Group positioning method, apparatus and communication device

Abstract

The application discloses a group positioning method, device and communication equipment, and belongs to the technical field of wireless communication. The group positioning method comprises the following steps: a first communication equipment acquires position-related information of each communication equipment in a positioning group and a first propagation time delay difference quantity; and the first communication equipment determines target position information of a target reflector according to the position-related information and the first propagation time delay difference quantity. The positioning group comprises M communication equipments including the first communication equipment, the number of the first propagation time delay difference quantity is N, one first propagation time delay difference quantity is a propagation time delay difference quantity of a propagation path between any two communication equipments in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation time delay difference quantities correspond to two communication equipments in the positioning group, and the two communication equipments are not completely the same. N and M are positive integers, and M is greater than or equal to N and N is greater than or equal to 3.

Description

Technical Field

[0001] This application belongs to the field of wireless communication technology, specifically relating to a group positioning method, apparatus, and communication equipment. Background Technology

[0002] While communication equipment positioning systems provided by related communication technologies can locate communication equipment by transmitting and receiving positioning reference signals, these technologies struggle to accurately locate unknown objects located around the wireless communication positioning system. Summary of the Invention

[0003] This application provides a group positioning method, apparatus, and communication device that can solve the problem of locating unknown objects located around a wireless communication positioning system with high positioning accuracy.

[0004] In a first aspect, a group positioning method is provided, comprising: a first communication device acquiring location-related information of each communication device in a positioning group and a first propagation delay difference; and determining target location information of a target reflector based on the location-related information and the first propagation delay difference; wherein the positioning group includes M communication devices, including the first communication device, and the number of first propagation delay differences is N, wherein each first propagation delay difference is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected by the target reflector, and different first propagation delay differences correspond to two communication devices in the positioning group that are not completely identical, and N and M are positive integers, and M≥N≥3.

[0005] In a second aspect, a group positioning method is provided, wherein the positioning group includes at least a first communication device, a second communication device, and a third communication device. The method includes: the second communication device performing at least one of the following: sending location information of the second communication device to the first communication device or the third communication device; sending a target reference signal RS; receiving the target RS sent by the first communication device, and modulating the target RS according to a first orthogonal modulation sequence before sending a reflection; receiving the target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by the third communication device modulating the target RS according to the first orthogonal modulation sequence; and sending location-related information to the first communication device; receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to the target RS; and sending a first propagation delay difference to the first communication device; wherein the first propagation delay difference is the propagation delay difference of the propagation path between the second communication device and any communication device in the positioning group other than the first communication device and the second communication device, and the propagation path is the path reflected by the target reflector.

[0006] Thirdly, a group positioning method is provided, executed by a target device, the method comprising: in a first time unit, the target device, acting as a first communication device, executing the steps of the group positioning method as described in any one of the first aspects; and in a second time unit, the target device, acting as a second communication device, executing the steps of the group positioning method as described in the second aspect.

[0007] Fourthly, a group positioning device is provided, applied to a first communication device. The device includes: an acquisition module, used to acquire position-related information of each communication device in the positioning group and a first propagation delay difference; and a determination module, used to determine the target position information of a target reflector based on the position-related information and the first propagation delay difference. The positioning group includes M communication devices, including the first communication device. The number of first propagation delay differences is N. Each first propagation delay difference is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected by the target reflector. Different first propagation delay differences correspond to two communication devices in the positioning group that are not completely identical. N and M are positive integers, and M ≥ N ≥ 3.

[0008] Fifthly, a group positioning device is provided, the positioning group including at least a first communication device, a second communication device, and a third communication device. The device includes: a first processing module configured to perform at least one of the following: sending location information of the second communication device to the first communication device or the third communication device; sending a target reference signal RS; receiving the target RS sent by the first communication device, modulating the target RS according to a first orthogonal modulation sequence, and then sending a reflection; receiving the target RS sent by the first communication device and a reflected signal sent by the third communication device, the reflected signal being obtained by the third communication device modulating the target RS according to the first orthogonal modulation sequence; and sending location-related information to the first communication device; receiving a reflected signal reflected by a target reflector, the reflected signal corresponding to the target RS; and sending a first propagation delay difference to the first communication device; wherein the first propagation delay difference is the propagation delay difference of the propagation path between the second communication device and any communication device in the positioning group other than the first communication device and the second communication device, and the propagation path is the path reflected by the target reflector.

[0009] A sixth aspect provides a group positioning device applied to a target device, the device comprising: a second processing module configured to, within a first time unit, execute the steps of the group positioning method as described in the first aspect, wherein the target device acts as a first communication device; and within a second time unit, execute the steps of the group positioning method as described in the second aspect, wherein the target device acts as a second communication device.

[0010] A seventh aspect provides a communication device, the terminal including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first, second, or third aspect.

[0011] Eighthly, a communication device is provided, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to run a program or instructions to implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0012] A ninth aspect provides a wireless communication system comprising at least: a first communication device, a second communication device, and a third communication device, wherein the first communication device is configured to perform the steps of the group location method as described in the first aspect, and the second communication device is configured to perform the steps of the group location method as described in the second aspect.

[0013] In a tenth aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0014] Eleventhly, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run a program or instructions to implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0015] In a twelfth aspect, a computer program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0016] In this embodiment, the target object, i.e. the target reflector, is accurately located by means of group positioning combined with signal reflection. Moreover, it can also ensure that the target reflector can be accurately located even when the transceiver clock of the communication device is not calibrated. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a wireless communication system provided in an exemplary embodiment of this application.

[0018] Figure 2 This is a flowchart illustrating a group location method provided in an exemplary embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the structure of a group positioning system provided in an exemplary embodiment of this application.

[0020] Figure 4 This is a flowchart illustrating a group location method provided in another exemplary embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the structure of a group positioning device provided in an exemplary embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the structure of a group positioning device provided in another exemplary embodiment of this application.

[0023] Figure 7 This is a schematic diagram of the structure of a group positioning device provided in another exemplary embodiment of this application.

[0024] Figure 8 This is a schematic diagram of the structure of a communication device provided in an exemplary embodiment of this application.

[0025] Figure 9 This is a schematic diagram of the structure of a network-side device provided in an exemplary embodiment of this application.

[0026] Figure 10 This is a schematic diagram of the structure of a terminal provided in an exemplary embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to applications other than NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0030] Figure 1This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12. Terminal 11 can be a mobile phone, tablet computer, laptop computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, vehicle-mounted device (VUE), pedestrian terminal (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. It should be noted that the specific type of terminal 11 is not limited in this embodiment. Network-side equipment 12 may include access network equipment or core network equipment. Access network equipment 12 may also be referred to as radio access network equipment, radio access network (RAN), radio access network function, or radio access network unit. Access network equipment 12 may include base stations, WLAN access points, or WiFi nodes, etc. Base stations may be referred to as Node B, evolved Node B (eNB), access point, base transceiver station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B node, home evolved B node, Transmitting Receiving Point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that in this application embodiment, only a base station in an NR system is used as an example for description, and the specific type of base station is not limited. The technical solutions provided in this application embodiment will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0031] like Figure 2 The diagram shown is a flowchart of a group location method 200 provided in an exemplary embodiment of this application. This method can be executed, but is not limited to, by a first communication device (such as a terminal or network-side device), specifically by hardware and / or software installed in the first communication device. In this embodiment, the method 200 may include at least the following steps.

[0032] S210, the first communication device acquires the location-related information of each communication device in the positioning group and the first propagation delay difference.

[0033] It is understood that this embodiment achieves accurate perception and positioning of target reflectors located around the communication device through a positioning group without requiring calibration of the transceiver clock. The target reflector can be a building, vehicle, etc., and is not limited thereto.

[0034] The positioning group may include M communication devices, including the first communication device. Depending on the positioning process, the first communication device may be a transmitter, receiver, or reflector of the target reference signal during the positioning process, or it may not participate in the transmission, reception, or reflection of the target reference signal during the positioning process.

[0035] Of course, for the M communication devices in the positioning group, if M is greater than 3, then all or some of the M communication devices can participate in the group positioning process. In this regard, a first rule can be configured through higher-layer signaling to limit the positioning devices participating in the group positioning process. In other words, the first rule configures the relevant information of multiple positioning device pairs (such as device identifier, reference signal to be sent, etc.). Each positioning device pair includes at least one transmitter, at least one reflector, and at least one receiver. A positioning device pair includes at least some of the communication devices in the positioning group.

[0036] For example, when the number of communication devices in a positioning group is greater than 3, the higher layer decides that the members of the positioning group are paired up, that is, some or all of the communication devices in the positioning group are selected to form at least one positioning device pair. In one implementation, according to the principle of A~B~C, A, B, and C are respectively less than or equal to (number of members in the positioning device pair - 2). That is, when the number of communication devices included in the positioning device pair is S, the number of transmitters, reflectors, and receivers in each positioning device pair is less than or equal to S-2, S≥3, and S is a positive integer. Based on this, assuming A=2, B=1, C=2, then in the first resource time, there are 2 communication devices transmitting the target reference signal, 1 communication device reflecting the target reference signal, and 2 communication devices receiving the target reference signal. The positioning device pair pairing principle adopted in this embodiment can reduce the delay of positioning group positioning perception and reduce the overhead of reference signals.

[0037] It should be noted that a positioning device pair may include one or more first communication devices, one or more second communication devices, and one or more third communication devices. It should also be noted that in this embodiment, when multiple transmitters (such as the aforementioned second communication devices) simultaneously transmit reference signals, or when one transmitter simultaneously transmits multiple reference signals on different resources, the reference signals are orthogonal to each other, thereby avoiding signal interference and improving positioning accuracy.

[0038] Furthermore, the location-related information of each communication device in the positioning group acquired by the first communication device is used to realize the perception and positioning of the target reflector. Therefore, the location-related information can be the relative location information between communication devices, the absolute location information of each communication device (such as geographical location), or the positioning delay parameters between communication devices, etc., without limitation. It should be noted that the first communication device acquires the location-related information of each communication device in the positioning group, which can be either by directly acquiring the location of at least some of the communication devices, or by acquiring location-related information used to directly or indirectly indicate the location of each communication device.

[0039] The number of N first propagation delay differences acquired by the first communication device is used to locate the target reflector. In this embodiment, one first propagation delay difference is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected by the target reflector. Different first propagation delay differences correspond to two communication devices in the positioning group that are not completely identical. N is a positive integer, and M≥N≥3. N is configured by a higher layer.

[0040] For example, please refer to the following: Figure 3 Assuming the positioning group includes a first communication device 1, a second communication device 2, a third communication device 3, and a target reflector j located around the first communication device 1, the second communication device 2, and the third communication device 3, then the propagation paths corresponding to the N first propagation delay differences can include: (first communication device 1 - target reflector j - second communication device 2), (first communication device 1 - target reflector j - third communication device 3), and (second communication device 2 - target reflector j - third communication device 3). It is understood that, from a physical signal structure perspective, the propagation delay of the channel between the transmitting and receiving ends is reciprocal. Therefore, taking (first communication device 1 - target reflector j - third communication device 3) as an example, the channel propagation delay of (first communication device 1 - target reflector j - third communication device 3) is the same as that of (second communication device 3 - target reflector j - first communication device 1).

[0041] Of course, there are multiple ways to obtain the aforementioned location-related information and the difference in propagation delay of the seismograph. It can be determined by the first communication device itself or sent by other communication devices in the positioning group. No restrictions are placed here.

[0042] S220, based on the location-related information and the first propagation delay difference, the first communication device determines the target location information of the target reflector.

[0043] It is understood that, for the group positioning process provided in this embodiment, the higher level can decide when to start the positioning perception process. For example, the starting of the positioning process can be based on a periodic event triggering mechanism, a persistent event triggering mechanism, or a dynamic event triggering mechanism; no restrictions are imposed here.

[0044] It is worth noting that before the positioning process begins, higher levels can determine the relevant information of the communication devices participating in the group positioning through higher-level signaling, such as the first communication device, the second communication device, and the third communication device. Furthermore, the communication devices participating in the group positioning can alternately execute different positioning reference signal transmission / reception cycles according to the first rule to achieve the positioning of the target reflector.

[0045] In this embodiment, the precise positioning of the target object, i.e. the target reflector, is achieved by using group positioning in conjunction with signal reflection. Moreover, it can also ensure the precise positioning of the target reflector even when the transceiver clock of the communication device is not calibrated.

[0046] like Figure 4 The diagram shown is a flowchart illustrating a group location method 400 provided in an exemplary embodiment of this application. This method can be executed, but is not limited to, by a first communication device (such as a terminal or network-side device), specifically by hardware and / or software installed in the first communication device. In this embodiment, the method 400 may include at least the following steps.

[0047] S410, the first communication device acquires the location-related information of each communication device in the positioning group and the first propagation delay difference.

[0048] The positioning group includes M communication devices, including the first communication device. The number of first propagation delay differences is N. Each first propagation delay difference is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected by the target reflector. Different first propagation delay differences correspond to two communication devices in the positioning group that are not completely the same. N and M are positive integers, and M≥N≥3.

[0049] It is understood that, in addition to referring to the relevant description in method embodiment 200, as a possible implementation method, the first communication device may obtain the location-related information of each communication device in the positioning group and the first propagation delay difference in a variety of ways. The acquisition process will be described below.

[0050] (1) Acquisition of location-related information

[0051] In this embodiment, depending on the positioning scenario (or positioning awareness scenario), the communication devices located in the same positioning group may include mobile communication devices (such as terminals) and / or fixed communication devices (such as access network devices (such as gNBs), core network devices, etc.). Based on this, different positioning awareness scenarios will be described below.

[0052] For example, suppose that the group positioning method provided in this embodiment can be used in a group positioning perception scenario of mobile communication devices with three or more group members and unknown location information, that is, the positioning group is composed of the same mobile communication devices. Then, each communication device in the positioning group can first perform mutual positioning among the group members to obtain the location-related information of each communication device, such as the location information of each communication device in the positioning group, the second positioning delay parameter between each communication device in the positioning group, etc.

[0053] For example, suppose the group positioning method provided in this embodiment can be used in a group positioning perception scenario with three or more group members whose known location information is available (e.g., communication devices participating in a timing process can be pre-placed in a fixed location). That is, the positioning group consists of fixed communication devices (e.g., gNBs) in the same fixed location. In this case, the communication devices in the positioning group do not need to perform mutual positioning between group members. The location-related information of each communication device is known, such as the location information of each communication device in the positioning group is known, or the second positioning delay parameter between each communication device in the positioning group can be calculated based on the location information of each communication device.

[0054] For example, suppose the location information of fixed communication device 1 and fixed communication device 2 are respectively and Therefore, the second positioning delay parameter can be easily calculated. As shown in equation (0). In equation (0), c represents the speed of light.

[0055]

[0056] For example, suppose the group positioning method provided in this embodiment can be used in a group positioning perception scenario that integrates mobile communication devices with unknown location information and fixed communication devices with known location information, where one part of the positioning group consists of mobile communication devices and the other part consists of fixed communication devices. In this case, the positioning between each communication device in the positioning group can refer to the location information of the fixed communication devices to perform absolute positioning of the mobile communication devices. The location-related information of the mobile communication devices includes the location information of each mobile communication device and the second positioning delay parameter between each communication device in the positioning group.

[0057] In this context, the following explanation uses a positioning group of mobile communication devices with unknown location information as an example to illustrate the acquisition of location-related information for each communication device in the positioning group. Assuming the location-related information includes the second positioning delay parameter, the first communication device can acquire L second propagation delay differences corresponding to different reflection paths, and determine the second positioning delay parameter based on the L second propagation delay differences. Each second propagation delay difference is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected by any one of the communication devices in the positioning group. Different first propagation delay differences correspond to different communication devices in the positioning group, and L is a positive integer, L≥3, where L is configured by a higher layer.

[0058] Optionally, the process by which the first communication device obtains L second propagation delay differences corresponding to different reflection paths may include at least one of the following methods 1-2.

[0059] Method 1: When the first communication device acts as the receiving end, the second propagation delay difference is obtained based on the reference signal measurement obtained by itself.

[0060] In one implementation, when the first communication device acts as the receiving end, the process of obtaining the second propagation delay difference based on the reference signal measurement obtained by the device itself may include the first communication device obtaining a first measurement and a second measurement, then determining a first time delay from the second communication device to the first communication device and a third time delay from the second communication device to the first communication device via the third communication device and then reflected back to the first communication device based on the first and second measurement, and finally determining the second propagation delay difference based on the third time delay and the first time delay.

[0061] For example, for the sake of simplicity, please refer again to Figure 3Assuming that the positioning group includes only three communication devices with unknown location information, namely the first communication device, the second communication device, and the third communication device, then the second communication device can send a first reference signal on the first resource. The first reference signal may include, but is not limited to: Tracking Reference Signal (TRS), Channel Status Information Reference Signal (CSI-RS), Positioning Reference Signal (PRS), Sounding Reference Signal (SRS), or other reference signals related to communication and sensing integration.

[0062] Based on this, taking the NR system as an example, the NR downlink reference signal can include the Physical downlink shared channel (PDSCH-DMRS), Physical downlink control channel (PDCCH-DMRS), Physical broadcast channel (PBCH-DMRS), Phase-tracking reference signal (PT-RS), CSI-RS, Remote Interference Management Reference Signal (RIM-RS), PRS, etc.; the NR uplink reference signal can include the Physical Uplink Shared Channel (PUSCH-DMRS), Physical Uplink Control Channel (PUCCH-DMRS), PT-RS, SRS, etc.; and the NR sidelink reference signal can include the Physical Sidelink Shared Channel (PSS-DMRS). Physical Side Link Control Channel (PSSCH)-DMRS, Physical Side Link Control Channel (PSCCH)-DMRS, PSSCH-PTRS, Physical Side Link Broadcast Channel (PSBCH)-DMRS, CSI-RS.

[0063] Furthermore, the third communication device receives the first reference signal on the first resource, modulates the received first reference signal according to a first orthogonal modulation method, and then reflects it. The first orthogonal modulation method includes any one of On-Off Keying (OOK), Binary Phase Shift Keying (BPSK), and Code Division Multiplexing (CDM) orthogonal code.

[0064] For example, the modulation matrix corresponding to the OOK method can be:

[0065]

[0066] For example, the modulation matrix corresponding to the BPSK method can be:

[0067]

[0068] For example, the modulation matrix corresponding to the Hadamard orthogonal code method with CDM characteristics can be:

[0069]

[0070] Wherein, M is an integer greater than or equal to 1, and M is related to the number of communication devices participating in the reference signal modulation and coding process. It should be noted that the first orthogonal modulation sequence will not be described further hereafter.

[0071] Based on this, the reference signal (i.e., the first measurement quantity) received by the first communication device on the first resource may include a first reference signal (i.e., diameter signal), a second reference signal (reflection signal) and a third reference signal (reflection signal). The first reference signal is transmitted by the second communication device on the first resource. The second reference signal is obtained by the third communication device modulating the received first reference signal according to a first orthogonal modulation method. The third reference signal is obtained by the target reflector reflecting the received first reference signal.

[0072] Similar to the transmission of the first reference signal, the second communication device transmits a fourth reference signal on the second resource, and the third communication device receives the first reference signal on the second resource, modulates the received first reference signal according to the first orthogonal modulation method, and then reflects it. Based on this, the reference signal (i.e., the second measurement quantity) received by the first communication device on the second resource includes a fourth reference signal (i.e., a diameter signal), a fifth reference signal (a reflected signal), and a sixth reference signal. The fourth reference signal is transmitted by the second communication device on the second resource. The fifth reference signal is obtained by the third communication device modulating the received fourth reference signal according to the first orthogonal modulation method. The sixth reference signal is obtained by the target reflector reflecting the received fourth reference signal. It is understood that the relevant description of the fourth reference signal can refer to the aforementioned description of the first reference signal; to avoid repetition, it will not be repeated here.

[0073] For example, assuming the first resource is a time-domain resource, such as symbol n in the m-th time slot, and the second resource is symbol n in the (m+1)-th time slot, and the third communication device performs quadrature modulation according to the first quadrature modulation method without any additional processing delay time, that is, the modulation process and the reflection process are a simple process of power amplification and forwarding (AF) of the received signal, then the first measurement quantity y obtained by the first communication device... 2,1,m [n] and the second measurement y 2,1,m+1 [n] is shown in equations (1) and (2).

[0074]

[0075]

[0076] Where s[n] is the first reference signal or the fourth reference signal, h 2,1 (τ 2,1 ) represents the channel response between the second communication device and the first communication device, τ 2,1 h is the second positioning delay parameter between the second communication device and the first communication device. 2,3 (τ 2,3 ) represents the channel response between the second and third communication devices, τ 2,3 h is the second positioning delay parameter between the second and third communication devices. 3,1 (τ 3,1 ) represents the channel response between the third communication device and the first communication device, τ 3,1 This is the second positioning delay parameter between the third communication device and the first communication device. This refers to the channel response between the second communication device and the target reflector. This is the first positioning delay parameter between the second communication device and the target reflector. This refers to the channel response between the target reflector and the first communication device. b is the first positioning delay parameter between the target reflector and the first communication device. k,m (e.g. b) 3,m+1 b 3,m ) represents the modulation symbol corresponding to the first quadrature modulation mode, w 1,m [n] and w 1,m+1 [n] represents additive white Gaussian noise (AWGN), α′3 is the complex attenuated backscattered signal coefficient, including the power amplification factor applied by the third communication device to the received first reference signal, α j It is the attenuation coefficient of the j-th target reflector, including the radar cross section (RCS).

[0077] Based on this, assuming that in the m-th time slot (i.e., the first resource) and the (m+1)-th time slot (i.e., the second resource), the second communication device transmits the first reference signal and the fourth reference signal, and the third communication device modulates and amplifies the reflection using OOK, BPSK, or CDM orthogonal codes, then the first communication device can perform simple addition / subtraction operations on the received first and second measurement quantities according to the orthogonal characteristics of OOK, BPSK, or CDM orthogonal code modulation to obtain the following diameter signal and reflection signal, respectively.

[0078] In this case, it is assumed that the third communication device performs analog modulation using BPSK (i.e., the first quadrature modulation sequence), that is, using modulation symbol b in the m-th time slot. k,m =1, while the modulation symbol b is used in the (m+1)th time slot. k,m+1 =-1, then the total signal received by the first communication device (i.e. the first measurement quantity and the second measurement quantity) can be shown in Equation (3) and Equation (4) respectively.

[0079]

[0080]

[0081] Based on this, the process by which the first communication device determines the first delay and the third delay according to the first measurement and the second measurement can be as follows.

[0082] First, by performing addition operations on equations (3) and (4), the first communication device can obtain the diameter signal and the reflection signal of the j-th target reflector. That is, the first signal calculation quantity is shown in equation (5).

[0083]

[0084] Furthermore, by performing subtraction operations on equations (3) and (4), the first communication device can acquire the reflected signal through the third communication device, i.e., the second signal calculation quantity is shown in equation (6).

[0085] y 2,1,m [n]-y 2,1,m+1 [n]=2α'3h 2,3 (τ 2,3 )h 3,1 (τ 3,1 )s[n]+w” 2,1 [n] (6)

[0086] Furthermore, according to the first signal calculation quantity shown in equation (5), the first communication device can estimate the time delay of the diameter signal sent from the second communication device to the first communication device by detecting the first arriving signal in the first signal calculation quantity, i.e., the first time delay, wherein the first time delay can be as shown in equation (7).

[0087]

[0088] Correspondingly, according to the second signal calculation quantity represented by equation (6), the first communication device estimates the time delay of the reflected signal sent from the second communication device, simulated and modulated by the third communication device, and reflected back to the first communication device, i.e., the third time delay, wherein the third time delay is as shown in equation (8).

[0089]

[0090] In equations (7) and (8), This indicates the timing error experienced by the second communication device. This indicates the timing error experienced by the first communication device. It should be noted that because the radio frequency (RF) frequencies of the transmitting end (e.g., the second communication device) and the receiving end (e.g., the second communication device) differ, therefore, generally speaking...

[0091] Therefore, calculating the delay difference between the reflected signal and the diameter signal, that is, the difference in the second propagation delay (also known as the first positioning equation) from the second communication device, reflected by the third communication device, to the first communication device, can be achieved by... and The method of obtaining the second propagation delay difference is by performing a subtraction operation. As shown in equation (9).

[0092]

[0093] in, This indicates the third time delay. τ represents the first time delay. 2,3 The second positioning delay parameter, τ, represents the distance between the second and third communication devices. 2,1 The second positioning delay parameter, τ, represents the distance between the second communication device and the first communication device. 3,1 This represents the second positioning delay parameter between the third communication device and the first communication device. This indicates the timing error experienced by the second communication device. This indicates the timing error experienced by the first communication device, and the second and third communication devices are the communication devices of the positioning group.

[0094] It is worth noting that, from a physical signal structure perspective, the propagation delay of the channel between the transmitter and receiver is reciprocal, i.e. Here, based on the reciprocity of propagation delay, we can obtain

[0095] Of course, as one implementation in this embodiment, the first communication device, during the process of acquiring the second propagation delay difference, can determine whether the number of the second propagation delay differences is greater than or equal to L. Here, L is the minimum required propagation delay difference predetermined by the higher layer. If the number of the second propagation delay differences is less than L,

[0096] Then, according to the replacement order of the first communication device, the second communication device, and the third communication device determined in advance by the higher-level signaling (i.e., the first rule), the first communication device, the second communication device, and the third communication device are replaced. The first communication device, the second communication device, and the third communication device are then respectively responsible for sending, receiving, and reflecting the target reference signal to obtain the second propagation delay difference again until L second propagation delay differences are obtained.

[0097] If the number of second propagation delay differences is greater than or equal to L, the first communication device can use L second propagation delay differences to locate the first communication device, the second communication device, and the third communication device to obtain the location information of each communication device and the second positioning delay parameter.

[0098] For example, continuing the previous example, assuming that the L second propagation delay differences are as shown in equation (10), then the second propagation delay differences shown in equation (10) can be expressed in a vector and matrix manner as shown in equation (11).

[0099]

[0100]

[0101] In equations (10) and (11), This represents the second propagation delay difference when the transmitting end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device. This represents the second propagation delay difference when the transmitting end is a second communication device, the receiving end is a third communication device, and the reflecting end is a first communication device. This represents the second propagation delay difference when the transmitting end is a first communication device, the receiving end is a third communication device, and the reflecting end is a second communication device.

[0102] Based on this, the second positioning delay parameter vector x within the positioning group can be obtained through equation (12).

[0103]

[0104] If matrix A is a non-square matrix, the vector x corresponding to the second positioning delay parameter between each communication device in the positioning group can be obtained by equation (13).

[0105] x=(A T A) -1 A T y (13)

[0106] Method 2: When the first communication device is not acting as a receiving end, the first communication device receives a second propagation delay difference from other communication devices in the positioning group other than the first communication device.

[0107] It can be understood that the second propagation delay difference sent by the other communication devices in the positioning group besides the first communication device is a portion of the L second propagation delay differences acquired by the first communication device, used for the calculation of the second timing delay parameter. For example, please refer again to equation (10), the second propagation delay difference... That is, the third communication device determines the target reflector and sends it to the first communication device for positioning. Of course, the process by which other communication devices in the positioning group, besides the first communication device, determine the second propagation delay difference is similar to that of the first communication device, and will not be described again here to avoid repetition.

[0108] (2) The process of obtaining the first propagation delay difference

[0109] Similar to the acquisition of location-related information, the step of the first communication device acquiring N first propagation delay differences corresponding to different reflection paths may also include at least one of the following methods 1-2.

[0110] Method 1: When the first communication device acts as a receiver, it determines the first propagation delay difference based on the reference signal measurement it has acquired.

[0111] In one implementation, when the first communication device acts as a receiver, the process of determining the first propagation delay difference based on the reference signal measurement it has acquired may include: the first communication device acquiring a first measurement and a second measurement; then, based on the first and second measurements, determining a first time delay between the second communication device and the first communication device, and a second time delay when the signal is transmitted from the second communication device and reflected back to the first communication device by the target reflector; and finally, determining the first propagation delay difference based on the second time delay and the first time delay.

[0112] Using the example from the previous introduction of location-related information, the acquisition of the first measurement and the second measurement can be as shown in (3) and (4) above. Then, the first communication device can further estimate the time delay of the reflected signal sent from the second communication device and reflected to the first communication device through the first arriving signal in the first signal calculation quantity in formula (5), i.e., the second time delay, which can be as shown in formula (14).

[0113]

[0114] Based on this, the first communication device calculates the delay difference between the reflected signal and the diameter signal of the target reflector, that is, the first propagation delay difference (i.e., the second positioning equation) from the second communication device, reflected by the target reflector, to the first communication device, and received by the target reflector. This difference can be obtained by adjusting the second time delay. and first delay If the difference in propagation delay is obtained by performing a subtraction operation, then the first propagation delay difference can be expressed as shown in equation (15).

[0115]

[0116] in, This represents the first positioning delay parameter between the second communication device and the target reflector. The first positioning delay parameter τ represents the distance between the target reflector and the first communication device. 2,1 This represents the second positioning delay parameter between the second communication device and the first communication device. This indicates the timing error experienced by the second communication device. This indicates the timing error experienced by the first communication device.

[0117] It is worth noting that, from a physical signal structure perspective, the propagation delay of the channel between the transmitter and receiver is reciprocal, i.e. Here, based on the reciprocity of propagation delay, we can obtain

[0118] Of course, as one implementation in this embodiment, during the process of acquiring the first propagation delay difference, the first communication device can determine whether the number of the first propagation delay differences is greater than or equal to N. Here, N is the minimum required propagation delay difference determined in advance by the higher layer. If the number of the first propagation delay differences is less than N, then according to the first rule determined in advance by the higher layer signaling, the first communication device, the second communication device, and the third communication device are replaced, and the first communication device, the second communication device, and the third communication device again perform the sending, receiving, and reflecting of the target reference signal to acquire the first propagation delay difference again until N second propagation delay differences are acquired.

[0119] If the number of first propagation delay differences is greater than or equal to N, then the first communication device locates the target reflector using N second propagation delay differences.

[0120] For example, continuing with the previous example, assuming that the N first propagation delay differences are as shown in equation (16), if the second propagation delay differences shown in equation (16) are represented by vector and matrix, then it can be represented as shown in equation (17).

[0121]

[0122] y'=A'x' (17)

[0123] in, This represents the first propagation delay difference when the sending end is the second communication device and the receiving end is the first communication device. This represents the first propagation delay difference when the sending end is the second communication device and the receiving end is the third communication device. τ represents the first propagation delay difference when the sending end is the first communication device and the receiving end is the third communication device. 2,1 The second positioning delay parameter τ between the second communication device and the first communication device represents the second positioning delay parameter. 2,3 The second positioning delay parameter τ represents the distance between the second communication device and the third communication device. 1,3 This represents the second positioning delay parameter between the first communication device and the third communication device. This represents the first positioning delay parameter between the second communication device and the target reflector. This represents the first positioning delay parameter between the first communication device and the target reflector. The first positioning delay parameter represents the distance between the target reflector and the third communication device, wherein the second communication device and the third communication device are communication devices in the positioning group.

[0124] Furthermore, considering that the location-related information of the first communication device, the second communication device and the third communication device is known, that is, y' is known, the first positioning delay parameter vector x' corresponding to the target reflector can be calculated by equation (18).

[0125] x'=((A') T A') -1 (A') T y' (18)

[0126] It is worth noting that in this application, when obtaining the first positioning delay parameter and the second positioning delay parameter, the first reference signal and the fourth reference signal are transmitted in a time-division manner (in time slots m and m+1). However, when the number of communication devices in the positioning group is greater than 3, this embodiment can also transmit the first reference signal and the fourth reference signal based on frequency division, code division, or spatial domain. In other words, the aforementioned first resource and second resource are different time-domain resources, or the first resource and the second resource are different frequency-domain resources in the same time domain, or the first resource and the second resource are different spatial-domain resources in the same time domain, or the first resource and the second resource are different code-domain resources in the same time domain.

[0127] Method 2:

[0128] When the first communication device is not acting as a receiving end, it receives a first propagation delay difference from other communication devices in the positioning group besides the first communication device.

[0129] It can be understood that the first propagation delay difference sent by other communication devices in the positioning group besides the first communication device can be used as a part of the N second propagation delay differences acquired by the first communication device for the calculation of the first timing delay parameter. For example, please refer again to equation (10), the first propagation delay difference... That is, the third communication device determines the target reflector and sends it to the first communication device for positioning. Of course, the process by which other communication devices in the positioning group, besides the first communication device, determine the second propagation delay difference is similar to that of the first communication device, and will not be described again here to avoid repetition.

[0130] S420, based on the location-related information and the first propagation delay difference, the first communication device determines the target location information of the target reflector.

[0131] It is understood that, in addition to referring to the relevant description in method embodiment 200, the implementation process of S420 can also be described again as a possible implementation method. Figure 3 The step of the first communication device determining the target position information of the target reflector based on the location-related information and the first propagation delay difference may include S421 and S422, the contents of which are as follows:

[0132] S421, based on the location-related information and the first propagation delay difference parameter, determine the first positioning delay parameter between the target reflector and each communication device in the positioning group.

[0133] If the location-related information includes the location information (such as geographic coordinates) of each communication device in the positioning group, then the first communication device can directly calculate the second positioning delay parameter between each communication device based on the location information of each communication device, and then determine the first positioning delay parameter between the target reflector and each communication device in the positioning group based on the second positioning delay parameter between each communication device and the first propagation delay difference parameter.

[0134] If the location-related information does not include the location information of each communication device in the positioning group, but instead includes the second positioning delay parameter between each communication device in the positioning group, then the first communication device can directly determine the first positioning delay parameter between the target reflector and each communication device in the positioning group based on the second positioning delay parameter between the communication devices and the first propagation delay difference parameter. Of course, the second positioning delay parameter between the communication devices can be determined by L second propagation delay differences obtained by the first communication device; the specific process can be referred to the relevant description in S410 above, and will not be repeated here.

[0135] S422, determine the target position information of the target reflector based on the first positioning delay parameter.

[0136] It is understood that the implementation process of S422 can be referred to the relevant description in method embodiment 200. To avoid repetition, it will not be repeated here.

[0137] Furthermore, in the aforementioned group positioning process, it should be noted that, according to the first rule, the first communication device, in addition to being a receiving end, can also be a transmitting end, a reflecting end, etc., to obtain N and the first propagation delay difference and L second propagation delay differences, thereby realizing mutual positioning between communication devices and positioning of the target reflector.

[0138] Furthermore, if the positioning group includes at least a first communication device, a second communication device, and a third communication device, then although this embodiment provides an implementation of the group positioning process by the first communication device, in actual communication positioning and sensing scenarios, the aforementioned positioning process can also be executed by other communication devices in the positioning group besides the first communication device, and no restriction is imposed here.

[0139] Correspondingly, similar to the first communication device, the second and third communication devices can switch between the sending end, receiving end, reflecting end and positioning process end. For example, taking the second communication device as an example, the second communication device can perform at least one of the following (11)-(15).

[0140] (11) The second communication device sends the location information of the second communication device to the first communication device or the third communication device, so as to enable the first communication device or the third communication device to perform positioning between communication devices and / or to locate the target reflector.

[0141] (12) The second communication device sends a target reference signal. That is, the second communication device, as the transmitter, can send a target reference signal on different resources so that the first communication device or the third communication device can perform signal measurement and obtain the first propagation delay difference and the second propagation delay difference for positioning.

[0142] (13) The second communication device receives the target RS sent by the first communication device, modulates the target RS according to the first orthogonal modulation sequence, and then transmits the reflected signal. That is, the second communication device acts as a reflecting end, modulates the received target reference signal according to the first orthogonal modulation sequence, and then reflects the reflected signal.

[0143] (14) The second communication device receives the target RS sent by the first communication device and the reflected signal sent by the third communication device, wherein the reflected signal is obtained by the third communication device modulating the target RS according to the first orthogonal modulation sequence, and sends location-related information to the first communication device.

[0144] (15) Receive a reflected signal reflected by a target reflector, the reflected signal corresponding to a target RS; and send a first propagation delay difference to a first communication device; wherein the first propagation delay difference is the propagation delay difference of the propagation path between the second communication device and any communication device in the positioning group other than the first communication device and the second communication device, and the propagation path is the path reflected by the target reflector.

[0145] For (14) and (15), the second communication device, as the receiving end, can process the received target reference signal in a similar manner to the first communication device described above.

[0146] Of course, the roles of the first, second, and third communication devices mentioned above can be determined according to the first rule, and will not be elaborated here.

[0147] The third communication device is similar to the aforementioned second communication device, and will not be described in detail here.

[0148] Furthermore, for the group positioning method given in the foregoing embodiments, a communication device in the positioning group can also perform different actions in different time units. For example, taking the target device in the positioning group as an example, in the first time unit, the target device can act as the first communication device and execute the steps of the group positioning method given in method embodiments 200-400. In the second time unit, the target device can act as the second communication device and execute the steps in the group positioning method described in (11)-(15) above.

[0149] Optionally, the time units mentioned in the first and second time units can be time slots, symbols, subframes, etc., and are not limited here. Furthermore, the relevant descriptions of the target device implementing the aforementioned process can be found in method embodiments 200-400, achieving the same or corresponding technical effects. To avoid repetition, they will not be repeated here.

[0150] In this embodiment, through the mutual positioning between the communication devices in the above positioning group, the relative position coordinates between the communication devices in the positioning group and the relative position coordinates of the surrounding reflectors can be accurately obtained without the need to calibrate the clock of the communication devices, thus achieving the purpose of high-precision positioning.

[0151] Based on the description of the aforementioned method embodiments 200-400, it is assumed that the positioning group includes at least a first communication device, a second communication device, and a third communication device, and that the location information of the first communication device, the second communication device, and the third communication device is unknown, N=3, and L=3. Then, the group positioning process provided by this application may include the following S501-S505.

[0152] S501, with the first communication device as the receiver, the second communication device as the transmitter, and the third communication device as the reflector, the second communication device transmits a first reference signal in time slot m, and the first communication device can receive a first measurement quantity, namely the first reference signal, the second reference signal, and the third reference signal. Correspondingly, the second communication device transmits a fourth reference signal in time slot m+1, and the first communication device can receive a second measurement quantity, namely the fourth reference signal, the fifth reference signal, and the sixth reference signal.

[0153] S502, the first communication device determines a second propagation delay difference and a first propagation delay difference based on the received first measurement and second measurement.

[0154] S503, since 1 is less than N and less than L, according to the first rule, the first communication device continues to act as the receiving end, the second communication device as the reflecting end, and the third communication device as the transmitting end. Then, the first communication device again determines a second propagation delay difference and a first propagation delay difference based on the obtained third and fourth measurement quantities.

[0155] S504, since the total number of the second propagation delay difference and the first propagation delay difference is 2 and less than N and L, according to the first rule, the first communication device acts as the transmitting end, the second communication device acts as the reflecting end, and the third communication device acts as the receiving end. Then, the third communication device determines a second propagation delay difference and a first propagation delay difference based on the fifth and sixth measurements.

[0156] S505, the third communication device sends a determined second propagation delay difference and a first propagation delay difference to the first communication device, so that the first communication device can perform mutual positioning between the communication devices and positioning of the target reflector.

[0157] Alternatively, the first communication device may send the two determined second propagation delay differences and the two first propagation delay differences to the third communication device, so that the third communication device can perform mutual positioning between the communication devices and positioning of the target reflector.

[0158] Alternatively, the first communication device sends two determined second propagation delay differences and two determined first propagation delay differences to the second communication device, and the third communication device sends one determined second propagation delay difference and one determined first propagation delay difference to the first communication device, so that the second communication device can perform mutual positioning between the communication devices and positioning of the target reflector.

[0159] It is understood that the acquisition processes of the aforementioned third, fourth, fifth, and sixth measurements are similar to those of the aforementioned first and second measurements, and will not be repeated here. Furthermore, the implementation processes of S501-S505 can be referred to the relevant descriptions in the aforementioned method embodiments 200-400, and will not be repeated here to avoid repetition.

[0160] Of course, the positioning process given in this embodiment may include, but is not limited to, the aforementioned S501-S505. It may have more or fewer steps than the aforementioned S501-S505, and this is not limited here.

[0161] Furthermore, when the positioning group includes at least a first communication device, a second communication device, and a third communication device, an exemplary embodiment of this application also provides a group positioning method. This method can be, but is not limited to, executed by the second communication device (such as a terminal or network-side device), specifically by hardware and / or software installed in the second communication device. In this embodiment, the method may include at least the following steps.

[0162] The second communication device performs at least one of the following S601-S605.

[0163] S601, send the location information of the second communication device to the first communication device or the third communication device.

[0164] S602, send the target reference signal RS.

[0165] S603, receive the target RS sent by the first communication device, modulate the target RS according to the first orthogonal modulation sequence, and then send the reflected signal.

[0166] S604, receiving the target RS sent by the first communication device and the reflected signal sent by the third communication device, wherein the reflected signal is obtained by the third communication device modulating the target RS according to the first orthogonal modulation sequence, and sending location-related information to the first communication device.

[0167] S605, receiving a reflected signal reflected by a target reflector, the reflected signal corresponding to a target RS; and sending a first propagation delay difference to a first communication device; wherein the first propagation delay difference is the propagation delay difference of the propagation path between the second communication device and any communication device in the positioning group other than the first communication device and the second communication device, and the propagation path is the path reflected by the target reflector.

[0168] It is understood that, depending on the location sensing scenario, the second communication device can execute at least one of S601-S602 above. The implementation process of the second communication device executing the aforementioned S601-S605 can be referred to the relevant descriptions in the aforementioned method embodiments 200-500, achieving the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0169] An exemplary embodiment of this application also provides a group location method, which can be, but is not limited to, executed by a target device (such as a terminal or network-side device), specifically by hardware and / or software installed in the target device. In this embodiment, the method may include at least the following steps.

[0170] S701, within the first time unit, the target device, as the first communication device, executes the steps of the group positioning method as described in method embodiments 200-500.

[0171] S702, within the second time unit, the target device, acting as a second communication device, executes the steps of the group positioning method as described in method embodiment 600.

[0172] The implementation process of S701 and S702 can refer to the relevant descriptions in the aforementioned method embodiments 200-600, and achieve the same or corresponding technical effects. To avoid repetition, they will not be described again here.

[0173] The group positioning method provided in this application can be executed by a group positioning device. This application uses the example of a group positioning device executing the group positioning method to illustrate the group positioning device provided in this application.

[0174] like Figure 5 The diagram shown is a schematic representation of a group positioning device 500 provided in an exemplary embodiment of this application. The device includes an acquisition module 510, used to acquire position-related information of each communication device in the positioning group and a first propagation delay difference; and a determination module 520, used to determine the target position information of the target reflector based on the position-related information and the first propagation delay difference. The positioning group includes M communication devices, including the first communication device. The number of first propagation delay differences is N. Each first propagation delay difference is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected by the target reflector. Different first propagation delay differences correspond to two communication devices in the positioning group that are not completely identical. N and M are positive integers, and M ≥ N ≥ 3.

[0175] Optionally, the step of determining the target position information of the target reflector by the determining module 520 based on the location-related information and the first propagation delay difference includes: determining a first positioning delay parameter between the target reflector and each communication device in the positioning group based on the location-related information and the first propagation delay difference parameter; and determining the target position information of the target reflector based on the first positioning delay parameter.

[0176] Optionally, the step of determining the first positioning delay parameter between the target reflector and each communication device in the positioning group based on the location-related information and the first propagation delay difference parameter includes: determining the first positioning delay parameter between the target reflector and each communication device in the positioning group based on the second positioning delay parameter between each communication device in the positioning group and the first propagation delay difference parameter; wherein the location-related information includes the second positioning delay parameter, or the location-related information includes the location information of each communication device in the positioning group, and the second positioning delay parameter is determined based on the location information.

[0177] Optionally, the N first propagation delay differences are as follows: in, This represents the first propagation delay difference when the sending end is the second communication device and the receiving end is the first communication device. This represents the first propagation delay difference when the sending end is the second communication device and the receiving end is the third communication device. τ represents the first propagation delay difference when the sending end is the first communication device and the receiving end is the third communication device. 2,1 The second positioning delay parameter τ between the second communication device and the first communication device represents the second positioning delay parameter. 2,3 The second positioning delay parameter τ represents the distance between the second communication device and the third communication device. 1,3 This represents the second positioning delay parameter between the first communication device and the third communication device. This represents the first positioning delay parameter between the second communication device and the target reflector. This represents the first positioning delay parameter between the first communication device and the target reflector. The first positioning delay parameter represents the distance between the target reflector and the third communication device, wherein the second communication device and the third communication device are communication devices in the positioning group.

[0178] Optionally, the vector x' corresponding to the first positioning delay parameter is: x' = ((A') T A')-1 (A') T y; where,

[0179] Optionally, the step of obtaining the first propagation delay difference by the acquisition module 510 includes at least one of the following: when the first communication device is acting as a receiver, it determines the first propagation delay difference based on the reference signal measurement it has acquired; when the first communication device is not acting as a receiver, it receives the first propagation delay difference from other communication devices in the positioning group other than the first communication device.

[0180] Optionally, when the first communication device acts as a receiver, the step of the acquisition module 510 determining the first propagation delay difference based on the reference signal measurement it has acquired includes: the first communication device acquiring a first measurement and a second measurement; the first communication device determining a first time delay between the second communication device and the first communication device, and a second time delay from the second communication device to the first communication device after being transmitted from the second communication device and reflected by the target reflector; the first communication device determining the first propagation delay difference based on the second time delay and the first time delay; wherein, the first measurement includes at least a first reference signal, a second reference signal, and a third reference signal. The three reference signals are as follows: the first reference signal is transmitted by the second communication device on the first resource; the second reference signal is obtained by the third communication device modulating the received first reference signal according to the first orthogonal modulation method; and the third reference signal is obtained by the target reflector reflecting the received first reference signal. The second measurement quantity includes at least a fourth reference signal, a fifth reference signal, and a sixth reference signal. The fourth reference signal is transmitted by the second communication device on the second resource; the fifth reference signal is obtained by the third communication device modulating the received fourth reference signal according to the first orthogonal modulation method; and the sixth reference signal is obtained by the target reflector reflecting the received fourth reference signal.

[0181] Optionally, the first propagation delay difference for: in, This indicates the first delay. This indicates the second delay. This represents the first positioning delay parameter between the second communication device and the target reflector. The first positioning delay parameter τ represents the distance between the target reflector and the first communication device. 2,1 This represents the second positioning delay parameter between the second communication device and the first communication device. This indicates the timing error experienced by the second communication device. This indicates the timing error experienced by the first communication device.

[0182] Optionally, when the first communication device acts as a receiving end, the step of determining the first propagation delay difference based on the reference signal measurement obtained by the determining module 520 further includes: if the number of the first propagation delay differences does not reach N, the first communication device replaces the transmitting end and / or the reflecting end according to a first rule, and obtains the first propagation delay difference again based on the replaced transmitting end and / or reflecting end; wherein, the first rule is configured through higher-layer signaling, and the first rule is configured with relevant information of multiple positioning device pairs, each positioning device pair includes at least one transmitting end, at least one reflecting end, and at least one receiving end, and one positioning device pair includes at least some of the communication devices in the positioning group.

[0183] Optionally, when the number of communication devices included in the positioning device pair is S, the number of transmitting end, reflecting end and receiving end in each positioning device pair is less than or equal to S-2, S≥3, and S is a positive integer.

[0184] Optionally, the first resource and the second resource are different time-domain resources, or the first resource and the second resource are different frequency-domain resources in the same time domain, or the first resource and the second resource are different spatial-domain resources in the same time domain, or the first resource and the second resource are different code-domain resources in the same time domain.

[0185] Optionally, the first reference signal or the fourth reference signal includes any one of the following: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS, and positioning reference signal UL-SRS.

[0186] Optionally, the first orthogonal modulation method includes any one of the following: On-Off Keying (OOK) mode, Binary Phase Shift Keying (BPSK) mode, and Code Division Multiplexing (CDM) orthogonal code mode.

[0187] Optionally, the step of the acquisition module 510 acquiring the location-related information of each communication device in the positioning group includes: when the location-related information does not include the second positioning delay parameter, the first communication device acquires L second propagation delay differences corresponding to different reflection paths, and determines the second positioning delay parameter based on the L second propagation delay differences; wherein, one second propagation delay difference is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected through any one of the communication devices in the positioning group, and different first propagation delay differences correspond to different communication devices in the positioning group, L is a positive integer, and L≥3.

[0188] Optionally, N and L are configured by a higher layer. 15. The method of claim 14, wherein the step of the first communication device acquiring L second propagation delay differences corresponding to different reflection paths includes at least one of the following: when the first communication device is a receiving end, acquiring the second propagation delay difference based on a reference signal measurement acquired by itself; when the first communication device is not a receiving end, receiving the second propagation delay difference from other communication devices in the positioning group other than the first communication device.

[0189] Optionally, when the first communication device acts as the receiving end, the step of the acquisition module 510 acquiring the second propagation delay difference based on the reference signal measurement it has acquired includes: the first communication device acquiring a first measurement and a second measurement; the first communication device determining a first time delay from the second communication device to the first communication device and a third time delay from the second communication device to the first communication device via the third communication device and then reflected back to the first communication device based on the first measurement and the second measurement; and the first communication device determining the second propagation delay difference based on the third time delay and the first time delay.

[0190] Optionally, the second propagation delay difference for: in, This indicates the third time delay. τ represents the first time delay. 2,3 The second positioning delay parameter, τ, represents the distance between the second and third communication devices. 2,1 The second positioning delay parameter, τ, represents the distance between the second communication device and the first communication device. 3,1 This represents the second positioning delay parameter between the third communication device and the first communication device. This indicates the timing error experienced by the second communication device. This indicates the timing error experienced by the first communication device, and the second and third communication devices are the communication devices of the positioning group.

[0191] Optionally, the L second propagation delay differences are: in, This represents the second propagation delay difference when the transmitting end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device. This represents the second propagation delay difference when the transmitting end is a second communication device, the receiving end is a third communication device, and the reflecting end is a first communication device. This represents the second propagation delay difference when the transmitting end is a first communication device, the receiving end is a third communication device, and the reflecting end is a second communication device.

[0192] Optionally, the vector x corresponding to the second positioning delay parameter is represented as: x = (A T A) -1 A T y; where, This represents the second propagation delay difference when the transmitting end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device. This represents the second propagation delay difference when the transmitting end is a second communication device, the receiving end is a third communication device, and the reflecting end is a first communication device. This represents the second propagation delay difference when the transmitting end is a first communication device, the receiving end is a third communication device, and the reflecting end is a second communication device.

[0193] Optionally, the communication devices located in the same positioning group include mobile communication devices and / or fixed communication devices.

[0194] Optionally, when multiple transmitters simultaneously transmit reference signals or a single transmitter simultaneously transmits multiple reference signals on different resources, the reference signals are mutually orthogonal.

[0195] like Figure 6The diagram shows a schematic of a group positioning device 600 provided in an exemplary embodiment of this application. The positioning group includes at least a first communication device, a second communication device, and a third communication device. The device 600 includes a first processing module 610, configured to perform at least one of the following: sending the location information of the second communication device to the first communication device or the third communication device; sending a target reference signal RS; receiving the target RS sent by the first communication device, modulating the target RS according to a first orthogonal modulation sequence, and then sending a reflection signal; receiving the target RS sent by the first communication device and a reflection signal sent by the third communication device, wherein the reflection signal is obtained by the third communication device modulating the target RS according to the first orthogonal modulation sequence; and sending location-related information to the first communication device; receiving a reflection signal reflected by a target reflector, wherein the reflection signal corresponds to the target RS; and sending a first propagation delay difference to the first communication device; wherein the first propagation delay difference is the propagation delay difference of the propagation path between the second communication device and any communication device in the positioning group other than the first and second communication devices, and the propagation path is the path reflected by the target reflector.

[0196] like Figure 7 As shown in the figure, this is a schematic diagram of the structure of a group positioning device 700 provided in an exemplary embodiment of this application, applied to a target device. The device 700 includes: a second processing module 710, used to execute the steps in method embodiments 200-400 in a first time unit, where the target device acts as a first communication device; and to execute the steps in method embodiments 200-400 in a second time unit, where the target device acts as a second communication device.

[0197] In this application embodiment, the group positioning device 500-700 can be a terminal or a network-side device. The terminal can be of the type of terminal 11 listed above, and the network-side device can be of the type of network-side device 12 listed above. This application embodiment does not make specific limitations.

[0198] The group positioning device 500-700 provided in this application embodiment can achieve... Figures 2 to 4 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0199] Optional, such as Figure 8As shown, this application embodiment also provides a communication device 800, including a processor 801 and a memory 802. The memory 802 stores programs or instructions that can run on the processor 801. For example, when the communication device 800 is a terminal, the program or instructions executed by the processor 801 implement the various steps of the above-described group location method embodiment and achieve the same technical effect. When the communication device 800 is a network-side device, the program or instructions executed by the processor 801 implement the various steps of the above-described group location method embodiment and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0200] In one implementation, the communication device 800 can be a network-side device, which may include a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the method described in embodiments 200-400. This network-side device embodiment corresponds to the above-described network-side device method embodiments. All implementation processes and methods of the above-described method embodiments can be applied to this network-side device embodiment and can achieve the same technical effects.

[0201] Specifically, embodiments of this application also provide a network-side device. For example... Figure 9 As shown, the network-side device 900 includes: an antenna 901, a radio frequency (RF) device 902, a baseband device 903, a processor 904, and a memory 905. The antenna 901 is connected to the RF device 902. In the uplink direction, the RF device 902 receives information through the antenna 901 and transmits the received information to the baseband device 903 for processing. In the downlink direction, the baseband device 903 processes the information to be transmitted and sends it to the RF device 902. The RF device 902 processes the received information and transmits it through the antenna 901.

[0202] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 903, which includes a baseband processor.

[0203] The baseband device 903 may, for example, include at least one baseband board on which multiple chips are disposed, such as... Figure 9 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 905 via a bus interface to call the program in the memory 905 and execute the network device operations shown in the above method embodiment.

[0204] The network-side device may also include a network interface 906, such as a common public radio interface (CPRI).

[0205] Specifically, the network-side device 900 of this embodiment further includes: instructions or programs stored in a memory 905 and executable on a processor 904, wherein the processor 904 calls the instructions or programs in the memory 905 to execute... Figures 5-7 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0206] In another implementation, the communication device 800 can be a terminal, which may include a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps of the method described in method embodiments 200-400. This terminal embodiment corresponds to the above-described terminal-side method embodiments. All implementation processes and methods of the above method embodiments can be applied to this terminal embodiment and achieve the same technical effect. Specifically, Figure 10 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0207] The terminal 1000 includes, but is not limited to, at least some of the following components: radio frequency unit 1001, network module 1002, audio output unit 1003, input unit 1004, sensor 1005, display unit 1006, user input unit 1007, interface unit 1008, memory 1009, and processor 1010.

[0208] Those skilled in the art will understand that the terminal 1000 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 1010 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 10 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0209] It should be understood that, in this embodiment, the input unit 1004 may include a graphics processing unit (GPU) 1041 and a microphone 10042. The GPU 10041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1007 includes a touch panel 10071 and at least one of other input devices 10072. The touch panel 10071 is also called a touch screen. The touch panel 10071 may include a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0210] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 1001 can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network-side device. Typically, the radio frequency unit 1001 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0211] The memory 1009 can be used to store software programs or instructions and various data. The memory 1009 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback function, image playback function, etc.). Furthermore, the memory 1009 may include volatile memory or non-volatile memory, or both. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1009 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0212] The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into the processor 1010.

[0213] The radio frequency unit 1001 is used to acquire the location-related information of each communication device in the positioning group and the first propagation delay difference; the processor 1010 is used to determine the target location information of the target reflector by the first communication device based on the location-related information and the first propagation delay difference; wherein the positioning group includes M communication devices including the first communication device, the number of the first propagation delay differences is N, one of the first propagation delay differences is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected by the target reflector, different first propagation delay differences correspond to two communication devices in the positioning group that are not completely the same, N and M are positive integers, and M≥N≥3.

[0214] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant descriptions in the aforementioned method embodiments 200-400, and achieve the same or corresponding technical effects. To avoid repetition, it will not be described again here.

[0215] In this embodiment, the precise positioning of the target object, i.e. the target reflector, is achieved by using group positioning in conjunction with signal reflection. Moreover, it can also ensure the precise positioning of the target reflector even when the transceiver clock of the communication device is not calibrated.

[0216] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described group positioning method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0217] The processor is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0218] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled. The processor is used to run network-side device programs or instructions to implement the various processes of the above-described group positioning method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0219] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0220] This application also provides a computer program stored in a readable storage medium. When the computer program is executed by a processor, it implements the various processes of the above-described group positioning method embodiments and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0221] This application also provides a computer program product, which includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor. When the program or instructions are executed by the processor, they implement the various processes of the above-described group positioning method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0222] This application also provides a wireless communication system, including at least a first communication device, a second communication device, and a third communication device. The first communication device can be used to perform the steps of the method described in the above method embodiments 200-400, and the second communication device can be used to perform the steps of the method described in the above method embodiment 600.

[0223] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0224] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0225] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A group positioning method, characterized in that, include: The first communication device acquires the location-related information of each communication device in the positioning group and the first propagation delay difference; Based on the location-related information and the first propagation delay difference, the first communication device determines the target location information of the target reflector. The positioning group includes M communication devices, including the first communication device, the second communication device, and the third communication device. The number of first propagation delay differences is N. Each first propagation delay difference is the difference in propagation delay between the direct path and the target propagation path between any two communication devices in the positioning group. The target propagation path is the path reflected by the target reflector. Different first propagation delay differences correspond to two communication devices in the positioning group that are not completely the same. N and M are positive integers, and M ≥ N ≥ 3. The step of determining the target position information of the target reflector by the first communication device based on the position-related information and the first propagation delay difference includes: Based on the location-related information and the first propagation delay difference, a first positioning delay parameter is determined between the target reflector and each communication device in the positioning group; The target position information of the target reflector is determined based on the first positioning delay parameter; The step of determining the first positioning delay parameter between the target reflector and each communication device in the positioning group based on the location-related information and the first propagation delay difference includes: The first positioning delay parameter between the target reflector and each communication device in the positioning group is determined based on the second positioning delay parameter between each communication device in the positioning group and the first propagation delay difference. Wherein, the location-related information includes the second positioning delay parameter; or, the location-related information includes the location information of each communication device in the positioning group, and the second positioning delay parameter is determined based on the location information; or, the second positioning delay parameter is determined by the first communication device acquiring L second propagation delay differences corresponding to different reflection paths, and based on the L second propagation delay differences. Wherein, one of the second propagation delay differences is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected through any one of the communication devices in the positioning group. Different first propagation delay differences correspond to three communication devices in the positioning group that are not completely the same. L is a positive integer, and L≥3.

2. The method as described in claim 1, characterized in that, The N differences in the first propagation delay are shown below: ； in, This represents the first propagation delay difference when the sending end is the second communication device and the receiving end is the first communication device. This represents the first propagation delay difference when the sending end is the second communication device and the receiving end is the third communication device. This represents the first propagation delay difference when the sending end is the first communication device and the receiving end is the third communication device. This indicates the second positioning delay parameter between the second communication device and the first communication device. The second positioning delay parameter represents the time delay between the second communication device and the third communication device. This represents the second positioning delay parameter between the first communication device and the third communication device. This represents the first positioning delay parameter between the second communication device and the target reflector. This represents the first positioning delay parameter between the first communication device and the target reflector. This represents the first positioning delay parameter between the target reflector and the third communication device.

3. The method as described in claim 2, characterized in that, The vector corresponding to the first positioning delay parameter for: ； in, , , .

4. The method according to any one of claims 1-3, characterized in that, The step of the first communication device acquiring the first propagation delay difference includes at least one of the following: When the first communication device acts as a receiving end, it determines the first propagation delay difference based on the reference signal measurement it has acquired. When the first communication device is not acting as a receiving end, it receives a first propagation delay difference from other communication devices in the positioning group besides the first communication device.

5. The method as described in claim 4, characterized in that, When the first communication device acts as a receiving end, the step of determining the first propagation delay difference based on the reference signal measurement it has acquired includes: The first communication device acquires a first measurement and a second measurement; The first communication device determines a first time delay between itself and the second communication device, and a second time delay when the signal is transmitted from the second communication device and then reflected back to the first communication device by the target reflector, based on the first measurement and the second measurement. The first communication device determines the first propagation delay difference based on the second delay and the first delay; The first measurement quantity includes at least a first reference signal, a second reference signal, and a third reference signal. The first reference signal is transmitted by the second communication device on the first resource. The second reference signal is obtained by the third communication device modulating the received first reference signal according to a first orthogonal modulation method. The third reference signal is obtained by the target reflector reflecting the received first reference signal. The second measurement quantity includes at least a fourth reference signal, a fifth reference signal, and a sixth reference signal. The fourth reference signal is transmitted by the second communication device on the second resource. The fifth reference signal is obtained by the third communication device modulating the received fourth reference signal according to a first quadrature modulation method. The sixth reference signal is obtained by the target reflector reflecting the received fourth reference signal.

6. The method as described in claim 5, characterized in that, First propagation delay difference for: ； in, , , This indicates the first delay. This indicates the second delay. This represents the first positioning delay parameter between the second communication device and the target reflector. This represents the first positioning delay parameter between the target reflector and the first communication device. This represents the second positioning delay parameter between the second communication device and the first communication device. This indicates the timing error experienced by the second communication device. This indicates the timing error experienced by the first communication device.

7. The method as described in claim 5, characterized in that, When the first communication device acts as a receiving end, the step of determining the first propagation delay difference based on the reference signal measurement it has acquired further includes: If the number of the first propagation delay differences does not reach N, the first communication device replaces the transmitting end and / or the reflecting end according to the first rule, and obtains the first propagation delay difference again based on the replaced transmitting end and / or reflecting end. The first rule is configured through higher-layer signaling and includes information about multiple positioning device pairs. Each positioning device pair includes at least one transmitter, at least one reflector, and at least one receiver. Each positioning device pair includes at least some of the communication devices in the positioning group.

8. The method as described in claim 7, characterized in that, When the number of communication devices included in the positioning device pair is S, the number of transmitting end, reflecting end and receiving end in each positioning device pair is less than or equal to S-2, S≥3, and S is a positive integer.

9. The method as described in claim 5, characterized in that, The first resource and the second resource are different time-domain resources, or the first resource and the second resource are different frequency-domain resources in the same time domain, or the first resource and the second resource are different spatial-domain resources in the same time domain, or the first resource and the second resource are different code-domain resources in the same time domain.

10. The method as described in claim 5, characterized in that, The first reference signal or the fourth reference signal includes any one of the following: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS, and positioning reference signal UL-SRS.

11. The method as described in claim 5, characterized in that, The first orthogonal modulation method includes any one of the following: On-Off Keying (OOK) mode, Binary Phase Shift Keying (BPSK) mode, and Code Division Multiplexing (CDM) orthogonal code mode.

12. The method according to any one of claims 1-11, characterized in that, The N and L are configured by a higher layer.

13. The method as described in claim 1, characterized in that, The step of the first communication device acquiring L second propagation delay differences corresponding to different reflection paths includes at least one of the following: When the first communication device acts as the receiving end, the second propagation delay difference is obtained based on the reference signal measurement it has acquired. When the first communication device is not acting as a receiving end, the first communication device receives a second propagation delay difference from other communication devices in the positioning group besides the first communication device.

14. The method as described in claim 13, characterized in that, When the first communication device acts as the receiving end, the step of obtaining the second propagation delay difference based on the reference signal measurement it has acquired includes: The first communication device acquires a first measurement and a second measurement; The first communication device determines, based on the first measurement and the second measurement, a first time delay between the second communication device and the first communication device, and a third time delay between the transmission from the second communication device and the reflection from the third communication device back to the first communication device; The first communication device determines the second propagation delay difference based on the third delay and the first delay.

15. The method as described in claim 14, characterized in that, The second propagation delay difference for: ； in, , , This indicates the third time delay. This indicates the first delay. This represents the second positioning delay parameter between the second communication device and the third communication device. This represents the second positioning delay parameter between the second communication device and the first communication device. This represents the second positioning delay parameter between the third communication device and the first communication device. This indicates the timing error experienced by the second communication device. This indicates the timing error experienced by the first communication device.

16. The method as described in claim 15, characterized in that, The L second propagation delay differences are: ； in, This represents the second propagation delay difference when the sending end is the second communication device, the receiving end is the first communication device, and the reflecting end is the third communication device. This represents the second propagation delay difference when the sending end is the second communication device, the receiving end is the third communication device, and the reflecting end is the first communication device. This represents the second propagation delay difference when the sending end is the first communication device, the receiving end is the third communication device, and the reflecting end is the second communication device.

17. The method as described in claim 14, characterized in that, The vector corresponding to the second positioning delay parameter Represented as: ； in, , ; , This represents the second propagation delay difference when the sending end is the second communication device, the receiving end is the first communication device, and the reflecting end is the third communication device. This represents the second propagation delay difference when the sending end is the second communication device, the receiving end is the third communication device, and the reflecting end is the first communication device. This represents the second propagation delay difference when the sending end is the first communication device, the receiving end is the third communication device, and the reflecting end is the second communication device.

18. The method according to any one of claims 1-17, characterized in that, Communication devices located in the same positioning group include mobile communication devices and / or fixed communication devices.

19. The method according to any one of claims 1-17, characterized in that, In the case where multiple transmitters simultaneously transmit reference signals or a single transmitter simultaneously transmits multiple reference signals on different resources, the reference signals are mutually orthogonal.

20. A group positioning method, characterized in that, The positioning group includes at least a first communication device, a second communication device, and a third communication device, and the method includes: The first communication device performs the group positioning method as described in any one of claims 1-19; The second communication device performs at least one of the following: Send the location information of the second communication device to the first communication device or the third communication device; Send the target reference signal RS; The system receives the target RS sent by the first communication device, modulates the target RS according to the first orthogonal modulation sequence, and then transmits the reflected signal. The system receives a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by the third communication device modulating the target RS according to a first orthogonal modulation sequence, and sends location-related information to the first communication device. The system receives a reflected signal from a target reflector, the reflected signal corresponding to a target RS; and sends a first propagation delay difference to a first communication device; wherein the first propagation delay difference is the propagation delay difference between the direct path and the target propagation path between the second communication device and any communication device in the positioning group other than the first communication device and the second communication device, and the target propagation path is the path reflected by the target reflector.

21. A group positioning method, characterized in that, Performed by the target device, the method includes: Within the first time unit, the target device, acting as a first communication device, executes the group positioning method as described in any one of claims 1 to 19; Within the second time unit, the target device, acting as a second communication device, executes the group positioning method as described in claim 20.

22. A group positioning device, characterized in that, Applied to a first communication device, the device includes: The acquisition module is used to acquire the location-related information of each communication device in the positioning group and the first propagation delay difference. The determination module is used to determine the target position information of the target reflector based on the position-related information and the first propagation delay difference. The positioning group includes M communication devices, including the first communication device, the second communication device, and the third communication device. The number of first propagation delay differences is N. Each first propagation delay difference is the difference in propagation delay between the direct path and the target propagation path between any two communication devices in the positioning group. The target propagation path is the path reflected by the target reflector. Different first propagation delay differences correspond to two communication devices in the positioning group that are not completely the same. N and M are positive integers, and M ≥ N ≥ 3. The step of determining the target position information of the target reflector by the first communication device based on the position-related information and the first propagation delay difference includes: Based on the location-related information and the first propagation delay difference, a first positioning delay parameter is determined between the target reflector and each communication device in the positioning group; The target position information of the target reflector is determined based on the first positioning delay parameter; The step of determining the first positioning delay parameter between the target reflector and each communication device in the positioning group based on the location-related information and the first propagation delay difference includes: The first positioning delay parameter between the target reflector and each communication device in the positioning group is determined based on the second positioning delay parameter between each communication device in the positioning group and the first propagation delay difference. Wherein, the location-related information includes the second positioning delay parameter; or, the location-related information includes the location information of each communication device in the positioning group, and the second positioning delay parameter is determined based on the location information; or, the second positioning delay parameter is determined by the first communication device acquiring L second propagation delay differences corresponding to different reflection paths, and based on the L second propagation delay differences. Wherein, one of the second propagation delay differences is the propagation delay difference of the propagation path between any two communication devices in the positioning group, and the propagation path is the path reflected through any one of the communication devices in the positioning group. Different first propagation delay differences correspond to three communication devices in the positioning group that are not completely the same. L is a positive integer, and L≥3.

23. A group positioning device, characterized in that, The positioning group includes at least a first communication device, a second communication device, and a third communication device, and the device includes: The first processing module is configured to perform at least one of the following: Send the location information of the second communication device to the first communication device or the third communication device; Send the target reference signal RS; The system receives the target RS sent by the first communication device, modulates the target RS according to the first orthogonal modulation sequence, and then transmits the reflected signal. The system receives a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by the third communication device modulating the target RS according to a first orthogonal modulation sequence, and sends location-related information to the first communication device. Receive a reflected signal reflected by a target reflector, the reflected signal corresponding to a target RS; and send a first propagation delay difference to a first communication device; wherein the first propagation delay difference is the propagation delay difference between the direct path and the target propagation path between the second communication device and any communication device in the positioning group other than the first communication device and the second communication device, and the target propagation path is the path reflected by the target reflector; The first communication device includes the group positioning device as described in claim 22.

24. A group positioning device, characterized in that, Applied to a target device, the device includes: The second processing module is configured to, within a first time unit, execute the group positioning method as described in any one of claims 1 to 19, whereby the target device acts as a first communication device; and Within the second time unit, the target device, acting as a second communication device, executes the group positioning method as described in claim 20.

25. A communication device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the group location method as described in any one of claims 1 to 19, or to implement the steps of the group location method as described in claim 20, or to implement the steps of the group location method as described in claim 21.

26. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the group location method as described in any one of claims 1 to 19, or implement the steps of the group location method as described in claim 20, or implement the steps of the group location method as described in claim 21.

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