A positioning method and apparatus

Abstract

The application provides a positioning method and device, which are used for positioning a terminal by one satellite. The method comprises the following steps: obtaining information of a plurality of satellite reference points; determining time information corresponding to a service satellite; and reporting the time information corresponding to the plurality of satellite reference points and the time information corresponding to the service satellite to the service satellite, wherein the time information corresponding to the plurality of satellite reference points is determined according to the time information corresponding to the service satellite and the information of the plurality of satellite reference points. The time information corresponding to the satellite located at the satellite reference point can be determined by the information of the satellite reference point, without deploying the satellite at the satellite reference point. Compared with positioning the terminal device by actually deploying a plurality of satellites, the application has less limitations. Compared with positioning the terminal device by moving a single satellite to different positions, the application can reduce the positioning time delay and improve the positioning accuracy.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a positioning method and apparatus. Background Technology

[0002] Traditional cellular network positioning is based on the terminal measuring the downlink reference signal, or the base station measuring the uplink reference signal, and then reporting the measurement results to the positioning server. The positioning server then determines the terminal's location based on the measurement results and the location of the base station.

[0003] Cellular positioning relies on multiple base stations for location services. In satellite communication scenarios, multiple satellites are also needed for positioning. However, when locating a terminal, there may not be enough satellites covering it, making it impossible to locate the device. Furthermore, synchronizing the terminal with multiple satellites introduces more complexity. Therefore, scenarios involving multi-satellite joint positioning have significant limitations. Summary of the Invention

[0004] This application provides a positioning method and apparatus for locating a terminal using a single satellite.

[0005] Firstly, a communication method is provided. The execution subject of this method can be a terminal device or a chip, chip system, or circuit located in the terminal device. This method can be implemented through the following steps: acquiring information of multiple satellite reference points; determining the time information corresponding to the serving satellite; and reporting the time information corresponding to the multiple satellite reference points and the time information corresponding to the serving satellite to the serving satellite. The time information corresponding to the multiple satellite reference points is determined based on the time information corresponding to the serving satellite and the information of the multiple satellite reference points.

[0006] In this embodiment, the time information corresponding to the satellite located at the satellite reference point can be determined using the satellite reference point information, without the need to actually deploy a satellite at that reference point. Compared to actually deploying multiple satellites to locate the terminal device, this application has fewer limitations. Furthermore, compared to moving a single satellite to different locations to locate the terminal device, this application can reduce positioning latency and improve positioning accuracy.

[0007] In one possible design, the terminal device can determine the time difference between the transmission duration between the satellite reference point and the terminal device and the transmission duration between the service satellite and the terminal device, based on the location information of the i-th satellite reference point and the location information of the service satellite, and determine the time information corresponding to the satellite reference point based on the time difference and the time information corresponding to the satellite reference point.

[0008] In one possible design, the time information corresponding to the serving satellite is the time when the downlink signal of the serving satellite is received.

[0009] In one possible design, the time information corresponding to the i-th satellite reference point can be the time t at which the downlink signal of that satellite reference point is received. i , where t i Satisfies the following formula: t i = t0 + Δt1, where t0 is the time information corresponding to the serving satellite, and Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point is the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0010] In one possible design, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite.

[0011] In one possible design, the time information corresponding to the i-th satellite reference point can be the frame number W of the downlink signal of that satellite reference point. i Among them, W i Satisfies the following formula: W i = W0 + w. W0 represents the time information corresponding to the serving satellite, and w is the number of frames corresponding to the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0012] In one possible design, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite.

[0013] In one possible design, the time information corresponding to the i-th satellite reference point can be the time difference ΔTi between the time of receiving the downlink signal from that satellite reference point and the time of transmitting the downlink signal. Here, ΔTi satisfies the following formula: ΔTi = ΔT0 + Δt1. ΔT0 is the time information corresponding to the serving satellite. Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point can be the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0014] In one possible design, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of sending the uplink signal to the serving satellite.

[0015] In one possible design, the time information corresponding to the i-th satellite reference point can be the time difference Δi between the time of receiving the downlink signal from that satellite reference point and the time of sending the uplink signal to that satellite reference point. Here, Δi satisfies the following formula: Δi = Δ0 - 2Δt1. Δ0 is the time information corresponding to the serving satellite. Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point can be the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0016] In one possible design, the time information corresponding to the serving satellite is the TA (Time Acquisition Signal) used to send uplink signals to the serving satellite.

[0017] In one possible design, the time information corresponding to the i-th satellite reference point can be the TA (hereinafter referred to as TA) that sends the uplink signal to that satellite reference point. i ), among which, TA i Satisfies the following formula: TA i =TA0 - Δt1. TA0 represents the time information corresponding to the serving satellite. Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point is the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0018] In one possible design, determining the time information corresponding to the serving satellite includes: obtaining the common time interval (TA), which characterizes the round-trip time delay from the serving satellite to the uplink synchronization common point; and determining the time information corresponding to the serving satellite based on the TA.

[0019] In one possible design, the information from multiple satellite reference points serves as location information. This design allows for the construction of multiple virtual satellites to locate the terminal device, eliminating the need for actual satellite deployment.

[0020] In one possible design, acquiring information from multiple satellite reference points includes receiving position information from multiple satellite reference points of a serving satellite.

[0021] In one possible design, the position information of multiple satellite reference points is either absolute coordinates or relative coordinates with respect to the serving satellite. Compared to transmitting ephemeris information, this design can save signaling overhead.

[0022] In one possible design, the positions of multiple satellite reference points are located on the motion trajectories of the service satellite and / or other satellites.

[0023] In one possible design, the information of multiple satellite reference points is the time point corresponding to each satellite reference point. This method can determine the positions of multiple satellites using the time point and the trajectory of the serving satellite (or other satellites). Multiple virtual satellites can be constructed using these positions to locate the terminal device, thus eliminating the need for actual satellite deployment.

[0024] In one possible design, multiple time points are absolute times.

[0025] In one possible design, multiple time points are relative times. This approach can save signaling overhead.

[0026] Secondly, a communication method is provided. The execution subject of this method can be a satellite or a chip, chip system, or circuit located in the satellite. This method can be implemented through the following steps: receiving time information corresponding to the serving satellite and time information corresponding to multiple satellite reference points sent by a terminal device, wherein the time information corresponding to the multiple satellite reference points is determined based on the time information corresponding to the serving satellite and the information of the multiple satellite reference points; and determining the location of the terminal device based on the time information corresponding to the serving satellite and the time information corresponding to the multiple satellite reference points.

[0027] In this embodiment, the time information corresponding to the satellite located at the satellite reference point can be determined using the satellite reference point information, without the need to actually deploy a satellite at that reference point. Compared to actually deploying multiple satellites to locate the terminal device, this application has fewer limitations. Furthermore, compared to moving a single satellite to different locations to locate the terminal device, this application can reduce positioning latency and improve positioning accuracy.

[0028] In one possible design, the terminal device can determine the time difference between the transmission duration between the satellite reference point and the terminal device and the transmission duration between the service satellite and the terminal device, based on the location information of the i-th satellite reference point and the location information of the service satellite, and determine the time information corresponding to the satellite reference point based on the time difference and the time information corresponding to the satellite reference point.

[0029] In one possible design, the time information corresponding to the serving satellite is the time when the downlink signal of the serving satellite is received.

[0030] In one possible design, the time information corresponding to the i-th satellite reference point can be the time t at which the downlink signal of that satellite reference point is received. i , where t i Satisfies the following formula: t i = t0 + Δt1, where t0 is the time information corresponding to the serving satellite, and Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point is the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0031] In one possible design, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite.

[0032] In one possible design, the time information corresponding to the i-th satellite reference point can be the frame number W of the downlink signal of that satellite reference point. i Among them, W i Satisfies the following formula: W i = W0 + w. W0 represents the time information corresponding to the serving satellite, and w is the number of frames corresponding to the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0033] In one possible design, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite.

[0034] In one possible design, the time information corresponding to the i-th satellite reference point can be the time difference ΔTi between the time of receiving the downlink signal from that satellite reference point and the time of transmitting the downlink signal. Here, ΔTi satisfies the following formula: ΔTi = ΔT0 + Δt1. ΔT0 is the time information corresponding to the serving satellite. Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point can be the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0035] In one possible design, the time information corresponding to the service satellite is the time difference between the time of receiving the downlink signal from the service satellite and the time of sending the uplink signal to the service satellite.

[0036] In one possible design, the time information corresponding to the i-th satellite reference point can be the time difference Δi between the time of receiving the downlink signal from that satellite reference point and the time of sending the uplink signal to that satellite reference point. Here, Δi satisfies the following formula: Δi = Δ0 - 2Δt1. Δ0 is the time information corresponding to the serving satellite. Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point can be the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0037] In one possible design, the time information corresponding to the serving satellite is the TA (Time Acquisition Signal) for sending uplink signals to the serving satellite.

[0038] In one possible design, the time information corresponding to the i-th satellite reference point can be the TA (hereinafter referred to as TA) that sends the uplink signal to that satellite reference point. i ), among which, TA i Satisfies the following formula: TA i =TA0 - Δt1. TA0 represents the time information corresponding to the serving satellite. Δt1 is the time difference between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device. Alternatively, the time information corresponding to the i-th satellite reference point is the time difference Δt1 between the transmission duration between the i-th satellite reference point and the terminal device and the transmission duration between the serving satellite and the terminal device.

[0039] In one possible design, the information from multiple satellite reference points serves as location information. This design allows for the construction of multiple virtual satellites to locate the terminal device, eliminating the need for actual satellite deployment.

[0040] In one possible design, the method also includes sending the location information of multiple satellite reference points to the terminal device.

[0041] In one possible design, the position information of multiple satellite reference points is either absolute coordinates or relative coordinates with respect to the serving satellite. Compared to transmitting ephemeris information, this design can save signaling overhead.

[0042] In one possible design, the positions of multiple satellite reference points are located on the motion trajectories of the service satellite and / or other satellites.

[0043] In one possible design, the information of multiple satellite reference points is the time point corresponding to each satellite reference point. This method can determine the positions of multiple satellites using the time point and the trajectory of the serving satellite (or other satellites). Multiple virtual satellites can be constructed using these positions to locate the terminal device, thus eliminating the need for actual satellite deployment.

[0044] In one possible design, multiple time points are absolute times.

[0045] In one possible design, multiple time points are relative times. This approach can save signaling overhead.

[0046] In one possible design, before determining the location of the terminal device based on the time information corresponding to the serving satellite and the time information corresponding to multiple satellite reference points, the method further includes: correcting the time information corresponding to the serving satellite and the time information corresponding to multiple satellite reference points based on the time of the uplink reference signal sent by the receiving terminal device. This method can further improve the accuracy of the terminal device's positioning.

[0047] Thirdly, this application also provides a communication device, which is a terminal device or a chip within a terminal device. This communication device has the function of implementing any of the methods provided in the first aspect. The communication device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the aforementioned functions.

[0048] In one possible design, the communication device includes a processor configured to support the communication device in performing the corresponding functions of the terminal device described above. The communication device may also include a memory coupled to the processor, which stores necessary program instructions and data for the communication device. Optionally, the communication device further includes interface circuitry for supporting communication between the communication device and devices such as service satellites, for example, the transmission and reception of data or signals. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0049] In one possible design, the communication device includes corresponding functional modules, each used to implement the steps in the above method. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

[0050] In one possible design, the communication device includes a processing unit (or processing unit) and a communication unit (or communication unit) in its structure. These units can perform the corresponding functions in the above method examples, as described in the method provided in the first aspect, and will not be repeated here.

[0051] Fourthly, this application also provides a communication device, which is a satellite or a chip within a satellite. This communication device has the function of implementing any of the methods provided in the second aspect above. The communication device can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the aforementioned functions.

[0052] In one possible design, the communication device includes a processor configured to support the communication device in performing the corresponding functions of servicing the satellite as described above. The communication device may also include a memory coupled to the processor, which stores necessary program instructions and data for the communication device. Optionally, the communication device further includes interface circuitry for supporting communication between the communication device and devices such as terminal equipment, for example, the transmission and reception of data or signals. Exemplarily, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.

[0053] In one possible design, the communication device includes corresponding functional modules, each used to implement the steps in the above method. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

[0054] In one possible design, the communication device includes a processing unit (or processing unit) and a communication unit (or communication unit) in its structure. These units can perform the corresponding functions in the above method examples, as described in the method provided in the second aspect, and will not be repeated here.

[0055] Fifthly, a communication device is provided, including a processor and an interface circuit. The interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor, or to send signals from the processor to other communication devices outside the communication device. The processor is used to implement the methods of the first aspect and any possible design through logic circuits or execution code instructions.

[0056] In a sixth aspect, a communication device is provided, including a processor and an interface circuit. The interface circuit is configured to receive signals from other communication devices outside the communication device and transmit them to the processor, or to send signals from the processor to other communication devices outside the communication device. The processor is configured to implement the methods of the second aspect and any possible design described above through logic circuits or execution code instructions.

[0057] In a seventh aspect, a computer-readable storage medium is provided that stores a computer program or instructions which, when executed by a processor, implement the methods of the first or second aspect and any possible design described above.

[0058] Eighthly, a computer program product storing instructions is provided, which, when executed by a processor, implement the methods of the first or second aspect and any possible design described above.

[0059] A ninth aspect provides a chip system including a processor and potentially a memory for implementing the methods described in the first or second aspect and any possible design. The chip system may be composed of chips or may include chips and other discrete devices.

[0060] In a tenth aspect, a communication system is provided, the system comprising the apparatus of the first aspect (such as a terminal device) and the apparatus of the second aspect (such as a satellite).

[0061] The technical effects that can be achieved by any of the technical solutions in the third to tenth aspects mentioned above can be described with reference to the technical effects that can be achieved by the technical solution in the first aspect mentioned above, and the repeated parts will not be repeated. Attached Figure Description

[0062] Figure 1 This is a schematic diagram of a positioning method based on uplink arrival time according to an embodiment of this application;

[0063] Figure 2 This is a schematic diagram of a positioning method based on uplink angle of arrival according to an embodiment of this application;

[0064] Figure 3 This is a schematic diagram of a positioning method based on the received power of a reference signal according to an embodiment of this application;

[0065] Figure 4a This is a schematic diagram of a satellite communication architecture according to an embodiment of this application;

[0066] Figure 4b This is a schematic diagram of a satellite communication architecture according to an embodiment of this application;

[0067] Figure 4c This is a schematic diagram of a satellite communication architecture according to an embodiment of this application;

[0068] Figure 5 This is a flowchart illustrating a positioning method according to an embodiment of this application;

[0069] Figure 6 This is a schematic diagram illustrating the transmission duration according to an embodiment of this application;

[0070] Figure 7 This is a schematic diagram of the structure of a communication device according to an embodiment of this application;

[0071] Figure 8This is a schematic diagram of the structure of a communication device according to an embodiment of this application. Detailed Implementation

[0072] There are various methods for locating terminal devices in terrestrial communication networks. For example, they can utilize the delay, delay difference, and reception angle of reference signals to achieve device positioning. Several common positioning methods are described below:

[0073] -Uplink Time of Arrival (UL-TOA) Method

[0074] Multiple base stations measure the arrival time of the reference signal transmitted by the receiving terminal device. Based on the arrival time and the speed of light, the distance between the base station and the terminal device is calculated. Each base station draws a circle with itself as the center and the distance between the base station and the terminal device as the reference distance. Figure 1 As shown. Then, the location of the terminal device is estimated using positioning algorithms, such as trilateration and least squares algorithms.

[0075] -Uplink Time Difference of Arrival (UL-TDOA) Method

[0076] The drawback of the UL-TOA method is that if the base station and the terminal device are out of sync and neither knows the absolute time of signal transmission, it will cause errors in calculation and positioning.

[0077] In the UL-TDOA method, the distance difference between the terminal device and two base stations is calculated by measuring the signal arrival time difference between the terminal device and the two base stations. Mathematically, the terminal device lies on a hyperbola with the two base stations as its foci and the distance difference between the terminal device and the two base stations as its constant difference. The positions of the terminal device and multiple base stations lie on this hyperbola. Based on this principle, multiple hyperbolas can be obtained using three or more base stations around the terminal device. The intersection of these hyperbolas can be considered the location of the terminal device. Figure 2 As shown.

[0078] -Uplink Angle of Arrival (UL-AOA) Method

[0079] The base station measures the angle of arrival based on the beam of the reference signal transmitted by the terminal device, such as... Figure 3 The system calculates θ1, -θ2, θ3, and -θ4, and then sends the measured angle of arrival to the network device used for positioning. The network device then positions the terminal device based on the location of each base station and the angle of arrival measured by each base station.

[0080] - Reference signal receiving power (RSRP) method

[0081] The power of the reference signal reflected by the measuring terminal device is received by multiple surrounding base stations. Based on the measured power, the distance ratio between the terminal device and multiple base stations can be determined. Then, based on the location of each base station and the distance ratio between the terminal device and multiple base stations, the terminal device can be located.

[0082] The above methods all rely on multiple base stations receiving reference signals sent by the terminal device for measurement. However, in satellite communication scenarios, it is rare for the terminal device to be located in the coverage area of ​​multiple satellites. Therefore, the multi-satellite joint positioning of the terminal device has significant limitations.

[0083] One possible positioning method based on a single satellite involves the terminal device reporting TA (Traffic Availability) information as the satellite moves to different locations. The TA information represents the round-trip time (RTT) between the terminal device and the uplink synchronization point. For example, if the uplink synchronization point is on the satellite, then the TA information represents the RTT from the terminal device to the satellite. The network side can consider the satellite moving to different locations as equivalent to multiple base stations in different locations, and the network side determines the location of the terminal device based on the collected TAs.

[0084] However, positioning based on the different positions of a single satellite introduces latency, and to ensure the consistency of location tracking (TA), the number of positioning operations that can be performed throughout the entire service period is limited. Furthermore, since the changes in satellite positions are all within the same orbit, the differences are not significant, therefore, the accuracy of single-satellite positioning is not as high as that of multi-satellite positioning. Therefore, how to locate terminal devices based on a single satellite is a problem that urgently needs to be solved.

[0085] In view of this, the embodiments of this application provide a positioning method that can be applied in satellite communication scenarios to meet the needs of a single satellite to locate terminal devices.

[0086] Figure 4a , Figure 4b , Figure 4c This application provides an exemplary application architecture for satellite communication. The positioning method provided in this embodiment can be applied to… Figure 4a , Figure 4b , Figure 4c In any network architecture.

[0087] exist Figure 4aIn the architecture shown, base stations are deployed on the ground, and satellites connect to ground stations via air interfaces. Ground stations can connect to base stations via wireless or wired links. Ground-based terminal devices access the mobile communication network via an air interface (which can be of various types, such as a 5G air interface), and the satellite acts as a transmission node, forwarding information from the terminal devices.

[0088] exist Figure 4b In the architecture shown, base stations are deployed on satellites, which connect to ground stations via an air interface. Ground stations can connect to the core network via wireless or wired links. Ground-based terminal devices communicate with the satellite base station via the air interface to access the mobile communication network. The satellite, acting as a base station, connects to the ground station via the air interface (NG interface), and the ground station connects to the core network via the NG interface, which can be either wireless or wired.

[0089] exist Figure 4c The architecture shown is Figure 4b Compared to the architecture shown, this architecture adds a communication scenario between satellite base stations. Specifically, satellite base stations can communicate with each other through the Xn interface.

[0090] exist Figures 4a-4c In this context, terminal devices can include various types of devices that support the new air interface, such as mobile phones, tablets, vehicle-mounted terminal devices, and wearable terminal devices. These terminal devices can access the satellite network via the air interface and initiate calls, internet access, and other services.

[0091] Base stations are mainly used to provide wireless access services, allocate wireless resources to accessing terminal devices, and provide reliable wireless transmission protocols and data encryption protocols.

[0092] The core network primarily provides functions such as user access control, mobility management, session management, user security authentication, and accounting. The core network consists of multiple functional units, which can be divided into control plane and data plane functional entities. The Access and Mobility Management Function (AMF) entity is responsible for user access management, security authentication, and mobility management. The User Plane Function (UPF) entity is responsible for managing user plane data transmission and traffic statistics.

[0093] Ground stations are primarily responsible for relaying signaling and service data between satellites and base stations, or between satellites and the core network.

[0094] Air interface: refers to the wireless link between the terminal device and the base station.

[0095] Xn interface: This refers to the interface between satellite base stations, mainly used for signaling interactions such as handover.

[0096] NG interface: This refers to the interface between the base station and the core network, or the interface between the ground station and the core network, or the interface between the satellite base station and the ground station (in this case, the interface is a wireless link). It mainly exchanges signaling such as NAS of the core network and user service data.

[0097] See Figure 5 This is a flowchart illustrating a positioning method provided in an embodiment of this application. This positioning method can be applied to satellite communication scenarios, especially non-geostationary earth orbit (NGEO) satellite communication scenarios, or it can also be applied to unmanned aerial vehicle (UAV) communication scenarios. UAV communication scenarios are similar to satellite communication scenarios; for ease of description, examples from satellite communication scenarios will be used below.

[0098] like Figure 5 As shown, the positioning method may include the following steps:

[0099] S501, the terminal device obtains information from multiple satellite reference points.

[0100] In one exemplary embodiment, the information of multiple satellite reference points can be location information. One possible implementation based on this exemplary embodiment is that the serving satellite sends the location information of the multiple satellite reference points to the terminal device.

[0101] The position information of these multiple satellite reference points can be absolute coordinates, such as coordinates (x, y, z) in an absolute coordinate system, or relative coordinates (Δx, Δy, Δz) relative to the serving satellite. Compared to broadcasting ephemeris data including velocity and coordinates, broadcasting the position information of satellite reference points can save signaling overhead on the network side.

[0102] Optionally, in the above exemplary description, the positions of the multiple satellite reference points may be located on the motion trajectories of the serving satellite and / or other satellites. Alternatively, the positions of the multiple satellite reference points may be independent of the motion trajectories of the serving satellite and / or other satellites.

[0103] In another exemplary illustration, the information of the multiple satellite reference points can be the time information corresponding to the multiple satellite reference points.

[0104] Optionally, in this exemplary description, the positions of the plurality of satellite reference points may be located on the motion trajectories of the serving satellite and / or other satellites. Thus, the terminal device and the serving satellite can determine the positions of the plurality of satellite reference points based on the time information corresponding to the multiple satellite reference points and the motion trajectories of the serving satellite and / or other satellites.

[0105] The multiple time points can be absolute times, such as 00.00.00, 00.00.01, 00.00.02, and 00.00.03. Alternatively, the multiple time points can be relative times. For example, if the time slot corresponding to the current location of the serving satellite is time slot 1, the terminal device can report a time interval of 1 time slot. That is, the first time point is delayed (or advanced) by 1 time slot relative to the time slot corresponding to the current location of the serving satellite, the second time point is delayed (or advanced) by 1 time slot relative to the first time point, the third time point is delayed (or advanced) by 1 time slot relative to the second time point, and so on.

[0106] In one alternative embodiment based on this illustrative description, the time information corresponding to the plurality of satellite reference points can be determined by the terminal device. Furthermore, after determining the time information corresponding to the plurality of satellite reference points, the terminal device can send it to the service satellite, so that the service satellite can determine the position of the plurality of satellite reference points based on the time information corresponding to the plurality of satellite reference points and the motion trajectories of the service satellite and / or other satellites.

[0107] In another alternative based on this exemplary description, the time information corresponding to the plurality of satellite reference points may be indicated to the terminal device by the serving satellite.

[0108] The time information corresponding to the above multiple satellite reference points can be past time points, future time points, or some satellite reference points can correspond to past time points while others correspond to future time points.

[0109] S502, the terminal equipment determines the time information corresponding to the serving satellite.

[0110] Optionally, before step S502, the terminal device can receive downlink signals from the serving satellite and can also send uplink signals to the serving satellite. The resources for sending uplink signals can be configured by the serving satellite.

[0111] S503: The terminal device reports the time information corresponding to multiple satellite reference points and the time information corresponding to the service satellite to the service satellite. Correspondingly, the service satellite receives the time information corresponding to the service satellite and the time information corresponding to the multiple satellite reference points from the terminal device.

[0112] In this embodiment of the application, the terminal device can be located by a serving satellite, or it can be located by other network devices, such as base stations, transmission reception points (TRPs), core network elements, etc. For example, the core network element can be a location management function (LMF) network element, a location server, etc.

[0113] If the terminal device is located by another network device, the serving satellite can forward the time information corresponding to the serving satellite and the time information corresponding to multiple satellite reference points to that network device. For ease of understanding, this application uses the positioning of the terminal device by the serving satellite as an example.

[0114] The time information corresponding to multiple satellite reference points is determined based on the time information corresponding to the serving satellite and the information of multiple satellite reference points.

[0115] In one implementation, the terminal device can determine the time information corresponding to the serving satellite in the following way:

[0116] A1, obtain the common TA, which is used to characterize the round-trip delay from the serving satellite to the uplink synchronization common point.

[0117] The uplink synchronization common point can be a service satellite or other network equipment, such as a ground base station.

[0118] Specifically, the service satellite can send public TAs to terminal devices.

[0119] A2, determine the time information corresponding to the service satellite based on the public TA.

[0120] In one implementation, taking the i-th satellite reference point (hereinafter referred to as satellite reference point i) among multiple satellite reference points as an example, the terminal device can determine the time information corresponding to the satellite reference point in the following way:

[0121] B1. Based on the location information of satellite reference point i and the location information of the service satellite, determine the time difference between the transmission time between satellite reference point i and the terminal device and the transmission time between the service satellite and the terminal device (hereinafter, this time difference is referred to as the transmission delay of satellite reference point i).

[0122] For example, the terminal device can determine the time difference Δt1 between the transmission duration between the satellite reference point i and the terminal device and the transmission duration between the service satellite and the terminal device, based on the position of the satellite reference point i and the position of the service satellite. If the distance between the satellite reference point i and the terminal device is greater than the distance between the service satellite and the terminal device, Δt1 can be a positive number; if the distance between the satellite reference point i and the terminal device is smaller than the distance between the service satellite and the terminal device, Δt1 can be a negative number; if the distance between the satellite reference point i and the terminal device is the same as the distance between the service satellite and the terminal device, Δt1 can be 0.

[0123] B2. Determine the time information corresponding to satellite reference point i based on the transmission delay of satellite reference point i and the time information corresponding to satellite reference point i.

[0124] The specific determination process will be explained below with examples of the time information corresponding to the serving satellite.

[0125] The following are five examples of time information corresponding to the service satellite. It should be understood that these are merely illustrative examples. Any information that can characterize the transmission time or RTT from the service satellite to the terminal device can be used as the time information corresponding to the service satellite.

[0126] Example 1: The time information corresponding to the serving satellite can be the time t0 when the downlink signal from the serving satellite is received. Correspondingly, the time information corresponding to satellite reference point i can be the time t when the downlink signal from that satellite reference point is received. i .

[0127] In the example, t i It can satisfy t i = t0 + Δt1.

[0128] In the example, it can be assumed that the satellite reference point i and the service satellite transmit downlink signals at the same time.

[0129] Example 2: The time information corresponding to the serving satellite is the frame number W0 of the downlink signal of the serving satellite. Correspondingly, the time information corresponding to satellite reference point i can be the frame number W0 of the downlink signal of that satellite reference point. i .

[0130] In the example, assuming Δt1 corresponds to w frames, then W i It can satisfy W i =W0+w.

[0131] In the example, it can be assumed that the satellite reference point i and the service satellite transmit downlink signals at the same time.

[0132] Example 3: The time information corresponding to the serving satellite is the time difference ΔT0 between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal. Correspondingly, the time information corresponding to satellite reference point i can be the time difference ΔTi between the time of receiving the downlink signal from satellite reference point i and the time of transmitting the downlink signal from satellite reference point i.

[0133] In this example, the terminal device can determine the transmission time of the downlink signal based on the downlink signal from the serving satellite, and determine the time difference ΔT0 based on the transmission time and the reception time of the downlink signal.

[0134] In the example, ΔTi can satisfy ΔTi=ΔT0+Δt1.

[0135] In the example, the time when the satellite reference point i and the service satellite send downlink signals can be the same or different.

[0136] Example 4: The time information corresponding to the serving satellite is the time difference Δ0 between the time of receiving the downlink signal from the serving satellite and the time of sending the uplink signal to the serving satellite; correspondingly, the time information corresponding to the satellite reference point i can be the time difference Δi between the time of receiving the downlink signal from the satellite reference point i and the time of sending the uplink signal to the satellite reference point i.

[0137] In the example, Δi can satisfy Δi=Δ0-2Δt1.

[0138] Example 5: The time information corresponding to the serving satellite is the TA (hereinafter referred to as TA0) for sending uplink signals to the serving satellite. Correspondingly, the time information corresponding to satellite reference point i can be the TA (hereinafter referred to as TA1) for sending uplink signals to that satellite reference point i. i ).

[0139] In the example, TA i It can satisfy TA i =TA0-Δt1.

[0140] In one exemplary description, the TA for sending uplink signals to the serving satellite and the TA for sending uplink signals to the satellite reference point i can be open-loop TAs. The open-loop TA can be understood as the TA calculated by the terminal device based on the global navigation satellite system (GNSS) and ephemeris, i.e., the TA on the serving link side.

[0141] Optionally, the time information corresponding to the serving satellite can be any of the information in Examples 1 to 5 above, and the time information corresponding to the satellite reference point i can be the transmission delay Δt1 of the satellite reference point i.

[0142] S504, the service satellite determines the location of the terminal device based on the time information corresponding to the service satellite and the time information corresponding to multiple satellite reference points.

[0143] The following five examples of time information corresponding to the serving satellites will be used to illustrate step S504.

[0144] Based on Example 1 above, the serving satellite can determine the one-way delay between the serving satellite and the terminal device based on the transmission time of the downlink signal and the reception time of the downlink signal reported by the terminal device; that is, the reception time of the downlink signal minus the transmission time of the downlink signal. Similarly, the serving satellite can determine the one-way delay between the satellite reference point and the terminal device. Therefore, the serving satellite can determine the location of the terminal device based on the one-way delay between the serving satellite and the terminal device, and the one-way delay between multiple satellite reference points and the terminal device.

[0145] Based on Example 2 above, the serving satellite can determine the one-way delay between the serving satellite and the terminal device based on the frame number in which it transmits the downlink signal and the frame number in which the terminal device reports the downlink signal. Similarly, the serving satellite can determine the one-way delay between the satellite reference point and the terminal device. Therefore, the serving satellite can determine the location of the terminal device based on the one-way delay between the serving satellite and the terminal device, and the one-way delay between multiple satellite reference points and the terminal device.

[0146] Based on Example 3 above, the serving satellite can determine the one-sided delay between the serving satellite and the terminal device based on the time difference between the time the terminal device reports receiving the downlink signal from the serving satellite and the time the serving satellite transmits the downlink signal. This one-sided delay is the time difference. Similarly, the serving satellite can determine the one-sided delay between the satellite reference point and the terminal device. Therefore, the serving satellite can determine the location of the terminal device based on the one-sided delay between the serving satellite and the terminal device, and the one-sided delays between multiple satellite reference points and the terminal device.

[0147] Based on Example 4 above, the serving satellite can determine the transmission duration X1 based on the downlink signal transmission time and the uplink signal reception time, and determine the RTT between the serving satellite and the terminal device based on the transmission duration X1 and the time difference Δ0 reported by the terminal device, where RTT = X1 - Δ0. Figure 6 As shown.

[0148] Similarly, the serving satellite can determine the RTT between the satellite reference point and the terminal device. Therefore, the serving satellite can determine the location of the terminal device based on the RTT between the serving satellite and the terminal device, and the RTT between multiple satellite reference points and the terminal device.

[0149] Based on Example 5 above, the serving satellite can determine the one-sided delay or RTT between the serving satellite and the terminal equipment based on the TA (Transmission Time To Response) that sends uplink signals to the serving satellite. Similarly, the serving satellite can determine the one-sided delay or RTT between the satellite reference point and the terminal equipment. Therefore, the serving satellite can determine the location of the terminal equipment based on the one-sided delay or RTT between the serving satellite and the terminal equipment, or the one-sided delay or RTT between multiple satellite reference points and the terminal equipment.

[0150] Optionally, based on Example 5 above, one possible implementation is that before determining the location of the terminal device according to the time information corresponding to the serving satellite and the time information corresponding to the multiple satellite reference points, the serving satellite can correct the time information corresponding to the serving satellite and the time information corresponding to the multiple satellite reference points according to the time of receiving the uplink reference signal sent by the terminal device.

[0151] Since the GNSS and ephemeris data of the terminal device may have errors, the estimated TA of the terminal device may be biased. The above method can improve the positioning accuracy of the terminal device by correcting the time information corresponding to the serving satellite and the time information corresponding to multiple satellite reference points based on the time of the uplink reference signal sent by the receiving terminal device.

[0152] In one possible implementation, if the terminal device is located by another network device, the serving satellite can send the time of receiving the uplink reference signal sent by the terminal device to the network device, and the network device can correct the time information corresponding to the serving satellite and the time information corresponding to multiple satellite reference points.

[0153] Alternatively, the service satellite can send the corrected time information from the service satellite as well as the corrected time information from multiple satellite reference points to the network device.

[0154] Based on the same inventive concept as the method embodiments, this application provides a communication device, the structure of which can be as follows: Figure 7 As shown, it includes a communication unit 701 and a processing unit 702.

[0155] In one embodiment, the communication device can specifically be used to implement Figure 5In the embodiments, the method executed by the terminal device can be the terminal device itself, or a chip or chipset within the terminal device, or a part of a chip used to execute related method functions. Specifically, the processing unit 702 is used to acquire information about multiple satellite reference points and determine the time information corresponding to the serving satellite. The communication unit 701 is used to report the time information corresponding to the multiple satellite reference points and the time information corresponding to the serving satellite to the serving satellite, wherein the time information corresponding to the multiple satellite reference points is determined based on the time information corresponding to the serving satellite and the information of the multiple satellite reference points.

[0156] For example, the time information corresponding to the service satellite is the time when the downlink signal of the service satellite is received;

[0157] Alternatively, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite;

[0158] Alternatively, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite;

[0159] Alternatively, the time information corresponding to the service satellite is the time difference between the time of receiving the downlink signal from the service satellite and the time of sending the uplink signal to the service satellite;

[0160] Alternatively, the time information corresponding to the service satellite is the timing advance (TA) for sending uplink signals to the service satellite.

[0161] Optionally, when determining the time information corresponding to the serving satellite, the processing unit 702 is specifically used to: obtain a common TA, wherein the common TA is used to characterize the round-trip time delay from the serving satellite to the uplink synchronization common point; and determine the time information corresponding to the serving satellite based on the common TA.

[0162] For example, the information of the plurality of satellite reference points is location information.

[0163] Optionally, when acquiring information about multiple satellite reference points, the processing unit 702 is specifically used to: receive the location information of the multiple satellite reference points from the serving satellite through the communication unit 701.

[0164] For example, the position information of the plurality of satellite reference points is absolute coordinates, or the position information of the plurality of satellite reference points is relative coordinates relative to the serving satellite.

[0165] For example, the positions of the plurality of satellite reference points are located on the motion trajectories of the serving satellite and / or other satellites.

[0166] For example, the information of the plurality of satellite reference points is the time point corresponding to the plurality of satellite reference points.

[0167] For example, the plurality of time points are absolute times, or the plurality of time points are relative times.

[0168] In one implementation, Figure 7 The communication device shown can be specifically used to implement Figure 5 In the embodiments, the method executed by the serving satellite can be the serving satellite itself, or a chip or chipset within the serving satellite, or a part of a chip used to execute related method functions. Specifically, the communication unit 701 is used to receive time information corresponding to the serving satellite and time information corresponding to multiple satellite reference points sent by the terminal device, wherein the time information corresponding to the multiple satellite reference points is determined based on the time information corresponding to the serving satellite and the information of the multiple satellite reference points; the processing unit 702 is used to determine the location of the terminal device based on the time information corresponding to the serving satellite and the time information corresponding to the multiple satellite reference points.

[0169] For example, the time information corresponding to the service satellite is the time when the downlink signal of the service satellite is received;

[0170] Alternatively, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite;

[0171] Alternatively, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite;

[0172] Alternatively, the time information corresponding to the service satellite is the time difference between the time of receiving the downlink signal from the service satellite and the time of sending the uplink signal to the service satellite;

[0173] Alternatively, the time information corresponding to the service satellite is the timing advance (TA) for sending uplink signals to the service satellite.

[0174] For example, the information of the plurality of satellite reference points is location information.

[0175] Optionally, the communication unit 701 is further configured to: send the location information of the plurality of satellite reference points to the terminal device.

[0176] For example, the position information of the plurality of satellite reference points is absolute coordinates, or the position information of the plurality of satellite reference points is relative coordinates relative to the serving satellite.

[0177] For example, the positions of the plurality of satellite reference points are located on the motion trajectories of the serving satellite and / or other satellites.

[0178] For example, the information of the plurality of satellite reference points is the time point corresponding to the plurality of satellite reference points.

[0179] For example, the plurality of time points are absolute times, or the plurality of time points are relative times.

[0180] Optionally, the processing unit 702 is further configured to: before determining the location of the terminal device based on the time information corresponding to the serving satellite and the time information corresponding to the plurality of satellite reference points, correct the time information corresponding to the serving satellite and the time information corresponding to the plurality of satellite reference points based on the time of receiving the uplink reference signal sent by the terminal device.

[0181] The module division in this application embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules. It is understood that the functions or implementations of the modules in the embodiments of this application can be further described in the relevant descriptions of the method embodiments.

[0182] In one possible approach, the communication device can be as follows: Figure 8 As shown, the device can be a communication device or a chip within a communication device, wherein the communication device can be the terminal device in the above embodiments or the network device in the above embodiments. The device includes a processor 801 and a communication interface 802, and may also include a memory 803. The processing unit 702 can be the processor 801. The communication unit 701 can be the communication interface 802. Optionally, the processor 801 and the memory 803 can also be integrated together.

[0183] The processor 801 can be a CPU, a digital processing unit, or something similar. The communication interface 802 can be a transceiver, an interface circuit such as a transceiver circuit, or a transceiver chip, etc. The device also includes a memory 803 for storing the program executed by the processor 801. The memory 803 can be non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). The memory 803 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited to this.

[0184] The processor 801 is used to execute the program code stored in the memory 803, specifically to perform the actions of the aforementioned processing unit 702, which will not be described in detail here. The communication interface 802 is specifically used to perform the actions of the aforementioned communication unit 701, which will not be described in detail here.

[0185] This application embodiment does not limit the specific connection medium between the communication interface 802, processor 801, and memory 803. This application embodiment... Figure 8 The memory 803, processor 801, and communication interface 802 are connected via a bus 804. Figure 8 The connections between other components are shown in bold lines only and are not intended to be limiting. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, Figure 8 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0186] This invention also provides a computer-readable storage medium for storing computer software instructions required to execute the processor, including a program required to execute the processor.

[0187] This application also provides a communication system, including methods for implementing... Figure 5 In the embodiments, a communication device for implementing terminal device functions and a communication device for implementing terminal device functions are provided. Figure 5 The embodiment is a communication device that provides satellite functionality.

[0188] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0189] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0190] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0191] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0192] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A positioning method, characterized in that, The method includes: Obtain information from multiple satellite reference points; Determine the time information corresponding to the service satellite; The system reports the time information corresponding to the plurality of satellite reference points and the time information corresponding to the service satellite to the service satellite. The time information corresponding to the plurality of satellite reference points is determined based on the time information corresponding to the service satellite and the information of the plurality of satellite reference points. The time information corresponding to the service satellite and the time information corresponding to the plurality of satellite reference points are used to determine the location of the terminal device.

2. The method as described in claim 1, characterized in that, The time information corresponding to the service satellite is the time when the downlink signal of the service satellite is received; Alternatively, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite; Alternatively, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite; Alternatively, the time information corresponding to the service satellite is the time difference between the time of receiving the downlink signal from the service satellite and the time of sending the uplink signal to the service satellite; Alternatively, the time information corresponding to the service satellite is the timing advance (TA) for sending uplink signals to the service satellite.

3. The method as described in claim 1, characterized in that, The time information corresponding to the service satellite is determined, including: Obtain the common TA, which is used to characterize the round-trip delay from the serving satellite to the uplink synchronization common point; The time information corresponding to the serving satellite is determined based on the public TA.

4. The method according to any one of claims 1-3, characterized in that, The information of the multiple satellite reference points is location information.

5. The method as described in claim 4, characterized in that, The acquisition of information from multiple satellite reference points includes: Receive position information from the plurality of satellite reference points of the service satellite.

6. The method as described in claim 4, characterized in that, The position information of the plurality of satellite reference points is either absolute coordinates or relative coordinates relative to the serving satellite.

7. The method according to any one of claims 1-3, characterized in that, The positions of the plurality of satellite reference points are located on the motion trajectories of the service satellite and / or other satellites.

8. The method as described in claim 7, characterized in that, The information of the multiple satellite reference points is the time point corresponding to the multiple satellite reference points.

9. The method as described in claim 8, characterized in that, The multiple time points are either absolute times or relative times.

10. A positioning method, characterized in that, The method includes: The receiving terminal device sends time information corresponding to the serving satellite and time information corresponding to multiple satellite reference points, wherein the time information corresponding to the multiple satellite reference points is determined based on the time information corresponding to the serving satellite and the information of the multiple satellite reference points; The location of the terminal device is determined based on the time information corresponding to the service satellite and the time information corresponding to the multiple satellite reference points.

11. The method as described in claim 10, characterized in that, The time information corresponding to the service satellite is the time when the downlink signal of the service satellite is received; Alternatively, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite; Alternatively, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite; Alternatively, the time information corresponding to the service satellite is the time difference between the time of receiving the downlink signal from the service satellite and the time of sending the uplink signal to the service satellite; Alternatively, the time information corresponding to the service satellite is the timing advance (TA) for sending uplink signals to the service satellite.

12. The method as described in claim 10, characterized in that, The information of the multiple satellite reference points is location information.

13. The method as described in claim 12, characterized in that, The method further includes: The location information of the multiple satellite reference points is sent to the terminal device.

14. The method as described in claim 12, characterized in that, The position information of the plurality of satellite reference points is either absolute coordinates or relative coordinates relative to the serving satellite.

15. The method as described in claim 10, characterized in that, The positions of the plurality of satellite reference points are located on the motion trajectories of the service satellite and / or other satellites.

16. The method as described in claim 15, characterized in that, The information of the multiple satellite reference points is the time point corresponding to the multiple satellite reference points.

17. The method as described in claim 16, characterized in that, The multiple time points are either absolute times or relative times.

18. The method according to any one of claims 10-17, characterized in that, Before determining the location of the terminal device based on the time information corresponding to the serving satellite and the time information corresponding to the plurality of satellite reference points, the method further includes: The time information corresponding to the serving satellite and the time information corresponding to the multiple satellite reference points are corrected based on the time of receiving the uplink reference signal sent by the terminal device.

19. A positioning device, characterized in that, The device includes: The processing unit is used to acquire information from multiple satellite reference points; And, determine the time information corresponding to the service satellite; The communication unit is used to report the time information corresponding to the plurality of satellite reference points and the time information corresponding to the service satellite to the service satellite. The time information corresponding to the plurality of satellite reference points is determined based on the time information corresponding to the service satellite and the information of the plurality of satellite reference points. The time information corresponding to the service satellite and the time information corresponding to the plurality of satellite reference points are used to determine the location of the terminal device.

20. The apparatus as claimed in claim 19, characterized in that, The time information corresponding to the service satellite is the time when the downlink signal of the service satellite is received; Alternatively, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite; Alternatively, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite; Alternatively, the time information corresponding to the service satellite is the time difference between the time of receiving the downlink signal from the service satellite and the time of sending the uplink signal to the service satellite; Alternatively, the time information corresponding to the service satellite is the timing advance (TA) for sending uplink signals to the service satellite.

21. The apparatus as claimed in claim 19, characterized in that, The processing unit, when determining the time information corresponding to the serving satellite, is specifically used for: Obtain the common TA, which is used to characterize the round-trip delay from the serving satellite to the uplink synchronization common point; The time information corresponding to the serving satellite is determined based on the public TA.

22. The apparatus according to any one of claims 19-21, characterized in that, The information of the multiple satellite reference points is location information.

23. The apparatus as claimed in claim 22, characterized in that, The processing unit, when acquiring information from multiple satellite reference points, is specifically used for: The communication unit receives position information of the plurality of satellite reference points from the service satellite.

24. The apparatus as claimed in claim 22, characterized in that, The position information of the plurality of satellite reference points is either absolute coordinates or relative coordinates relative to the serving satellite.

25. The apparatus according to any one of claims 19-21, characterized in that, The positions of the plurality of satellite reference points are located on the motion trajectories of the service satellite and / or other satellites.

26. The apparatus as claimed in claim 25, characterized in that, The information of the multiple satellite reference points is the time point corresponding to the multiple satellite reference points.

27. The apparatus as claimed in claim 26, characterized in that, The multiple time points are either absolute times or relative times.

28. A positioning device, characterized in that, The device includes: A communication unit is used to receive time information corresponding to a serving satellite and time information corresponding to multiple satellite reference points sent by a terminal device, wherein the time information corresponding to the multiple satellite reference points is determined based on the time information corresponding to the serving satellite and the information of the multiple satellite reference points; The processing unit is used to determine the location of the terminal device based on the time information corresponding to the service satellite and the time information corresponding to the multiple satellite reference points.

29. The apparatus as claimed in claim 28, characterized in that, The time information corresponding to the service satellite is the time when the downlink signal of the service satellite is received; Alternatively, the time information corresponding to the serving satellite is the frame number of the downlink signal of the serving satellite; Alternatively, the time information corresponding to the serving satellite is the time difference between the time of receiving the downlink signal from the serving satellite and the time of transmitting the downlink signal from the serving satellite; Alternatively, the time information corresponding to the service satellite is the time difference between the time of receiving the downlink signal from the service satellite and the time of sending the uplink signal to the service satellite; Alternatively, the time information corresponding to the service satellite is the timing advance (TA) for sending uplink signals to the service satellite.

30. The apparatus as claimed in claim 28, characterized in that, The information of the multiple satellite reference points is location information.

31. The apparatus as claimed in claim 30, characterized in that, The communication unit is further used for: The location information of the multiple satellite reference points is sent to the terminal device.

32. The apparatus as claimed in claim 30, characterized in that, The position information of the plurality of satellite reference points is either absolute coordinates or relative coordinates relative to the serving satellite.

33. The apparatus as claimed in claim 28, characterized in that, The positions of the plurality of satellite reference points are located on the motion trajectories of the service satellite and / or other satellites.

34. The apparatus as claimed in claim 33, characterized in that, The information of the multiple satellite reference points is the time point corresponding to the multiple satellite reference points.

35. The apparatus as claimed in claim 34, characterized in that, The multiple time points are either absolute times or relative times.

36. The apparatus according to any one of claims 28-35, characterized in that, The processing unit is further configured to: Before determining the location of the terminal device based on the time information corresponding to the serving satellite and the time information corresponding to the multiple satellite reference points, the time information corresponding to the serving satellite and the time information corresponding to the multiple satellite reference points are corrected based on the time of receiving the uplink reference signal sent by the terminal device.

37. A communication device, characterized in that, It includes a processor and a memory, the memory being used to store program instructions, the processor executing the program instructions causing the method as claimed in any one of claims 1 to 9 to be executed, or the method as claimed in any one of claims 10 to 18 to be executed.

38. A computer-readable storage medium, characterized in that, The computer storage medium stores computer-readable instructions that, when executed on a communication device, cause the method described in any one of claims 1 to 9 to be executed, or the method described in any one of claims 10 to 18 to be executed.

39. A computer program product, characterized in that, When the computer program product is run on the device, it causes the device to perform the method according to any one of claims 1 to 9 or the method according to any one of claims 10 to 18.

40. A communication system, characterized in that, The system includes the apparatus as described in any one of claims 19-27 and the apparatus as described in any one of claims 28-36.

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