The PRU receives a request message from the terminal; The request message is used to request the first message.

36. A positioning device, characterized by Comprise: A first receiving module for receiving a first message; A first determining module for determining positioning information according to the first message; The first message comprises at least one of first LOS indication information and first NLOS indication information, and first correction information; The first correction information in the LOS state comprises at least one of synchronization error, group delay information and angle error; And / or, the first correction information in the NLOS state comprises ranging error introduced by NLOS; The first determining module is specifically configured to determine positioning information by error correction according to the first message and the LOS and / or NLOS state of the device.

37. A positioning device, characterized by Comprise: A second determining module for determining a first message, the first message being used by the terminal to determine positioning information A first sending module for sending the first message to the terminal, so that the terminal determines positioning information by error correction according to the first message and the LOS and / or NLOS state of the terminal; The first message comprises at least one of first LOS indication information and first NLOS indication information, and first correction information; The first correction information in the LOS state comprises at least one of synchronization error, group delay information and angle error; And / or, the first correction information in the NLOS state comprises ranging error introduced by NLOS.

38. A positioning device, characterized by Comprise: A third determining module for determining a first message, the first message being used by the terminal to determine positioning information A second sending module for sending the first message to the terminal, so that the terminal determines positioning information by error correction according to the first message and the LOS and / or NLOS state of the terminal; The first message comprises at least one of first LOS indication information and first NLOS indication information, and first correction information; The first correction information in the LOS state comprises at least one of synchronization error, group delay information and angle error; And / or, the first correction information in the NLOS state comprises ranging error introduced by NLOS.

39. A terminal, characterized by Comprise a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to realize the steps of the positioning method in any one of claims 1 to 17.

40. A network-side device, comprising: Comprise a processor and a memory, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to realize the steps of the positioning method in any one of claims 18 to 31, or realize the steps of the positioning method in any one of claims 32 to 35.

41. A readable storage medium, characterized by, The readable storage medium stores programs or instructions, which, when executed by a processor, implement the steps of the positioning method according to any one of claims 1 to 17, or implement the steps of the positioning method according to any one of claims 18 to 31, or implement the steps of the positioning method according to any one of claims 32 to 35.

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