Positioning method, apparatus, device, and storage medium

Abstract

The application discloses a positioning method and device, equipment and storage medium, and relates to the field of mobile communication. The method comprises the following steps: a terminal receives configuration information sent by a network device, the configuration information is used for configuring resource information for transmitting a positioning reference signal for the terminal, and the positioning reference signal is used for positioning the terminal. A configuration resource mode is provided, the configuration of the resource is ensured, and the application provides a method for transmitting the positioning reference signal between the network device and the terminal to position the terminal, the method for positioning the terminal is expanded, and the positioning accuracy is improved by the method for transmitting the positioning reference signal between the network device and the terminal.

Description

Technical Field

[0001] This application relates to the field of mobile communications, and in particular to a positioning method, apparatus, device, and storage medium. Background Technology

[0002] In positioning technology, inertial navigation systems can be used for positioning. These systems use inertial sensors to calculate the terminal's position and velocity based on the direction of motion and initial position information. However, relying solely on inertial navigation systems can result in significant errors and poor positioning accuracy. Summary of the Invention

[0003] This application provides a positioning method, apparatus, device, and storage medium, and offers a method for configuring resources to ensure resource allocation. Furthermore, this application provides a method for positioning a terminal by transmitting positioning reference signals between a network device and the terminal, expanding the methods for terminal positioning and improving positioning accuracy by performing positioning through the transmission of positioning reference signals between the network device and the terminal. The technical solution is as follows:

[0004] According to one aspect of this application, a positioning method is provided, the method being performed by a terminal, the method comprising:

[0005] The terminal receives configuration information sent by a network device. The configuration information is used to configure resource information for transmitting positioning reference signals, and the positioning reference signals are used to locate the terminal.

[0006] According to one aspect of this application, a positioning method is provided, the method being performed by a network device, the method comprising:

[0007] Configuration information is sent to the terminal. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal.

[0008] According to one aspect of this application, a positioning device is provided, the device comprising:

[0009] A receiving module is used to receive configuration information sent by a network device. The configuration information is used to configure resource information for transmitting positioning reference signals for the terminal. The positioning reference signals are used to locate the terminal.

[0010] According to one aspect of this application, a positioning device is provided, the device comprising:

[0011] The sending module is used to send configuration information to the terminal. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals, and the positioning reference signals are used to locate the terminal.

[0012] According to one aspect of this application, a terminal is provided, the terminal comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the positioning method as described above.

[0013] According to one aspect of this application, a network device is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the positioning method as described above.

[0014] According to one aspect of this application, a computer-readable storage medium is provided, in which executable program code is stored, which is loaded and executed by a processor to implement the positioning method as described above.

[0015] According to one aspect of this application, a chip is provided, the chip including programmable logic circuitry and / or program instructions, which, when the chip is running on a terminal or network device, are used to implement the positioning method as described above.

[0016] According to one aspect of this application, a computer program product is provided that, when executed by a processor of a terminal or network device, is used to implement the positioning method described above.

[0017] In the positioning scheme provided in this application embodiment, the network device configures resources for transmitting positioning reference signals to the terminal. The positioning reference signals can be transmitted between the network device and the terminal, and the terminal is positioned based on the carrier phase difference corresponding to the positioning reference signals. This provides a way to configure resources, ensuring resource configuration. Furthermore, this application provides a method for locating the terminal by transmitting positioning reference signals between the network device and the terminal, expanding the ways to locate the terminal, and improving the accuracy of positioning by performing positioning through the transmission of positioning reference signals between the network device and the terminal. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A block diagram of a communication system provided in an exemplary embodiment of this application is shown;

[0020] Figure 2 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0021] Figure 3 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0022] Figure 4 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0023] Figure 5 A flowchart of a bandwidth adjustment method provided in an exemplary embodiment of this application is shown;

[0024] Figure 6 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0025] Figure 7 This illustration shows the position of a terminal relative to a network device during movement, according to an exemplary embodiment of this application.

[0026] Figure 8 This illustration shows another schematic diagram of the position of a terminal relative to a network device during movement, provided by an exemplary embodiment of this application.

[0027] Figure 9 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0028] Figure 10 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0029] Figure 11 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0030] Figure 12 A flowchart illustrating a positioning method provided in an exemplary embodiment of this application is shown;

[0031] Figure 13 A block diagram of a positioning device provided in an exemplary embodiment of this application is shown;

[0032] Figure 14 A block diagram of another positioning device provided in an exemplary embodiment of this application is shown;

[0033] Figure 15 A block diagram of a positioning device provided in an exemplary embodiment of this application is shown;

[0034] Figure 16 A block diagram of another positioning device provided in an exemplary embodiment of this application is shown;

[0035] Figure 17 A schematic diagram of the structure of a communication device provided in an exemplary embodiment of this application is shown. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0037] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. Unless otherwise indicated, the same numerals in different drawings denote the same or similar elements in the following description relating to the drawings. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0038] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0039] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, for example, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0040] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0041] The application scenarios of this application will be described below:

[0042] Figure 1 A block diagram of a communication system provided in an exemplary embodiment of this application is shown. The communication system may include a terminal 10 and a network device 20.

[0043] The number of terminals 10 is typically multiple, and one or more terminals 10 can be distributed within the cell managed by each network device 20. Terminals 10 may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem, as well as various forms of user equipment (UE), mobile station (MS), etc. For ease of description, in this embodiment, the devices mentioned above are collectively referred to as terminals.

[0044] Network device 20 is a device deployed in an access network to provide wireless communication functionality to terminal 10. For ease of description, in this embodiment, the device providing wireless communication functionality to terminal 10 is collectively referred to as a network device. Network device 20 and terminal 10 can establish a connection via an air interface, thereby communicating through this connection, including signaling and data exchange. There can be multiple network devices 20, and two adjacent network devices 20 can communicate via wired or wireless means. Terminal 10 can switch between different network devices 20, that is, establish connections with different network devices 20.

[0045] The network device 20 may include various forms of macro base stations, micro base stations, relay stations, access points, transmission reception points (TRPs), etc. In systems employing different wireless access technologies, the name of the device with network equipment functionality may differ; for example, in 5G NR (New Radio) systems, it is called gNodeB or gNB. As communication technologies evolve, the name "network device" may change.

[0046] Secondly, the inertial navigation system involved in this application will be described. An inertial navigation system is a navigation and positioning system based on Newtonian classical mechanics. Its working principle is to calculate the carrier's position, velocity, and other information based on a reference direction and initial position information using inertial sensors (gyroscopes and accelerometers). Inertial navigation systems have autonomous navigation capabilities, do not require any external electromagnetic signals, and have strong anti-interference capabilities. Therefore, inertial navigation systems have advantages that satellite navigation, radio navigation, and celestial navigation systems cannot match. Among these advantages are:

[0047] (1) Since inertial navigation systems do not rely on external information or radiate energy, they are highly autonomous and have excellent confidentiality during operation. In operation, the inertial navigation system only needs to use the data output by its own IMU (Inertial Measurement Unit) to perform integration and solve the problem to deduce the required navigation parameters.

[0048] (2) Because inertial navigation systems contain different inertial measurement components, such as gyroscopes and accelerometers, they can provide navigation coefficients for the vehicle from various aspects. By integrating the IMU output data, we can obtain the position, velocity, acceleration, attitude, and heading.

[0049] (3) The operation of the inertial navigation system is not limited by meteorological conditions. Since the inertial navigation system can work completely autonomously, the external meteorological environment will not affect the navigation results of the inertial navigation.

[0050] (4) Inertial navigation systems have strong anti-interference capabilities and are not sensitive to the effects of waves, fields, and lines formed by electricity, magnetism, and light. They radiate almost no electromagnetic waves and do not need to receive electromagnetic waves, thus possessing extremely strong anti-interference capabilities.

[0051] Gyroscopes and accelerometers are the two most important inertial sensors in an inertial navigation system. An IMU typically has three gyroscopes and three accelerometers, mounted on three mutually perpendicular axes, one on each axis. Each of the three axes points in a direction, used to measure the rotational angular velocity and acceleration in that direction. After acquiring the data from the gyroscopes and accelerometers, the IMU can determine the six degrees of freedom of the vehicle in space through integration: three spatial position coordinate components and three attitude angles. Attitude angles generally include yaw, pitch, and roll. For aircraft, the yaw determines the direction of travel of the aircraft's projection onto the horizontal plane, while the pitch and roll angles reflect whether the aircraft is in stable flight. However, for other land-based vehicles such as cars, the slope and tilt of the road surface are generally small, so some inertial navigation systems only consider the vehicle's azimuth angle.

[0052] An accelerometer is used to measure specific force in a certain direction. Common accelerometers include pendulum integrating accelerometers, flexible pendulum accelerometers, and electrostatic accelerometers. In recent years, with the continuous development of computing technology, accelerometers using MEMS technology are small in size, light in weight, and low in price, and are now widely used in smartphones, vehicle navigation systems, drones, and robots, greatly expanding the application scenarios and scope of IMUs. A gyroscope is an object mounted in a frame that rotates at high speed around the axis of symmetry of a body of rotation. Gyroscopes have stability and precession. Due to the gyroscope's high sensitivity to angular velocity, it can be used to measure angular velocity and angular deviation.

[0053] Figure 2 The flowchart illustrates a positioning method provided by an exemplary embodiment of this application, which can be applied, for example, to [other applications]. Figure 1 In the terminal and network device shown, the method includes at least some of the following:

[0054] Step 201: The network device sends configuration information to the terminal. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal.

[0055] Step 202: The terminal receives configuration information sent by the network device. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal.

[0056] This resource information is used for transmitting positioning reference signals between network devices and terminals. In this embodiment, the terminal or network device can determine the carrier phase difference based on the positioning reference signal, and then locate the terminal based on the carrier phase difference corresponding to the positioning reference signal.

[0057] In this embodiment, the network device and the terminal can transmit positioning reference signals to enable the network device or the terminal to locate the terminal and determine its current location information. Since transmitting positioning reference signals between the network device and the terminal requires resource information, the network device configures resource information for the terminal to transmit positioning reference signals through configuration information, so as to locate the terminal using the transmitted positioning reference signals.

[0058] It should be noted that the steps performed by the network device can form a separate embodiment, and the steps performed by the terminal can also form a separate embodiment; this application does not limit this.

[0059] In the solution provided by this application embodiment, the network device configures resources for transmitting positioning reference signals to the terminal. The positioning reference signals can be transmitted between the network device and the terminal, and the terminal is located based on the carrier phase difference corresponding to the positioning reference signals. This provides a way to configure resources, ensuring resource configuration. Furthermore, this application provides a method for locating the terminal by transmitting positioning reference signals between the network device and the terminal, expanding the ways to locate the terminal, and improving the accuracy of positioning by performing positioning through the transmission of positioning reference signals between the network device and the terminal.

[0060] Figure 2 The illustrated embodiment uses the example of a network device configuring resource information for a terminal. This resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.

[0061] Motion information refers to information generated by the terminal during movement, such as its speed and acceleration. This motion information can be measured by the terminal's own measuring instruments. Carrier parameter information refers to the relevant parameters of the carrier signal transmitted by the terminal. Positioning information refers to the information required for positioning the terminal.

[0062] In this embodiment of the application, the motion information of the terminal is actually obtained by the terminal itself, while the carrier parameter information and positioning information of the terminal actually refer to information related to carrier phase positioning. In other words, the resource information configured by the network device for the terminal is determined based on the information measured by the terminal itself and the information related to carrier phase.

[0063] In the solution provided by the embodiments of this application, the resource information configured for the terminal can ensure that the terminal transmits positioning reference signals when the terminal's own state is matched, thereby improving the accuracy of positioning. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, thereby improving the accuracy of positioning.

[0064] exist Figure 2 Based on the illustrated embodiment, the terminal can send its own information to the network device, which then determines resource information based on the received information. See also Figure 3 The method includes:

[0065] Step 301: The terminal sends at least one of motion information, carrier parameter information, and positioning information to the network device.

[0066] Step 302: The network device receives at least one of the motion information, carrier parameter information, and positioning information sent by the terminal.

[0067] Motion information refers to information generated by the terminal during movement, such as its speed and acceleration. This motion information can be measured by the terminal's own measuring instruments. Carrier parameter information refers to the relevant parameters of the carrier signal transmitted by the terminal. Positioning information refers to the information required for positioning the terminal.

[0068] In this embodiment of the application, after the terminal determines its own motion information, carrier parameter information and positioning information, it can send the determined information to the network device, and then the network device can receive at least one of the motion information, carrier parameter information and positioning information sent by the terminal.

[0069] Step 303: The network device determines resource information based on at least one of motion information, carrier parameter information, and positioning information.

[0070] In this embodiment of the application, the terminal's own information changes continuously during the movement. Due to the changes in the terminal's information, it is necessary to determine the matching resource information based on the changed information.

[0071] In some embodiments, resource information is determined based on at least one of motion information, carrier parameter information, and positioning information. That is, in this embodiment of the application, if the network device receives at least one of motion information, carrier parameter information, and positioning information sent by the terminal, the network device can perform step 303 to determine resource information.

[0072] Specifically, the resource information configured by the network device for the terminal is determined based on at least one of motion information, carrier parameter information, and positioning information. This can also be understood as the terminal's motion information being measured by the terminal itself, while the terminal's carrier parameter information and positioning information refer to information related to carrier phase positioning. In other words, the resource information configured by the network device for the terminal is determined based on information measured by the terminal itself and information related to carrier phase.

[0073] The network device receives at least one of motion information, carrier parameter information, and positioning information sent by the terminal. The network device can then determine resource information based on the received information and configure the determined resource information for the terminal through configuration information.

[0074] In some embodiments, the network device includes a correspondence between at least one of motion information, carrier parameter information, and positioning information and resource information, and the resource information is determined based on the correspondence.

[0075] In this embodiment of the application, the network device includes multiple correspondences, each of which includes at least one of motion information, carrier parameter information, and positioning information. That is, one correspondence includes a correspondence between motion information and resource information, another correspondence includes a correspondence between motion information, carrier parameter information, and resource information, or there may be other correspondences, which will not be listed in this embodiment of the application.

[0076] For example, if a network device includes a correspondence between motion information, carrier parameter information, location information, and resource information, then this correspondence can be understood as different values ​​of motion information, carrier parameter information, and location information corresponding to different resource information. In other words, different values ​​of motion information, carrier information, and location information correspond to different resource information.

[0077] For example, if the terminal's motion information includes a speed of 30 km / h and an acceleration of 5 m / s², then... 2The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding resource information as follows: the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 8:2. In other words, the proportion of downlink time domain resources is at least 20%.

[0078] Alternatively, if the terminal's motion information includes a speed of 80 km / h and an acceleration of 5 m / s², 2 The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding resource information as follows: the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 7:3. In other words, the proportion of downlink time domain resources is at least 30%.

[0079] This application illustrates the correspondence between motion information, carrier parameter information, positioning information, and resource information by way of example. The correspondence in this application can also be in other ways, and this application does not limit it.

[0080] Optionally, the correspondence between at least one of the motion information, carrier parameter information, and positioning information and the resource information is stored in an information correspondence table, and the network device determines the corresponding resource information by querying the information correspondence table.

[0081] It should be noted that the embodiments in this application are illustrated by directly executing steps 301-303. In another embodiment, steps 301-303 need to be executed under certain conditions.

[0082] In some embodiments, in response to the fact that the bandwidth of the terminal's phase-locked loop does not support adjustment, the terminal sends at least one of motion information, carrier parameter information, and positioning information to the network device.

[0083] The terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. When the terminal's own motion information, carrier parameter information, and positioning information change, the bandwidth of the PLL cannot be adjusted, but the configured resource information can be adjusted. Therefore, steps 301-303 are executed to complete the configuration of the resource information.

[0084] It should be noted that the embodiments in this application are illustrated using steps 301-303 as an example. In another embodiment, the steps performed by the terminal can form a separate embodiment, and the steps performed by the network device can also form a separate embodiment; this application does not limit this.

[0085] In the solution provided in this application embodiment, the terminal reports its own information to the network device, and then the network device determines the resource information corresponding to the terminal's information and configures the resource information for the terminal. The resource information configured for the terminal can ensure that the terminal transmits the positioning reference signal when it matches its own state, thereby improving the positioning accuracy. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, thereby improving the positioning accuracy.

[0086] exist Figure 2 Based on the illustrated embodiment, the terminal can independently determine the required resource information and then request the determined resource information from the network device. See also Figure 4 The method includes:

[0087] Step 401: The terminal determines the request information based on at least one of the motion information, carrier parameter information, and positioning information.

[0088] In this embodiment, the terminal's own information changes continuously during movement. Due to these changes, it is necessary to determine matching resource information based on the changing information. The terminal determines its own motion information, carrier parameter information, and positioning information. Based on this determined information, the terminal can then determine the requested information and execute subsequent processes to request the resource information corresponding to the requested information from the network device.

[0089] In some embodiments, the terminal includes a correspondence between at least one of motion information, carrier parameter information, and positioning information and the request information, and the request information is determined based on the correspondence.

[0090] In this embodiment of the application, the terminal includes multiple correspondences, each of which includes at least one of motion information, carrier parameter information, and positioning information. That is, one correspondence includes a correspondence between motion information and request information, another correspondence includes a correspondence between motion information, carrier parameter information, and request information, or there may be other correspondences, which will not be listed in this embodiment of the application.

[0091] For example, if a terminal includes a correspondence between motion information, carrier parameter information, positioning information, and request information, then this correspondence can be understood as including different motion information, different carrier parameter information, and different positioning information corresponding to different request information. In other words, different values ​​of motion information, carrier information, and positioning information correspond to different request information.

[0092] For example, if the terminal's motion information includes a speed of 30 km / h and an acceleration of 5 m / s², then...2 The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding request information as having an uplink time domain resource to downlink time domain resource ratio of less than or equal to 8:2, meaning that the downlink time domain resource ratio is at least 20%.

[0093] Alternatively, if the terminal's motion information includes a speed of 80 km / h and an acceleration of 5 m / s², 2 The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding request information as having an uplink time domain resource to downlink time domain resource ratio of less than or equal to 7:3, meaning that the downlink time domain resource ratio is at least 30%.

[0094] This application illustrates the correspondence between motion information, carrier parameter information, positioning information, and request information by way of example. The correspondence in this application can also be in other ways, and this application does not limit it.

[0095] Optionally, the correspondence between at least one of the motion information, carrier parameter information, and positioning information and the request information is stored in an information correspondence table, and the terminal determines the corresponding request information by querying the information correspondence table.

[0096] Step 402: The terminal sends a request message to the network device. The request message is used to obtain resource information.

[0097] Step 403: The network device receives the request information sent by the terminal. The request information is used to obtain resource information. The request information is determined by the terminal based on at least one of motion information, carrier parameter information, and positioning information.

[0098] In this embodiment of the application, after the terminal determines the resource information it needs, it sends a request message to the network device to request the resource information. The network device then configures the resource information for the terminal based on the request message.

[0099] It should be noted that the embodiments in this application are illustrated by directly executing steps 401-403. In another embodiment, steps 401-403 need to be executed under certain conditions.

[0100] In some embodiments, in response to the fact that the bandwidth of the terminal's phase-locked loop does not support adjustment, a request message is determined based on at least one of motion information, carrier parameter information, and positioning information.

[0101] The terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. When the terminal’s own motion information, carrier parameter information, and positioning information change, the bandwidth of the PLL cannot be adjusted, but the configured resource information can be adjusted. Therefore, steps 301-303 are executed to complete the configuration of the resource information.

[0102] In the solution provided in this application embodiment, the terminal requests resource information determined by its own information from the network device, and then the network device configures the resource information for the terminal. The resource information configured for the terminal can ensure that the terminal transmits positioning reference signals when it matches its own state, thereby improving the accuracy of positioning. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurements and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurements and carrier phase, thereby improving the accuracy of positioning.

[0103] exist Figure 3 and Figure 4 Based on the embodiments shown, the information associated with the terminal includes various cases, and motion information, carrier parameter information and positioning information are explained below.

[0104] In some embodiments, motion information includes at least one of the following:

[0105] (1) Speed ​​information relative to network devices.

[0106] This speed information refers to the terminal's relative speed to the network device. Additionally, the network device's position remains constant, which is also part of the terminal's speed information.

[0107] For example, the speed information is 30 km / h, 60 km / h, or other values.

[0108] In some embodiments, the terminal includes an inertial sensor, which can be used to measure the terminal's speed information relative to the network device.

[0109] Optionally, the inertial sensor includes a gyroscope and an accelerometer, through which the speed information of the terminal can be determined.

[0110] (2) Terminal acceleration information.

[0111] The acceleration information refers to the terminal's acceleration. If the terminal's acceleration information is not zero and is a positive number, it means that the terminal's speed will increase over time. Conversely, if the terminal's acceleration information is not zero and is a negative number, it means that the terminal's speed will decrease over time.

[0112] For example, the terminal's acceleration information is 5 m / s². 2 (m / s) 2 -10m / s 2 Or other values.

[0113] In some embodiments, the terminal includes an inertial sensor, which can be used to measure the terminal's speed information relative to the network device.

[0114] Optionally, the inertial sensor includes a gyroscope and an accelerometer, through which the acceleration information of the terminal can be determined.

[0115] It should be noted that, in this embodiment of the application, the terminal actually uses an inertial navigation system to measure the terminal's speed and acceleration information in order to obtain the terminal's speed and acceleration information.

[0116] In other embodiments, the carrier parameter information includes at least one of the following:

[0117] (1) The ratio of uplink time domain resources to downlink time domain resources supported by the terminal.

[0118] Uplink time-domain resources are used by the terminal to send uplink transmissions to the network device. Downlink time-domain resources are used by the network device to send downlink transmissions to the terminal. The ratio of uplink to downlink time-domain resources refers to the ratio of time-domain resources used for uplink transmission to those used for downlink transmission within a certain subframe. These time-domain resources can include at least one of subframes, time slots, and symbols. For example, for downlink positioning signals, the ratio of uplink to downlink time-domain resources supported by the terminal cannot exceed a threshold value, such as 6:8. For example, within a time slot, the ratio of uplink symbols to downlink symbols cannot exceed 6:8, meaning that out of 14 symbols in a time slot, the number of downlink symbols must be greater than or equal to 8. For example, for uplink positioning signals, the ratio of uplink to downlink time-domain resources supported by the terminal cannot be less than a threshold value, such as 6:8. For example, within a time slot, the ratio of uplink symbols to downlink symbols cannot be less than 6:8, meaning that out of 14 symbols in a time slot, the number of uplink symbols must be greater than or equal to 6.

[0119] For example, the ratio of uplink time domain resources to downlink time domain resources cannot be greater than 7:3, or the ratio of uplink time domain resources to downlink time domain resources cannot be less than 8:2, or other values. This application does not limit the specific values.

[0120] (2) Time and frequency resource information used for phase tracking measurements.

[0121] The resource information can be used not only for phase tracking measurements but also for other transmissions. Here, the time-frequency resource information is used by the terminal for phase tracking measurements.

[0122] (3) Carrier frequency used for phase tracking.

[0123] The phase of the carrier signal can be used for positioning, and the carrier frequency used for phase tracking refers to the frequency of the carrier signal used for positioning.

[0124] (4) Frequency range of carrier phase supported by the terminal.

[0125] The terminal, due to its own configuration, supports different frequency ranges, so as to perform carrier phase-based positioning within the supported frequency range.

[0126] (5) Whether the bandwidth of the terminal's phase-locked loop can be adjusted.

[0127] The terminal includes a phase-locked loop (PLL), which adjusts the phase of the signal when locked. Whether the bandwidth of the terminal's PLL is adjustable refers to whether the terminal can adjust the bandwidth of the PLL.

[0128] In some embodiments, a preset number of bits are used to indicate whether the bandwidth of the terminal's phase-locked loop supports adjustment.

[0129] For example, if the preset number of bits is the first bit, it indicates that the bandwidth of the terminal's phase-locked loop supports adjustment. However, if the preset number of bits is the second bit, it indicates that the bandwidth of the terminal's phase-locked loop does not support adjustment.

[0130] In other embodiments, the location information includes at least one of the following:

[0131] (1) Positioning accuracy of the terminal.

[0132] Positioning accuracy refers to the error range when locating the terminal. For example, positioning accuracy is 1 decimeter, or positioning accuracy is 1 meter, or other values.

[0133] (2) Sampling frequency of the terminal.

[0134] The sampling frequency refers to the number of times the terminal samples within a unit of time. For example, the sampling frequency is 50 times per minute, or 60 times per minute, or other values.

[0135] (3) Measurement error of the terminal.

[0136] Among them, measurement error refers to the error in the speed information measured by the terminal.

[0137] In the solution provided in this application embodiment, the terminal determines multiple parameter information based on configuration or self-measurement, so as to determine the resource information configured by the network device for the terminal based on the terminal's parameter information. By determining the resource information through the diverse parameter information of the terminal, the accuracy of the determined resource information is improved. It also provides a way to configure resources, ensuring resource configuration, thereby ensuring positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, which improves the accuracy of positioning.

[0138] It should be noted that the embodiments in this application are illustrated using the terminal's motion information, carrier parameter information, and positioning information as examples. In other embodiments, the resource information also includes various other types of information.

[0139] In some embodiments, the resource information includes the ratio of uplink time-domain resources to downlink time-domain resources and the subframe density used for transmitting positioning reference signals.

[0140] Uplink time-domain resources are used by the terminal to send uplink transmissions to the network device. Downlink time-domain resources are used by the network device to send downlink transmissions to the terminal. The ratio of uplink to downlink time-domain resources refers to the ratio of time-domain resources used for uplink transmission to those used for downlink transmission within a given subframe.

[0141] For example, the ratio of uplink time domain resources to downlink time domain resources cannot be greater than 7:3, or the ratio of uplink time domain resources to downlink time domain resources cannot be less than 8:2, or other values. This application does not limit the specific values.

[0142] The subframe density used for transmitting positioning reference signals refers to the proportion of subframes used for transmitting positioning reference signals in the resource information out of a certain number of subframes.

[0143] The above embodiments are all illustrated using the example of a network device configuring resource information for a terminal. In another embodiment, the network device may be unable to determine the required resource information; in this case, the network device will return an error message to the terminal. See [link to documentation]. Figure 5 The method includes:

[0144] Step 501: In response to the undetermined resource information, the network device sends an error message to the terminal, indicating that the network device has not configured resource information.

[0145] Step 502: In response to the network device not determining resource information, the terminal receives an error message sent by the network device, indicating that the network device has not configured resource information.

[0146] In this embodiment of the application, the network device may also be unable to configure resource information that meets the transmission requirements for the terminal. In this case, the network device does not send configuration information to the terminal, but instead sends an error message to the terminal. The error message informs the terminal that the resource information cannot be configured. After receiving the error message, the terminal can determine that the network device has not configured the corresponding resource information based on the information measured by the terminal itself.

[0147] In some embodiments, if the terminal determines that the current motion information causes a drastic change in Doppler offset, or that the current ratio of uplink time domain resources to downlink time domain resources is large, causing the network device to be unable to configure resource information for the terminal, then the above step 501 is executed.

[0148] Step 503: The terminal adjusts the bandwidth of the phase-locked loop in the terminal.

[0149] In this embodiment of the application, if the network device does not configure resource information for the terminal, in order to ensure the normal operation of subsequent positioning based on the positioning reference signal, the terminal can adjust the bandwidth of the phase-locked loop in the terminal so that the adjusted bandwidth phase-locked loop meets the requirements.

[0150] In some embodiments, increasing the bandwidth of the phase-locked loop (PLL) reduces the time required for PLL locking, thereby reducing cycle slip and ensuring the accuracy of subsequent positioning based on the positioning reference signal.

[0151] It should be noted that the embodiments in this application are illustrated by directly executing steps 501-503. In another embodiment, steps 501-503 need to be executed under certain conditions.

[0152] In some embodiments, the bandwidth of the phase-locked loop in the terminal is adjusted in response to the bandwidth support adjustment of the terminal's phase-locked loop.

[0153] In this embodiment, the terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. If the network device cannot configure resource information for the terminal, and the terminal supports adjusting the bandwidth of the PLL, then the terminal can adjust the bandwidth of the PLL.

[0154] In the solution provided in this application embodiment, in response to the lack of configured resource information, the terminal adjusts the bandwidth of the phase-locked loop (PLL) to reduce the time required for the PLL to complete the phase transition, thereby avoiding cycle slips and improving the accuracy of subsequent positioning based on the positioning reference signal.

[0155] The above embodiments are all illustrated using the example of a network device configuring resource information for a terminal. In another embodiment, the terminal needs to first activate its own positioning function before executing the above-mentioned resource information configuration and positioning scheme.

[0156] In some embodiments, in response to the terminal's moving speed being greater than a first speed, the terminal activates the IMU-assisted carrier phase measurement function, which instructs the terminal to determine its current position information based on phase information and the terminal's motion information.

[0157] The first speed is set by the terminal, agreed upon by the communication protocol, or configured in other ways; this application embodiment does not limit this.

[0158] In this embodiment of the application, if the moving speed of the terminal is greater than the first speed, the IMU-assisted carrier phase measurement function can be used when locating the terminal. That is, the terminal can activate the IMU-assisted carrier phase measurement function so that the terminal can determine the current position information of the terminal based on the phase information and the motion information of the terminal.

[0159] In some embodiments, the terminal's moving speed is determined by the terminal's IMU function. Therefore, the terminal needs to first activate the IMU function and then determine whether to activate the IMU-assisted carrier phase measurement function based on the measurement results of the IMU function.

[0160] Optionally, the IMU function can be started by the terminal itself, or by the network device controlling the terminal to start, or by other means; this application embodiment does not limit this.

[0161] In the solution provided in this application embodiment, the terminal enables the IMU-assisted carrier phase measurement function, and then the resource information can be configured based on the IMU-assisted carrier phase measurement function, and then the positioning can be performed based on the resource information. This ensures positioning based on the terminal's own measurement and carrier phase, and improves the accuracy of positioning by combining the terminal's own measurement and carrier phase.

[0162] Figure 6 The flowchart illustrates a positioning method provided by an exemplary embodiment of this application, which can be applied, for example, to [other applications]. Figure 1 In the terminal and network device shown, the method includes at least some of the following:

[0163] Step 601: The network device sends a downlink positioning reference signal to the terminal based on resource information.

[0164] The downlink positioning reference signal is a signal sent by the network device to the terminal for positioning.

[0165] In some embodiments, the downlink positioning reference signal includes a PRS (Positioning Reference Signal) or other types of signals, which are not limited in the embodiments of this application.

[0166] Step 602: The terminal receives the downlink positioning reference signal sent by the network device based on the resource information.

[0167] In this embodiment of the application, after the network device configures resource information for the terminal, both the network device and the terminal can determine the resources used to transmit the positioning reference signal. The network device can send the downlink positioning reference signal to the terminal based on the resource information, and the terminal can receive the downlink positioning reference signal sent by the network device based on the resource information.

[0168] Step 603: The terminal determines the phase information of the terminal at different locations based on the downlink positioning reference signal.

[0169] In this embodiment of the application, the terminal can receive downlink positioning reference signals at different locations, and the terminal can determine the phase information of the terminal at different locations based on the downlink positioning reference signals received at different locations.

[0170] In some embodiments, the terminal determines the carrier phase difference at different locations based on the downlink positioning reference signal. The carrier phase difference is determined by the phase between the carrier signal generated by the terminal itself and the received downlink positioning reference signal.

[0171] In this embodiment, the terminal generates its own carrier signal and also receives downlink positioning reference signals sent by the network device. Based on the carrier signal it generates and the downlink positioning reference signals it receives, the terminal can determine the carrier phase difference at different locations.

[0172] For example, such as Figure 7 As shown, the network device is located at point O. The terminal moves from point A through point B to point C. The carrier phase difference between the terminal and the network device when the terminal is at point A is... When the terminal is at point B, the carrier phase difference between it and the network device is: When the terminal is at point C, the carrier phase difference between it and the network device is: in, The fractional part of the carrier phase difference. and It includes the fractional part of the carrier phase difference, and may also include the integer part of the carrier phase difference.

[0173] Step 604: The terminal determines its current position information based on the phase information and motion information of the terminal at different locations. The motion information is determined by the terminal through measurement.

[0174] In this embodiment of the application, after the terminal determines its phase information and its motion information at different locations, it can determine the current location information of the terminal to achieve the positioning of the terminal.

[0175] In some embodiments, the distance between two adjacent positions of the terminal is determined based on the motion information of the terminal, the initial integer ambiguity is determined based on the phase information of the terminal at different positions and the distance between two adjacent positions of the terminal, and the current position information of the terminal is determined based on the initial integer ambiguity.

[0176] In this embodiment, the terminal's motion information indicates the terminal's speed and acceleration. Based on this motion information, the distance the terminal moves within a certain time period can be determined. That is, when the terminal is in different positions, the distance between two adjacent positions during the terminal's movement can be determined. In addition, the terminal also determines the phase information of the terminal at different positions. Based on the phase information of the terminal at different positions and the distance between two adjacent positions, the terminal determines the initial integer ambiguity. With the initial integer ambiguity determined, the terminal can be located and its current position information can be obtained based on the integer ambiguity.

[0177] Optionally, the phase information of the terminal at different locations, the distance between two adjacent locations of the terminal, and the initial integer ambiguity satisfy the following relationship:

[0178]

[0179] Where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, and b is the distance between the terminal at the second position and the third position. The carrier phase difference at the first position of the terminal. The carrier phase difference at the second position of the terminal. Let λ be the carrier phase difference of the terminal at the third position, and λ be the wavelength of the downlink positioning reference signal.

[0180] For example, in Figure 7 Based on this, Figure 7 Simplified to Figure 8 See Figure 8 The distance between the terminal at point A and point B is a, the distance between the terminal at point B and point C is b, and the phase between the network device and the terminal at point A is r, the phase between the network device and the terminal at point B is r+d1, and the phase between the network device and the terminal at point C is r+d2.

[0181] The following explains how to determine the initial integer ambiguity.

[0182] Among them, see Figure 8 The expressions for r, r+d1, and r+d2 can be determined separately:

[0183]

[0184] Secondly, according to Figure 8 The geometric relationships can determine the following relationships:

[0185]

[0186] Based on the above relationships, the solution can be obtained as follows:

[0187]

[0188] in,

[0189] It should be noted that the embodiments in this application are illustrated by taking the example of the terminal directly determining the integer ambiguity. In another embodiment, the terminal performs the above steps under certain conditions.

[0190] In some embodiments, in response to the failure to acquire the initial integer ambiguity, the terminal determines the distance between two adjacent locations based on the terminal's motion information.

[0191] In this embodiment of the application, if the terminal does not obtain the initial integer ambiguity, the terminal cannot be located at this time. Therefore, it is necessary to first determine the initial integer ambiguity and then locate the terminal based on the determined initial integer ambiguity. Therefore, in response to the terminal not obtaining the initial integer ambiguity, the distance between two adjacent positions of the terminal is determined according to the motion information of the terminal, and then the subsequent steps are continued according to the determined distance.

[0192] The method provided in this application receives downlink positioning reference signals by configuring resource information for the terminal, and then positions the terminal based on the downlink positioning reference signals. This ensures positioning based on the terminal's own measurements and carrier phase, and improves positioning accuracy by combining the terminal's own measurements and carrier phase.

[0193] Furthermore, by determining the initial integer ambiguity through the phase of the carrier and the motion information of the terminal, the process of determining the initial integer ambiguity is simplified, saving computational load and improving the efficiency of terminal positioning, eliminating the need to search for fixed integer ambiguities.

[0194] Figure 9 The flowchart illustrates a positioning method provided by an exemplary embodiment of this application, which can be applied, for example, to [other applications]. Figure 1 In the terminal and network device shown, the method includes at least some of the following:

[0195] Step 901: The terminal determines the predicted phase information of the terminal at the next position based on the initial integer ambiguity and the phase information of the terminal at different positions.

[0196] In the embodiments of this application, when the terminal knows the initial integer ambiguity, the terminal can receive downlink positioning reference signals sent by the network device at different locations. Since the terminal knows its own motion information, the terminal can predict the location to be reached by the terminal in advance. Therefore, the terminal can determine the predicted phase information of the terminal at the next location based on the initial integer ambiguity and the phase information of the terminal at different locations.

[0197] Wherein, the initial integer ambiguity is a pre-configured initial integer ambiguity, or is obtained through... Figure 6 The initial integer ambiguity determined in the illustrated embodiment may be determined by other means, and this application does not limit the embodiments thereto.

[0198] Step 902: If the predicted phase information is different from the phase of the terminal's phase-locked loop, the terminal uses the predicted phase information to update the phase of the terminal's phase-locked loop.

[0199] In this embodiment, if the interruption duration of the terminal's phase-locked loop (PLL) exceeds a certain duration, a cycle skipping event may occur. Since the terminal has determined the predicted phase information for the next position, it compares the predicted phase information with the phase of the PLL to determine if a cycle skipping event has occurred. If the predicted phase information differs from the phase of the terminal's PLL, the terminal updates the phase of the terminal's PLL using the predicted phase information.

[0200] Step 903: The terminal determines its current location information based on the updated phase of the phase-locked loop.

[0201] In this embodiment, the terminal updates the phase of the phase-locked loop to prevent cycle skipping. Furthermore, the terminal determines its current position information based on the updated phase of the phase-locked loop, ensuring the accuracy of the determined current position information.

[0202] It should be noted that the embodiments of this application are illustrated using steps 901-903 as an example. In another embodiment, in response to the terminal obtaining the initial integer ambiguity, the predicted phase information of the terminal at the next position is determined based on the initial integer ambiguity and the phase information of the terminal at different positions.

[0203] In this embodiment of the application, phase information can only be predicted based on the initial integer ambiguity if the terminal has obtained the initial integer ambiguity. If the terminal has not obtained the initial integer ambiguity, the terminal needs to first perform the step of obtaining the initial integer ambiguity, and then perform steps 901-903.

[0204] In this embodiment, the terminal predicts the predicted phase information of the terminal moving to the next position by using the initial integer ambiguity and the phase information at different positions. Then, the phase of the phase-locked loop is adjusted based on the predicted phase information to prevent cycle skipping and ensure the accuracy of the terminal positioning.

[0205] Figure 10 The flowchart illustrates a positioning method provided by an exemplary embodiment of this application, which can be applied, for example, to [other applications]. Figure 1 In the terminal and network device shown, the method includes at least some of the following:

[0206] Step 1001: Based on resource information, the terminal sends an uplink positioning reference signal and the terminal's motion information to the network device. The network device uses the uplink positioning reference signal and motion information to determine the terminal's current location information.

[0207] Step 1002: Based on resource information, the network device receives the uplink positioning reference signal and the terminal's motion information sent by the terminal.

[0208] In this embodiment of the application, the network device configures resource information for the terminal, which includes resources for uplink transmission. Therefore, the terminal can send an uplink positioning reference signal to the network device through the resource information, and then locate the terminal based on the uplink positioning reference signal.

[0209] Step 1003: The network device determines the current location information of the terminal based on the uplink positioning reference signal and motion information.

[0210] In some embodiments, the phase information of the terminal at different locations is determined based on the uplink positioning reference signal, and the current location information of the terminal is determined based on the phase information of the terminal at different locations and the motion information of the terminal.

[0211] Optionally, the network device determines the carrier phase difference of the terminal at different locations based on the uplink positioning reference signal. The carrier phase difference is determined by the phase between the carrier signal generated by the network device itself and the received uplink positioning reference signal.

[0212] Optionally, based on the motion information of the terminal, the distance between two adjacent positions of the terminal is determined; based on the phase information of the terminal at different positions and the distance between two adjacent positions of the terminal, an initial integer ambiguity is determined; and based on the initial integer ambiguity, the current position information of the terminal is determined.

[0213] The phase information of the terminal at different locations, the distance between two adjacent locations of the terminal, and the initial integer ambiguity satisfy the following relationship:

[0214]

[0215] Where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, and b is the distance between the terminal at the second position and the third position. The carrier phase difference at the first position of the terminal. The carrier phase difference at the second position of the terminal. Let λ be the carrier phase difference of the terminal at the third position, and λ be the wavelength of the uplink positioning reference signal.

[0216] Step 1003 is similar to steps 603-604 above, and will not be described again here.

[0217] It should be noted that, in response to the terminal not acquiring the initial integer ambiguity, the distance between two adjacent positions of the terminal is determined based on the terminal's motion information.

[0218] The method provided in this application embodiment allows the network device to receive uplink positioning reference signals through resource information configured for the terminal, and then locate the terminal based on the uplink positioning reference signals. This ensures positioning based on the terminal's own measurements and carrier phase, and improves positioning accuracy by combining the terminal's own measurements and carrier phase.

[0219] Furthermore, by determining the initial integer ambiguity through the phase of the carrier and the motion information of the terminal, the process of determining the initial integer ambiguity is simplified, saving computational load and improving the efficiency of terminal positioning, eliminating the need to search for fixed integer ambiguities.

[0220] It should be noted that the above embodiments can be split into new embodiments, or combined with other embodiments to form new embodiments. This application does not limit the combination of embodiments.

[0221] Figure 11 The flowchart illustrates a positioning method provided by an exemplary embodiment of this application, which can be applied, for example, to [other applications]. Figure 1 In the terminal shown, the method includes at least some of the following:

[0222] Step 1101: The terminal receives configuration information sent by the network device. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal.

[0223] This resource information is used for transmitting positioning reference signals between network devices and terminals. In this embodiment, the terminal or network device can determine the carrier phase difference based on the positioning reference signal, and then locate the terminal based on the carrier phase difference corresponding to the positioning reference signal.

[0224] In this embodiment, the network device and the terminal can transmit positioning reference signals to enable the network device or the terminal to locate the terminal and determine its current location information. Since transmitting positioning reference signals between the network device and the terminal requires resource information, the network device configures resource information for the terminal to transmit positioning reference signals through configuration information, so as to locate the terminal using the transmitted positioning reference signals.

[0225] In the solution provided by this application embodiment, the network device configures resources for transmitting positioning reference signals to the terminal. The positioning reference signals can be transmitted between the network device and the terminal, and the terminal is located based on the carrier phase difference corresponding to the positioning reference signals. This provides a way to configure resources, ensuring resource configuration. Furthermore, this application provides a method for locating the terminal by transmitting positioning reference signals between the network device and the terminal, expanding the ways to locate the terminal, and improving the accuracy of positioning by performing positioning through the transmission of positioning reference signals between the network device and the terminal.

[0226] Figure 11 The illustrated embodiment uses the example of a network device configuring resource information for a terminal. This resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.

[0227] Motion information refers to information generated by the terminal during movement, such as its speed and acceleration. This motion information can be measured by the terminal's own measuring instruments. Carrier parameter information refers to the relevant parameters of the carrier signal transmitted by the terminal. Positioning information refers to the information required for positioning the terminal.

[0228] In this embodiment of the application, the motion information of the terminal is actually obtained by the terminal itself, while the carrier parameter information and positioning information of the terminal actually refer to information related to carrier phase positioning. In other words, the resource information configured by the network device for the terminal is determined based on the information measured by the terminal itself and the information related to carrier phase.

[0229] In the solution provided by the embodiments of this application, the resource information configured for the terminal can ensure that the terminal transmits positioning reference signals when the terminal's own state is matched, thereby improving the accuracy of positioning. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, thereby improving the accuracy of positioning.

[0230] exist Figure 11 Based on the illustrated embodiment, the terminal can send its own information to the network device, and the network device can determine the resource information based on the received information.

[0231] Among them, the terminal sends at least one of motion information, carrier parameter information, and positioning information to the network device.

[0232] Among these, the terminal's motion information refers to the information generated during the terminal's movement, such as its speed and acceleration. This motion information can be measured by the terminal's own measuring instruments. The terminal's carrier parameter information refers to the relevant parameters of the carrier signal transmitted by the terminal. The terminal's positioning information refers to the information required for positioning the terminal.

[0233] In this embodiment of the application, after the terminal determines its own motion information, carrier parameter information and positioning information, it can send the determined information to the network device, and then the network device can receive at least one of the motion information, carrier parameter information and positioning information sent by the terminal.

[0234] In some embodiments, in response to the fact that the bandwidth of the terminal's phase-locked loop does not support adjustment, the terminal sends at least one of motion information, carrier parameter information, and positioning information to the network device.

[0235] The terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. When the terminal's own motion information, carrier parameter information, and positioning information change, the bandwidth of the PLL cannot be adjusted, but the configured resource information can be adjusted to complete the configuration of the resource information.

[0236] In the solution provided in this application embodiment, the terminal reports its own information to the network device, and then the network device determines the resource information corresponding to the terminal's information and configures the resource information for the terminal. The resource information configured for the terminal can ensure that the terminal transmits the positioning reference signal when it matches its own state, thereby improving the positioning accuracy. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, thereby improving the positioning accuracy.

[0237] exist Figure 11 Based on the illustrated embodiment, the terminal can determine the required resource information on its own and then request the determined resource information from the network device.

[0238] The terminal determines the request information based on at least one of motion information, carrier parameter information, and positioning information, and sends the request information to the network device. The request information is used to obtain resource information.

[0239] In this embodiment, the terminal's own information changes continuously during movement. Due to these changes, it is necessary to determine matching resource information based on the altered information. The terminal determines its own motion information, carrier parameter information, and positioning information. Based on this determined information, the terminal can then determine the request information and execute subsequent processes to request the determined resource information from the network device.

[0240] In some embodiments, the terminal includes a correspondence between at least one of motion information, carrier parameter information, and positioning information and the request information, and the request information is determined based on the correspondence.

[0241] In this embodiment of the application, the terminal includes multiple correspondences, each of which includes at least one of motion information, carrier parameter information, and positioning information. That is, one correspondence includes a correspondence between motion information and request information, another correspondence includes a correspondence between motion information, carrier parameter information, and request information, or there may be other correspondences, which will not be listed in this embodiment of the application.

[0242] For example, if a terminal includes a correspondence between motion information, carrier parameter information, positioning information, and request information, then this correspondence can be understood as including different motion information, different carrier parameter information, and different positioning information corresponding to different request information. In other words, different values ​​of motion information, carrier information, and positioning information correspond to different request information.

[0243] For example, if the terminal's motion information includes a speed of 30 km / h and an acceleration of 5 m / s², then... 2 The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding request information as having an uplink time domain resource to downlink time domain resource ratio of less than or equal to 8:2, meaning that the downlink time domain resource ratio is at least 20%.

[0244] Alternatively, if the terminal's motion information includes a speed of 80 km / h and an acceleration of 5 m / s², 2 The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding request information as having an uplink time domain resource to downlink time domain resource ratio of less than or equal to 7:3, meaning that the downlink time domain resource ratio is at least 30%.

[0245] This application illustrates the correspondence between motion information, carrier parameter information, positioning information, and request information by way of example. The correspondence in this application can also be in other ways, and this application does not limit it.

[0246] Optionally, the correspondence between at least one of the motion information, carrier parameter information, and positioning information and the request information is stored in an information correspondence table, and the terminal determines the corresponding request information by querying the information correspondence table.

[0247] In some embodiments, in response to the fact that the bandwidth of the terminal's phase-locked loop does not support adjustment, a request message is determined based on at least one of motion information, carrier parameter information, and positioning information.

[0248] The terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. When the terminal's own motion information, carrier parameter information, and positioning information change, the bandwidth of the PLL cannot be adjusted, but the configured resource information can be adjusted to complete the configuration of the resource information.

[0249] In the solution provided in this application embodiment, the terminal requests resource information determined by its own information from the network device, and then the network device configures the resource information for the terminal. The resource information configured for the terminal can ensure that the terminal transmits positioning reference signals when it matches its own state, thereby improving the accuracy of positioning. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurements and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurements and carrier phase, thereby improving the accuracy of positioning.

[0250] Based on the above embodiments, the information associated with the terminal includes various cases, and motion information, carrier parameter information and positioning information are described below.

[0251] In some embodiments, motion information includes at least one of the following:

[0252] (1) Speed ​​information relative to network devices.

[0253] This speed information refers to the terminal's relative speed to the network device. Additionally, the network device's position remains constant, which is also part of the terminal's speed information.

[0254] For example, the speed information is 30 km / h, 60 km / h, or other values.

[0255] In some embodiments, the terminal includes an inertial sensor, which can be used to measure the terminal's speed information relative to the network device.

[0256] Optionally, the inertial sensor includes a gyroscope and an accelerometer, through which the speed information of the terminal can be determined.

[0257] (2) Terminal acceleration information.

[0258] The acceleration information refers to the terminal's acceleration. If the terminal's acceleration information is not zero and is a positive number, it means that the terminal's speed will increase over time. Conversely, if the terminal's acceleration information is not zero and is a negative number, it means that the terminal's speed will decrease over time.

[0259] For example, the terminal's acceleration information is 5 m / s². 2 (m / s²), -10m / s 2 Or other values.

[0260] In some embodiments, the terminal includes an inertial sensor, which can be used to measure the terminal's speed information relative to the network device.

[0261] Optionally, the inertial sensor includes a gyroscope and an accelerometer, through which the acceleration information of the terminal can be determined.

[0262] It should be noted that, in this embodiment of the application, the terminal actually uses an inertial navigation system to measure the terminal's speed and acceleration information in order to obtain the terminal's speed and acceleration information.

[0263] In other embodiments, the carrier parameter information includes at least one of the following:

[0264] (1) The ratio of uplink time domain resources to downlink time domain resources supported by the terminal.

[0265] Uplink time-domain resources are used by the terminal to send uplink transmissions to the network device. Downlink time-domain resources are used by the network device to send downlink transmissions to the terminal. The ratio of uplink to downlink time-domain resources refers to the ratio of time-domain resources used for uplink transmission to those used for downlink transmission within a certain subframe. These time-domain resources can include at least one of subframes, time slots, and symbols. For example, for downlink positioning signals, the ratio of uplink to downlink time-domain resources supported by the terminal cannot exceed a threshold value, such as 6:8. For example, within a time slot, the ratio of uplink symbols to downlink symbols cannot exceed 6:8, meaning that out of 14 symbols in a time slot, the number of downlink symbols must be greater than or equal to 8. For example, for uplink positioning signals, the ratio of uplink to downlink time-domain resources supported by the terminal cannot be less than a threshold value, such as 6:8. For example, within a time slot, the ratio of uplink symbols to downlink symbols cannot be less than 6:8, meaning that out of 14 symbols in a time slot, the number of uplink symbols must be greater than or equal to 6.

[0266] For example, the ratio of uplink time domain resources to downlink time domain resources cannot be greater than 7:3, or the ratio of uplink time domain resources to downlink time domain resources cannot be less than 8:2, or other values. This application does not limit the specific values.

[0267] (2) Time and frequency resource information used for phase tracking measurements.

[0268] The resource information can be used not only for phase tracking measurements but also for other transmissions. Here, the time-frequency resource information is used by the terminal for phase tracking measurements.

[0269] (3) Carrier frequency used for phase tracking.

[0270] The phase of the carrier signal can be used for positioning, and the carrier frequency used for phase tracking refers to the frequency of the carrier signal used for positioning.

[0271] (4) Frequency range of carrier phase supported by the terminal.

[0272] The terminal, due to its own configuration, supports different frequency ranges, so as to perform carrier phase-based positioning within the supported frequency range.

[0273] (5) Whether the bandwidth of the terminal's phase-locked loop can be adjusted.

[0274] The terminal includes a phase-locked loop (PLL), which adjusts the phase of the signal when locked. Whether the bandwidth of the terminal's PLL is adjustable refers to whether the terminal can adjust the bandwidth of the PLL.

[0275] In some embodiments, a preset number of bits are used to indicate whether the bandwidth of the terminal's phase-locked loop supports adjustment.

[0276] For example, if the preset number of bits is the first bit, it indicates that the bandwidth of the terminal's phase-locked loop supports adjustment. However, if the preset number of bits is the second bit, it indicates that the bandwidth of the terminal's phase-locked loop does not support adjustment.

[0277] In other embodiments, the location information includes at least one of the following:

[0278] (1) Positioning accuracy of the terminal.

[0279] Positioning accuracy refers to the error range when locating the terminal. For example, positioning accuracy is 1 decimeter, or positioning accuracy is 1 meter, or other values.

[0280] (2) Sampling frequency of the terminal.

[0281] The sampling frequency refers to the number of times the terminal samples within a unit of time. For example, the sampling frequency is 50 times per minute, or 60 times per minute, or other values.

[0282] (3) Measurement error of the terminal.

[0283] Among them, measurement error refers to the error in the speed information measured by the terminal.

[0284] In the solution provided in this application embodiment, the terminal determines multiple parameter information based on configuration or self-measurement, so as to determine the resource information configured by the network device for the terminal based on the terminal's parameter information. By determining the resource information through the diverse parameter information of the terminal, the accuracy of the determined resource information is improved. It also provides a way to configure resources, ensuring resource configuration, thereby ensuring positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, which improves the accuracy of positioning.

[0285] It should be noted that the embodiments in this application are illustrated using the terminal's motion information, carrier parameter information, and positioning information as examples. In other embodiments, the resource information also includes various other types of information.

[0286] In some embodiments, the resource information includes the ratio of uplink time-domain resources to downlink time-domain resources and the subframe density used for transmitting positioning reference signals.

[0287] Uplink time-domain resources are used by the terminal to send uplink transmissions to the network device. Downlink time-domain resources are used by the network device to send downlink transmissions to the terminal. The ratio of uplink to downlink time-domain resources refers to the ratio of time-domain resources used for uplink transmission to those used for downlink transmission within a given subframe.

[0288] For example, the ratio of uplink time domain resources to downlink time domain resources cannot be greater than 7:3, or the ratio of uplink time domain resources to downlink time domain resources cannot be less than 8:2, or other values. This application does not limit the specific values.

[0289] The subframe density used for transmitting positioning reference signals refers to the proportion of subframes used for transmitting positioning reference signals in the resource information out of a certain number of subframes.

[0290] The above embodiments are all illustrated using the example of a network device configuring resource information for a terminal. In another embodiment, the network device may be unable to determine the required resource information; in this case, the network device will return an error message to the terminal.

[0291] In some embodiments, in response to the network device not determining resource information, the terminal receives an error message sent by the network device, the error message indicating that the network device has not configured resource information, and adjusts the bandwidth of the phase-locked loop in the terminal.

[0292] In this embodiment of the application, the network device may also be unable to configure resource information that meets the transmission requirements for the terminal. In this case, the network device does not send configuration information to the terminal, but instead sends an error message to the terminal. The error message informs the terminal that the resource information cannot be configured. After receiving the error message, the terminal can determine that the network device has not configured the corresponding resource information based on the information measured by the terminal itself.

[0293] In this embodiment of the application, if the network device does not configure resource information for the terminal, in order to ensure the normal operation of subsequent positioning based on the positioning reference signal, the terminal can adjust the bandwidth of the phase-locked loop in the terminal so that the adjusted bandwidth phase-locked loop meets the requirements.

[0294] In some embodiments, increasing the bandwidth of the phase-locked loop (PLL) reduces the time required for PLL locking, thereby reducing cycle slip and ensuring the accuracy of subsequent positioning based on the positioning reference signal.

[0295] In some embodiments, the bandwidth of the phase-locked loop in the terminal is adjusted in response to the bandwidth support adjustment of the terminal's phase-locked loop.

[0296] In this embodiment, the terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. If the network device cannot configure resource information for the terminal, and the terminal supports adjusting the bandwidth of the PLL, then the terminal can adjust the bandwidth of the PLL.

[0297] In the solution provided in this application embodiment, in response to the network device not being configured with resource information, the terminal adjusts the bandwidth of the phase-locked loop (PLL) to reduce the time required for the PLL to complete the phase transition, thereby avoiding cycle slips and improving the accuracy of subsequent positioning based on the positioning reference signal.

[0298] The above embodiments are all illustrated using the example of a network device configuring resource information for a terminal. In another embodiment, the terminal needs to first activate its own positioning function before executing the above-mentioned resource information configuration and positioning scheme.

[0299] In some embodiments, in response to the terminal's moving speed being greater than a first speed, the terminal activates the IMU-assisted carrier phase measurement function, which instructs the terminal to determine its current position information based on phase information and the terminal's motion information.

[0300] The first speed is set by the terminal, agreed upon by the communication protocol, or configured in other ways; this application embodiment does not limit this.

[0301] In this embodiment of the application, if the moving speed of the terminal is greater than the first speed, the IMU-assisted carrier phase measurement function can be used when locating the terminal. That is, the terminal can activate the IMU-assisted carrier phase measurement function so that the terminal can determine the current position information of the terminal based on the phase information and the motion information of the terminal.

[0302] In some embodiments, the terminal's moving speed is determined by the terminal's IMU function. Therefore, the terminal needs to first activate the IMU function and then determine whether to activate the IMU-assisted carrier phase measurement function based on the measurement results of the IMU function.

[0303] Optionally, the IMU function can be started by the terminal itself, or by the network device controlling the terminal to start, or by other means; this application embodiment does not limit this.

[0304] In the solution provided in this application embodiment, the terminal enables the IMU-assisted carrier phase measurement function, and then the resource information can be configured based on the IMU-assisted carrier phase measurement function, and then the positioning can be performed based on the resource information. This ensures positioning based on the terminal's own measurement and carrier phase, and improves the accuracy of positioning by combining the terminal's own measurement and carrier phase.

[0305] In some embodiments, the terminal receives downlink positioning reference signals sent by the network device based on resource information, determines the phase information of the terminal at different locations based on the downlink positioning reference signals, and determines the current location information of the terminal based on the phase information of the terminal at different locations and the motion information of the terminal. The motion information is determined by the terminal measurement.

[0306] In this embodiment of the application, after the network device configures resource information for the terminal, both the network device and the terminal can determine the resources used to transmit the positioning reference signal. The network device can send the downlink positioning reference signal to the terminal based on the resource information, and the terminal can receive the downlink positioning reference signal sent by the network device based on the resource information.

[0307] The terminal can receive downlink positioning reference signals at different locations, and the terminal can determine the phase information of the terminal at different locations based on the downlink positioning reference signals received at different locations.

[0308] In some embodiments, the terminal determines the carrier phase difference at different locations based on the downlink positioning reference signal. The carrier phase difference is determined by the phase between the carrier signal generated by the terminal itself and the received downlink positioning reference signal.

[0309] In this embodiment, the terminal generates its own carrier signal and also receives downlink positioning reference signals sent by the network device. Based on the carrier signal it generates and the downlink positioning reference signals it receives, the terminal can determine the carrier phase difference at different locations.

[0310] For example, such as Figure 7 As shown, the network device is located at point O. The terminal moves from point A through point B to point C. The carrier phase difference between the terminal and the network device when the terminal is at point A is... When the terminal is at point B, the carrier phase difference between it and the network device is: When the terminal is at point C, the carrier phase difference between it and the network device is: in, The fractional part of the carrier phase difference. and It includes the fractional part of the carrier phase difference, and may also include the integer part of the carrier phase difference.

[0311] In this embodiment of the application, after the terminal determines its phase information and its motion information at different locations, it can determine the current location information of the terminal to achieve the positioning of the terminal.

[0312] In some embodiments, the distance between two adjacent positions of the terminal is determined based on the motion information of the terminal, the initial integer ambiguity is determined based on the phase information of the terminal at different positions and the distance between two adjacent positions of the terminal, and the current position information of the terminal is determined based on the initial integer ambiguity.

[0313] In this embodiment, the terminal's motion information indicates the terminal's speed and acceleration. Based on this motion information, the distance the terminal moves within a certain time period can be determined. That is, when the terminal is in different positions, the distance between two adjacent positions during the terminal's movement can be determined. In addition, the terminal also determines the phase information of the terminal at different positions. Based on the phase information of the terminal at different positions and the distance between two adjacent positions, the terminal determines the initial integer ambiguity. With the initial integer ambiguity determined, the terminal can be located and its current position information can be obtained based on the integer ambiguity.

[0314] Optionally, the phase information of the terminal at different locations, the distance between two adjacent locations of the terminal, and the initial integer ambiguity satisfy the following relationship:

[0315]

[0316] Where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, and b is the distance between the terminal at the second position and the third position. The carrier phase difference at the first position of the terminal. The carrier phase difference at the second position of the terminal. Let λ be the carrier phase difference of the terminal at the third position, and λ be the wavelength of the downlink positioning reference signal.

[0317] For example, in Figure 7 Based on this, Figure 7 Simplified to Figure 8 See Figure 8 The distance between the terminal at point A and point B is a, the distance between the terminal at point B and point C is b, and the phase between the network device and the terminal at point A is r, the phase between the network device and the terminal at point B is r+d1, and the phase between the network device and the terminal at point C is r+d2.

[0318] The following explains how to determine the initial integer ambiguity.

[0319] Among them, see Figure 8 The expressions for r, r+d1, and r+d2 can be determined separately:

[0320]

[0321] Secondly, according to Figure 8 The geometric relationships can determine the following relationships:

[0322]

[0323] Based on the above relationships, the solution can be obtained as follows:

[0324]

[0325] in,

[0326] It should be noted that the embodiments in this application are illustrated by taking the example of the terminal directly determining the integer ambiguity. In another embodiment, the terminal performs the above steps under certain conditions.

[0327] In some embodiments, in response to the terminal not acquiring the initial integer ambiguity, the distance between two adjacent positions of the terminal is determined based on the motion information of the terminal.

[0328] In this embodiment of the application, if the terminal does not obtain the initial integer ambiguity, the terminal cannot be located at this time. Therefore, it is necessary to first determine the initial integer ambiguity and then locate the terminal based on the determined initial integer ambiguity. Therefore, in response to the terminal not obtaining the initial integer ambiguity, the distance between two adjacent positions of the terminal is determined according to the motion information of the terminal, and then the subsequent steps are continued according to the determined distance.

[0329] The method provided in this application receives downlink positioning reference signals by configuring resource information for the terminal, and then positions the terminal based on the downlink positioning reference signals. This ensures positioning based on the terminal's own measurements and carrier phase, and improves positioning accuracy by combining the terminal's own measurements and carrier phase.

[0330] Furthermore, by determining the initial integer ambiguity through the phase of the carrier and the motion information of the terminal, the process of determining the initial integer ambiguity is simplified, saving computational load and improving the efficiency of terminal positioning, eliminating the need to search for fixed integer ambiguities.

[0331] In some embodiments, the terminal determines the predicted phase information of the terminal at the next position based on the initial integer ambiguity and the phase information of the terminal at different positions. If the predicted phase information is different from the phase of the terminal's phase-locked loop, the terminal updates the phase of the terminal's phase-locked loop using the predicted phase information and determines the current position information of the terminal based on the updated phase of the phase-locked loop.

[0332] In the embodiments of this application, when the terminal knows the initial integer ambiguity, the terminal can receive downlink positioning reference signals sent by the network device at different locations. Since the terminal knows its own motion information, the terminal can predict the location to be reached by the terminal in advance. Therefore, the terminal can determine the predicted phase information of the terminal at the next location based on the initial integer ambiguity and the phase information of the terminal at different locations.

[0333] If the interruption duration of the terminal's phase-locked loop (PLL) exceeds a certain period, a cycle skip may occur. In this case, since the terminal has determined the predicted phase information for the next position, it compares the predicted phase information with the phase of the PLL to determine if a cycle skip has occurred. If the predicted phase information differs from the phase of the terminal's PLL, the terminal updates the phase of the terminal's PLL using the predicted phase information.

[0334] The terminal updates the phase of the phase-locked loop (PLL) to prevent cycle skipping. Furthermore, the terminal determines its current position information based on the updated PLL phase, ensuring the accuracy of the determined current position information.

[0335] In some embodiments, in response to the terminal acquiring the initial integer ambiguity, the terminal determines the predicted phase information of the terminal at the next position based on the initial integer ambiguity and the phase information of the terminal at different positions.

[0336] In this embodiment, the terminal predicts the predicted phase information of the terminal moving to the next position by using the initial integer ambiguity and the phase information at different positions. Then, the phase of the phase-locked loop is adjusted based on the predicted phase information to prevent cycle skipping and ensure the accuracy of the terminal positioning.

[0337] In some embodiments, the terminal sends an uplink positioning reference signal and the terminal's motion information to the network device based on resource information, and the network device determines the terminal's current location information based on the uplink positioning reference signal and motion information.

[0338] In this embodiment of the application, the network device configures resource information for the terminal, which includes resources for uplink transmission. Therefore, the terminal can send an uplink positioning reference signal to the network device through the resource information, and then locate the terminal based on the uplink positioning reference signal.

[0339] Figure 12 The flowchart illustrates a positioning method provided by an exemplary embodiment of this application, which can be applied, for example, to [other applications]. Figure 1 In the network device shown, the method includes at least some of the following:

[0340] Step 1201: The network device sends configuration information to the terminal. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal.

[0341] This resource information is used for transmitting positioning reference signals between network devices and terminals. In this embodiment, the terminal or network device can determine the carrier phase difference based on the positioning reference signal, and then locate the terminal based on the carrier phase difference corresponding to the positioning reference signal.

[0342] In this embodiment, the network device and the terminal can transmit positioning reference signals to enable the network device or the terminal to locate the terminal and determine its current location information. Since transmitting positioning reference signals between the network device and the terminal requires resource information, the network device configures resource information for the terminal to transmit positioning reference signals through configuration information, so as to locate the terminal using the transmitted positioning reference signals.

[0343] In the solution provided by this application embodiment, the network device configures resources for transmitting positioning reference signals to the terminal. The positioning reference signals can be transmitted between the network device and the terminal, and the terminal is located based on the carrier phase difference corresponding to the positioning reference signals. This provides a way to configure resources, ensuring resource configuration. Furthermore, this application provides a method for locating the terminal by transmitting positioning reference signals between the network device and the terminal, expanding the ways to locate the terminal, and improving the accuracy of positioning by performing positioning through the transmission of positioning reference signals between the network device and the terminal.

[0344] Figure 12 The illustrated embodiment uses the example of a network device configuring resource information for a terminal. This resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.

[0345] Motion information refers to information generated by the terminal during movement, such as its speed and acceleration. This motion information can be measured by the terminal's own measuring instruments. Carrier parameter information refers to the relevant parameters of the carrier signal transmitted by the terminal. Positioning information refers to the information required for positioning the terminal.

[0346] In this embodiment of the application, the motion information of the terminal is actually obtained by the terminal itself, while the carrier parameter information and positioning information of the terminal actually refer to information related to carrier phase positioning. In other words, the resource information configured by the network device for the terminal is determined based on the information measured by the terminal itself and the information related to carrier phase.

[0347] In the solution provided by the embodiments of this application, the resource information configured for the terminal can ensure that the terminal transmits positioning reference signals when the terminal's own state is matched, thereby improving the accuracy of positioning. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, thereby improving the accuracy of positioning.

[0348] exist Figure 12 Based on the illustrated embodiment, the terminal can send its own information to the network device, and the network device can determine the resource information based on the received information.

[0349] In some embodiments, the network device receives at least one of motion information, carrier parameter information, and positioning information sent by the terminal, and determines resource information based on at least one of the motion information, carrier parameter information, and positioning information.

[0350] Motion information refers to information generated by the terminal during movement, such as its speed and acceleration. This motion information can be measured by the terminal's own measuring instruments. Carrier parameter information refers to the relevant parameters of the carrier signal transmitted by the terminal. Positioning information refers to the information required for positioning the terminal.

[0351] In this embodiment of the application, after the terminal determines its own motion information, carrier parameter information and positioning information, it can send the determined information to the network device, and then the network device can receive at least one of the motion information, carrier parameter information and positioning information sent by the terminal.

[0352] In this embodiment of the application, the terminal's own information changes continuously during the movement. Due to the changes in the terminal's information, it is necessary to determine the matching resource information based on the changed information.

[0353] In some embodiments, resource information is determined based on at least one of motion information, carrier parameter information, and positioning information. That is, in this embodiment of the application, if the network device receives at least one of motion information, carrier parameter information, and positioning information sent by the terminal, the network device can perform step 303 to determine resource information.

[0354] Specifically, the resource information configured by the network device for the terminal is determined based on at least one of motion information, carrier parameter information, and positioning information. This can also be understood as the terminal's motion information being measured by the terminal itself, while the terminal's carrier parameter information and positioning information refer to information based on carrier phase positioning. In other words, the resource information configured by the network device for the terminal is determined based on information measured by the terminal itself and the carrier phase.

[0355] The network device receives at least one of motion information, carrier parameter information, and positioning information sent by the terminal. The network device can then determine resource information based on the received information and configure the determined resource information for the terminal through configuration information.

[0356] In some embodiments, the network device includes a correspondence between at least one of motion information, carrier parameter information, and positioning information and resource information, and the resource information is determined based on the correspondence.

[0357] In this embodiment of the application, the network device includes multiple correspondences, each of which includes at least one of motion information, carrier parameter information, and positioning information. That is, one correspondence includes a correspondence between motion information and resource information, another correspondence includes a correspondence between motion information, carrier parameter information, and resource information, or there may be other correspondences, which will not be listed in this embodiment of the application.

[0358] For example, if a network device includes a correspondence between motion information, carrier parameter information, location information, and resource information, then this correspondence can be understood as different values ​​of motion information, carrier parameter information, and location information corresponding to different resource information. In other words, different values ​​of motion information, carrier information, and location information correspond to different resource information.

[0359] For example, if the terminal's motion information includes a speed of 30 km / h and an acceleration of 5 m / s², then... 2 The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding resource information as follows: the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 8:2. In other words, the proportion of downlink time domain resources is at least 20%.

[0360] Alternatively, if the terminal's motion information includes a speed of 80 km / h and an acceleration of 5 m / s², 2 The carrier parameter information includes a carrier frequency of 3 GHz (gigahertz). With a positioning accuracy of 1 decimeter, the network device determines the corresponding resource information as follows: the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 7:3. In other words, the proportion of downlink time domain resources is at least 30%.

[0361] This application illustrates the correspondence between motion information, carrier parameter information, positioning information, and resource information by way of example. The correspondence in this application can also be in other ways, and this application does not limit it.

[0362] Optionally, the correspondence between at least one of the motion information, carrier parameter information, and positioning information and the resource information is stored in an information correspondence table, and the network device determines the corresponding resource information by querying the information correspondence table.

[0363] In some embodiments, at least one of motion information, carrier parameter information, and positioning information is transmitted by the terminal in response to the bandwidth of the terminal's phase-locked loop, which does not support adjustment.

[0364] The terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. When the terminal's own motion information, carrier parameter information, and positioning information change, the bandwidth of the PLL cannot be adjusted, but the configured resource information can be adjusted to complete the configuration of the resource information.

[0365] In the solution provided in this application embodiment, the terminal reports its own information to the network device, and then the network device determines the resource information corresponding to the terminal's information and configures the resource information for the terminal. The resource information configured for the terminal can ensure that the terminal transmits the positioning reference signal when it matches its own state, thereby improving the positioning accuracy. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, thereby improving the positioning accuracy.

[0366] exist Figure 12 Based on the illustrated embodiment, the terminal can determine the required resource information on its own, and then send a request to the network device to request the determined resource information.

[0367] In some embodiments, the network device receives a request message sent by the terminal. The request message is used to obtain resource information and is determined by the terminal based on at least one of motion information, carrier parameter information, and positioning information.

[0368] In this embodiment of the application, after the terminal determines the resource information it needs, it sends a request message to the network device to request the resource information. The network device then configures the resource information for the terminal based on the request message.

[0369] In some embodiments, the request information is determined by the terminal in response to the terminal's phase-locked loop bandwidth not being adjusted, based on at least one of motion information, carrier parameter information, and positioning information.

[0370] The terminal includes a phase-locked loop (PLL), which generates a fixed-phase carrier through a set bandwidth. When the terminal's own motion information, carrier parameter information, and positioning information change, the bandwidth of the PLL cannot be adjusted, but the configured resource information can be adjusted to complete the configuration of the resource information.

[0371] In the solution provided in this application embodiment, the terminal requests resource information determined by its own information from the network device, and then the network device configures the resource information for the terminal. The resource information configured for the terminal can ensure that the terminal transmits positioning reference signals when it matches its own state, thereby improving the accuracy of positioning. In other words, this application provides a way to configure resources, which ensures the configuration of resources and thus ensures positioning based on the terminal's own measurements and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurements and carrier phase, thereby improving the accuracy of positioning.

[0372] Based on the above embodiments, the information associated with the terminal includes various cases, and motion information, carrier parameter information and positioning information are described below.

[0373] In some embodiments, motion information includes at least one of the following:

[0374] (1) Speed ​​information relative to network devices.

[0375] This speed information refers to the terminal's relative speed to the network device. Additionally, the network device's position remains constant, which is also part of the terminal's speed information.

[0376] For example, the speed information is 30 km / h, 60 km / h, or other values.

[0377] In some embodiments, the terminal includes an inertial sensor, which can be used to measure the terminal's speed information relative to the network device.

[0378] Optionally, the inertial sensor includes a gyroscope and an accelerometer, through which the speed information of the terminal can be determined.

[0379] (2) Terminal acceleration information.

[0380] The acceleration information refers to the terminal's acceleration. If the terminal's acceleration information is not zero and is a positive number, it means that the terminal's speed will increase over time. Conversely, if the terminal's acceleration information is not zero and is a negative number, it means that the terminal's speed will decrease over time.

[0381] For example, the terminal's acceleration information is 5 m / s². 2 (m / s) 2 -10m / s 2 Or other values.

[0382] In some embodiments, the terminal includes an inertial sensor, which can be used to measure the terminal's speed information relative to the network device.

[0383] Optionally, the inertial sensor includes a gyroscope and an accelerometer, through which the acceleration information of the terminal can be determined.

[0384] It should be noted that, in this embodiment of the application, the terminal actually uses an inertial navigation system to measure the terminal's speed and acceleration information in order to obtain the terminal's speed and acceleration information.

[0385] In other embodiments, the carrier parameter information includes at least one of the following:

[0386] (1) The ratio of uplink time domain resources to downlink time domain resources supported by the terminal.

[0387] Uplink time-domain resources are used by the terminal to send uplink transmissions to the network device. Downlink time-domain resources are used by the network device to send downlink transmissions to the terminal. The ratio of uplink to downlink time-domain resources refers to the ratio of time-domain resources used for uplink transmission to those used for downlink transmission within a certain subframe. These time-domain resources can include at least one of subframes, time slots, and symbols. For example, for downlink positioning signals, the ratio of uplink to downlink time-domain resources supported by the terminal cannot exceed a threshold value, such as 6:8. For example, within a time slot, the ratio of uplink symbols to downlink symbols cannot exceed 6:8, meaning that out of 14 symbols in a time slot, the number of downlink symbols must be greater than or equal to 8. For example, for uplink positioning signals, the ratio of uplink to downlink time-domain resources supported by the terminal cannot be less than a threshold value, such as 6:8. For example, within a time slot, the ratio of uplink symbols to downlink symbols cannot be less than 6:8, meaning that out of 14 symbols in a time slot, the number of uplink symbols must be greater than or equal to 6.

[0388] For example, the ratio of uplink time domain resources to downlink time domain resources cannot be greater than 7:3, or the ratio of uplink time domain resources to downlink time domain resources cannot be less than 8:2, or other values. This application does not limit the specific values.

[0389] (2) Time and frequency resource information used for phase tracking measurements.

[0390] The resource information can be used not only for phase tracking measurements but also for other transmissions. Here, the time-frequency resource information is used by the terminal for phase tracking measurements.

[0391] (3) Carrier frequency used for phase tracking.

[0392] The phase of the carrier signal can be used for positioning, and the carrier frequency used for phase tracking refers to the frequency of the carrier signal used for positioning.

[0393] (4) Frequency range of carrier phase supported by the terminal.

[0394] The terminal, due to its own configuration, supports different frequency ranges, so as to perform carrier phase-based positioning within the supported frequency range.

[0395] (5) Whether the bandwidth of the terminal's phase-locked loop can be adjusted.

[0396] The terminal includes a phase-locked loop (PLL), which adjusts the phase of the signal when locked. Whether the bandwidth of the terminal's PLL is adjustable refers to whether the terminal can adjust the bandwidth of the PLL.

[0397] In some embodiments, a preset number of bits are used to indicate whether the bandwidth of the terminal's phase-locked loop supports adjustment.

[0398] For example, if the preset number of bits is the first bit, it indicates that the bandwidth of the terminal's phase-locked loop supports adjustment. However, if the preset number of bits is the second bit, it indicates that the bandwidth of the terminal's phase-locked loop does not support adjustment.

[0399] In other embodiments, the location information includes at least one of the following:

[0400] (1) Positioning accuracy of the terminal.

[0401] Positioning accuracy refers to the error range when locating the terminal. For example, positioning accuracy is 1 decimeter, or positioning accuracy is 1 meter, or other values.

[0402] (2) Sampling frequency of the terminal.

[0403] The sampling frequency refers to the number of times the terminal samples within a unit of time. For example, the sampling frequency is 50 times per minute, or 60 times per minute, or other values.

[0404] (3) Measurement error of the terminal.

[0405] Among them, measurement error refers to the error in the speed information measured by the terminal.

[0406] In the solution provided in this application embodiment, the terminal determines multiple parameter information based on configuration or self-measurement, so as to determine the resource information configured by the network device for the terminal based on the terminal's parameter information. By determining the resource information through the diverse parameter information of the terminal, the accuracy of the determined resource information is improved. It also provides a way to configure resources, ensuring resource configuration, thereby ensuring positioning based on the terminal's own measurement and carrier phase. Furthermore, positioning is performed by combining the terminal's own measurement and carrier phase, which improves the accuracy of positioning.

[0407] It should be noted that the embodiments in this application are illustrated using the terminal's motion information, carrier parameter information, and positioning information as examples. In other embodiments, the resource information also includes various other types of information.

[0408] In some embodiments, the resource information includes the ratio of uplink time-domain resources to downlink time-domain resources and the subframe density used for transmitting positioning reference signals.

[0409] Uplink time-domain resources are used by the terminal to send uplink transmissions to the network device. Downlink time-domain resources are used by the network device to send downlink transmissions to the terminal. The ratio of uplink to downlink time-domain resources refers to the ratio of time-domain resources used for uplink transmission to those used for downlink transmission within a given subframe.

[0410] For example, the ratio of uplink time domain resources to downlink time domain resources cannot be greater than 7:3, or the ratio of uplink time domain resources to downlink time domain resources cannot be less than 8:2, or other values. This application does not limit the specific values.

[0411] The subframe density used for transmitting positioning reference signals refers to the proportion of subframes used for transmitting positioning reference signals in the resource information out of a certain number of subframes.

[0412] The above embodiments are all illustrated using the example of a network device configuring resource information for a terminal. In another embodiment, the network device may be unable to determine the required resource information; in this case, the network device will return an error message to the terminal.

[0413] In some embodiments, in response to undetermined resource information, the network device sends an error message to the terminal, indicating that the network device has not configured resource information.

[0414] In this embodiment of the application, the network device may also be unable to configure resource information that meets the transmission requirements for the terminal. In this case, the network device does not send configuration information to the terminal, but instead sends an error message to the terminal. The error message informs the terminal that the resource information cannot be configured. After receiving the error message, the terminal can determine that the network device has not configured the corresponding resource information based on the information measured by the terminal itself.

[0415] In some embodiments, if the terminal determines that the current motion information causes a drastic change in Doppler offset, or if the current ratio of uplink time domain resources to downlink time domain resources is large, the network device may be unable to configure resource information for the terminal.

[0416] In the solution provided in this application embodiment, when the network device is not configured with resource information, the terminal adjusts the bandwidth of the phase-locked loop to reduce the time required for the phase-locked loop to complete the phase-locking process, thereby avoiding cycle slips and improving the accuracy of subsequent positioning based on positioning reference signals.

[0417] In some embodiments, the network device sends a downlink positioning reference signal to the terminal based on resource information.

[0418] The downlink positioning reference signal is a signal sent by the network device to the terminal for positioning.

[0419] In some embodiments, the downlink positioning reference signal includes a PRS, or other types of signals, which are not limited in the embodiments of this application.

[0420] In some embodiments, the network device receives uplink positioning reference signals and motion information from the terminal based on resource information, and determines the current location information of the terminal based on the uplink positioning reference signals and motion information.

[0421] In this embodiment of the application, the network device configures resource information for the terminal, which includes resources for uplink transmission. Therefore, the terminal can send an uplink positioning reference signal to the network device through the resource information, and then locate the terminal based on the uplink positioning reference signal.

[0422] In some embodiments, the phase information of the terminal at different locations is determined based on the uplink positioning reference signal, and the current location information of the terminal is determined based on the phase information of the terminal at different locations and the motion information of the terminal.

[0423] Optionally, the network device determines the carrier phase difference of the terminal at different locations based on the uplink positioning reference signal. The carrier phase difference is determined by the phase between the carrier signal generated by the network device itself and the received uplink positioning reference signal.

[0424] Optionally, based on the motion information of the terminal, the distance between two adjacent positions of the terminal is determined; based on the phase information of the terminal at different positions and the distance between two adjacent positions of the terminal, an initial integer ambiguity is determined; and based on the initial integer ambiguity, the current position information of the terminal is determined.

[0425] The phase information of the terminal at different locations, the distance between two adjacent locations of the terminal, and the initial integer ambiguity satisfy the following relationship:

[0426]

[0427] Where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, and b is the distance between the terminal at the second position and the third position. The carrier phase difference at the first position of the terminal. The carrier phase difference at the second position of the terminal. Let λ be the carrier phase difference of the terminal at the third position, and λ be the wavelength of the uplink positioning reference signal.

[0428] It should be noted that, in response to the terminal not acquiring the initial integer ambiguity, the distance between two adjacent positions of the terminal is determined based on the terminal's motion information.

[0429] The method provided in this application embodiment allows the network device to receive uplink positioning reference signals through resource information configured for the terminal, and then locate the terminal based on the uplink positioning reference signals. This ensures positioning based on the terminal's own measurements and carrier phase, and improves positioning accuracy by combining the terminal's own measurements and carrier phase.

[0430] Furthermore, by determining the initial integer ambiguity through the phase of the carrier and the motion information of the terminal, the process of determining the initial integer ambiguity is simplified, saving computational load and improving the efficiency of terminal positioning, eliminating the need to search for fixed integer ambiguities.

[0431] Figure 13 A block diagram of a positioning device provided in an exemplary embodiment of this application is shown. See also: Figure 13 The device includes:

[0432] The receiving module 1301 is used to receive configuration information sent by the network device. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal.

[0433] In some embodiments, the resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.

[0434] In some embodiments, see Figure 14 The device also includes:

[0435] The transmitting module 1302 is used to transmit at least one of motion information, carrier parameter information, and positioning information to the network device.

[0436] In some embodiments, the transmitting module 1302 is configured to transmit at least one of the motion information, the carrier parameter information, and the positioning information to the network device in response to the fact that the bandwidth of the phase-locked loop of the terminal does not support adjustment.

[0437] In some embodiments, the apparatus further includes:

[0438] The determining module 1303 is used to determine the request information based on at least one of motion information, carrier parameter information, and positioning information;

[0439] The sending module 1302 is used to send request information to the network device, and the request information is used to obtain resource information.

[0440] In some embodiments, the determining module 1303 is configured to determine resource information based on at least one of motion information, carrier parameter information, and positioning information in response to the terminal's phase-locked loop bandwidth not supporting adjustment.

[0441] In some embodiments, motion information includes at least one of the following:

[0442] Speed ​​information relative to network devices;

[0443] Acceleration information of the terminal.

[0444] In some embodiments, the carrier parameter information includes at least one of the following:

[0445] The ratio of uplink time domain resources to downlink time domain resources supported by the terminal;

[0446] Time-frequency resource information used for phase tracking measurements;

[0447] Carrier frequency used for phase tracking;

[0448] The frequency range of carrier phases supported by the terminal;

[0449] Does the bandwidth of the terminal's phase-locked loop support adjustment?

[0450] In some embodiments, the location information includes at least one of the following:

[0451] The positioning accuracy of the terminal;

[0452] The sampling frequency of the terminal;

[0453] Measurement error at the terminal.

[0454] In some embodiments, the resource information includes the ratio of uplink time-domain resources to downlink time-domain resources and the subframe density used for transmitting positioning reference signals.

[0455] In some embodiments, the receiving module 1301 is further configured to receive an error message sent by the network device in response to the network device not determining the resource information, the error message indicating that the network device has not configured the resource information;

[0456] The adjustment module 1304 is used to adjust the bandwidth of the phase-locked loop in the terminal.

[0457] In some embodiments, the adjustment module 1304 is configured to adjust the bandwidth of the phase-locked loop in the terminal in response to the bandwidth support adjustment of the phase-locked loop in the terminal.

[0458] In some embodiments, the apparatus further includes:

[0459] The startup module 1305 is used to start the IMU-assisted carrier phase measurement function in response to the terminal's moving speed being greater than a first speed. The IMU-assisted carrier phase measurement function instructs the terminal to determine the terminal's current position information based on the phase information and the terminal's motion information.

[0460] In some embodiments, the apparatus further includes:

[0461] The receiving module 1301 is used to receive downlink positioning reference signals sent by network devices based on resource information;

[0462] The determination module 1303 is used to determine the phase information of the terminal at different locations based on the downlink positioning reference signal;

[0463] The determination module 1303 is also used to determine the current position information of the terminal based on the phase information of the terminal at different positions and the motion information of the terminal. The motion information is determined by the terminal measurement.

[0464] In some embodiments, the determining module 1303 is further configured to determine the carrier phase difference of the terminal at different locations based on the downlink positioning reference signal, wherein the carrier phase difference is determined by the phase between the carrier signal generated by the terminal itself and the received downlink positioning reference signal.

[0465] In some embodiments, the determining module 1303 is further configured to:

[0466] Based on the terminal's motion information, determine the distance between two adjacent locations of the terminal;

[0467] The initial integer ambiguity is determined based on the phase information of the terminal at different locations and the distance between two adjacent locations of the terminal.

[0468] The terminal's current location information is determined based on the initial integer ambiguity.

[0469] In some embodiments, the phase information of the terminal at different locations, the distance between two adjacent locations of the terminal, and the initial integer ambiguity satisfy the following relationship:

[0470]

[0471] Where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, and b is the distance between the terminal at the second position and the third position. The carrier phase difference at the first position of the terminal. The carrier phase difference at the second position of the terminal. Let λ be the carrier phase difference of the terminal at the third position, and λ be the wavelength of the downlink positioning reference signal.

[0472] In some embodiments, the determining module 1303 is further configured to, in response to the terminal not acquiring the initial integer ambiguity, determine the distance between two adjacent positions of the terminal based on the motion information of the terminal.

[0473] In some embodiments, the determining module 1303 is further configured to:

[0474] Based on the initial integer ambiguity and the phase information of the terminal at different positions, the predicted phase information of the terminal at the next position is determined;

[0475] When the predicted phase information differs from the phase of the terminal's phase-locked loop, the predicted phase information is used to update the phase of the terminal's phase-locked loop.

[0476] The current location information of the terminal is determined based on the phase of the updated phase-locked loop.

[0477] In some embodiments, the determining module 1303 is further configured to, in response to the terminal acquiring the initial integer ambiguity, determine the predicted phase information of the terminal at the next position based on the initial integer ambiguity and the phase information of the terminal at different positions.

[0478] In some embodiments, the apparatus further includes:

[0479] The sending module 1302 is used to send uplink positioning reference signals and terminal motion information to the network device based on resource information. The network device is used to determine the current location information of the terminal based on the uplink positioning reference signals and motion information.

[0480] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0481] Figure 15 A block diagram of a positioning device provided in an exemplary embodiment of this application is shown. See also: Figure 15 The device includes:

[0482] The sending module 1501 is used to send configuration information to the terminal. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal.

[0483] In some embodiments, the resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.

[0484] In some embodiments, see Figure 16 The device also includes:

[0485] The receiving module 1502 is used to receive at least one of motion information, carrier parameter information and positioning information sent by the terminal.

[0486] In some embodiments, at least one of the motion information, the carrier parameter information, and the positioning information is transmitted by the terminal in response to the bandwidth of the terminal's phase-locked loop not supporting adjustment.

[0487] In some embodiments, the apparatus further includes:

[0488] The receiving module 1502 is used to receive request information sent by the terminal. The request information is used to obtain resource information and is determined by the terminal based on at least one of motion information, carrier parameter information and positioning information.

[0489] In some embodiments, the request information is determined by the terminal in response to the terminal's phase-locked loop bandwidth not being adjusted, based on at least one of motion information, carrier parameter information, and positioning information.

[0490] In some embodiments, motion information includes at least one of the following:

[0491] Speed ​​information relative to network devices;

[0492] Acceleration information of the terminal.

[0493] In some embodiments, the carrier parameter information includes at least one of the following:

[0494] The ratio of uplink time domain resources to downlink time domain resources supported by the terminal;

[0495] Time-frequency resource information used for phase tracking measurements;

[0496] Carrier frequency used for phase tracking;

[0497] The frequency range of carrier phases supported by the terminal;

[0498] Does the bandwidth of the terminal's phase-locked loop support adjustment?

[0499] In some embodiments, the location information includes at least one of the following:

[0500] The positioning accuracy of the terminal;

[0501] The sampling frequency of the terminal;

[0502] Measurement error at the terminal.

[0503] In some embodiments, the resource information includes the ratio of uplink time-domain resources to downlink time-domain resources and the subframe density used for transmitting positioning reference signals.

[0504] In some embodiments, the apparatus further includes:

[0505] The sending module 1501 is used to send an error message to the terminal in response to undetermined resource information. The error message indicates that the network device has not configured resource information.

[0506] In some embodiments, the apparatus further includes:

[0507] The transmitting module 1501 is used to transmit downlink positioning reference signals to the terminal based on resource information;

[0508] The terminal is used to determine the phase information of the terminal at different locations based on the downlink positioning reference signal. Based on the phase information of the terminal at different locations and the motion information of the terminal, the terminal's current location information is determined. The motion information is determined by the terminal measurement.

[0509] In some embodiments, the apparatus further includes:

[0510] The receiving module 1502 is used to receive the uplink positioning reference signal and the motion information of the terminal sent by the terminal based on resource information;

[0511] The determination module 1503 is used to determine the current location information of the terminal based on the uplink positioning reference signal and motion information.

[0512] In some embodiments, the determining module 1503 is configured to:

[0513] Based on the uplink positioning reference signal, determine the phase information of the terminal at different locations;

[0514] The current location information of the terminal is determined based on the phase information and motion information of the terminal at different locations.

[0515] In some embodiments, the determining module 1503 is configured to:

[0516] Based on the uplink positioning reference signal, the carrier phase difference of the terminal at different locations is determined. The carrier phase difference is determined by the phase between the carrier signal generated by the network device itself and the received uplink positioning reference signal.

[0517] In some embodiments, the determining module 1503 is configured to:

[0518] Based on the terminal's motion information, determine the distance between two adjacent locations of the terminal;

[0519] The initial integer ambiguity is determined based on the phase information of the terminal at different locations and the distance between two adjacent locations of the terminal.

[0520] The terminal's current location information is determined based on the initial integer ambiguity.

[0521] In some embodiments, the phase information of the terminal at different locations, the distance between two adjacent locations of the terminal, and the initial integer ambiguity satisfy the following relationship:

[0522]

[0523] Where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, and b is the distance between the terminal at the second position and the third position. The carrier phase difference at the first position of the terminal. The carrier phase difference at the second position of the terminal. Let λ be the carrier phase difference of the terminal at the third position, and λ be the wavelength of the downlink positioning reference signal.

[0524] In some embodiments, the determining module 1503 is configured to determine the distance between two adjacent positions of the terminal based on the terminal's motion information in response to the terminal failing to acquire the initial integer ambiguity.

[0525] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0526] Figure 17 A schematic diagram of the structure of a communication device provided in an exemplary embodiment of this application is shown. The communication device includes: a processor 1701, a receiver 1702, a transmitter 1703, a memory 1704, and a bus 1705.

[0527] The processor 1701 includes one or more processing cores, and the processor 1701 executes various functional applications and information processing by running software programs and modules.

[0528] The receiver 1702 and the transmitter 1703 can be implemented as a communication component, which can be a communication chip.

[0529] The memory 1704 is connected to the processor 1701 via bus 1705.

[0530] The memory 1704 can be used to store at least one program code, and the processor 1701 is used to execute the at least one program code to implement the various steps in the above method embodiments.

[0531] Furthermore, the communication device can be a terminal or a network device. The memory 1704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random-access memory (SRAM), read-only memory (ROM), magnetic storage, flash memory, and programmable read-only memory (PROM).

[0532] In an exemplary embodiment, a computer-readable storage medium is also provided, wherein executable program code is stored therein, the executable program code being loaded and executed by a processor to implement the positioning method performed by the communication device provided in the above-described method embodiments.

[0533] In an exemplary embodiment, a chip is provided, the chip including programmable logic circuitry and / or program instructions, which, when the chip is run on a terminal or network device, are used to implement the positioning method provided in the various method embodiments.

[0534] In an exemplary embodiment, a computer program product is provided, which, when executed by a processor of a terminal or network device, is used to implement the positioning method provided in the various method embodiments described above.

[0535] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0536] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A positioning method, characterized in that, The method is executed by a terminal, and the method includes: The terminal receives configuration information sent by a network device. The configuration information is used to configure resource information for transmitting positioning reference signals, and the positioning reference signals are used to locate the terminal. Based on the resource information, the downlink positioning reference signal sent by the network device is received; Based on the downlink positioning reference signal, the phase information of the terminal at different locations is determined; Based on the phase information of the terminal at different positions and the motion information of the terminal, the current position information of the terminal is determined, wherein the motion information is determined by the terminal measurement; The step of determining the current location information of the terminal based on the phase information of the terminal at different locations and the motion information of the terminal includes: Based on the motion information of the terminal, a first distance between the first position and the second position and a second distance between the second position and the third position of the terminal are determined, wherein the first position, the second position and the third position are the positions that the terminal passes through in sequence; The initial integer ambiguity is determined based on the first carrier phase difference of the terminal at the first position, the second carrier phase difference of the terminal at the second position, the third carrier phase difference of the terminal at the third position, the first distance, the second distance, and the wavelength of the downlink positioning reference signal, as well as the geometric relationship between the location of the network device and the first, second, and third positions. Based on the initial integer ambiguity and the phase information of the terminal at different positions, the predicted phase information of the terminal at the next position is determined; If the predicted phase information differs from the phase of the terminal's phase-locked loop, the predicted phase information is used to update the phase of the terminal's phase-locked loop. The current location information of the terminal is determined based on the updated phase of the phase-locked loop.

2. The method according to claim 1, characterized in that, The resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.

3. The method according to claim 1, characterized in that, The method further includes: Send at least one of motion information, carrier parameter information, and positioning information to the network device.

4. The method according to claim 3, characterized in that, Sending at least one of motion information, carrier parameter information, and positioning information to the network device includes: In response to the fact that the bandwidth of the phase-locked loop of the terminal does not support adjustment, at least one of the motion information, the carrier parameter information, and the positioning information is sent to the network device.

5. The method according to claim 1, characterized in that, The method further includes: The request information is determined based on at least one of motion information, carrier parameter information, and positioning information; The request information is sent to the network device, and the request information is used to obtain the resource information.

6. The method according to claim 5, characterized in that, Determining the request information based on at least one of motion information, carrier parameter information, and positioning information includes: In response to the fact that the bandwidth of the phase-locked loop of the terminal does not support adjustment, the request information is determined based on at least one of the motion information, the carrier parameter information, and the positioning information.

7. The method according to claim 2, characterized in that, The motion information includes at least one of the following: Speed ​​information relative to the network device; The acceleration information of the terminal.

8. The method according to claim 2, characterized in that, The carrier parameter information includes at least one of the following: The ratio of uplink time domain resources to downlink time domain resources supported by the terminal; Time-frequency resource information used for phase tracking measurements; Carrier frequency used for phase tracking; The frequency range of carrier phases supported by the terminal; Does the bandwidth of the terminal's phase-locked loop support adjustment? 9. The method according to claim 2, characterized in that, The location information includes at least one of the following: The positioning accuracy of the terminal; The sampling frequency of the terminal; The measurement error of the terminal.

10. The method according to claim 1, characterized in that, The resource information includes the ratio of uplink time-domain resources to downlink time-domain resources and the subframe density used to transmit the positioning reference signal.

11. The method according to claim 1, characterized in that, The method further includes: In response to the network device not determining the resource information, an error message sent by the network device is received, the error message indicating that the network device has not configured the resource information; The bandwidth of the phase-locked loop in the terminal is adjusted.

12. The method according to claim 11, characterized in that, The adjustment of the bandwidth of the phase-locked loop in the terminal includes: In response to the bandwidth adjustment capability of the phase-locked loop in the terminal, the bandwidth of the phase-locked loop in the terminal is adjusted.

13. The method according to claim 1, characterized in that, The method further includes: In response to the terminal's moving speed being greater than a first speed, the inertial measurement element (IMU) auxiliary carrier phase measurement function is activated. The IMU auxiliary carrier phase measurement function instructs the terminal to determine its current position information based on phase information and the terminal's motion information.

14. The method according to claim 1, characterized in that, Determining the phase information of the terminal at different locations based on the downlink positioning reference signal includes: Based on the downlink positioning reference signal, the carrier phase difference of the terminal at different locations is determined. The carrier phase difference is determined by the phase between the carrier signal generated by the terminal itself and the received downlink positioning reference signal.

15. The method according to claim 1, characterized in that, The initial integer ambiguity N satisfies the following relationship: Where a is the first distance and b is the second distance. For the terminal at the first carrier phase difference, The second carrier phase difference, For the terminal in the third carrier phase difference, The wavelength of the downlink positioning reference signal.

16. The method according to claim 1, characterized in that, Determining the first distance and the second distance based on the motion information of the terminal includes: In response to the terminal failing to acquire the initial integer ambiguity, the first distance and the second distance are determined based on the terminal's motion information.

17. The method according to claim 1, characterized in that, The step of determining the predicted phase information of the terminal at the next position based on the initial integer ambiguity and the phase information of the terminal at different positions includes: In response to the terminal acquiring the initial integer ambiguity, the predicted phase information of the terminal at the next position is determined based on the initial integer ambiguity and the phase information of the terminal at different positions.

18. The method according to claim 1, characterized in that, The method further includes: Based on the resource information, an uplink positioning reference signal and the motion information of the terminal are sent to the network device. The network device is used to determine the current location information of the terminal based on the uplink positioning reference signal and the motion information.

19. A positioning method, characterized in that, The method is performed by a network device, and the method includes: The system sends configuration information to the terminal, the configuration information being used to configure resource information for the terminal to transmit positioning reference signals, the positioning reference signals being used to locate the terminal; based on the resource information, the system sends downlink positioning reference signals to the terminal. The current location information of the terminal is determined based on the phase information of the terminal at different locations and the motion information of the terminal. The phase information of the terminal at different locations is determined based on the downlink positioning reference signal, and the motion information is determined by the terminal measurement. Determining the current location information of the terminal includes the following steps: Based on the motion information of the terminal, a first distance between the first position and the second position and a second distance between the second position and the third position of the terminal are determined, wherein the first position, the second position and the third position are the positions that the terminal passes through in sequence; The initial integer ambiguity is determined based on the first carrier phase difference of the terminal at the first position, the second carrier phase difference of the terminal at the second position, the third carrier phase difference of the terminal at the third position, the first distance, the second distance, and the wavelength of the downlink positioning reference signal, as well as the geometric relationship between the location of the network device and the first, second, and third positions. Based on the initial integer ambiguity and the phase information of the terminal at different positions, the predicted phase information of the terminal at the next position is determined; If the predicted phase information differs from the phase of the terminal's phase-locked loop, the predicted phase information is used to update the phase of the terminal's phase-locked loop. The current location information of the terminal is determined based on the updated phase of the phase-locked loop.

20. The method according to claim 19, characterized in that, The resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.

21. The method according to claim 19, characterized in that, The method further includes: The device receives at least one of motion information, carrier parameter information, and positioning information sent by the terminal.

22. The method according to claim 21, characterized in that, At least one of the motion information, the carrier parameter information, and the positioning information is transmitted by the terminal in response to the fact that the bandwidth of the terminal's phase-locked loop does not support adjustment.

23. The method according to claim 19, characterized in that, The method further includes: The terminal receives a request message sent by the terminal, the request message being used to obtain the resource information, and the request message being determined by the terminal based on at least one of motion information, carrier parameter information, and positioning information.

24. The method according to claim 23, characterized in that, The request information is determined by the terminal in response to the terminal's phase-locked loop bandwidth not being adjusted, based on at least one of the motion information, the carrier parameter information, and the positioning information.

25. The method according to claim 20, characterized in that, The motion information includes at least one of the following: Speed ​​information relative to the network device; The acceleration information of the terminal.

26. The method according to claim 20, characterized in that, The carrier parameter information includes at least one of the following: The ratio of uplink time domain resources to downlink time domain resources supported by the terminal; Time-frequency resource information used for phase tracking measurements; Carrier frequency used for phase tracking; The frequency range of carrier phases supported by the terminal; Does the bandwidth of the terminal's phase-locked loop support adjustment? 27. The method according to claim 20, characterized in that, The location information includes at least one of the following: The positioning accuracy of the terminal; The sampling frequency of the terminal; The measurement error of the terminal.

28. The method according to claim 19, characterized in that, The resource information includes the ratio of uplink time-domain resources to downlink time-domain resources and the subframe density used to transmit the positioning reference signal.

29. The method according to claim 19, characterized in that, The method further includes: In response to the failure to determine the resource information, an error message is sent to the terminal, indicating that the network device has not configured the resource information.

30. The method according to claim 19, characterized in that, The method further includes: Based on the resource information, the uplink positioning reference signal sent by the terminal and the motion information of the terminal are received; The current location information of the terminal is determined based on the uplink positioning reference signal and the motion information.

31. The method according to claim 30, characterized in that, Determining the current location information of the terminal based on the uplink positioning reference signal and the motion information includes: Based on the uplink positioning reference signal, the phase information of the terminal at different locations is determined; The current position information of the terminal is determined based on the phase information of the terminal at different positions and the motion information of the terminal.

32. The method according to claim 31, characterized in that, Determining the phase information of the terminal at different locations based on the uplink positioning reference signal includes: Based on the uplink positioning reference signal, the carrier phase difference of the terminal at different locations is determined. The carrier phase difference is determined by the phase between the carrier signal generated by the network device itself and the received uplink positioning reference signal.

33. The method according to claim 31, characterized in that, Determining the current location information of the terminal based on the phase information of the terminal at different locations and the motion information of the terminal includes: Based on the motion information of the terminal, the distance between two adjacent positions of the terminal is determined; The initial integer ambiguity is determined based on the phase information of the terminal at different positions and the distance between two adjacent positions of the terminal. The current location information of the terminal is determined based on the initial integer ambiguity.

34. The method according to claim 33, characterized in that, The phase information of the terminal at different locations, the distance between two adjacent locations of the terminal, and the initial integer ambiguity satisfy the following relationship: Where N is the initial integer ambiguity, a is the distance between the first and second positions of the terminal, and b is the distance between the second and third positions of the terminal. The carrier phase difference of the terminal at the first position. The carrier phase difference of the terminal at the second position. The carrier phase difference of the terminal at the third position. The wavelength of the uplink positioning reference signal.

35. The method according to claim 33, characterized in that, Determining the distance between two adjacent locations of the terminal based on the terminal's motion information includes: In response to the terminal failing to acquire the initial integer ambiguity, the distance between two adjacent positions of the terminal is determined based on the motion information of the terminal.

36. A positioning device, characterized in that, The device includes: A receiving module is used to receive configuration information sent by a network device. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals, and the positioning reference signals are used to locate the terminal. The receiving module is further configured to receive downlink positioning reference signals sent by the network device based on the resource information; The processing module is used to determine the phase information of the terminal at different locations based on the downlink positioning reference signal; The processing module is further configured to determine the current position information of the terminal based on the phase information of the terminal at different positions and the motion information of the terminal, wherein the motion information is determined by measurement by the terminal; wherein the processing module is configured to: Based on the motion information of the terminal, a first distance between the first position and the second position and a second distance between the second position and the third position of the terminal are determined, wherein the first position, the second position and the third position are the positions that the terminal passes through in sequence; The initial integer ambiguity is determined based on the first carrier phase difference of the terminal at the first position, the second carrier phase difference of the terminal at the second position, the third carrier phase difference of the terminal at the third position, the first distance, the second distance, and the wavelength of the downlink positioning reference signal, as well as the geometric relationship between the location of the network device and the first, second, and third positions. Based on the initial integer ambiguity and the phase information of the terminal at different positions, the predicted phase information of the terminal at the next position is determined; If the predicted phase information differs from the phase of the terminal's phase-locked loop, the predicted phase information is used to update the phase of the terminal's phase-locked loop. The current location information of the terminal is determined based on the updated phase of the phase-locked loop.

37. A positioning device, characterized in that, The device includes: The sending module is used to send configuration information to the terminal. The configuration information is used to configure resource information for the terminal to transmit positioning reference signals. The positioning reference signals are used to locate the terminal. The sending module is further configured to send a downlink positioning reference signal to the terminal based on the resource information; The current location information of the terminal is determined based on the phase information of the terminal at different locations and the motion information of the terminal. The phase information of the terminal at different locations is determined based on the downlink positioning reference signal, and the motion information is determined by the terminal measurement. Determining the current location information of the terminal includes the following steps: Based on the motion information of the terminal, a first distance between the first position and the second position and a second distance between the second position and the third position of the terminal are determined, wherein the first position, the second position and the third position are the positions that the terminal passes through in sequence; The initial integer ambiguity is determined based on the first carrier phase difference of the terminal at the first position, the second carrier phase difference of the terminal at the second position, the third carrier phase difference of the terminal at the third position, the first distance, the second distance, and the wavelength of the downlink positioning reference signal, as well as the geometric relationship between the location of the network device and the first, second, and third positions. Based on the initial integer ambiguity and the phase information of the terminal at different positions, the predicted phase information of the terminal at the next position is determined; If the predicted phase information differs from the phase of the terminal's phase-locked loop, the predicted phase information is used to update the phase of the terminal's phase-locked loop. The current location information of the terminal is determined based on the updated phase of the phase-locked loop.

38. A terminal, characterized in that, The terminal includes: processor; A transceiver connected to the processor; The processor is configured to load and execute executable instructions to implement the positioning method as described in any one of claims 1 to 18.

39. A network device, characterized in that, The network device includes: processor; A transceiver connected to the processor; The processor is configured to load and execute executable instructions to implement the positioning method as described in any one of claims 19 to 35.

40. A computer-readable storage medium storing executable program code, the executable program code being loaded and executed by a processor to implement the positioning method as described in any one of claims 1 to 35.

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