Positioning method and device

Abstract

The present application provides a positioning method and apparatus, which relate to the field of wireless communication technology and are used to improve positioning accuracy. In this method, a first network device can send distance information of a terminal device to a second network device. The first network device can receive first information from multiple second network devices. Among them, one first information may include phase information of one or more subcarriers of a positioning reference signal of a terminal device, and the phase information may be obtained based on the distance information of the terminal device. The first network device can determine the location information of the terminal device based on the phase information of the terminal device. Based on the above scheme, the first network device can determine the location information of the terminal device based on the phase information of the positioning reference signal of the terminal device reported by the second network device, and can correct the distance information of a terminal device with lower accuracy by using the phase information of the positioning reference signal, thereby improving the positioning accuracy of the terminal device.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a positioning method and device. Background Art

[0002] Currently, positioning in wireless communication systems can be implemented based on a core network location management function (LMF) element, wherein positioning technologies may include angle positioning technology and time delay positioning technology.

[0003] The angle positioning technology is that the base station measures the uplink angle of arrival (ULAOA) of the sounding reference signal (SRS) sent by the user equipment (UE) and reports the UL AOA to the LMF. The LMF estimates the position angle relationship between the base station and the UE, and then locates the UE through the position angle relationship between multiple groups of base stations and UEs. However, the positioning accuracy of the angle positioning technology is affected by the size of the antenna array. The larger the antenna array, the higher the positioning accuracy. Due to the limitations of the indoor environment, the size of the antenna array is limited, resulting in limited positioning accuracy of the angle positioning technology.

[0004] The delay positioning technology is that the base station measures the uplink relative time of arrival (UL RTOA) of the UE's SRS and reports it to the LMF. The LMF can select a reference base station and calculate the arrival delay difference of the reference signal between each base station and the reference base station. The LMF can locate the UE through the arrival delay difference between multiple groups of base stations and the reference base station. However, the positioning accuracy of the delay positioning technology is affected by the bandwidth of the SRS. The larger the bandwidth of the SRS, the higher the positioning accuracy. Due to the limitations of the communication system, the bandwidth of the SRS is limited, resulting in the limited positioning accuracy of the delay positioning technology.

[0005] Therefore, the positioning accuracy of the above two positioning technologies is limited by certain conditions, and it is relatively difficult to improve the positioning accuracy. Summary of the Invention

[0006] The present application provides a positioning method and device to improve positioning accuracy.

[0007] In a first aspect, a positioning method is provided. The method can be executed by a first network device provided in an embodiment of the present application. The first network device can be an LMF, or a chip with functions similar to those of an LMF. In this method, the first network device can send distance information of a terminal device to a second network device. The distance information here can be the distance information between the terminal device and the second network device. The first network device can receive first information from multiple second network devices. One first information can include phase information of one or more subcarriers of a positioning reference signal of the terminal device, and the phase information can be obtained based on the distance information of the terminal device. The first network device can determine the location information of the terminal device based on the phase information of the terminal device.

[0008] Based on the above scheme, the first network device can determine the location information of the terminal device according to the phase information of the positioning reference signal of the terminal device reported by the second network device, and can improve the positioning accuracy of the terminal device through the phase information of the positioning reference signal.

[0009] In a possible implementation, the first network device may determine the precise location information of the terminal device based on the phase information of the terminal device and the distance information of the terminal device.

[0010] Based on the above solution, the first network device can use phase information and distance information with lower accuracy obtained by positioning based on methods such as TOA positioning technology to determine the precise location information of the terminal device, thereby improving positioning accuracy.

[0011] In one possible implementation, the first network device may determine multiple distance differences between first and second distances. A first distance is the distance between a second network device and a terminal device; a second distance is the distance between a reference second network device and the terminal device. It should be understood that the reference second network device may be one of multiple second network devices. The first network device may determine multiple phase differences. A phase difference is the phase difference between a subcarrier of a positioning reference signal of a second network device and the corresponding subcarrier of a positioning reference signal of the reference second network device. The first network device may determine the precise location information of the terminal device based on the distance differences and the multiple phase differences.

[0012] Based on the above scheme, the distance information of the terminal device can be corrected by using the phase information of the subcarrier of the positioning reference signal of the terminal device, and the ambiguity of the first path search can be suppressed by frequency synthesis of the subcarrier of the positioning reference signal, thereby improving the positioning accuracy.

[0013] In one possible implementation, a distance difference may satisfy the following formula:

[0014]

[0015] Where Δd i relative distance, represents the integer ambiguity, c is the speed of light, f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, is the relative phase between the i-th second network device and the reference second network device among the plurality of second network devices, It refers to the summation of K subcarriers.

[0016] Based on the above solution, multiple distance differences can be obtained through the above formula, so that the precise location information of the terminal device can be determined based on the distance difference and phase information.

[0017] In one possible implementation, the first network device may determine integer ambiguities. The integer ambiguities minimize a residual sum of squared ambiguities, where the residual sum of squared ambiguities is obtained based on a phase difference and a range difference. The first network device may determine precise location information of the terminal device based on the integer ambiguities and the multiple range differences.

[0018] Based on the above scheme, the positioning error of the terminal device can be minimized by determining the integer ambiguity, thereby improving the positioning accuracy.

[0019] In one possible implementation, the residual sum of squares of the ambiguity can satisfy the following formula:

[0020]

[0021] Where Δd′ i is the relative distance between the i-th network device among the plurality of second network devices and the reference second network device, is the whole-cycle ambiguity, is the relative phase between the i-th second network device and the reference second network device among the plurality of second network devices; f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

[0022] Based on the above scheme, the residual sum of squared ambiguities (RSS) can be determined using the phase differences and range differences of multiple subcarriers of the terminal device, thereby achieving error accumulation. This allows the determination of the integer ambiguity that minimizes the RSSS. In other words, the integer ambiguity that minimizes the cumulative error can be determined, improving positioning accuracy.

[0023] In a possible implementation, the first network device may correct each distance difference based on the integer ambiguity, and determine the precise location information of the terminal device using a time difference of arrival positioning method based on the corrected multiple distance differences.

[0024] Based on the above scheme, the distance difference with low accuracy can be corrected by the calculated whole-cycle ambiguity, so that the precise location information of the terminal device can be determined based on the corrected distance difference, which can improve the positioning accuracy of the terminal device.

[0025] In one possible implementation, before sending the distance information of the terminal device to the second network device, the first network device may also receive positioning measurement information from multiple second network devices. This positioning measurement information may include time measurement information or angle measurement information. For example, it may include time of arrival (TOA) and angle of arrival (AOA). The first network device may determine the distance information of the terminal device based on the positioning measurement information.

[0026] Based on the above solution, the distance information of the terminal device can be obtained by the first network device through the positioning measurement information reported by multiple second network devices. The accuracy of the distance information obtained in this way is higher than that determined by the second network device itself, which can improve the accuracy of the distance information.

[0027] In a second aspect, a communication method is provided. The method can be performed by a second network device provided in an embodiment of the present application. The second network device can be an access network device, or a chip similar to an access network device. In this method, the second network device can receive distance information between the terminal device and the second network device. The second network device can determine first information based on the distance information. The first information here may include phase information of one or more subcarriers of a positioning reference signal of the terminal device. The phase information may be obtained based on the distance information of the terminal device. Alternatively, the first information may include the TOA of one or more subcarriers of the positioning reference signal of the terminal device. The second network device can send the above-mentioned first information to the first network device.

[0028] Based on the above scheme, the second network device can determine the phase information or TOA of one or more subcarriers of the positioning reference signal of the terminal device according to the distance information of the terminal device, and report the phase information or TOA, so that the first network device can determine the precise location information of the terminal device according to the above TOA or phase information, thereby improving the positioning accuracy.

[0029] In a possible implementation, the second network device may report positioning measurement information to the first network device. The positioning measurement information may be used to determine the distance between the terminal device and the second network device.

[0030] Based on the above solution, the second network device can report the positioning measurement information to the first network device, which can improve the accuracy of the distance information between the terminal device and the second network device.

[0031] In a possible implementation, the second network device may obtain channel information based on the positioning reference signal and determine phase information of one or more subcarriers of the positioning reference signal based on the distance information and the channel information.

[0032] Based on the above scheme, the second network device can determine the phase information of one or more subcarriers of the positioning reference signal based on the distance information of the terminal device and the channel information obtained by measuring the reference signal of the terminal device, and report the phase information, so that the first network device can determine the location information of the terminal device with higher accuracy based on the phase information.

[0033] In a possible implementation, the second network device may determine the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information.

[0034] Based on the above scheme, the second network device can determine the TOA of one or more subcarriers of the positioning reference signal based on the distance information of the terminal device and the phase information of one or more subcarriers of the positioning reference signal, thereby improving the positioning accuracy without changing the amount of information reported by the second network device.

[0035] In one possible implementation, the second network device may determine an integer ambiguity. The integer ambiguity may minimize a residual sum of squares of ambiguities. The residual sum of squares of ambiguities may be obtained based on phase information and distance information. The second network device may correct the distance information based on the integer ambiguity. The second network device may determine the time of arrival (TOA) of one or more subcarriers of the positioning reference signal based on the corrected distance information.

[0036] Based on the above solution, an integer ambiguity can be determined to minimize the residual sum of squares of the ambiguity. Because the residual sum of squares of the ambiguity represents the accumulation of errors in the terminal device's location information, an integer ambiguity that minimizes the error can be determined. The second network device can use the calculated integer ambiguity to correct the less accurate distance information of the terminal device, thereby obtaining the more accurate TOA of one or more subcarriers of the positioning reference signal, thereby improving positioning accuracy.

[0037] In a possible implementation manner, the distance information may include the distance between the terminal device and the second network device, or the flight time between the terminal device and the second network device.

[0038] Based on the above solution, the second network device can receive distance information determined from the first network device. The accuracy of the distance information is higher than that determined by the second network device itself, which can improve the accuracy of the distance information.

[0039] In one possible implementation, the distance information may include the distance between the terminal device and the second network device. The phase information of one positioning reference signal may satisfy the following formula:

[0040]

[0041] in, is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, and d′ i is the distance between the terminal device and the second network device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any subcarrier among the K subcarriers belongs to the N subcarriers.

[0042] Based on the above solution, the phase information of one or more subcarriers of the positioning reference signal can be determined by the above formula, and the accuracy of the phase information can be improved by frequency synthesis.

[0043] In one possible implementation, the distance information may include the flight time of the terminal device. The phase information of one positioning reference signal may satisfy the following formula:

[0044]

[0045] in, is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, and d′ i is the distance between the terminal device and the second network device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, any subcarrier among the K subcarriers belongs to the N subcarriers, t′ i Indicates the flight time between the second network device and the terminal device.

[0046] Based on the above solution, the phase information of one or more subcarriers of the positioning reference signal can be determined by the above formula, and the accuracy of the phase information can be improved by frequency synthesis.

[0047] In one possible implementation, the residual sum of squares of the ambiguity can satisfy the following formula:

[0048]

[0049] Where d′ i is the distance between the terminal device and the second network device, is the whole-cycle ambiguity, Is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal. f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, where K is greater than or equal to 1. It refers to the summation of K subcarriers, and c is the speed of light.

[0050] Based on the above scheme, the residual sum of squares of ambiguity can be obtained by accumulating the errors in multiple distance information of the terminal device. The residual sum of squares of ambiguity can be used to represent the cumulative error in the distance information of the terminal device. Therefore, according to the above formula, an integer ambiguity that minimizes the cumulative error can be determined.

[0051] In one possible implementation, the corrected distance information may satisfy the following formula:

[0052]

[0053] in, Integer ambiguity, is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, where K is greater than or equal to 1. It refers to the summation of K subcarriers, and c is the speed of light.

[0054] Based on the above scheme, the distance information of the terminal device can be corrected by determining the integer ambiguity that minimizes the cumulative error, thereby improving the accuracy of the distance information of the terminal device.

[0055] In a third aspect, a positioning device is provided. The device may include various modules / units for performing the first aspect or any possible implementation of the first aspect, or may also include various modules / units for performing the second aspect or any possible implementation of the second aspect. For example, the device may include a processing unit and a communication unit.

[0056] In one design, when the positioning device performs the first aspect or any possible implementation of the first aspect, the communication unit is used to send distance information of the terminal device to the second network device; wherein the distance information is the distance information between the terminal device and the second network device; the communication unit is also used to receive first information from multiple second network devices; one first information includes phase information of one or more subcarriers of the positioning reference signal of the terminal device; the phase information is obtained based on the distance information of the terminal device; the processing unit is used to determine the location information of the terminal device based on the phase information of the terminal device.

[0057] In one design, when the processing unit determines the location information of the terminal device based on the phase information of the terminal device, it is specifically used to: determine the precise location information of the terminal device based on the phase information of the terminal device and the distance information of the terminal device.

[0058] In one design, when the processing unit determines the location information of the terminal device based on the phase information of the terminal device, it is specifically used to: respectively determine the distance differences between multiple first distances and second distances; a first distance is the distance between a second network device and the terminal device; the second distance is the distance between the reference second network device and the terminal device; the reference second network device is one of the multiple second network devices; determine multiple phase differences; wherein a phase difference is the phase difference between the phase of a subcarrier of a positioning reference signal of a second network device and the phase of the subcarrier of the positioning reference signal of the reference second network device; determine the precise location information of the terminal device based on the distance difference and the multiple phase differences.

[0059] In one design, for a distance difference, the distance difference satisfies the following formula:

[0060]

[0061] Where Δd i relative distance, represents the integer ambiguity, c is the speed of light, f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, is the relative phase between the i-th second network device among the plurality of second network devices and the reference second network device, It refers to the summation of K subcarriers.

[0062] In one design, when the processing unit determines the location information of the terminal device based on the phase information of the terminal device, it is specifically used to: determine the integer ambiguity; the integer ambiguity minimizes the residual sum of squares of the ambiguity; the residual sum of squares of the ambiguity is obtained based on the phase difference and the distance difference; and determine the precise location information of the terminal device based on the integer ambiguity and multiple distance differences.

[0063] In one design, the residual sum of squares of the ambiguity satisfies the following formula:

[0064]

[0065] Where Δd′ i is the relative distance between the i-th network device in the plurality of second network devices and the reference second network device, is the integer ambiguity, is the relative phase between the i-th second network device among the plurality of second network devices and the reference second network device; f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

[0066] In one design, when the processing unit determines the precise location information of the terminal device based on the integer ambiguity and multiple distance differences, it is specifically used to: correct each distance difference according to the integer ambiguity; and determine the precise location information of the terminal device by using the arrival time difference positioning method based on the corrected multiple distance differences.

[0067] In one design, before sending the distance information of the terminal device to the second network device, the communication unit is also used to: receive positioning measurement information from multiple second network devices; the positioning measurement information includes time measurement information or angle measurement information; the processing unit is also used to determine the distance information of the terminal device based on the positioning measurement information.

[0068] In one design, when the device executes the second aspect or any possible implementation of the second aspect, the communication unit is used to receive distance information between the terminal device and the second network device; the processing unit is used to determine first information based on the distance information; the first information includes phase information of one or more subcarriers of the positioning reference signal of the terminal device; the phase information is obtained based on the distance information of the terminal device; or, the first information includes the arrival time TOA of one or more subcarriers of the positioning reference signal of the terminal device; the communication unit is also used to send the first information to the first network device.

[0069] In one design, the communication unit is further used to: report positioning measurement information to the first network device; the positioning measurement information is used to determine the distance between the terminal device and the second network device.

[0070] In one design, the processing unit is further used to: obtain channel information based on the positioning reference signal; when the processing unit determines the first information based on the distance information, it is specifically used to: determine the phase information of one or more subcarriers of the positioning reference signal based on the distance information and the channel information.

[0071] In one design, the processing unit is further configured to determine a TOA of one or more subcarriers of the positioning reference signal based on the phase information and the distance information.

[0072] In one design, when the processing unit determines the TOA of one or more subcarriers of the positioning reference signal based on the phase information and the distance information, it is specifically used to: determine an integer ambiguity; the integer ambiguity minimizes the residual sum of squares of the ambiguity; the residual sum of squares of the ambiguity is obtained based on the phase information and the distance information; correct the distance information based on the integer ambiguity; and determine the TOA of one or more subcarriers of the positioning reference signal based on the corrected distance information.

[0073] In one design, the distance information includes the distance between the terminal device and the second network device, or the flight time between the terminal device and the second network device.

[0074] In one design, the distance information includes a distance between the terminal device and the second network device, and phase information of one of the positioning reference signals satisfies the following formula:

[0075]

[0076] Among them, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, d′ i is the distance between the terminal device and the second network device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any subcarrier among the K subcarriers belongs to the N subcarriers.

[0077] In one design, the distance information includes a time of flight of the terminal device, and phase information of one of the positioning reference signals satisfies the following formula:

[0078]

[0079] Among them, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, d′ i is the distance between the terminal device and the second network device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, any subcarrier of the K subcarriers belongs to the N subcarriers, t′ i Represents the flight time between the second network device and the terminal device.

[0080] In one design, the corrected distance information satisfies the following formula:

[0081]

[0082] in, The integer ambiguity, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

[0083] In a fourth aspect, a positioning device is provided, comprising a processor and a transceiver. The transceiver is configured to perform the transmitting and receiving steps of the method described in each of the above aspects or any possible implementation of each aspect. The processor is configured to perform the operating steps of the method described in each of the above aspects or any possible implementation of each aspect.

[0084] In one possible implementation, the device further includes a memory for storing computer-executable instructions. The memory may be external to the positioning device or internal to the positioning device. The memory may be integrated with the processor.

[0085] In a fifth aspect, a chip is provided, comprising a logic circuit and a communication interface. In one design, the communication interface can be configured to output distance information of a terminal device and input first information from multiple second devices. The logic circuit can be configured to determine the location information of the terminal device based on the first information.

[0086] In one possible implementation, the communication interface may be further configured to input distance information between the terminal device and the second network device. The logic circuit may be configured to determine the first information based on the distance information. The communication interface may output the first information.

[0087] In a sixth aspect, the present application provides a computer-readable storage medium, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the methods in the above aspects.

[0088] In a seventh aspect, the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the methods in each of the above aspects.

[0089] In addition, the beneficial effects of the third to seventh aspects may be similar to the beneficial effects of the first and second aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 A communication system to which the positioning method provided in the embodiments of the present application is applicable;

[0091] Figure 2 One of the exemplary flow charts of the positioning method provided in the embodiment of the present application;

[0092] Figure 3 A schematic diagram of calculating integer ambiguity provided in an embodiment of the present application;

[0093] Figure 4 This is a schematic diagram of the time delay positioning technology;

[0094] Figure 5 A comparison chart of the accuracy of the positioning method provided in the embodiment of the present application and the existing positioning method;

[0095] Figure 6 One of the exemplary flow charts of the positioning method provided in the embodiment of the present application;

[0096] Figure 7 A schematic diagram of a positioning device provided in an embodiment of the present application;

[0097] Figure 8 A block diagram of a positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0098] Below, some terms used in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0099] Currently, positioning service is one of the important functions of NR system. The current positioning technology mainly includes the following two positioning technologies:

[0100] 1) Uplink time difference of arrival (UL-TDOA) positioning technology: Each cell can measure UL-TDOA of the sounding reference signal (SRS) of the terminal device and report the measurement results to LMF. LMF can calculate the position of the terminal device based on the measurement results reported by each cell. However, UL-TDOA positioning technology requires a higher multipath resolution, and the multipath resolution depends on the bandwidth and signal-to-noise ratio of SRS. Due to the limitations of the indoor environment and communication system, the signal-to-noise ratio and bandwidth of SRS are limited, so the multipath resolution is limited, resulting in limited positioning accuracy of UL-TDOA.

[0101] 2) Uplink Angle of Arrival (UL-AOA) Positioning: Each cell measures the UL-AOA angle of the terminal device's SRS and reports the measurement results to the LMF. The LMF can calculate the terminal device's location based on the measurement results reported by each cell. However, UL-AOA positioning requires high multipath resolution, which depends on the size of the antenna array. Due to the limitations of the indoor environment, the antenna array size is limited, resulting in limited multipath resolution, thus limiting the accuracy of UL-AOA positioning.

[0102] To address the above issues, embodiments of the present application provide a positioning method and apparatus. In this method, an access network device can determine the phase information of multiple subcarriers of an SRS transmitted by a terminal device. The access network device can send this phase information to a LMF. The LMF can determine the terminal device's location information based on the phase information of the multiple subcarriers.

[0103] The terms "system" and "network" in the embodiments of the present application can be used interchangeably. "Multiple" means two or more, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, for elements (element) in the singular form "a", "an" and "the", unless the context clearly dictates otherwise, it does not mean "one or only one", but means "one or more than one". For example, "a device" means one or more such devices. Furthermore, at least one (at least one of)..." means one or any combination of subsequent associated objects, for example, "at least one of A, B and C" includes A, B, C, AB, AC, BC, or ABC.

[0104] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: long term evolution (LTE) system, worldwide interoperability for microwave access (WiMAX) communication system, future fifth generation (5G) system, such as new radio access technology (NR), and future communication systems such as 6G system.

[0105] This application will present various aspects, embodiments, or features in the context of systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. Furthermore, combinations of these aspects may also be used.

[0106] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person skilled in the art will appreciate that, with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems.

[0107] To facilitate understanding of the embodiments of the present application, first Figure 1 The communication system shown is used as an example to describe in detail the communication system applicable to the embodiments of the present application. Figure 1 FIG. 1 is a schematic diagram showing a communication system applicable to the communication method of an embodiment of the present application. Figure 1As shown, the communication system 100 includes a terminal device 101 and an access network device 102, an access and mobility management function network element AMF103 and a location management function network element LMF104.

[0108] The functions of each network element or device of the communication system according to the embodiment of the present application are described in detail below:

[0109] The terminal device, which can also be called user equipment (UE), mobile station (MS), mobile terminal (MT), etc., is a device that provides voice and / or data connectivity to users. For example, the terminal device may include a handheld device with wireless connection function, a vehicle-mounted device, etc. At present, the terminal device can be: a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, or a wireless terminal in a smart home, etc. Among them, Figure 1 The terminal device described in the figure is shown as UE, which is only an example and does not limit the terminal device.

[0110] The access network device (AN) provides wireless access services to the terminal device. The access network device is a device in the communication system that connects the terminal device to the wireless network. The access network device is a node in the wireless access network, which can also be called a base station or a radio access network (RAN) node (or device). Currently, some examples of access network devices include: gNB, transmission reception point (TRP), transmission point (TP), evolved NodeB (eNB), radio network controller (RNC), NodeB (NB), base station controller (BSC), base transceiver station (BTS), home base station (e.g., home evolved NodeB, or home NodeB, HNB), base band unit (BBU), or wireless fidelity (Wifi) access point (AP).

[0111] The access and mobility management function network element AMF can be used to manage the access control and mobility of the terminal device. In actual applications, it includes the mobility management function in the mobility management entity (MME) in the network framework of long term evolution (LTE), and adds access management functions. Specifically, it can be responsible for the registration of the terminal device, mobility management, tracking area update process, reachability detection, selection of session management function network element, mobile state transition management, etc. For example, in 5G, the access and mobility management function network element can be an AMF (access and mobility management function) network element, such as Figure 1 As shown, in future communications, such as 6G, the access and mobility management function network element can still be an AMF network element, or have other names, which are not limited in this application. When the access and mobility management function network element is an AMF network element, the AMF can provide Namf services.

[0112] The location management function LMF may be used to determine the location of the UE, obtain downlink location measurement or location estimation from the UE, etc. For example, in 5G, the location management function LMF may be used to determine the location of the UE, obtain downlink location measurement or location estimation from the UE, etc. Figure 1 As shown, in future communication systems, such as 6G, the location management function network element can still be an LMF network element, or have other names, which is not limited in this application.

[0113] See Figure 2 , which is an exemplary flowchart of the positioning method provided in an embodiment of the present application, may include the following steps.

[0114] Step 201: LMF sends the distance information of the terminal device to the access network device.

[0115] The distance information here may be the distance information between the terminal device and the access network device. The LMF may send the distance information between the terminal device and the access network device to multiple access network devices respectively. It should be noted that the distance information between the terminal device and the access network device may be calculated by the LMF using the positioning measurement information reported by multiple access network devices.

[0116] Among them, the terminal device can send an SRS, and multiple access network devices can measure the SRS sent by the terminal device. Each access network device can obtain a measurement result. The measurement result here can be the UL-TDOA of the SRS or the UL-AOA of the SRS. Each access network device can complete the coarse positioning of the terminal device based on the measurement result through delay positioning technology or angle positioning technology to obtain the coarse positioning coordinates (x', y', z') of the terminal device. Multiple access network devices can respectively send the coarse positioning coordinates of the terminal device to the LMF.

[0117] LMF can calculate the distance between the terminal device and each access network device based on the coarse positioning coordinates of the terminal device reported by the access network device and the pre-stored coordinates of the access network device. LMF can calculate the distance between the terminal device and the access network device according to the following formula (1).

[0118]

[0119] d′ i is the distance from the terminal device to the i-th access network device, (x i ,y i , z i) are the pre-stored coordinates of the i-th access network device. It should be noted that when deploying access network devices, the coordinates of the already deployed access network devices may be recorded, and the coordinates of the already deployed access network devices and the identifiers of the access network devices may be stored in the LMF. The LMF may determine the identifier of the access network device based on the message when the access network device reports the coarse positioning coordinates of the terminal device, and then the LMF may determine the pre-stored coordinates of the access network device based on the identifier.

[0120] LMF can determine the distance between each access network device and the terminal device using the above formula (1). The distance information sent by LMF to the access network device can be d' calculated using the above formula (1). i , or it can be based on d′ i The obtained flight time t′ of the terminal device i =d′ i / c. Where c is the speed of light.

[0121] Optionally, the access network device may also independently calculate the distance information between the terminal device and itself. For example, the access network device may determine the distance between the terminal device and itself based on the coarse positioning coordinates (x', y', z') of the terminal device. The access network device may also obtain the flight time of the terminal device based on the determined distance. The access network device may send the self-calculated distance information to the LMF. It should be noted that the way in which the access network device independently calculates the distance information between the terminal device and itself is completed within the access network device, and there may be some errors and low accuracy.

[0122] Step 202: The access network device determines first information according to the distance information.

[0123] The first information here may include phase information of one or more subcarriers of the SRS sent by the terminal device or time of arrival (TOA) of one or more subcarriers of the SRS sent by the terminal device.

[0124] It should be noted that the terminal device can send SRS on one or more subcarriers, so the subcarriers of SRS can be considered as the subcarriers on which the terminal device sends SRS. For example, the terminal device sends SRS on subcarrier a, subcarrier b, and subcarrier c respectively, so the subcarriers of SRS can include subcarrier a, subcarrier b, and subcarrier c, and then the first information can include the phase information of subcarrier a of the SRS, the phase information of subcarrier b, and the phase information of subcarrier c; or, the first information can include the TOA of subcarrier a of the SRS, the TOA of subcarrier b, and the TOA of subcarrier c. The following describes the methods for determining the first information respectively.

[0125] Case 1: The first information includes phase information of one or more subcarriers of the SRS.

[0126] The access network device can measure the channel state information (CSI) on one or more subcarriers of the SRS of the terminal device. The access network device can determine the phase information of one or more subcarriers of the SRS based on the channel state information of the SRS and the distance information of the received terminal device. Among them, the access network device can determine the phase information of one or more subcarriers in a pre-set subcarrier set. It should be noted that the pre-set subcarrier set can be negotiated between the access network device and the LMF, or it can be determined in advance based on empirical values, or it can be specified by the communication protocol, and this application does not make specific restrictions. In addition, the pre-set subcarrier set belongs to the set of all subcarriers of the SRS, and the pre-set subcarrier set can include all subcarriers of the SRS, or it can include some subcarriers of the SRS.

[0127] In one example, if the distance information is the distance between the terminal device and the access network device, the access network device can determine the phase information of one or more subcarriers in a preset subcarrier set of the SRS using the following formula (2).

[0128]

[0129] in, It is the phase information of the kth subcarrier of the SRS determined by the i-th access network device. The kth subcarrier is any one of the pre-set subcarrier set. The pre-set subcarrier set includes K subcarriers. K is greater than or equal to 1. k belongs to the pre-set subcarrier index (index), and k is a positive integer. i (n) is the CSI of the nth subcarrier among the N subcarriers of the SRS measured by the i-th access network device, where N is greater than or equal to 1, and n belongs to the N subcarrier index of the SRS, and n is a positive integer. f(n) is the frequency of the nth subcarrier of the SRS, and f(k) is the frequency of the kth subcarrier among the K pre-set subcarriers of the SRS. angel represents the operation of taking the phase of a complex number, e j2π Indicates a complex number. i is the distance between the terminal device sending LMF and the access network device, and c is the speed of light.

[0130] In another example, if the distance information is the flight time from the terminal device to the access network device, the access network device can determine the phase information of one or more subcarriers in a preset subcarrier set of the SRS using the following formula (3).

[0131]

[0132] in, It is the phase information of the kth subcarrier of the SRS determined by the i-th access network device. The kth subcarrier is any one of the pre-set subcarrier set. The pre-set subcarrier set includes K subcarriers. K is greater than or equal to 1. k belongs to the pre-set subcarrier index (index), and k is a positive integer. i (n) is the CSI of the nth subcarrier among the N subcarriers of the SRS measured by the i-th access network device, where N is greater than or equal to 1, and n belongs to the N subcarrier index of the SRS, and n is a positive integer. f(n) is the frequency of the nth subcarrier of the SRS, and f(k) is the frequency of the kth subcarrier of the SRS. angel represents the operation of taking the phase of the complex number, e j2π Indicates a complex number. i It is the flight time between the terminal device and the access network device sent by LMF.

[0133] Based on the above scheme, the access network device can determine the phase information of one or more subcarriers in a pre-set subcarrier set through the frequency synthesis method of the SRS subcarrier according to the distance information of the terminal device, the frequency of the SRS subcarrier and the CSI of the SRS subcarrier, thereby improving the accuracy of the phase information of the SRS subcarrier.

[0134] Case 2: The first information includes the TOA of the SRS.

[0135] The access network device may determine the phase information of one or more subcarriers in the pre-set subcarrier set of the SRS according to the above situation 1. Then, the access network device may obtain the TOA of the SRS according to the phase information and the distance information sent by the LMF.

[0136] The access network device may establish a "phase-distance" relationship for all subcarriers in a pre-set subcarrier set. The "phase-distance" relationship may satisfy the following formula (4).

[0137]

[0138] d′ i It can be the distance between the terminal device and the access network device sent by LMF, or it can be the flight time t′ between the terminal device and the access network device sent by LMF i ×c. It can represent the phase of the kth subcarrier among the K pre-set subcarriers of the SRS measured by the i-th access network device, where K is greater than or equal to 1, and f k is the frequency of the kth subcarrier. Ni (k) is a natural number, also known as the integer ambiguity, used to represent the distance d′ i Contains integer wavelength values.

[0139] The access network device can obtain the “phase-distance” relationship of each subcarrier in the preset subcarrier set through formula (4).

[0140] The access network device can determine the residual sum of squares of ambiguity based on the "phase-distance" relationship of each subcarrier. The residual sum of squares of ambiguity can satisfy the following formula (5).

[0141]

[0142] Where d′ i is the distance between the terminal device sending LMF and the access network device, is the optimal integer ambiguity, is the phase of the kth subcarrier among the K pre-set subcarriers of the SRS measured by the i-th access network device, where K is greater than or equal to 1; It refers to the sum of K subcarriers, c is the speed of light, f k It is the frequency of the kth subcarrier among the K pre-set subcarriers of the SRS.

[0143] The access network equipment can determine an optimal integer ambiguity The residual sum of squares of the ambiguity can represent the distance d′ between the terminal device and the access network device for all subcarriers in the pre-set subcarrier set for SRS. i If we determine an optimal integer ambiguity To minimize the above formula (5), it can be considered that all subcarriers in the pre-set subcarrier set for SRS are used to make the distance d′ between the terminal device and the access network device i In other words, by minimizing the above formula (5), it can be considered that the distance between the terminal device and the access network device is closest on each subcarrier of the SRS.

[0144] See Figure 3 ,f1,…,f k is the frequency of different subcarriers of SRS, corresponding to wavelengths λ1,…λ k d′ i Indicates the distance at which LMF is sent. d can represent the propagation distance, e d Can represent distance error.

[0145] Among them, d′ of different frequencies i The closer it is, the distance error ed Therefore, the access network device determines the minimum residual sum of squares of ambiguity. The process can be regarded as determining the minimum distance error. process. Figure 3 As shown, at d′ i =3, the distance error e d Therefore, the access network device can determine whether d′ i =3 is the integer ambiguity that minimizes the residual sum of squares of the ambiguities.

[0146] The access network equipment determines a whole cycle ambiguity through the above method Afterwards, the distance information sent by the LMF can be corrected. The access network device can obtain a more accurate distance between the terminal device and the access network device through the following formula (6). The distance satisfies the following formula (6):

[0147]

[0148] Wherein, K represents the number of subcarriers in a preset subcarrier set, and K is greater than or equal to 1. It can represent the phase of the kth subcarrier among the K preset subcarriers of the SRS measured by the i-th access network device, is the integer ambiguity that is determined to minimize the residual sum of squares of ambiguities, f k is the frequency of the kth subcarrier among the K pre-set subcarriers, and c is the speed of light.

[0149] The access network equipment can i Converted to TOA. That is, t i =d i / c,t i It can represent the TOA value.

[0150] Based on the above solution, the access network device can obtain a more accurate TOA value through the phase information of the SRS subcarrier and report the TOA value to the LMF, which can improve the accuracy of the positioning technology without increasing the amount of data transmitted by the access network device.

[0151] Step 203: The access network device sends the first information to the LMF.

[0152] Among them, the access network device can send the phase information shown in the above situation 1 to the LMF, and the LMF can determine the location information of the terminal device based on the phase information.

[0153] Optionally, the access network device can obtain a more accurate TOA based on the phase information and send the more accurate TOA to the LMF as shown in the above scenario 2. If the access network device sends the TOA to the LMF, the accuracy of the positioning technology can be improved while maintaining the amount of information reported by the existing access network device.

[0154] Step 204: The LMF determines the location information of the terminal device based on the first information.

[0155] The first information here may include the phase information shown in the above case 1, or may include the TOA shown in the above case 2. In the following, the manner in which the LMF determines the location information of the terminal device is described respectively according to the different information included in the first information.

[0156] Case 1: The first information includes the TOA of the SRS.

[0157] Multiple access network devices can report the TOA of SRS to LMF respectively, so LMF can use time delay positioning technology to obtain the precise location information of the terminal device through TOA calculation.

[0158] LMF can select a reference access network device and calculate the delay difference between each access network device and the reference access network device based on the TOA reported by multiple access network devices. The reference access network device can be any of the multiple access network devices mentioned above, and a delay difference can represent the difference between the TOA reported by an access network device and the TOA reported by the reference access network device. Figure 4 , LMF can determine multiple hyperbolas based on the calculated delay difference. Each hyperbola can represent a delay difference, and the difference between the distance from each point on the hyperbola to the reference access network device and the distance from the point to the access network device required to obtain the delay difference is the same. For example, Figure 4 As shown, TDOA21 can represent the time delay difference between access network device 2 and reference access network device 1. The difference between the distance from each point on hyperbola TODA21 to access network device 2 and the distance from the point to reference access network device 1 is the same.

[0159] LMF can obtain multiple hyperbolas through the delay differences between multiple access network devices and the reference access network device. The intersection point of the multiple hyperbolas can be the precise location information of the terminal device.

[0160] Based on the above solution, LMF can receive the TOA with high accuracy reported by each access network device, so the terminal device can be positioned through multiple TOAs with high accuracy, and the location information of the terminal device with high accuracy can be obtained.

[0161] Case 2: The first information includes phase information of one or more subcarriers of the SRS.

[0162] LMF can select a reference access network device. The reference access network device here can be any one of the access network devices that can receive the SRS sent by the terminal device. LMF can calculate the distance difference between the first distance and the second distance. It should be understood that the first distance here can be the distance information between the above-mentioned terminal device and the access network device, and the second distance can be the distance information between the terminal device and the reference access network device. LMF can calculate the distance difference between multiple first distances and second distances respectively. Among them, the distance difference between multiple first distances and second distances can be determined by the following formula (7).

[0163] Δd′ i =d′ i -d′ ref Formula (7)

[0164] Where Δd′ i Can represent the distance difference, d′ i It can represent the distance information between the i-th access network device and the terminal device, d′ ref It can represent the distance information between the reference access network device and the terminal device, i=0,1,2,….

[0165] LMF can calculate the phase difference between the reference access network device and multiple access network devices other than the reference access network device. A phase difference is the phase difference between the phase of a subcarrier of the SRS of an access network device and the phase of the aforementioned subcarrier of the SRS of the reference access network device. For example, a phase difference can be the phase difference between the phase of subcarrier i of the SRS of the access network device and the phase of subcarrier i of the SRS of the reference access network device. The phase difference between the reference access network device and multiple access network devices can be determined using the following formula (8).

[0166]

[0167] in, It can represent the phase difference, It can represent the phase of the kth subcarrier among the K preset subcarriers of the SRS of the i-th access network device, where K is greater than or equal to 1 and k is the subcarrier index in the preset subcarrier set. It can represent the phase of the kth subcarrier among K preset subcarriers of the SRS of the reference access network device.

[0168] LMF can establish a "phase-distance" relationship for each subcarrier in a preset subcarrier set, and the "phase-distance" relationship can satisfy the following formula (9).

[0169]

[0170] Where Δd′ i represents the distance difference of the i-th access network device, represents the phase difference of the i-th access network device, f k is the frequency of the kth subcarrier among the K pre-set subcarriers of SRS, K is greater than or equal to 1, and c is the speed of light. i (k) is the integer ambiguity, which is a natural number.

[0171] LMF can determine the “phase-distance” relationship of each subcarrier in a preset subcarrier set by using formula (9).

[0172] LMF can determine the residual sum of squares of ambiguity through the "phase-distance" relationship of each subcarrier. The residual sum of squares of ambiguity can satisfy the following formula (10).

[0173]

[0174] Where Δd′ i represents the distance difference of the i-th access network device, is the optimal integer ambiguity, represents the phase difference of the i-th access network device; It refers to the sum of K subcarriers, K is greater than or equal to 1, c is the speed of light, f k It is the frequency of the kth subcarrier among the K pre-set subcarriers of the SRS.

[0175] LMF can determine the optimal integer ambiguity The above formula (10) is minimized. The residual sum of squares of the ambiguity can represent all subcarriers in the pre-set subcarrier set for SRS, Δd′ i If we determine an optimal integer ambiguity By minimizing the above formula (10), it can be considered that the distance between the terminal device and the access network device is closest on each subcarrier of the SRS.

[0176] LMF can be determined by A distance difference with high accuracy is obtained, which satisfies the following formula (11).

[0177]

[0178] K represents the number of subcarriers in a pre-set subcarrier set, and K is greater than or equal to 1. is the optimal integer ambiguity, represents the phase difference of the i-th access network device, Refers to the summation of K subcarriers, f k is the frequency of the kth subcarrier among the K pre-set subcarriers of SRS, and c is the speed of light.

[0179] LMF can convert this Δd i Converted into delay difference, the time delay positioning technology is used to determine the precise location information of the terminal device. Among them, the delay difference Δt i =Δd i / c.

[0180] LMF can determine the precise location information of the terminal device based on the delay differences of multiple access network devices through the delay positioning technology shown in the above case 1.

[0181] Based on the above scheme, LMF can determine a more accurate TOA based on the phase information of the SRS subcarrier reported by the access network device through the frequency synthesis of the SRS subcarrier, which can improve the accuracy of terminal device positioning.

[0182] See Figure 5 , is a simulation effect diagram of the positioning method provided by the embodiment of the present application. Among them, curve 1 can represent the positioning result obtained by the positioning method provided by the embodiment of the present application, and curve 2 can represent the positioning result obtained by the angle positioning technology of the prior art. Figure 5 As shown, the horizontal axis can represent the positioning error, and the vertical axis can represent the cumulative distribution function of the positioning error. The simulation diagram can represent the proportion of positioning results that meet a certain positioning error in all positioning results in the positioning results of the terminal device. Taking a positioning error of 0.5 as an example, among the positioning results obtained by the positioning method provided in the embodiment of the present application, the positioning results with a positioning error less than or equal to 0.5 account for 0.6 of all positioning results. Among the positioning results obtained by the angle positioning technology in the prior art, the positioning results with a positioning error less than or equal to 0.5 account for about 0.1 of all positioning results. It can be seen that among the positioning results obtained by the positioning method provided in the embodiment of the present application, the proportion of positioning results with a positioning error less than or equal to 0.5 in all positioning results is about 5 times higher than that of the positioning results obtained by the angle positioning technology, that is, the positioning accuracy is improved by about 5 times.

[0183] Taking the positioning error of 0.9 as an example, among the positioning results obtained by the positioning method provided in the embodiment of the present application, the proportion of positioning results with a positioning error less than or equal to 0.9 to all positioning results is close to 1, while among the positioning results obtained by the angle positioning technology in the prior art, the proportion of positioning results with a positioning error less than or equal to 0.9 to all positioning results is close to 0.5. It can be seen that among the positioning results obtained by the positioning method provided in the embodiment of the present application, the proportion of positioning results with a positioning error less than or equal to 0.9 to all positioning results is increased by about 1 times compared with the positioning results obtained by the angle positioning technology, that is, the positioning accuracy is improved by about 1 times.

[0184] The following describes the positioning method provided by the embodiments of the present application through specific examples.

[0185] See Figure 6 , which is an exemplary flowchart of the positioning method provided in an embodiment of the present application, may include the following steps.

[0186] Step 1: TOA / AOA coarse positioning.

[0187] In step 1, the access network device can perform coarse positioning of the terminal device. Multiple access network devices can respectively measure the SRS sent by the terminal device to obtain the channel information H of the SRS subcarrier. Multiple access network devices can respectively determine the SRS time of arrival or the SRS area of ​​arrival based on the channel information H. Multiple access network devices can respectively report the SRS TOA or AOA to the positioning center LMF. The LMF can perform coarse positioning of the terminal device based on the SRS TOA or AOA reported by each access network device to obtain the coarse positioning coordinates of the terminal device.

[0188] Step 2: Frequency synthesis phase correction.

[0189] In step 2, the access network device can correct the phase information of the SRS subcarrier according to the frequency synthesis method of the SRS subcarrier. Among them, the LMF can calculate the distance information between each access network device and the terminal device according to the coarse positioning coordinates of the terminal device, and send the distance information to the access network device respectively. It should be understood that the distance information fed back to the access network device by the LMF in step 2 can be referred to as Figure 2 The relevant descriptions in the method embodiment shown are not repeated here.

[0190] Multiple access network devices can obtain the phase information of the SRS subcarrier based on the distance information from the LMF and the channel information H of the SRS subcarrier measured in step 1. The method for the access network device to calculate the phase information of the SRS subcarrier can be found in Figure 2 The relevant descriptions in the method embodiment shown are not repeated here.

[0191] Step 3: Joint carrier phase calculation by multiple access network devices.

[0192] In step 3, LMF can combine the phase information reported by multiple access network devices to solve the precise location information of the terminal device. Among them, multiple access network devices can report the phase information of the SRS subcarrier obtained in step 2 to the positioning center LMF respectively. LMF can calculate the precise positioning coordinates of the terminal device based on the phase information from the access network device, the rough positioning coordinates of the terminal device, and the coordinates of the access network device. It should be understood that the method for LMF to determine the precise positioning coordinates of the terminal device based on the phase information can be found in the following. Figure 2 The relevant descriptions in the method embodiment shown are not repeated here.

[0193] Based on the above steps 1 to 3, the access network device can correct the phase of the SRS subcarrier based on the frequency synthesis method of the SRS subcarrier to obtain a more accurate phase of the SRS subcarrier, and then report it to the LMF. The LMF can correct the distance between the terminal device and the access network device based on the more accurate phase information, thereby obtaining a more accurate distance between the terminal device and the access network device. The LMF can continue to calculate the precise location information of the terminal device based on the more accurate distance between the terminal device and the access network device. Based on the above scheme, the accuracy of positioning the terminal device can be improved on the basis of the current deployment architecture of the access network device.

[0194] Based on the same technical concept as the above communication method, Figure 7 As shown, a device 700 is provided. The device 700 can execute each step executed by the first network device side or the second network device side in the above method, and will not be described in detail here to avoid repetition.

[0195] Device 700 includes a communication unit 710, a processing unit 720, and optionally, a storage unit 730. The processing unit 720 may be connected to the storage unit 730 and the communication unit 710, respectively. The storage unit 730 may also be connected to the communication unit 710. The processing unit 720 and the storage unit 730 may be integrated. The communication unit 710 may also be referred to as a transceiver, a transceiver, a transceiver device, etc. The processing unit 720 may also be referred to as a processor, a processing board, a processing module, a processing device, etc. Optionally, the device that implements the receiving function in the communication unit 710 may be referred to as a receiving unit, and the device that implements the transmitting function in the communication unit 710 may be referred to as a transmitting unit, i.e., the communication unit 710 includes both a receiving unit and a transmitting unit. A communication unit may also be referred to as a transceiver, a transceiver, or a transceiver circuit. A receiving unit may also be referred to as a receiver, a receiver, or a receiving circuit. A transmitting unit may also be referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0196] It should be understood that the communication unit 710 is used to perform the sending and receiving operations on the first network device side or the second network device side in the above method embodiment, and the processing unit 720 is used to perform other operations on the first network device side or the second network device side except the sending and receiving operations in the above method embodiment. For example, in one implementation, the communication unit 710 is used to perform Figure 2 The receiving operation on the second network device side or the sending operation on the first network device side in step 201 and step 202, and / or the communication unit 710 is also used to perform other sending and receiving steps on the first network device side or the second network device side in the embodiment of the present application. The processing unit 720 is used to perform Figure 2 The processing steps on the first network device side in step 203, and / or the processing unit 720 is used to execute other processing steps on the first network device side or the second network device side in the embodiment of the present application.

[0197] The storage unit 730 is used to store computer programs;

[0198] For example, when the apparatus 700 executes the steps in the above method performed by the first network device, the processing unit 720 is used to determine the first physical channel. The description of the first physical channel can be found in Figure 2 The communication unit 710 is configured to send distance information of a terminal device to a second network device and receive first information from a plurality of second network devices. The processing unit 720 is configured to determine the location information of the terminal device based on the phase information of the terminal device.

[0199] The first information, distance information and phase information can be found in Figure 2The relevant descriptions in the method embodiment shown are not repeated here.

[0200] In one design, when the processing unit 720 determines the location information of the terminal device based on the phase information of the terminal device, it is specifically used to: determine the precise location information of the terminal device based on the phase information of the terminal device and the distance information of the terminal device.

[0201] In one design, when determining the location information of the terminal device based on the phase information of the terminal device, the processing unit 720 is specifically configured to: determine the distance differences between multiple first distances and second distances and determine multiple phase differences; and determine the precise location information of the terminal device based on the distance differences and the multiple phase differences. The first distance, the second distance, the distance difference, and the phase difference can be referred to as Figure 2 Related description in the method embodiment shown.

[0202] In one design, when determining the precise location information of the terminal device based on the integer ambiguity and the multiple distance differences, the processing unit 720 is specifically configured to: correct each distance difference based on the integer ambiguity; and determine the precise location information of the terminal device using a time difference of arrival positioning method based on the corrected multiple distance differences. The distance difference and the integer ambiguity can be referred to as Figure 2 Related description in the method embodiment shown.

[0203] In one design, before sending the distance information of the terminal device to the second network device, the communication unit 710 is further configured to: receive positioning measurement information from multiple second network devices; the positioning measurement information includes time measurement information or angle measurement information; and the processing unit 720 is further configured to determine the distance information of the terminal device based on the positioning measurement information. The positioning measurement information can be found in Figure 2 Related description in the method embodiment shown.

[0204] Exemplarily, when the apparatus 700 is used to execute the steps executed by the second network device, the communication unit 710 is used to receive the distance information between the terminal device and the second network device; the processing unit 720 is used to determine the first information based on the distance information; and the communication unit 710 is further used to send the first information to the first network device. The distance information and the first information can be referred to as follows. Figure 2 The relevant descriptions in the method embodiment shown are not repeated here.

[0205] In one design, the communication unit 710 is further configured to: report positioning measurement information to the first network device; the positioning measurement information is used to determine the distance between the terminal device and the second network device. The positioning measurement information can be found in Figure 2 Related description in the method embodiment shown.

[0206] In one design, the processing unit 720 is further configured to: obtain channel information based on the positioning reference signal; when the processing unit 720 determines the first information based on the distance information, it is specifically configured to: determine phase information of one or more subcarriers of the positioning reference signal based on the distance information and the channel information. The channel information and phase information can be found in FIG. Figure 2 Related description in the method embodiment shown.

[0207] In one design, the processing unit 720 is further configured to determine a TOA of one or more subcarriers of the positioning reference signal based on the phase information and the distance information.

[0208] In one design, when determining the TOA of one or more subcarriers of the positioning reference signal based on the phase information and the distance information, the processing unit 720 is specifically configured to: determine an integer ambiguity; the integer ambiguity minimizes the residual sum of squares of the ambiguity; the residual sum of squares of the ambiguity is obtained based on the phase information and the distance information; correct the distance information based on the integer ambiguity; and determine the TOA of one or more subcarriers of the positioning reference signal based on the corrected distance information. The integer ambiguity and the residual sum of squares of the ambiguity can be found in the following example. Figure 2 The relevant descriptions in the method embodiment shown are not repeated here.

[0209] When the device is a chip-type device or circuit, it may include a communication unit and a processing unit. The communication unit may be an input / output circuit and / or a communication interface; the processing unit may be an integrated processor, microprocessor, or integrated circuit. The communication unit may input and output data, and the processing unit may determine output data based on the input data. For example, the communication unit may output distance information of a terminal device and input first information of multiple second network devices. The processing unit may determine output data, such as the location information of the terminal device, based on the input data, such as the first information of multiple second network devices.

[0210] like Figure 8The device 800 provided in an embodiment of the present application is shown, and is used to implement the functions of the first network device side and the second network device side in the above method. When the device is used to implement the functions of the first network device in the above method, the device can be an LMF, a chip with similar functions to the LMF, or a device that can be used in conjunction with the LMF. When the device is used to implement the functions of the second network device in the above method, the device can be an access network device, a chip with similar functions to the access network device, or a device that can be used in conjunction with the access network device.

[0211] The device 800 includes at least one processor 820, which is used to implement the functions of the first network device side and the second network device side in the method provided in the embodiment of the present application. The device 800 may also include a communication interface 810. In the embodiment of the present application, the communication interface can be a transceiver, circuit, bus, module or other type of communication interface, which is used to communicate with other devices through a transmission medium. For example, the communication interface 810 is used in the device 800 to communicate with other devices. The processor 820 can complete the following Figure 7 The functions of the processing unit 720 shown in FIG. 8 are as follows: Figure 7 The functionality of the communication unit 710 is shown.

[0212] The device 800 may also include at least one memory 830 for storing program instructions and / or data. The memory 830 is coupled to the processor 820. Coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units, or modules, which may be electrical, mechanical, or other forms, and is used for information exchange between the devices, units, or modules. The processor 820 may operate in conjunction with the memory 830. The processor 820 may execute program instructions stored in the memory 830. At least one of the at least one memory may be included in the processor.

[0213] The specific connection medium between the communication interface 810, the processor 820 and the memory 830 is not limited in the embodiment of the present application. Figure 8 The memory 830, the processor 820 and the communication interface 810 are connected via a bus 840. Figure 8 The connections between the other components are shown in bold lines, which are only for illustration and are not intended to be limiting. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0214] As another form of this embodiment, a computer-readable storage medium is provided, on which instructions are stored. When the instructions are executed, the methods of the first network device side and the second network device side in the above method embodiment are executed.

[0215] As another form of this embodiment, a computer program product containing instructions is provided. When the instructions are executed by an electronic device (for example, a computer, a processor, or a device equipped with a processor, etc.), the electronic device executes the methods on the first network device side and the second network device side in the above-mentioned method embodiment.

[0216] As another form of this embodiment, a communication system is provided. The system may include a terminal device, the at least one first network device and the at least one second network device.

[0217] It should be understood that the processor mentioned in the embodiments of the present invention may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0218] It should also be understood that the memory mentioned in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0219] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) is integrated into the processor.

[0220] It should be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable types of memory.

[0221] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0222] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0223] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0224] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0225] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0226] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0227] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0228] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A positioning method, characterized in that: include: The first network device sends distance information of the terminal device to the second network device; wherein the distance information is the distance information between the terminal device and the second network device; The first network device receives first information from multiple second network devices; one first information includes phase information of one or more subcarriers of a positioning reference signal of the terminal device; the phase information is obtained according to the distance information of the terminal device; The first network device determines the location information of the terminal device based on the phase information of the terminal device.

2. The method according to claim 1, characterized in that The first network device determines the location information of the terminal device according to the phase information of the terminal device, including: The first network device determines the precise location information of the terminal device according to the phase information of the terminal device and the distance information of the terminal device.

3. The method according to claim 2, characterized in that The first network device determines the precise location information of the terminal device according to the phase information of the terminal device and the distance information of the terminal device, including: The first network device determines a distance difference between a plurality of first distances and a second distance respectively; a first distance is a distance between the second network device and the terminal device; the second distance is a distance between a reference second network device and the terminal device; the reference second network device is one of the plurality of second network devices; The first network device determines a plurality of phase differences; wherein a phase difference is a phase difference between a phase of a subcarrier of a positioning reference signal of a second network device and a phase of the subcarrier of a positioning reference signal of a reference second network device; The first network device determines the precise location information of the terminal device based on the distance difference and the multiple phase differences.

4. The method according to claim 3, characterized in that For a distance difference, the distance difference satisfies the following formula: Where Δd i relative distance, represents the integer ambiguity, c is the speed of light, f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, is the relative phase between the i-th second network device among the plurality of second network devices and the reference second network device, It refers to the summation of K subcarriers.

5. The method according to claim 3 or 4, characterized in that The first network device determines the precise location information of the terminal device according to the distance difference and the multiple phase differences, including: The first network device determines an integer ambiguity; the integer ambiguity minimizes an ambiguity residual sum of squares; the ambiguity residual sum of squares is obtained according to the phase difference and the range difference; The first network device determines the precise location information of the terminal device based on the integer ambiguity and the multiple distance differences.

6. The method according to claim 5, characterized in that The residual sum of squares of the ambiguity satisfies the following formula: Where Δd i ′ is the relative distance between the i-th network device in the plurality of second network devices and the reference second network device, is the integer ambiguity, is the relative phase between the i-th second network device among the plurality of second network devices and the reference second network device; f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

7. The method according to claim 5, characterized in that The determining, based on the integer ambiguity and the plurality of distance differences, the precise location information of the terminal device includes: The first network device corrects each of the distance differences according to the integer ambiguity; The first network device determines the precise location information of the terminal device using an arrival time difference positioning method based on the corrected multiple distance differences.

8. The method according to any one of claims 1, 2, 3, 4, 6, and 7, characterized in that: Before the first network device sends the distance information of the terminal device to the second network device, the method further includes: The first network device receives positioning measurement information from a plurality of second network devices; the positioning measurement information includes time measurement information or angle measurement information; The first network device determines the distance information of the terminal device based on the positioning measurement information.

9. A positioning method, characterized in that: include: The second network device receives distance information between the terminal device and the second network device; The second network device determines first information based on the distance information; the first information includes phase information of one or more subcarriers of a positioning reference signal of the terminal device; the phase information is obtained based on the distance information of the terminal device; or the first information includes a time of arrival (TOA) of one or more subcarriers of a positioning reference signal of the terminal device; The second network device sends the first information to the first network device.

10. The method according to claim 9, characterized in that Also includes: The second network device reports the positioning measurement information to the first network device; The positioning measurement information is used to determine the distance between the terminal device and the second network device.

11. The method according to claim 9 or 10, characterized in that Also includes; The second network device obtains channel information according to the positioning reference signal; The second network device determines the first information according to the distance information, including: The second network device determines phase information of one or more subcarriers of the positioning reference signal according to the distance information and the channel information.

12. The method according to claim 9 or 10, characterized in that Also includes: The second network device determines the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information.

13. The method according to claim 12, characterized in that The second network device determines, according to the phase information and the distance information, the TOA of one or more subcarriers of the positioning reference signal, including: The second network device determines an integer ambiguity; the integer ambiguity minimizes a residual sum of squares of ambiguities; the residual sum of squares of ambiguities is obtained based on the phase information and the distance information; The second network device corrects the distance information according to the integer ambiguity; The second network device determines the TOA of one or more subcarriers of the positioning reference signal according to the corrected distance information.

14. The method according to any one of claims 9, 10 and 13, characterized in that: The distance information includes the distance between the terminal device and the second network device, or the flight time between the terminal device and the second network device.

15. The method according to claim 14, characterized in that The distance information includes the distance between the terminal device and the second network device, and the phase information of one of the positioning reference signals satisfies the following formula: Among them, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, d i ′ is the distance between the terminal device and the second network device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any subcarrier among the K subcarriers belongs to the N subcarriers.

16. The method according to claim 14, characterized in that The distance information includes the flight time of the terminal device, and the phase information of one of the positioning reference signals satisfies the following formula: Among them, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, d i ′ is the distance between the terminal device and the second network device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, any subcarrier of the K subcarriers belongs to the N subcarriers, t i ′ Represents the flight time between the second network device and the terminal device.

17. The method according to claim 13, wherein The residual sum of squares of the ambiguity satisfies the following formula: Among them, d i ′ is the distance between the terminal device and the second network device, is the integer ambiguity, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

18. The method according to claim 11, characterized in that The corrected distance information satisfies the following formula: in, is the integer ambiguity, is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

19. A positioning device, characterized in that: include: processing unit and communication unit; The communication unit is configured to send distance information of the terminal device to the second network device; wherein the distance information is distance information between the terminal device and the second network device; The communication unit is further configured to receive first information from a plurality of second network devices; one first information includes phase information of one or more subcarriers of a positioning reference signal of the terminal device; the phase information is obtained based on the distance information of the terminal device; The processing unit is used to determine the location information of the terminal device based on the phase information of the terminal device.

20. The device according to claim 19, characterized in that When determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to: The precise location information of the terminal device is determined according to the phase information of the terminal device and the distance information of the terminal device.

21. The device according to claim 20, characterized in that When determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to: Determine the distance difference between a plurality of first distances and a second distance respectively; a first distance is a distance between a second network device and the terminal device; the second distance is a distance between a reference second network device and the terminal device; the reference second network device is one of the plurality of second network devices; Determine a plurality of phase differences; wherein a phase difference is a phase difference between a phase of a subcarrier of a positioning reference signal of a second network device and a phase of the subcarrier of a positioning reference signal of a reference second network device; The precise location information of the terminal device is determined based on the distance difference and the multiple phase differences.

22. The device according to claim 21, characterized in that For a distance difference, the distance difference satisfies the following formula: Where Δd i relative distance, represents the integer ambiguity, c is the speed of light, f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, is the relative phase between the i-th second network device among the plurality of second network devices and the reference second network device, It refers to the summation of K subcarriers.

23. The device according to claim 21 or 22, characterized in that When determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to: determining an integer ambiguity; wherein the integer ambiguity minimizes a residual sum of squares of ambiguities; wherein the residual sum of squares of ambiguities is obtained based on the phase difference and the range difference; The precise location information of the terminal device is determined based on the integer ambiguity and the multiple distance differences.

24. The device according to claim 23, characterized in that The residual sum of squares of the ambiguity satisfies the following formula: Where Δd i ′ is the relative distance between the i-th network device in the plurality of second network devices and the reference second network device, is the integer ambiguity, is the relative phase between the i-th second network device among the plurality of second network devices and the reference second network device; f k is the frequency of the kth subcarrier among the K subcarriers of the first signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

25. The device according to claim 23, characterized in that When determining the precise location information of the terminal device based on the integer ambiguity and the multiple distance differences, the processing unit is specifically configured to: Correcting each of the range differences according to the integer ambiguity; Based on the corrected multiple distance differences, an arrival time difference positioning method is adopted to determine the precise location information of the terminal device.

26. The device according to any one of claims 19, 20, 21, 22, and 24, characterized in that: Before sending the distance information of the terminal device to the second network device, the communication unit is further configured to: Receiving positioning measurement information from a plurality of second network devices; the positioning measurement information includes time measurement information or angle measurement information; The processing unit is further configured to determine the distance information of the terminal device based on the positioning measurement information.

27. A positioning device, characterized in that: include: processing unit and communication unit; The communication unit is configured to receive distance information between the terminal device and the positioning device; The processing unit is configured to determine first information based on the distance information; the first information includes phase information of one or more subcarriers of a positioning reference signal of the terminal device; the phase information is obtained based on the distance information of the terminal device; or the first information includes a time of arrival (TOA) of one or more subcarriers of a positioning reference signal of the terminal device; The communication unit is further configured to send the first information to the first network device.

28. The device according to claim 27, characterized in that The communication unit is further configured to: Reporting positioning measurement information to the first network device; the positioning measurement information is used to determine the distance between the terminal device and the positioning device.

29. The device according to claim 27 or 28, characterized in that The processing unit is further configured to: Obtaining channel information according to the positioning reference signal; When determining the first information according to the distance information, the processing unit is specifically configured to: Phase information of one or more subcarriers of the positioning reference signal is determined according to the distance information and the channel information.

30. The device according to claim 27 or 28, characterized in that The processing unit is further configured to: Determine the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information.

31. The device according to claim 30, characterized in that When determining the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information, the processing unit is specifically configured to: determining an integer ambiguity; wherein the integer ambiguity minimizes a residual sum of squares of ambiguities; wherein the residual sum of squares of ambiguities is obtained based on the phase information and the distance information; Correcting the distance information according to the integer ambiguity; The TOA of one or more subcarriers of the positioning reference signal is determined according to the corrected distance information.

32. The device according to any one of claims 27, 28 and 31, characterized in that: The distance information includes the distance between the terminal device and the positioning device, or the flight time between the terminal device and the positioning device.

33. The device according to claim 32, characterized in that The distance information includes the distance between the terminal device and the positioning device, and the phase information of one of the positioning reference signals satisfies the following formula: Among them, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, d i ′ is the distance between the terminal device and the positioning device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any subcarrier among the K subcarriers belongs to the N subcarriers.

34. The device according to claim 32, characterized in that The distance information includes the flight time of the terminal device, and the phase information of one of the positioning reference signals satisfies the following formula: Among them, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, f(n) is the frequency of the nth subcarrier among the N subcarriers of the positioning reference signal, c is the speed of light, d i ′ is the distance between the terminal device and the positioning device, angel represents the operation of taking the phase of the complex number, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, any subcarrier of the K subcarriers belongs to the N subcarriers, t i ′ Indicates the flight time between the positioning device and the terminal device.

35. The device according to claim 31, characterized in that The corrected distance information satisfies the following formula: in, The integer ambiguity, the is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier among the K subcarriers of the positioning reference signal, where K is greater than or equal to 1, It refers to the summation of K subcarriers, and c is the speed of light.

36. A positioning device, characterized in that: The device comprises a processor and a memory, The memory is used to store computer programs or instructions; The processor is configured to execute a computer program or instruction in a memory, so as to enable the apparatus to perform the method according to any one of claims 1 to 8 or enable the apparatus to perform the method according to any one of claims 9 to 18.

37. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which, when called by an electronic device, enable the electronic device to execute the method according to any one of claims 1 to 8 or the method according to any one of claims 9 to 18.

38. A computer program product, characterized in that When the computer program product is run on an electronic device, the electronic device is enabled to execute the method according to any one of claims 1 to 8 or the electronic device is enabled to execute the method according to any one of claims 9 to 18.

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