Communication method and device

Abstract

The embodiment of the invention provides a communication method and device, relates to the field of communication, and can realize mutual conversion of a coordinate system of a terminal device and a coordinate system of a gyroscope under the condition that reference systems of the coordinate system of the terminal device and the coordinate system of the gyroscope are different. The method comprises the steps that the terminal equipment acquires first information, the first information is motion information of the terminal equipment under a first coordinate system, and a numerical value on a coordinate axis of the first coordinate system represents a rotation angle of the terminal equipment relative to the coordinate axis; the second information is motion information under a second coordinate system, a reference system of the second coordinate system is terminal equipment, the second coordinate system changes along with the motion of the terminal equipment, and the second information is determined according to the rotation angle of the terminal equipment under the first coordinate system and the rotation angle of the second coordinate system; the reference systems of the first coordinate system and the second coordinate system are different.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communications, and in particular, to a communication method and device. Background Art

[0002] In the process of interaction between the base station and the terminal device carrying a gyroscope, the conversion between the coordinate system of the base station, the coordinate system of the terminal device, and the coordinate system of the gyroscope is involved. Among them, the information processed by the base station is the information in the coordinate system of the base station, the information processed by the terminal device is the information in the coordinate system of the terminal device, and the information processed by the gyroscope is the information in the coordinate system of the gyroscope. For example, in the process of the terminal device reporting motion information to the base station, the gyroscope measures the motion information of the terminal device (movement direction and speed change), and at this time the motion information is the information in the coordinate system of the gyroscope; the terminal device needs to convert the motion information to the motion information in the coordinate system of the terminal device and then send it out; after the base station receives the motion information in the coordinate system of the terminal device, it needs to convert the motion information to the coordinate system of the base station, so that the base station can perform corresponding processing according to the motion information.

[0003] At present, in the interaction process between the base station and the terminal device, it is assumed that the reference systems of the above three coordinate systems are the same, and then the three coordinate systems are converted to each other; however, in fact, the reference systems of the above three coordinate systems are not necessarily the same. Summary of the invention

[0004] The embodiments of the present application provide a communication method and apparatus, which can realize mutual conversion between the coordinate system of a terminal device and the coordinate system of a gyroscope when the reference systems of the two coordinate systems are different.

[0005] In the first aspect, a communication method is provided, which can be executed by a terminal device, or by a component of the terminal device, such as a processor, chip, or chip system of the terminal device, or by a logic module or software that can realize all or part of the functions of the terminal device. The method includes: obtaining first information, the first information is the motion information of the terminal device in a first coordinate system, and the numerical value on the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis; sending second information, the second information is the motion information in a second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the movement of the terminal device, and the second information is determined according to the rotation angle of the terminal device in the first coordinate system and the rotation angle of the second coordinate system, and the reference systems of the first coordinate system and the second coordinate system are different.

[0006] Based on this scheme, when the reference systems of the first coordinate system and the second coordinate system are different, the terminal device determines the conversion relationship between the first coordinate system and the second coordinate system (i.e., the first conversion relationship) according to its rotation angle in the first coordinate system and the rotation angle in the second coordinate system. Furthermore, according to the first conversion relationship, the first information in the first coordinate system can be converted to the second coordinate system, and the first information in the second coordinate system (i.e., the second information) can be sent, thereby realizing the conversion of information in the first coordinate system and the second coordinate system when the reference systems of the first coordinate system and the second coordinate system are different. Compared with the scheme assuming that the reference systems of the first coordinate system and the second coordinate system are the same, the accuracy of the second information sent by the terminal device can be improved.

[0007] In one possible design, the rotation angle of the second coordinate system is the difference between the first angle and the second angle, wherein the first angle includes the angles between the arrival direction of the first reference signal and each coordinate axis in the second coordinate system, and the first reference signal is the reference signal after the terminal device is rotated; the second angle includes the angles between the arrival direction of the second reference signal and each coordinate axis in the second coordinate system, and the second reference signal is the reference signal before the terminal device is rotated.

[0008] Based on this possible design, since the arrival angle AOA of the received reference signal is different before and after the terminal device rotates, that is, the angle between the arrival direction of the reference signal and the coordinate axis of the second coordinate system is different before and after the rotation, the difference between the angle (that is, the first angle) between the arrival direction of the reference signal (that is, the first reference signal) after the terminal device is rotated and the coordinate axis of the second coordinate system and the angle (that is, the second angle) between the arrival direction of the reference signal (that is, the second reference signal) before the rotation and the coordinate axis of the second coordinate system can be determined as the rotation angle of the second coordinate system, thereby providing a basis for determining the second information.

[0009] In one possible design, the first reference signal is a reference signal from the first network device after the terminal device rotates; the second reference signal is a reference signal from the first network device before the terminal device rotates.

[0010] Based on this possible design, the terminal device can determine the first angle and the second angle by measuring the AOA of the reference signals (i.e., the first reference signal and the second reference signal) received from the first network device before and after its rotation, thereby determining the rotation angle of the second coordinate system, providing a basis for determining the second information.

[0011] In one possible design, the first reference signal is a reference signal sent by the terminal device to the first network device after the terminal device rotates; the second reference signal is a reference signal sent by the terminal device to the first network device before the terminal device rotates.

[0012] Based on this possible design, the first network device can determine the first angle and the second angle by measuring the AOA of the reference signals (i.e., the first reference signal and the second reference signal) received from the terminal device before and after the terminal device rotates. Since the accuracy of the AOA measured by the first network device is greater than the accuracy of the AOA measured by the terminal device, the accuracy of the first angle and the second angle is improved relative to the first angle and the second angle determined by the terminal device, thereby improving the accuracy of the rotation angle of the second coordinate system determined according to the first angle and the second angle.

[0013] In one possible design, the communication method also includes: receiving third information, where the third information indicates resources used to carry the first reference signal and / or the second reference signal.

[0014] In one possible design, the communication method also includes: receiving fourth information, where the fourth information is used to query whether the first coordinate system has changed.

[0015] In a possible design, when the first coordinate system changes, the second information is determined based on the rotation angle of the terminal device in the changed first coordinate system and the rotation angle of the second coordinate system.

[0016] Based on this possible design, before converting the first information into the second information, the terminal device first determines whether the first coordinate system has changed, and then determines whether the first conversion relationship stored therein needs to be updated. When the first coordinate system has changed, that is, when the first conversion relationship needs to be updated, the terminal device can convert the first information into the second information according to the updated first conversion relationship, thereby improving the accuracy of the motion information of the terminal device known by the first network device.

[0017] In a second aspect, a communication method is provided, which can be executed by a first network device, or by a component of the first network device, such as a processor, a chip, or a chip system of the first network device, or by a logic module or software that can realize all or part of the functions of the first network device. The method includes: receiving second information, the second information is the motion information of the terminal device in a second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the motion of the terminal device, and the second coordinate system is determined based on a reference signal transmitted in at least two reference directions; determining fifth information based on the second information and the second conversion relationship, the fifth information is the motion information in the third coordinate system, the second conversion relationship is the conversion relationship between the second coordinate system and the third coordinate system, and the reference system of the second coordinate system is different from that of the third coordinate system.

[0018] Based on this scheme, when the reference systems of the second coordinate system and the third coordinate system are different, the first network device determines the second coordinate system based on the reference signal transmitted in at least two reference directions, and then determines the conversion relationship between the second coordinate system and the third coordinate system (i.e., the second conversion relationship), so that the second information in the second coordinate system can be converted to the third coordinate system according to the second conversion relationship, thereby realizing the conversion of information in the second coordinate system and the third coordinate system when the reference systems of the second coordinate system and the third coordinate system are different. Compared with the scheme assuming that the reference systems of the second coordinate system and the third coordinate system are the same, the accuracy of the fifth information determined by the first network device can be improved.

[0019] In a third aspect, a communication method is provided, which can be executed by a first network device, or by a component of the first network device, such as a processor, a chip, or a chip system of the first network device, or by a logic module or software that can realize all or part of the functions of the first network device. The method includes: determining sixth information, the sixth information is used to assist the movement of the terminal device, or to align the beam of the terminal device with the first network device, and the sixth information is information in a third coordinate system; determining seventh information according to the sixth information and the second conversion relationship, the seventh information is information in a second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the movement of the terminal device, the second coordinate system is determined according to a reference signal transmitted in at least two reference directions, the second conversion relationship is a conversion relationship between the second coordinate system and the third coordinate system, and the second coordinate system is different from the reference system of the third coordinate system; sending the seventh information.

[0020] Based on this scheme, when the reference systems of the second coordinate system and the third coordinate system are different, the first network device determines the second coordinate system based on the reference signal transmitted in at least two reference directions, and then determines the conversion relationship between the second coordinate system and the third coordinate system (i.e., the second conversion relationship), so that the sixth information in the third coordinate system can be converted to the second coordinate system according to the second conversion relationship, thereby realizing the conversion of information in the second coordinate system and the third coordinate system when the reference systems of the second coordinate system and the third coordinate system are different. Compared with the scheme assuming that the reference systems of the second coordinate system and the third coordinate system are the same, the accuracy of the seventh information sent by the first network device can be improved.

[0021] In combination with the second aspect and the third aspect, in a possible design, the communication method also includes: determining the angle between each reference direction of at least two reference directions and each coordinate axis in the second coordinate system; determining the second coordinate system based on the angle between each reference direction and each coordinate axis in the second coordinate system.

[0022] Based on this possible design, since the angles between different reference directions and the coordinate axes of the second coordinate system are different, and in three-dimensional space, a unique coordinate axis can be determined based on the angles between two different reference directions and a coordinate axis, the second coordinate system can be determined based on the angles between at least two reference directions and each coordinate axis of the second coordinate system, thereby providing a basis for determining the second transformation relationship.

[0023] In combination with the second aspect and the third aspect, in a possible design, at least two reference directions include signal transmission directions between at least two network devices and the terminal device respectively, and the network devices include a first network device and a second network device.

[0024] Based on this possible design, by introducing the first network device and the second network device, the second coordinate system is determined by the signal transmission direction between different network devices and the terminal device. Since the accuracy of the AOA measured by the network device is higher than the accuracy of the AOA measured by the terminal device, the accuracy of the determined second coordinate system is improved, thereby improving the accuracy of the second conversion relationship determined according to the second coordinate system.

[0025] In combination with the second aspect and the third aspect, in a possible design, the at least two reference directions include signal transmission directions on at least two transmission paths between the first network device and the terminal device.

[0026] In combination with the second aspect and the third aspect, in a possible design, the at least two transmission paths include transmission paths between the terminal devices at different locations and the first network device respectively.

[0027] Based on this possible design, the second coordinate system is determined by the signal transmission direction on different transmission paths between the first network device and the terminal device. The second coordinate system can be determined only by the interaction between the first network device and the terminal device without the aid of other devices, thus saving costs.

[0028] In combination with the second aspect and the third aspect, in one possible design, the signal transmission direction includes a transmission direction of a reference signal from the terminal device and a transmission direction of a reference signal sent by the first network device or the second network device to the terminal device.

[0029] Based on this possible implementation, by introducing the first network device and the second network device, the second coordinate system is determined through the signal transmission direction between different network devices and the terminal device. Since the accuracy of the AOA measured by the network device is higher than the accuracy of the AOA measured by the terminal device, the accuracy of the determined second coordinate system is improved, thereby improving the accuracy of the second conversion relationship determined according to the second coordinate system.

[0030] In addition, the terminal device can determine the second coordinate system by interacting with the first network device and the second network device once respectively. Compared with the method of determining the second coordinate system only by measuring the AOA of the reference signal, the signaling overhead is reduced.

[0031] In combination with the second aspect and the third aspect, in one possible design, the signal transmission direction includes a transmission direction of a reference signal from the terminal device.

[0032] Based on this possible design, since the accuracy of the AOA measured by the network device is higher than that of the AOA measured by the terminal device, the accuracy of the determined second coordinate system is improved, thereby improving the accuracy of the second conversion relationship determined according to the second coordinate system.

[0033] In combination with the second aspect and the third aspect, in a possible design, the communication method also includes: receiving a first conversion relationship, the first conversion relationship is a conversion relationship between a first coordinate system and a second coordinate system, the numerical value on the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis, and the reference systems of the first coordinate system, the second coordinate system and the third coordinate system are different from each other.

[0034] In combination with the second aspect and the third aspect, in a possible design, the communication method also includes: sending third information, where the third information indicates resources used to carry reference signals.

[0035] In combination with the second aspect and the third aspect, in a possible design, the communication method further includes: sending fourth information, where the fourth information is used to query whether the first coordinate system has changed.

[0036] Based on this possible design, before converting the first information into the second information, the terminal device first determines whether the first coordinate system has changed, and then determines whether the first conversion relationship stored therein needs to be updated. When the first coordinate system has changed, that is, when the first conversion relationship needs to be updated, the first network device can convert the first information into the second information according to the updated first conversion relationship, thereby improving the accuracy of the determined second information.

[0037] In a fourth aspect, a communication device is provided for implementing various methods. The communication device may be a terminal device in the first aspect, or a device included in the terminal device, such as a chip or a chip system; or, the communication device may be a first network device in the second aspect or the third aspect, or a device included in the first network device, such as a chip or a chip system; the communication device includes a module, unit, or means corresponding to the implementation method, and the module, unit, or means may be implemented by hardware, software, or by hardware executing the corresponding software implementation. The hardware or software includes one or more modules or units corresponding to the functions.

[0038] In some possible designs, the communication device may include a processing module and a transceiver module. The processing module may be used to implement the processing function in any of the above aspects and any possible implementations thereof. The transceiver module may include a receiving module and a sending module, respectively used to implement the receiving function and the sending function in any of the above aspects and any possible implementations thereof.

[0039] In some possible designs, the transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0040] In a fifth aspect, a communication device is provided, comprising: a processor and a memory; the memory is used to store computer instructions, and when the processor executes the instructions, the communication device executes the method described in any aspect. The communication device can be the terminal device in the first aspect, or a device included in the terminal device, such as a chip or a chip system; or the communication device can be the first network device in the second or third aspect, or a device included in the first network device, such as a chip or a chip system.

[0041] In a sixth aspect, a communication device is provided, comprising: a processor and a communication interface; the communication interface is used to communicate with a module outside the communication device; the processor is used to execute a computer program or instruction so that the communication device executes the method described in any aspect. The communication device can be the terminal device in the first aspect, or a device included in the terminal device, such as a chip or a chip system; or the communication device can be the first network device in the second or third aspect, or a device included in the first network device, such as a chip or a chip system.

[0042] In a seventh aspect, a communication device is provided, comprising: at least one processor; the processor is used to execute a computer program or instruction stored in a memory so that the communication device performs the method described in any aspect. The memory may be coupled to the processor, or may be independent of the processor. The communication device may be the terminal device in the first aspect, or a device included in the terminal device, such as a chip or a chip system; or the communication device may be the first network device in the second or third aspect, or a device included in the first network device, such as a chip or a chip system.

[0043] In some possible designs, the communication device includes a memory for storing necessary program instructions and data.

[0044] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0045] It can be understood that when the communication device provided in any one of the fourth to seventh aspects is a chip, the sending action / function of the communication device can be understood as output information, and the receiving action / function of the communication device can be understood as input information.

[0046] In an eighth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored, and when the computer-readable storage medium is run on a communication device, the communication device can execute the method described in any one of the aspects.

[0047] In a ninth aspect, a computer program product comprising instructions is provided, which, when executed on a communication device, enables the communication device to execute the method described in any one of the aspects.

[0048] In the tenth aspect, a chip is provided, comprising: a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the chip executes the method described in any one of the aspects.

[0049] In the eleventh aspect, a system is provided, comprising: a terminal device or an apparatus contained in the terminal device provided in any one of the fourth to seventh aspects, and a first network device or an apparatus contained in the first network device provided in any one of the fourth to seventh aspects.

[0050] Among them, the technical effects brought about by any design method in the fourth to eleventh aspects can refer to the technical effects brought about by different design methods in the first, second or third aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of the architecture of a mobile communication system applied in an embodiment of the present application;

[0052] Figure 2 A flow chart of a communication method provided by the present application;

[0053] Figure 3 A schematic diagram of the rotation angle of a coordinate system provided in this application;

[0054] Figure 4 A schematic diagram of a flow chart of a method for determining a rotation angle of a second coordinate system provided in the present application;

[0055] Figure 5 A schematic diagram of the rotation angle of another coordinate system provided in the present application;

[0056] Figure 6 A schematic flow chart of another method for determining the rotation angle of a second coordinate system provided by the present application;

[0057] Figure 7 A schematic flow chart of another method for determining the rotation angle of a second coordinate system provided by the present application;

[0058] Figure 8 A schematic flow chart of another method for determining the rotation angle of a second coordinate system provided by the present application;

[0059] Fig. 9 A flowchart of another communication method provided by the present application;

[0060] Fig.10 A flowchart of another communication method provided by the present application;

[0061] Fig.11 A schematic diagram of a method for determining a second coordinate system provided in the present application;

[0062] Fig.12 A schematic diagram of another method for determining a second coordinate system provided by the present application;

[0063] Fig.13 A schematic diagram of a flow chart of a method for determining a second coordinate system provided in the present application;

[0064] Fig.14 A schematic diagram of another method for determining a second coordinate system provided by the present application;

[0065] Fig.15 A schematic diagram of a flow chart of another method for determining a second coordinate system provided in the present application;

[0066] Fig.16 A schematic diagram of another method for determining a second coordinate system provided by the present application;

[0067] Fig.17 A schematic diagram of a flow chart of another method for determining a second coordinate system provided in the present application;

[0068] Fig.18 A schematic diagram of another method for determining a second coordinate system provided by the present application;

[0069] Fig.19 A schematic diagram of a flow chart of another method for determining a second coordinate system provided in the present application;

[0070] Fig. 20 A flowchart of another communication method provided by the present application;

[0071] Fig.21 A schematic diagram of the structure of a communication device provided by the present application;

[0072] Fig. 22 A schematic diagram of the structure of another communication device provided by the present application;

[0073] Fig.23 A schematic diagram of the structure of another communication device provided in the present application. DETAILED DESCRIPTION

[0074] In the description of this application, unless otherwise specified, " / " indicates that the objects associated with each other are in an "or" relationship, for example, A / B can represent A or B; "and / or" in this application is merely a description of the association relationship between associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0075] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0076] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0077] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0078] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0079] It can be understood that in the present application, "when" and "if" both mean that corresponding processing will be carried out under certain objective circumstances, and do not limit the time, nor do they require any judgment action when implementing, nor do they mean the existence of other limitations.

[0080] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0081] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments in this application, and the various implementation methods / implementation methods / implementation methods in each embodiment, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The implementation methods of this application described below do not constitute a limitation on the scope of protection of this application.

[0082] In order to facilitate understanding of the technical solutions of the embodiments of the present application, a brief introduction to the related technologies of the present application is first given as follows.

[0083] 1. Angle of arrival (AOA) and angle of departure (AOD) of the signal:

[0084] AOA refers to the angle between the incoming direction of the signal and the receiving end of the signal; AOD refers to the angle between the transmitting direction of the signal and the transmitting end.

[0085] Exemplarily, the angle between the incoming direction of the signal and the receiving end of the signal may refer to the angle between the incoming direction of the signal and the coordinate axis of the coordinate system of the receiving end; the angle between the transmitting direction of the signal and the transmitting end may refer to the angle between the transmitting direction of the signal and the coordinate axis of the coordinate system of the transmitting end.

[0086] Optionally, in two reference signals transmitted in opposite signal transmission directions on the same transmission path, the AOA of one reference signal is the AOD of the other reference signal. Optionally, the transmitting end may be a base station, and correspondingly, the receiving end may be a terminal device; or, the transmitting end may be a terminal device, and correspondingly, the receiving end may be a base station.

[0087] For example, the base station can measure AOA and AOD; the terminal device can measure AOA. In addition, the measurement accuracy of the base station is higher than that of the terminal device.

[0088] Optionally, taking the interaction between a base station and a terminal device as an example, before and after the terminal device rotates, the AOA of the signal is different, but the AOD of the signal is the same.

[0089] 2. Rotation matrix:

[0090] A rotation matrix is ​​a matrix that, when multiplied by a vector, changes the direction of the vector without changing its magnitude. A rotation matrix is ​​used to transform between two coordinate systems that can be made coincident by rotation. A rotation matrix is ​​a symmetric matrix, that is, the inverse of a rotation matrix is ​​the same as its transposed matrix.

[0091] 3. Reference coordinate system:

[0092] A reference system is also called a reference object. A reference system is another object selected as a standard to determine the position of an object and describe the movement of the object. The coordinate system established on the reference system is called a reference coordinate system.

[0093] 4. Gyroscope reference coordinate system:

[0094] The gyroscope is a posture sensor used to feedback the position and posture of the terminal device (such as displacement, rotation angle, etc.). The coordinate system established on the gyroscope is called the gyroscope reference coordinate system. That is, the reference system of the gyroscope reference coordinate system is the gyroscope.

[0095] The gyroscope reference coordinate system is generally a Cartesian coordinate system. The three coordinate axes XYZ of the gyroscope reference coordinate system are the yaw axis, the pitch axis, and the roll axis. Among them, the rotation angle of the terminal device includes the rotation angle of the terminal device relative to each coordinate axis of the gyroscope reference coordinate system. For example, the rotation angle of the terminal device is 30° for the yaw axis, 25° for the pitch axis, and 40° for the roll axis, which means that the terminal device rotates 30° relative to the yaw axis, 25° relative to the pitch axis, and 40° relative to the roll axis.

[0096] 5. Local coordinate system (LCS):

[0097] The local coordinate system is a coordinate system established with the terminal device itself as the reference system. The three coordinate axes of the local coordinate system are longitude, latitude, and elevation. The local coordinate system is used to feedback the position of objects around the terminal relative to the terminal. For example, the coordinates of an object in the local coordinate system are longitude: 30° east longitude, latitude: 42° south latitude, and elevation: -20 meters, which means that the object is in the direction of 30° east longitude and 42° south latitude relative to the terminal device, and is 20 meters lower than the terminal device.

[0098] The coordinate axes and origin of the local coordinate system change with the movement of the terminal, but relative to the terminal device itself, the coordinate axes and origin of the local coordinate system remain unchanged.

[0099] 6. Global coordinate system (GCS):

[0100] The global coordinate system is a coordinate system established with the earth as the reference system. The global coordinate system can also be called the geodetic coordinate system. The three coordinate axes of the global coordinate system are longitude, latitude, and elevation. The global coordinate system is used to feedback the geographical location of an object. For example, the coordinates of an object in the local coordinate system are longitude: 45° east longitude, latitude: 25° south latitude, and elevation: 20 meters, which means that the geographical location of the object is 45° east longitude, 25° south latitude, and 20 meters high.

[0101] 7. Angle between the transmission path and the coordinate system:

[0102] As an example, the angle between the transmission path and the coordinate system is determined according to the AOA and AOD of the signal transmitted on the transmission path.

[0103] Exemplarily, taking the transmission path as the transmission path between the base station and the terminal, the base station adopts the global coordinate system, the terminal adopts the local coordinate system, and the base station coordinate system is of the same type as the terminal coordinate system (for example, the base station coordinate system and the terminal device coordinate system are both rectangular coordinate systems), the base station determines the direction of the terminal device relative to the base station through the AOA of the signal, that is, the direction of the terminal device relative to the base station in the base station coordinate system is determined according to the AOA of the signal, that is, the transmission direction of the transmission path is determined. The base station determines the direction of the base station relative to the terminal device through the AOD of the signal, that is, the direction of the base station relative to the terminal device in the coordinate system of the terminal device. Since the coordinate system of the base station is of the same type as the coordinate system of the terminal device, the coordinate system of the terminal device can coincide with the coordinate system of the base station after operations such as movement and rotation; therefore, the base station first determines the transmission direction of the transmission path according to the AOA of the signal; and then determines the direction of the base station relative to the terminal device in the coordinate system of the terminal device according to the AOD of the signal, that is, the rotation angle of the coordinate axis of the coordinate system of the terminal device relative to the coordinate system of the base station, that is, the angle between the transmission path and the coordinate system.

[0104] As another example, the angle between the transmission path and the coordinate system is determined based on the AOA of a signal in the opposite direction of signal transmission on the transmission path.

[0105] Exemplarily, since the AOA of one reference signal is the AOD of the other reference signal in two reference signals with opposite signal transmission directions transmitted on the same transmission path, the process of determining the angle between the transmission path and the coordinate system according to the AOA of the signals with opposite signal transmission directions on the transmission path can refer to the above description of determining the angle between the transmission path and the coordinate system according to the AOA and AOD of the signals transmitted on the transmission path, and the embodiments of the present application will not be repeated here.

[0106] 8. Interaction between the base station and the terminal carrying the gyroscope:

[0107] During the interaction between the base station and the terminal carrying a gyroscope, the terminal device can report the current motion information of the terminal device (i.e., the position and posture of the terminal device, such as displacement, rotation angle, etc.) to the base station, or the base station can send corresponding information to the terminal device (for example, motion information or beam information used for beam alignment between the base station and the terminal device).

[0108] Exemplarily, the process of the terminal device reporting the current motion information of the terminal device to the base station may include: a gyroscope measures the rotation angle of the terminal device, wherein the rotation angle is information in the coordinate system of the gyroscope; the terminal device converts the rotation angle to the coordinate system of the terminal device, and the converted rotation angle is the current motion information of the terminal device, and the terminal device sends the current motion information of the terminal device to the base station. After receiving the current motion information of the terminal device from the terminal device, the base station converts the current motion information of the terminal device to the coordinate system of the base station, and then performs corresponding processing.

[0109] Taking the example of the base station sending motion information to the terminal device, the base station sends the motion information to the terminal, and the process in which the terminal performs corresponding motion according to the motion information sent by the base station may include: the base station determines the initial motion information, and the initial motion information is the information in the coordinate system of the base station. The base station converts the initial motion information to the coordinate system of the terminal device, and the initial motion information converted to the coordinate system of the terminal device is the motion information. The base station sends the motion information to the terminal device, so that the terminal device can perform corresponding motion according to the motion information sent by the base station.

[0110] In addition, as a global coordinator, the base station needs to know the conversion relationship between the gyroscope's coordinate system and the terminal's coordinate system, so as to assist the base station in performing corresponding processing.

[0111] At present, the interaction process between the base station and the terminal carrying the gyroscope assumes that the coordinate system of the gyroscope, the coordinate system of the terminal, and the coordinate system of the base station are in the same reference system, that is, the reference systems of the above three coordinate systems are the same.

[0112] However, in reality, the coordinate system of the gyroscope, the coordinate system of the terminal, and the coordinate system of the base station are not necessarily in the same reference system, that is, the reference systems of the above three coordinate systems are not necessarily the same. For example, the reference system of the gyroscope's coordinate system is the gyroscope, the reference system of the terminal's coordinate system is the terminal, and the reference system of the base station's coordinate system is the base station.

[0113] In view of this, an embodiment of the present application provides a communication method. When the reference systems of the first coordinate system and the second coordinate system are different, the terminal device can convert the first information into the second information and output it, thereby realizing the interaction between the base station and the terminal device.

[0114] The technical solution provided in the present application can be used for various communication systems, which communication systems can be fourth generation (4G) long term evolution (LTE) systems, evolved LTE systems (LTE-Advanced, LTE-A) systems, fifth generation (5G) new radio (NR) systems, vehicle to everything (V2X) systems, LTE and NR hybrid networking systems, or device to device (D2D) systems, machine to machine (M2M) communication systems, Internet of Things (IoT), non-terrestrial networks (NTN), cellular mobile communication systems, non-terrestrial communication NTN, satellite communication systems, high altitude platform station (HAPS) communication systems, integrated access and backhaul (IAB) communication systems, reconfigurable intelligent surface (RIS) communication systems, and other next generation communication systems, such as the sixth generation (6th generation, 6G) communication system, etc. Alternatively, the communication system may also be a non-3GPP communication system without limitation.

[0115] See also Figure 1 , is a communication system applied in an embodiment of the present application. The communication system includes a terminal device carrying a gyroscope and a first network device. The terminal device and the first network device can communicate with each other.

[0116] Optionally, since the gyroscope, the terminal device, and the first network device can only process information in the coordinate system corresponding to themselves, the gyroscope, the terminal device, and the first network device need to convert the information in the coordinate system not corresponding to themselves into the coordinate system corresponding to themselves before processing it accordingly. In other words, the communication between the terminal device and the first network device is implemented based on the coordinate systems corresponding to the gyroscope, the terminal device, and the first network device, respectively. Among them, the value on the coordinate axis of the coordinate system of the gyroscope represents the rotation angle of the terminal device relative to the coordinate axis.

[0117] Exemplarily, the coordinate system of the gyroscope can be called the first coordinate system, that is, the values ​​on the coordinate axes of the first coordinate system represent the rotation angle of the terminal device relative to the coordinate axes; the coordinate system of the terminal device can be called the second coordinate system; the coordinate system of the first network device can be called the third coordinate system.

[0118] Optionally, the reference systems of the first coordinate system, the second coordinate system, and / or the third coordinate system are different.

[0119] For example, taking the example that the reference systems of the first coordinate system, the second coordinate system, and the third coordinate system are all different, the reference system of the first coordinate system may be a gyroscope, in which case the first coordinate system may be a gyroscope reference coordinate system; the reference system of the second coordinate system may be a terminal device, that is, the second coordinate system changes with the movement of the terminal device, in which case the second coordinate system may be a local coordinate system based on the terminal device; the reference system of the third coordinate system may be a first network device, in which case the third coordinate system may be a global coordinate system based on the first network device.

[0120] Exemplarily, the gyroscope reference coordinate system, local coordinate system, and global coordinate system are the same as the above-mentioned gyroscope reference coordinate system, local coordinate system, and global coordinate system. For details, please refer to the relevant descriptions of the above-mentioned gyroscope reference coordinate system, local coordinate system, and global coordinate system, and the embodiments of the present application will not be repeated here.

[0121] Optionally, the communication between the terminal device and the first network device may include the terminal device reporting movement information of the terminal device to the first network device, or may also include the first network device sending information to the terminal device.

[0122] Exemplarily, when a terminal device reports motion information of the terminal device to a first network device, the first network device can determine channel matrix information between the terminal device and the first network device based on the motion information reported by the terminal device and environmental information perceived by the first network device; or, the first network device can adjust its own beam direction based on the motion information reported by the terminal device, thereby reducing the signaling overhead of the beam alignment process.

[0123] When the first network device sends motion information to the terminal device, the terminal device performs corresponding motion according to the motion information sent by the first network device. At this time, the motion information can be called navigation information, and the motion information is used to navigate the terminal device. Alternatively, when the first network device sends beam motion information to the terminal device, the terminal device adjusts its own posture according to the beam information sent by the first network device, so that the alignment time between the first network device and the terminal device can be reduced, and the signaling overhead of the beam alignment process can be reduced.

[0124] Optionally, in the embodiments of the present application, "communication" can also be described as "data transmission" or "information transmission" or "transmission" or "communication perception integration" or "radar communication integration", and the present application does not impose any restrictions.

[0125] Optionally, the network device in the embodiment of the present application is a device that connects a terminal device to a wireless network. The network device may be a node in a wireless access network, which may also be referred to as a base station or a radio access network (RAN) node.

[0126] For example, the network device may include an evolved NodeB (eNB or e-NodeB) in an LTE system or an LTE-A system, such as a traditional macro eNB and a micro eNB in ​​a heterogeneous network scenario. Alternatively, it may include a next generation node B (gNB) in an NR system. Alternatively, it may include a transmission reception point (TRP), a home base station (e.g., home evolved NodeB, or home Node B, HNB), a base band unit (BBU), a base band pool (BBU pool), or a wireless fidelity (WiFi) access point (AP), etc. Alternatively, it may include a base station in an NTN, that is, it may be deployed on a high altitude platform or a satellite. In the NTN, the network device may serve as a layer 1 (L1) relay, or as a base station, or as a DU, or as an IAB node. Alternatively, the network device may be a device that implements a base station function in IoT, such as a device that implements a base station function in V2X, D2D, or machine to machine (M2M), but the embodiments of the present application are not limited thereto.

[0127] Optionally, the base station in the embodiments of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, home base stations, TRPs, transmitting points (TP), mobile switching centers, etc., and the embodiments of the present application do not specifically limit this.

[0128] Optionally, the terminal device may refer to a user-side device with wireless transceiver functions, which can send signals to network devices or receive signals from network devices. The terminal device may also be referred to as user equipment (UE), terminal, access terminal, user unit, user station, mobile station (MS), remote station, remote terminal, mobile terminal (MT), user terminal, wireless communication device, user agent or user device, etc. The terminal can be widely used in various scenarios, for example, it can be a wireless terminal in IoT, D2D, M2M, machine type communication (MTC), 5G network, or public land mobile network (PLMN) in the future. The terminal device can be deployed in the air (such as on airplanes, balloons and satellites, etc.).

[0129] Exemplarily, the terminal device may be a drone, a helicopter, a robotic arm, an IoT device (e.g., a sensor, an electric meter, a water meter, etc.), a V2X device, a station (ST) in a wireless local area network (WLAN), a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA) device, a handheld device with a wireless communication function, a computing device or other processing device connected to a wireless modem, a wearable device (also referred to as a wearable smart device), a tablet computer or a computer with a wireless transceiver function, a virtual reality (VR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a smart home control, or a wireless terminal in a smart city. The invention relates to wireless devices in the communication system (SCS), wireless devices in smart office automation (OA), drones with unmanned aerial vehicle (UAV) (hereinafter referred to as drones) to UAV (UAV to UAV, U2U) communication capabilities, etc.

[0130] In the embodiments of the present application, the functions of the network device may also be performed by a module (such as a chip) in the network device, or may also be performed by a control subsystem including the network device function. Among them, the control subsystem including the network device function may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, smart city, etc. The functions of the terminal device may also be performed by a module (such as a chip or a modem) in the terminal device, or may also be performed by a device including the terminal device function.

[0131] It should be noted that the communication system described in the embodiment of the present application is for the purpose of more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0132] Below in conjunction with accompanying drawing, the communication method that embodiment of the present application provides is described.It is understandable that, in embodiment of the present application, network equipment or terminal equipment can perform part or all of the steps in embodiment of the present application, and these steps or operations are only examples, and embodiment of the present application can also perform other operations or the deformation of various operations.In addition, each step can be performed in the different order presented in embodiment of the present application, and it is possible not to perform all the operations in embodiment of the present application.

[0133] See also Figure 2 , is a communication method provided by the present application, and the communication method may include the following steps:

[0134] S201. The terminal device obtains first information, where the first information is movement information of the terminal device in a first coordinate system, and the numerical value on the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis.

[0135] Optionally, the terminal device acquiring the first information includes: a gyroscope carried by the terminal device measures the motion information of the terminal device to obtain the first information. In this case, the first information includes the rotation angle of the terminal device relative to each coordinate axis of the first coordinate system.

[0136] Exemplarily, the motion information includes a rotation angle. In addition, the first coordinate system in step S201 can refer to the related description of the first coordinate system mentioned above, and the embodiment of the present application will not be repeated here.

[0137] S202, the terminal device sends second information to the first network device. Correspondingly, the first network device receives the second information from the terminal device. The second information is motion information in a second coordinate system, and the second information is determined according to a rotation angle of the terminal device in the first coordinate system and a rotation angle of the second coordinate system, and the reference systems of the first coordinate system and the second coordinate system are different.

[0138] Optionally, the terminal device sends the second information to the first network device, including: the terminal device converts the first information into the second information; the terminal device sends the second information to the first network device.

[0139] It should be understood that since the first information is the motion information in the first coordinate system, and the second information is the motion information in the second coordinate system; therefore, the conversion of the first information into the second information can be understood as the conversion of the motion information in the first coordinate system into the motion information in the second coordinate system. In other words, the terminal device converts the first information into the second information according to the conversion relationship between the first coordinate system and the second coordinate system. For the convenience of description, the conversion relationship between the first coordinate system and the second coordinate system is referred to as the first conversion relationship below.

[0140] The communication method provided in the embodiment of the present application, when the reference systems of the first coordinate system and the second coordinate system are different, the terminal device converts the first information in the first coordinate system to the second coordinate system based on the conversion relationship between the first coordinate system and the second coordinate system (i.e., the first conversion relationship) determined by its rotation angle in the first coordinate system and the rotation angle in the second coordinate system, and sends the first information in the second coordinate system (i.e., the second information), thereby realizing the conversion of information in the first coordinate system and the second coordinate system when the reference systems of the first coordinate system and the second coordinate system are different. Compared with the scheme assuming that the reference systems of the first coordinate system and the second coordinate system are the same, the accuracy of the second information sent by the terminal device can be improved.

[0141] The above is an overall description of the communication method provided in the embodiment of the present application. The following is a detailed introduction to the first conversion relationship involved in the above embodiment.

[0142] Optionally, before the terminal device converts the first information into the second information, the communication method may further include: the terminal device determines and stores the first conversion relationship.

[0143] It should be understood that since the second information is determined based on the rotation angle of the terminal device in the first coordinate system and the rotation angle of the second coordinate system, that is, the terminal device converts the first information into the second information based on the rotation angle of the terminal device in the first coordinate system and the rotation angle of the second coordinate system. Therefore, the first conversion relationship is determined based on the rotation angle of the terminal device in the first coordinate system and the rotation angle of the second coordinate system.

[0144] In addition, since the reference system of the second coordinate system is the terminal device, and the second coordinate system changes with the movement of the terminal device; therefore, the rotation angle of the second coordinate system is the rotation angle of the terminal device.

[0145] It should be noted that the rotation angle mentioned in the embodiment of the present application is the rotation angle of the terminal device after rotation relative to the rotation before rotation. Among them, after the terminal device rotates can be understood as: after the terminal device rotates this time; before the terminal device rotates can be understood as: before the terminal device rotates for the first time.

[0146] Optionally, the rotation angle of the terminal device in the first coordinate system can be measured by a gyroscope. Exemplarily, the terminal device can measure the rotation angle of the terminal device after rotation by a gyroscope, and use it as the rotation angle of the terminal device in the first coordinate system.

[0147] Optionally, the rotation angle of the second coordinate system is the difference between the first angle and the second angle; wherein the first angle includes the angles between the arrival direction of the first reference signal and each coordinate axis in the second coordinate system, and the first reference signal is the reference signal after the terminal device is rotated; the second angle includes the angles between the arrival direction of the second reference signal and each coordinate axis in the second coordinate system, and the second reference signal is the reference signal before the terminal device is rotated.

[0148] It should be understood that the angle between the wave direction of the first reference signal and each coordinate axis in the second coordinate system can also be called the AOA of the first reference signal, that is, the first angle includes the AOA of the first reference signal. The angle between the wave direction of the second reference signal and each coordinate axis in the second coordinate system can also be called the AOA of the second reference signal, that is, the first angle includes the AOA of the second reference signal.

[0149] Based on this optional scheme, since the AOA of the received reference signal is different before and after the terminal device rotates, that is, the angles between the arrival direction of the reference signal and the coordinate axis of the second coordinate system are different before and after the rotation, the difference between the angle (that is, the first angle) between the arrival direction of the reference signal (that is, the first reference signal) after the terminal device is rotated and the coordinate axis of the second coordinate system and the angle (that is, the second angle) between the arrival direction of the reference signal (that is, the second reference signal) before the rotation and the coordinate axis of the second coordinate system can be determined as the rotation angle of the second coordinate system, thereby providing a basis for determining the first conversion relationship.

[0150] Exemplarily, the terminal device may determine the rotation angle of the second coordinate system based on the following two scenarios. For the convenience of description, the following is an example in which both the first coordinate system and the second coordinate system include three coordinate axes (such as an X-axis, a Y-axis, and a Z-axis):

[0151] Scenario 1: Both the first reference signal and the second reference signal are reference signals from the first network device, wherein the first reference signal is the reference signal from the first network device after the terminal device rotates; the second reference signal is the reference signal from the first network device before the terminal device rotates.

[0152] See also Figure 3 , which is a schematic diagram of a first angle and a second angle provided in an embodiment of the present application.

[0153] For example, Figure 3 As shown, Figure 3(a) in the figure is the direction of the second reference signal and the direction of each coordinate axis of the second coordinate system before the terminal device rotates. Figure 3 In (a), angle 1 is represented as the angle between the direction of arrival of the second reference signal and the X-axis of the second coordinate system, angle 2 is represented as the angle between the direction of arrival of the second reference signal and the Y-axis of the second coordinate system, and angle 3 is represented as the angle between the direction of arrival of the second reference signal and the Z-axis of the second coordinate system. That is, the second angle includes (angle 1, angle 2, angle 3).

[0154] Figure 3 (b) in the figure is the direction of the first reference signal and the directions of the coordinate axes of the second coordinate system after the terminal device rotates. Figure 3 Angle 4 in (b) is represented as the angle between the direction of arrival of the first reference signal and the X axis of the second coordinate system, angle 5 is represented as the angle between the direction of arrival of the first reference signal and the Y axis of the second coordinate system, and angle 6 is represented as the angle between the direction of arrival of the first reference signal and the Z axis of the second coordinate system. That is, the first angle includes (angle 4, angle 5, angle 6).

[0155] Optionally, the terminal device may determine the first angle by measuring the AOA of the first reference signal; the terminal device may determine the second angle by measuring the AOA of the second reference signal, and then the terminal device determines the rotation angle of the second coordinate system according to the first angle and the second angle. Figure 4 As shown, the scheme may include the following steps:

[0156] S401: A first network device sends a second reference signal to a terminal device. Correspondingly, the terminal device receives the second reference signal from the first network device.

[0157] Optionally, the second reference signal is triggered based on the first request instruction. That is, before step S401, the terminal device may send a first request instruction to the first network device to request the second reference signal. The first network device sends the second reference signal to the terminal device according to the instruction of the first request instruction. Alternatively, the first request instruction may indicate the start of a process for determining the first conversion relationship.

[0158] S402: The terminal device determines a second angle by measuring the AOA of a second reference signal.

[0159] S403: The first network device sends a first reference signal to the terminal device. Correspondingly, the terminal device receives the first reference signal from the first network device.

[0160] Optionally, the first reference signal is triggered based on a first request instruction. That is, before step S403, the terminal device may send a first request instruction to the first network device to request the first reference signal. The first network device sends the first reference signal to the terminal device according to the first request instruction.

[0161] Optionally, the first request instruction is triggered based on the rotation angle of the terminal device in the first coordinate system. Exemplarily, after the terminal device rotates, the gyroscope measures and reports the rotation angle of the terminal device in the first coordinate system to the terminal device. After receiving the rotation angle of the terminal device in the first coordinate system from the gyroscope, the terminal device sends the first request instruction to the first network device.

[0162] S404: The terminal device determines a first angle by measuring the AOA of a first reference signal.

[0163] S405. The terminal device determines a rotation angle of the second coordinate system according to the first angle and the second angle.

[0164] For example, taking the first angle as (angle 4, angle 5, angle 6) and the second angle as (angle 1, angle 2, angle 3), the rotation angles of the second coordinate system (angle 7, angle 8, angle 9) satisfy the following relationship (1):

[0165] (angle 7, angle 8, angle 9) = (angle 4, angle 5, angle 6) - (angle 1, angle 2, angle 3) (1)

[0166] Among them, Angle 7 is the rotation angle of the X axis in the second coordinate system, and Angle 7 is the difference between Angle 4 and Angle 1; Angle 8 is the rotation angle of the Y axis in the second coordinate system, and Angle 8 is the difference between Angle 5 and Angle 2; Angle 9 is the rotation angle of the Z axis in the second coordinate system, and Angle 9 is the difference between Angle 6 and Angle 3.

[0167] Based on scenario one, the terminal device can determine the first angle and the second angle by measuring the AOA of the reference signals (i.e., the first reference signal and the second reference signal) received from the first network device before and after its rotation, thereby determining the rotation angle of the second coordinate system, providing a basis for determining the first conversion relationship.

[0168] Scenario 2: Both the first reference signal and the second reference signal are reference signals sent by the terminal device to the first network device, wherein the first reference signal is the reference signal sent by the terminal device to the first network device after the terminal device rotates; and the second reference signal is the reference signal sent by the terminal device to the first network device before the terminal device rotates.

[0169] Optionally, the first network device may determine the first angle by measuring the AOA of the first reference signal; the first network device may determine the second angle by measuring the AOA of the second reference signal, and then the terminal device determines the rotation angle of the second coordinate system based on the first angle and the second angle.

[0170] See also Figure 5 , which is a schematic diagram of another first angle and a second angle provided in an embodiment of the present application.

[0171] For example, Figure 5 As shown, Figure 5 (a) in the figure is the direction of the second reference signal and the direction of each coordinate axis of the second coordinate system before the terminal device rotates. Figure 5 The angles 1, 2, and 3 shown in (a) are the same as those mentioned above. Figure 3 The angles 1, 2, and 3 shown in (a) are similar. For details, please refer to the above Figure 3 The relevant descriptions of angle 1, angle 2, and angle 3 shown in (a) will not be repeated in this embodiment of the present application.

[0172] Figure 5 (b) in the figure is the direction of the first reference signal and the direction of each coordinate axis of the second coordinate system after the terminal device rotates. Figure 5 The angles 4, 5, and 6 shown in (b) are the same as those mentioned above. Figure 3 The angles 4, 5 and 6 shown in (b) are similar. For details, please refer to the above Figure 3 The relevant descriptions of angle 4, angle 5, and angle 6 shown in (b) will not be repeated in this embodiment of the present application.

[0173] As an example, the first angle and the second angle are determined by the first network device and notified to the terminal device, and the terminal device determines the rotation angle of the second coordinate system according to the first angle and the second angle.

[0174] Optional, such as Figure 6 As shown, the scheme may include the following steps:

[0175] S601: A terminal device sends a second reference signal to a first network device. Correspondingly, the first network device receives the second reference signal from the terminal device.

[0176] Exemplarily, the second reference signal is the same as the second reference signal in the above step S401. For details, please refer to the relevant description in the above step S401, and the embodiment of the present application will not be repeated here.

[0177] S602: The first network device determines a second angle by measuring the AOA of a second reference signal.

[0178] S603: The terminal device sends a first reference signal to the first network device. Correspondingly, the first network device receives the first reference signal from the terminal device.

[0179] Optionally, the first reference signal is triggered based on the rotation angle of the terminal device in the first coordinate system. Exemplarily, after the terminal device rotates, the gyroscope measures and reports the rotation angle of the terminal device in the first coordinate system to the terminal device. After receiving the rotation angle of the terminal device in the first coordinate system from the gyroscope, the terminal device sends the first reference signal to the first network device.

[0180] S604: The first network device determines a first angle by measuring the AOA of a first reference signal.

[0181] S605: The first network device sends the first angle and the second angle to the terminal device. Correspondingly, the terminal device receives the first angle and the second angle from the first network device.

[0182] Optionally, the first network device may not send the first angle and the second angle to the terminal device at the same time. For example, the first angle may be sent immediately after step S603. The second angle may be sent immediately after step S604, which is not limited in the embodiment of the present application.

[0183] After step S605, the terminal device executes the above step S405 to determine the rotation angle of the second coordinate system.

[0184] As another example, after the first network device determines the first angle and the second angle, it determines the rotation angle of the second coordinate system according to the first angle and the second angle, and notifies the terminal device.

[0185] Optional, such as Figure 7 As shown, the scheme may include the following steps:

[0186] S601-S604: S601-S604 and above Figure 6 S601-S604 shown are the same and will not be described in detail in this embodiment of the present application.

[0187] S606: The first network device determines a rotation angle of the second coordinate system according to the first angle and the second angle.

[0188] Exemplarily, the process in which the first network device determines the rotation angle of the second coordinate system based on the first angle and the second angle is similar to the process in which the terminal device determines the rotation angle of the second coordinate system based on the first angle and the second angle in the above step S405. For details, please refer to the relevant description of the above step S405, and the embodiments of the present application will not be repeated here.

[0189] S607: The first network device sends the rotation angle of the second coordinate system to the terminal device. Correspondingly, the terminal device receives the rotation angle of the second coordinate system from the first network device.

[0190] Based on the second scenario, the first network device can determine the first angle and the second angle by measuring the AOA of the reference signals (i.e., the first reference signal and the second reference signal) received from the terminal device before and after the terminal device rotates. Since the accuracy of the AOA measured by the first network device is greater than the accuracy of the AOA measured by the terminal device, the accuracy of the first angle and the second angle is improved relative to the first angle and the second angle determined by the terminal device, thereby improving the accuracy of the rotation angle of the second coordinate system determined according to the first angle and the second angle, and further improving the accuracy of the first conversion relationship.

[0191] Optionally, before the above step S401 or step S601, as Figure 8 As shown, the process of determining the rotation angle of the second coordinate system may further include the following step S406:

[0192] S406: The first network device sends third information to the terminal device. Correspondingly, the terminal device receives the third information, wherein the third information indicates resources used to carry the first reference signal and / or the second reference signal.

[0193] in, Figure 8 (a) indicates that step S406 is executed before step S401; Figure 8 (b) and (c) in the figure indicate that step S406 is executed before step S601.

[0194] Exemplarily, the resources used to carry the first reference signal and / or the second reference signal may include time-frequency resources (ie, time domain resources and frequency domain resources), that is, the terminal device can execute the process of determining the rotation angle of the second coordinate system in the area where the time-frequency resources are located.

[0195] Optionally, the first network device may send the third information to the terminal device via a radio resource control (RRC) reconfiguration (RRC configuration) message or downlink control information (DCI). That is, the third information may be carried in the RRC configuration message or the DCI.

[0196] Optionally, after obtaining the rotation angle of the terminal device in the first coordinate system and obtaining the rotation angle of the second coordinate system according to the above step S405 or step S607, the terminal device determines and stores a first conversion relationship, including: the terminal device determines a first rotation matrix according to the rotation angle of the terminal device in the first coordinate system; determines a second rotation matrix according to the rotation angle of the second coordinate system; determines and stores the first conversion relationship according to the first rotation matrix and the second rotation matrix.

[0197] Optionally, since both the first coordinate system and the second coordinate system include three coordinate axes, it is necessary to calculate the conversion relationship of the X-axis, the Y-axis, and the Z-axis respectively. In other words, the first conversion relationship includes three unknown values. Therefore, at least three rotation angles of the terminal device in the first coordinate system and at least three rotation angles of the second coordinate system are required to determine the first conversion relationship (i.e., three unknown values).

[0198] For example, taking the first conversion relationship determined according to the three rotation angles of the terminal device in the first coordinate system and the three rotation angles of the second coordinate system as an example, according to the above Figure 4 , Figure 6 or Figure 7 After determining the rotation angle of the second coordinate system by any of the steps shown in the figure (for the convenience of description, the following is based on the above Figure 4 The steps shown in the figure are used to determine the rotation angle of the second coordinate system as an example), and the rotation angle of the second coordinate system determined this time and the rotation angle of the terminal device in the first coordinate system are used as the rotation angle corresponding to the first rotation of the terminal device; the terminal device performs a second rotation, and determines a new rotation angle of the terminal device in the first coordinate system and a new first angle, and determines a new rotation angle of the second coordinate system according to the above relationship (1), and uses the new rotation angle of the second coordinate system and the new rotation angle of the terminal device in the first coordinate system as the rotation angle corresponding to the second rotation of the terminal device. Among them, the process of determining the new rotation angle of the terminal device in the first coordinate system, the new first angle, and the new rotation angle of the second coordinate system is the same as the above process. Figure 4 The process of determining the rotation angle of the terminal device in the first coordinate system, the first angle, and the rotation angle of the second coordinate system is similar, and the specific process can be referred to above. Figure 4 The process of determining the rotation angle of the terminal device in the first coordinate system, the first angle, and the rotation angle of the second coordinate system is not repeated in the present embodiment. Similarly, the terminal device performs a third rotation and determines the rotation angle corresponding to the third rotation of the terminal device.

[0199] After determining the three rotation angles of the terminal device in the first coordinate system and the three rotation angles of the second coordinate system, the terminal device determines the first rotation matrix and the second rotation matrix according to the rotation angles corresponding to the three rotations, and then determines the first conversion relationship.

[0200] Exemplarily, the first rotation matrix, the second rotation matrix and the first transformation relationship may satisfy the following relationship (2):

[0201] Second rotation matrix = first transformation relation · first rotation matrix (2)

[0202] The above relationship (2) can be transformed into the following relationship (3)

[0203] First transformation relationship = second rotation matrix·first rotation matrix -1 (3)

[0204] For example, the rotation angle of the terminal device in the first coordinate system is (α, β, γ), and the rotation angle of the second coordinate system is (ω, ρ, τ) (such as (angle 7, angle 8, angle 9)). The three rotation angles of the terminal device in the first coordinate system are (α1, β1, γ1), (α2, β2, γ2), (α3, β3, γ3). The three rotation angles of the second coordinate system are (ω1, ρ1, τ1), (ω2, ρ2, τ2), (ω3, ρ3, τ3). Therefore, the first rotation matrix is The second rotation matrix is

[0205] It should be noted that the above description is only based on the example that both the first coordinate system and the second coordinate system include three coordinate axes, and the first conversion relationship is determined according to the three rotation angles of a terminal device in the first coordinate system and the three rotation angles of the second coordinate system. In fact, in the case where both the first coordinate system and the second coordinate system include three coordinate axes, the terminal device can also determine the first conversion relationship according to more than three rotation angles of the terminal device in the first coordinate system and more than three rotation angles of the second coordinate system. For example, three rotation angles can be selected from a plurality of (such as more than three) rotation angles of the terminal device in the first coordinate system to determine the first rotation matrix, and the second rotation matrix can be determined according to the rotation angles of the second coordinate system corresponding to the three rotation angles of the terminal device in the first coordinate system, thereby determining the first conversion relationship.

[0206] Alternatively, the first coordinate axis and the second coordinate axis may also include a plurality of coordinate axes (e.g., N, where N is a positive integer not equal to 3) that are not equal to 3 (e.g., 2 coordinate axes, 4 coordinate axes, etc.), so the terminal device may determine the first conversion relationship based on at least N rotation angles of the terminal device in the first coordinate system and at least N rotation angles of the second coordinate system. For example, when the first coordinate axis and the second coordinate axis include 2 coordinate axes, the terminal device may determine the first conversion relationship based on at least 2 rotation angles of the terminal device in the first coordinate system and at least 2 rotation angles of the second coordinate system. This is not limited to the embodiments of the present application.

[0207] Optionally, after the terminal device determines the first conversion relationship, the terminal device may also send the first conversion relationship to the first network device. Accordingly, the first network device receives and stores the information from the first conversion relationship. The above description is a process of the communication method provided by an embodiment of the present application when neither the terminal device nor the first network device stores the first conversion relationship, that is, the terminal device or the first network device first determines the first conversion relationship, and then the terminal device converts the first information into the second information according to the first conversion relationship. The following will describe a process of the communication method provided by an embodiment of the present application when both the terminal device and the first network device store the first conversion relationship.

[0208] Optionally, before step S202, Fig. 9 As shown, the communication method may further include the following steps:

[0209] S203, the first network device sends a fourth message to the terminal device. Correspondingly, the terminal device receives the fourth message. The fourth message is used to query whether the first coordinate system has changed. Since the first coordinate system has changed, the corresponding first conversion relationship has changed accordingly. Therefore, further, the fourth message is used to determine whether the first conversion relationship needs to be updated. Optionally, in the case of a change in the first coordinate system, after step S203, the communication method may further include step S204:

[0210] S204: The terminal device sends a change message to the first network device. Correspondingly, the first network device receives the change message from the terminal device.

[0211] For example, Fig. 9As shown, after receiving the first information, the terminal device forwards the fourth information to the gyroscope it carries. In the case where the first coordinate system changes, the gyroscope notifies the terminal device of a change message in the first coordinate system, that is, the first conversion relationship needs to be updated. At this time, the terminal device sends a change message to the first network device, and redetermines the first conversion relationship according to the process of determining the first conversion relationship by the above-mentioned terminal device, and determines the redetermined first conversion relationship as the conversion relationship between the first coordinate system and the first coordinate system. Further, the terminal device converts the first information into the second information according to the redetermined first conversion relationship. In the case where the first coordinate system has not changed, the gyroscope notifies the terminal device of a change message in the first coordinate system, that is, the first conversion relationship does not need to be updated, and the terminal device can convert the first information into the second information according to the first conversion relationship stored therein.

[0212] It should be noted that the above is introduced by taking the step of the terminal device determining the first conversion relationship before step S202 and after step S201 (that is, the terminal device first obtains the first information, then determines the first conversion relationship, and then determines the second information) as an example. In fact, the embodiment provided in the present application also supports the step of the terminal device determining the first conversion relationship before step S201; similarly, steps S203-S204 can be performed before step S202 and after step S201, or, can also be performed before step S201, and the embodiment of the present application is not limited here.

[0213] Based on this optional solution, before converting the first information into the second information, the terminal device first determines whether the first coordinate system has changed, and then determines whether the first conversion relationship stored therein needs to be updated. When the first coordinate system has changed, that is, the first conversion relationship needs to be updated, the terminal device can convert the first information into the second information according to the updated first conversion relationship, which can improve the accuracy of the second information sent by the terminal device compared to the solution assuming that the reference system of the first coordinate system and the second coordinate system is the same.

[0214] In addition to the communication method described above, the present application also provides a second communication method, such as Fig.10 As shown, the communication method may include the following steps:

[0215] Step S1001: The terminal device sends second information to the first network device. Correspondingly, the first network device receives the second information from the terminal device. The second information is the motion information of the terminal device in a second coordinate system. The reference system of the second coordinate system is the terminal device. The second coordinate system changes with the motion of the terminal device. The second coordinate system is determined based on reference signals transmitted in at least two reference directions.

[0216] Exemplarily, the second information is the motion information of the terminal device in the second coordinate system, which can be understood as: the second information is the motion information obtained by converting the motion information of the terminal device in the first coordinate system to the second coordinate system. That is, the second information is obtained by converting the first information to the second coordinate system.

[0217] Optionally, the second information can be determined by the terminal device according to the first information obtained by the gyroscope. Exemplarily, the manner in which the gyroscope obtains the first information and the manner in which the terminal device determines the second information according to the first information can refer to the above Figure 2-Figure 9 The relevant description of the embodiments of the present application will not be repeated here.

[0218] Step S1002: The first network device determines fifth information according to the second information and the second conversion relationship, wherein the fifth information is motion information in the third coordinate system, the second conversion relationship is the conversion relationship between the second coordinate system and the third coordinate system, and the second coordinate system and the third coordinate system have different reference systems.

[0219] As an example, in the case where the first network device stores the second conversion relationship, the first network device directly determines the fifth information according to the second information and the second conversion relationship.

[0220] As another example, when the first network device does not store the second conversion relationship, the first network device determines the fifth information based on the second information and the second conversion relationship, including: the first network device determines the second coordinate system based on the reference signal transmitted in at least two reference directions; determines the second conversion relationship based on the second coordinate system and the third coordinate system; and then determines the fifth information based on the second information and the second conversion relationship.

[0221] Exemplarily, since the second coordinate system is a local coordinate system and the third coordinate system is a global coordinate system, the first network device determining the second conversion relationship according to the second coordinate system and the third coordinate system may include: determining the second conversion relationship according to the coordinates of multiple objects in the second coordinate system and the coordinates of multiple objects in the third coordinate system, respectively. The number of the multiple objects is greater than or equal to the number of coordinate axes of the second coordinate system and / or the third coordinate system.

[0222] The communication method provided by the embodiment of the present application, when the reference systems of the second coordinate system and the third coordinate system are different, the conversion relationship between the second coordinate system and the third coordinate system of the first network device (i.e., the second conversion relationship) converts the second information in the second coordinate system to the third coordinate system, thereby realizing the conversion of information in the second coordinate system and the third coordinate system when the reference systems of the second coordinate system and the third coordinate system are different. Thereby, the accuracy of the motion information of the terminal device known by the first network device is improved.

[0223] The second coordinate system mentioned in the above embodiment is described in detail below. Optionally, when the second coordinate system is a three-dimensional coordinate system, the first network device cannot determine a unique second coordinate system based on only one reference direction. Therefore, the first network device needs to determine a unique second coordinate system based on reference signals transmitted in at least two reference directions.

[0224] For example, Fig.11 As shown, taking a reference direction as reference direction 1, the angles between reference direction 1 and each coordinate axis (i.e., X-axis, Y-axis, and Z-axis) in the second coordinate system are (angle a, angle b, angle c) respectively. Fig.11 The three dotted cones in are possible realizations of the three coordinate axes of the second coordinate system. Fig.11 In , the angle between any generatrix of a cone with a central angle of 2a and the reference direction 1 is a, so any generatrix of a cone with a central angle of 2a can be used as the X-axis of the second coordinate system; the angle between any generatrix of a cone with a central angle of 2b and the reference direction 1 is b, so any generatrix of a cone with a central angle of 2b can be used as the Y-axis of the second coordinate system; the angle between any generatrix of a cone with a central angle of 2c and the reference direction 1 is c, so any generatrix of a cone with a central angle of 2c can be used as the Z-axis of the second coordinate system. Based on Fig.11 It can be seen that countless second coordinate systems can be determined based on one reference direction, and it is impossible to determine a unique second coordinate system. In summary, it is necessary to determine a unique second coordinate system based on at least two reference directions, and then determine the second conversion relationship based on the unique second coordinate system. Among them, the more reference directions there are, the higher the accuracy of the determined second coordinate system.

[0225] Optionally, the first network device determines the second coordinate system based on the reference signal transmitted in at least two reference directions, including: the first network device determines the angle between each reference direction of the at least two reference directions and each coordinate axis in the second coordinate system; and determines the second coordinate system based on the angle between each reference direction and each coordinate axis in the second coordinate system.

[0226] Based on this optional scheme, since the angles between different reference directions and the coordinate axes of the second coordinate system are different, and in three-dimensional space, a unique coordinate axis can be determined based on the angles between two different reference directions and a coordinate axis, the second coordinate system can be determined based on the angles between at least two reference directions and each coordinate axis of the second coordinate system, thereby providing a basis for determining the second transformation relationship.

[0227] In a possible implementation, the angle between the reference direction and the coordinate axis is determined based on the AOA calculation of the reference signal transmitted in the reference direction. The reference signal transmitted in the reference direction includes at least two reference signals with different signal transmission directions. Each reference direction includes two different signal transmission directions.

[0228] Exemplarily, taking two reference directions (such as reference direction 1 and reference direction 2), two reference signals are transmitted in each reference direction, and these two reference signals include a reference signal transmitted in signal transmission direction 1 and a reference signal transmitted in signal transmission direction 2 as an example, the angle between reference direction 1 and the coordinate axis is obtained by calculating the AOA of the reference signal transmitted in signal transmission direction 1 of reference direction 1 and the AOA of the reference signal transmitted in signal transmission direction 2 of reference direction 1. The angle between reference direction 2 and the coordinate axis is obtained by calculating the AOA of the reference signal transmitted in signal transmission direction 1 of reference direction 2 and the AOA of the reference signal transmitted in signal transmission direction 2 of reference direction 2. Then, the first network device can determine the second coordinate system according to the angle between reference direction 1 and the coordinate axis and the angle between reference direction 2 and the coordinate axis. That is, the first network device can determine the second coordinate system according to the above four AOAs.

[0229] Exemplarily, in this possible implementation, the second coordinate system can be implemented based on the following two methods:

[0230] Mode 1: At least two reference directions include signal transmission directions between at least two network devices and the terminal device, and the network devices include a first network device and a second network device. In this case, the two different signal transmission directions include a transmission direction between the terminal device and the first network device and a transmission direction between the second network device and the terminal device.

[0231] Exemplarily, taking two reference directions (such as reference direction 1 and reference direction 2), and reference direction 1 is the signal transmission direction between the first network device and the terminal device, and reference direction 2 is the signal transmission direction between the second network device and the terminal device as an example, since the two different signal transmission directions include the transmission direction of the reference signal sent by the terminal device to the network device and the transmission direction of the reference signal sent by the network device to the terminal device, the angle between reference direction 1 and the coordinate axis is determined according to the AOA of the reference signal sent by the terminal device to the first network device and the AOA of the reference signal sent by the first network device to the terminal device, and the angle between reference direction 2 and the coordinate axis is determined according to the AOA of the reference signal sent by the terminal device to the second network device and the AOA of the reference signal sent by the second network device to the terminal device.

[0232] like Fig.12As shown, the dotted cone in the figure is a possible realization of the three coordinate axes of the second coordinate system determined according to the angle between the reference direction 1 and the coordinate axis. Among them, any mother line of the cone with a central angle of 2a can be used as the X-axis of the second coordinate system; any mother line of the cone with a central angle of 2b can be used as the Y-axis of the second coordinate system; any mother line of the cone with a central angle of 2c can be used as the Z-axis of the second coordinate system. The solid cone in the figure is a possible realization of the three coordinate axes of the second coordinate system determined according to the angle between the reference direction 2 and the coordinate axis. Among them, any mother line of the cone with a central angle of 2d can be used as the X-axis of the second coordinate system; any mother line of the cone with a central angle of 2e can be used as the Y-axis of the second coordinate system; any mother line of the cone with a central angle of 2f can be used as the Z-axis of the second coordinate system. Therefore, the intersection line of the cone with a central angle of 2a and the cone with a central angle of 2d can be determined as the X-axis of the second coordinate system; the intersection line of the cone with a central angle of 2b and the cone with a central angle of 2e can be determined as the Y-axis of the second coordinate system; and the intersection line of the cone with a central angle of 2c and the cone with a central angle of 2f can be determined as the Z-axis of the second coordinate system.

[0233] Taking two reference directions (such as reference direction 1 and reference direction 2), and reference direction 1 is the signal transmission direction between the first network device and the terminal device, reference direction 2 is the signal transmission direction between the second network device and the terminal device, the reference signal sent by the first network device to the terminal device is used as the third reference signal, the reference signal sent by the terminal device to the first network device is used as the fourth reference signal, the reference signal sent by the second network device to the terminal device is used as the fifth reference signal, and the reference signal sent by the terminal device to the second network device is used as the sixth reference signal as an example, such as Fig.13 As shown, the method for the first network device to determine the second coordinate system may include the following steps:

[0234] S1301: A first network device sends a third reference signal to a terminal device. Correspondingly, the terminal device receives the third reference signal from the first network device.

[0235] S1302. The terminal device measures the AOA of the third reference signal.

[0236] S1303: The terminal device sends the AOA of the third reference signal to the first network device. Correspondingly, the first network device receives the AOA from the third reference signal.

[0237] S1304: The terminal device sends a fourth reference signal to the first network device. Correspondingly, the first network device receives the fourth reference signal from the terminal device.

[0238] S1305. The first network device measures the AOA of the fourth reference signal.

[0239] S1306: The second network device sends a fifth reference signal to the terminal device. Correspondingly, the terminal device receives the fifth reference signal from the second network device.

[0240] S1307. The terminal device measures the AOA of the fifth reference signal.

[0241] S1308: The terminal device sends the AOA of the sixth reference signal to the second network device. Correspondingly, the second network device receives the AOA from the fifth reference signal.

[0242] S1309: The terminal device sends a sixth reference signal to the second network device. Correspondingly, the second network device receives the sixth reference signal from the terminal device.

[0243] S1310. The second network device measures the AOA of a sixth reference signal.

[0244] S1311: The second network device sends the AOA of the sixth reference signal to the first network device. Correspondingly, the first network device receives the AOA of the sixth reference signal from the second network device.

[0245] S1312: The first network device determines a second coordinate system according to the AOA of the third reference signal, the AOA of the fourth reference signal, the AOA of the fifth reference signal, and the AOA of the sixth reference signal.

[0246] For example, the process of determining the second coordinate system in step S1312 can refer to the above Fig.12 The relevant description of the embodiments of the present application will not be repeated here.

[0247] It should be noted that the above steps S1301-S1312 only exemplarily describe the process of determining the second coordinate system. Among them, the execution order between steps S1301-S1303 and steps S1304-S1305 is not limited. Exemplarily, steps S1301-S1303 can be executed before steps S1304-S1305; or, steps S1301-S1303 can be executed after steps S1304-S1305. Similarly, the execution order between steps S1306-S1308 and steps S1309-S1311 is not limited. Exemplarily, steps S1306-S1308 can be executed before steps S1309-S1311; or, steps S1306-S1308 can be executed after steps S1309-S1311. Similarly, there is no limit to the execution order between steps S1301-S1305 and steps S1306-S1311. For example, steps S1301-S1305 may be executed before steps S1306-S1311; or, steps S1301-S1305 may be executed after steps S1306-S1311.

[0248] Based on the first method, by introducing the first network device and the second network device, the second coordinate system is determined by the signal transmission direction between different network devices and the terminal device. Since the accuracy of the AOA measured by the network device is higher than the accuracy of the AOA measured by the terminal device, the accuracy of the second coordinate system determined by the first method is improved, thereby improving the accuracy of the second conversion relationship determined according to the second coordinate system.

[0249] Mode 2: At least two reference directions include signal transmission directions on at least two transmission paths between the first network device and the terminal device. In this case, the signal transmission directions on at least two transmission paths include the signal transmission direction between the terminal device and the first network device.

[0250] Exemplarily, in the second mode, the first network device may determine the second coordinate system based on the following two situations:

[0251] Case 1: In each of at least two transmission paths, the terminal device is at the same position, that is, the position of the terminal device remains unchanged.

[0252] Exemplarily, two reference directions (reference direction 1 and reference direction 2) are taken as an example, that is, the two reference directions include signal transmission directions on two transmission paths between the first network device and the terminal device. Fig.14 As shown, the transmission path of reference direction 1 may be line of sight (LOS) transmission, and the transmission path of reference direction 1 may be non line of sight (NLOS) transmission.

[0253] Take two reference directions (such as reference direction 1 and reference direction 2), reference direction 1 and reference direction 2 are both signal transmission directions between the first network device and the terminal device, the transmission path of reference direction 1 is LOS, the transmission path of reference direction 2 is NLOS, the reference signal sent by the first network device to the terminal device is the third reference signal, wherein the third reference signal sent via LOS is the third reference signal #1, and the third reference signal sent via NLOS is the third reference signal #2, and the reference signal sent by the terminal device to the first network device is the fourth reference signal, wherein the fourth reference signal sent via LOS is the fourth reference signal #1, and the fourth reference signal sent via NLOS is the fourth reference signal #2. Fig.15 As shown, the method for the first network device to determine the second coordinate system may include the following steps:

[0254] S1501: A first network device sends a third reference signal #1 and a third reference signal #2 to a terminal device. Correspondingly, the terminal device receives the third reference signal #1 and the third reference signal #2 from the first network device.

[0255] S1502. The terminal device measures the AOA of the third reference signal #1 and the AOA of the third reference signal #2 respectively.

[0256] S1503: The terminal device sends the AOA of the third reference signal #1 and the AOA of the third reference signal #2 to the first network device. Correspondingly, the first network device receives the AOA of the third reference signal #1 and the AOA of the third reference signal #2 from the terminal device.

[0257] S1504: The terminal device sends a fourth reference signal #1 and a fourth reference signal #2 to the first network device. Correspondingly, the first network device receives the fourth reference signal #1 and the fourth reference signal #2 from the terminal device.

[0258] S1505. The first network device measures the AOA of the fourth reference signal #1 and the AOA of the fourth reference signal #2 respectively.

[0259] S1506. The first network device determines a second coordinate system according to the AOA of the third reference signal #1, the AOA of the third reference signal #2, the AOA of the fourth reference signal #1, and the AOA of the fourth reference signal #2.

[0260] For example, the process of determining the second coordinate system in step S1506 can refer to the above Fig.12 The relevant description of the embodiments of the present application will not be repeated here.

[0261] It should be noted that the above steps S1501-S1506 are merely exemplary descriptions of the process of determining the second coordinate system. There is no limitation on the execution order between steps S1501-S1503 and steps S1504-S1505. For example, steps S1501-S1503 may be executed before steps S1504-S1505; or, steps S1501-S1503 may be executed after steps S1504-S1505.

[0262] Case 2: In each of the at least two transmission paths, the terminal device is at a different location. That is, the at least two transmission paths include transmission paths between the terminal device at different locations and the first network device.

[0263] Exemplarily, two reference directions (reference direction 1 and reference direction 2) are taken as an example, that is, the two reference directions include signal transmission directions on two transmission paths between the first network device and the terminal device. Fig.16 As shown, reference direction 1 may be the signal transmission direction on the transmission path between the first network device and the terminal device at position 1 (i.e., the position of the terminal device before the terminal device moves), and reference direction 2 may be the signal transmission direction on the transmission path between the first network device and the terminal device at position 2 (i.e., the position of the terminal device after the terminal device moves). Optionally, the transmission path of reference direction 1 and the transmission path of reference direction 2 may both be LOS (e.g., Fig.16 Alternatively, the transmission path in reference direction 1 and the transmission path in reference direction 2 may both be NLOS ( Fig.16 not shown).

[0264] Take two reference directions (such as reference direction 1 and reference direction 2), reference direction 1 and reference direction 2 are both signal transmission directions between the first network device and the terminal device, the transmission path of reference direction 1 and the transmission path of reference direction 2 are both LOS, reference direction 1 is the signal transmission direction on the transmission path between the first network device and the terminal device before moving, reference direction 2 is the signal transmission direction on the transmission path between the first network device and the terminal device after moving, the reference signal sent by the first network device to the terminal device is used as the third reference signal, wherein the reference signal sent by the first network device to the terminal device before moving is the third reference signal #3, the reference signal sent by the first network device to the terminal device after moving is the third reference signal #4, and the reference signal sent by the terminal device to the first network device is used as the fourth reference signal, wherein the reference signal sent by the terminal device to the first network device before moving is the fourth reference signal #3, and the reference signal sent by the terminal device to the first network device after moving is the fourth reference signal #4. For example Fig.17 As shown, the method for the first network device to determine the second coordinate system may include the following steps:

[0265] S1701. A first network device sends a third reference signal #3 to a terminal device. Correspondingly, the terminal device receives the third reference signal #3 from the first network device.

[0266] S1702. The terminal device measures the AOA of the third reference signal #3.

[0267] S1703: The terminal device sends the AOA of the third reference signal #3 to the first network device. Correspondingly, the first network device receives the AOA from the third reference signal #3.

[0268] S1704: The terminal device sends a fourth reference signal #3 to the first network device. Correspondingly, the first network device receives the fourth reference signal #3 from the terminal device.

[0269] S1705. The first network device measures the AOA of the fourth reference signal #3.

[0270] S1706: The first network device sends a third reference signal #4 to the terminal device. Correspondingly, the terminal device receives the third reference signal #4 from the first network device.

[0271] Optionally, step S1704 is performed after the terminal device moves. Exemplarily, after the terminal device moves, it can send indication information to the first network device to indicate that the terminal device has moved, and the first network device can perform step S1704 according to the indication information.

[0272] S1707. The terminal device measures the AOA of the third reference signal #4.

[0273] S1708: The terminal device sends the AOA of the third reference signal #4 to the first network device. Correspondingly, the first network device receives the AOA of the third reference signal #4 from the terminal device.

[0274] S1709: The terminal device sends a fourth reference signal #4 to the first network device. Correspondingly, the first network device receives the fourth reference signal #4 from the terminal device.

[0275] S1710. The first network device measures the AOA of the fourth reference signal #4.

[0276] S1711. The first network device determines a second coordinate system according to the AOA of the third reference signal #3, the AOA of the third reference signal #4, the AOA of the fourth reference signal #3, and the AOA of the fourth reference signal #4.

[0277] For example, the process of determining the second coordinate system in step S1711 can refer to the above Fig.12The relevant description of the embodiments of the present application will not be repeated here.

[0278] It should be noted that the above steps S1701-S1711 only exemplarily describe the process of determining the second coordinate system. Among them, the execution order between steps S1701-S1703 and steps S1704-S1705 is not limited. Exemplarily, steps S1701-S1703 can be executed before steps S1704-S1705; or, steps S1701-S1703 can be executed after steps S1704-S1705. Similarly, the execution order between steps S1706-S1708 and steps S1709-S1710 is not limited. Exemplarily, steps S1706-S1708 can be executed before steps S1709-S1710; or, steps S1706-S1708 can be executed after steps S1709-S1710.

[0279] Based on the second method, the second coordinate system is determined by the signal transmission direction on different transmission paths between the first network device and the terminal device. The second coordinate system can be determined only by the interaction between the first network device and the terminal device, without the help of other devices, which saves costs. In another possible implementation method, the angle between the reference direction and the coordinate axis is determined by calculating the AOA and AOD of the reference signal transmitted in the reference direction. The reference signal transmitted in the reference direction includes at least one reference signal.

[0280] Exemplarily, taking two reference directions (such as reference direction 1 and reference direction 2) and transmitting one reference signal in each reference direction as an example, the angle between reference direction 1 and the coordinate axis is obtained by calculating the AOA and AOD of the reference signal transmitted in reference direction 1, and the angle between reference direction 1 and the coordinate axis is obtained by calculating the AOA and AOD of the reference signal transmitted in reference direction 2. Furthermore, the first network device can determine the second coordinate system according to the angle between reference direction 1 and the coordinate axis and the angle between reference direction 2 and the coordinate axis, that is, the first network device can determine the second coordinate system according to the AOA and AOD of the reference signal transmitted in reference direction 1 and the AOA and AOD of the reference signal transmitted in reference direction 2.

[0281] Optionally, each of the at least two reference directions includes at least one signal transmission direction, wherein the signal transmission direction includes a transmission direction of a reference signal sent by the terminal device to the network device, and the network device includes a first network device and a second network device.

[0282] For example, Fig.18Taking two reference directions (such as reference direction 1 and reference direction 2) as an example, since the first network device can measure the AOA and AOD of the reference signal, reference direction 1 includes the signal transmission direction in which the terminal device sends the reference signal to the first network device, and reference direction 2 includes the signal transmission direction in which the terminal device sends the reference signal to the second network device.

[0283] Taking two reference directions (such as reference direction 1 and reference direction 2), and reference direction 1 includes a signal transmission direction in which the terminal device sends a reference signal to the first network device, and reference direction 2 includes a signal transmission direction in which the terminal device sends a reference signal to the second network device, the reference signal sent by the terminal device to the first network device is used as the fourth reference signal, and the reference signal sent by the terminal device to the second network device is used as the sixth reference signal as an example, Fig.19 As shown, the method for the first network device to determine the second coordinate system may include the following steps:

[0284] S1901: The terminal device sends a fourth reference signal to the first network device. Correspondingly, the first network device receives the fourth reference signal from the terminal device.

[0285] S1902: The first network device measures AOA and AOD of a fourth reference signal.

[0286] S1903: The terminal device sends a sixth reference signal to the second network device. Correspondingly, the second network device receives the sixth reference signal from the terminal device.

[0287] S1904: The second network device measures the AOA and AOD of the sixth reference signal.

[0288] S1905: The second network device sends the AOA and AOD of the sixth reference signal to the first network device. Correspondingly, the first network device receives the AOA and AOD of the sixth reference signal from the second network device.

[0289] S1906: The first network device determines a second coordinate system according to the AOA and AOD of the fourth reference signal and the AOA and AOD of the sixth reference signal.

[0290] For example, the process of determining the second coordinate system in step S1906 can refer to the above Fig.12 The relevant description of the embodiments of the present application will not be repeated here.

[0291] It should be noted that the above steps S1901-S1906 are only exemplary descriptions of the process of determining the second coordinate system. There is no limit to the execution order between steps S1901-S1902 and steps S1903-S1905. Exemplarily, steps S1901-S1902 can be executed before steps S1903-S1905; or, steps S1901-S1902 can be executed after steps S1903-S1905.

[0292] Optional, in the above Figure 12-Figure 19 In the process of determining the second coordinate system, after the terminal device and / or the network device (the first network device and / or the second network device) measures the AOA of the reference signal, or measures the AOA and AOD of the reference signal, the AOA of the reference signal, or the AOA and AOD of the reference signal are first normalized, and then the AOA of the reference signal after the normalization, or the AOA and AOD of the reference signal are subsequently processed. That is to say, after the terminal device and / or the network device measures the AOA of the reference signal, or measures the AOA and AOD of the reference signal, the AOA of the reference signal processed after the AOA and AOD of the reference signal are measured, or the AOA and AOD of the reference signal are measured, they are all the AOA of the reference signal after the normalization, or the AOA and AOD of the reference signal.

[0293] Optionally, the third information may also indicate resources used to carry the third reference signal and / or the fourth reference signal.

[0294] Based on this possible implementation, by introducing the first network device and the second network device, the second coordinate system is determined through the signal transmission direction between different network devices and the terminal device. Since the accuracy of the AOA measured by the network device is higher than the accuracy of the AOA measured by the terminal device, the accuracy of the second coordinate system determined in this way is improved, thereby improving the accuracy of the second conversion relationship determined according to the second coordinate system.

[0295] In addition, the terminal device can determine the second coordinate system by interacting with the first network device and the second network device once respectively. Compared with the method of determining the second coordinate system only by measuring the AOA of the reference signal, the signaling overhead is reduced.

[0296] Optional, above Figure 2 and Fig.10 The two embodiments described above can also be used in combination, and the implementation method is the same as Figure 2 and Fig.10 The implementation method of the above embodiments is the same, and the specific implementation method can be referred to. Figure 2 and Fig.10 The relevant description of the embodiments of the present application will not be repeated here.

[0297] In addition to the two communication methods described above, the present application also provides a communication method, such as Fig. 20 As shown, the communication method includes the following steps:

[0298] S2001. The first network device determines sixth information, where the sixth information is used to assist the movement of the terminal device or to align the beam of the terminal device with the first network device, and the sixth information is information in a third coordinate system.

[0299] Optionally, the sixth information is used to assist the movement of the terminal device, which can be understood as: the terminal device moves according to the sixth information. Exemplarily, the sixth information can be navigation information of the terminal device.

[0300] S2002. The first network device determines the seventh information based on the sixth information and the second conversion relationship. The seventh information is information in the second coordinate system. The reference system of the second coordinate system is the terminal device. The second coordinate system changes with the movement of the terminal device. The second coordinate system is determined based on a reference signal transmitted in at least two reference directions. The second conversion relationship is a conversion relationship between the second coordinate system and the third coordinate system. The reference systems of the second coordinate system and the third coordinate system are different.

[0301] Optionally, the seventh information is information in the second coordinate system, which can be understood as: the seventh information is information obtained by converting the information in the third coordinate system to the second coordinate system, that is, the seventh information is obtained by converting the sixth information to the third coordinate system.

[0302] Exemplarily, the method for determining the second coordinate system and the second conversion relationship may refer to the related description of the method for determining the second coordinate system and the second conversion relationship, and the embodiments of the present application will not be described in detail here.

[0303] S2003: The first network device sends the seventh information to the terminal device. Correspondingly, the terminal device receives the seventh information from the first network device.

[0304] Exemplarily, when the sixth information is used to assist the movement of the terminal device, after receiving the sixth information, the terminal device performs corresponding movement according to the sixth information, thereby improving the accuracy of the sixth information learned by the terminal device. In the case of beam alignment between the terminal device and the first network device, after receiving the sixth information, the terminal device adjusts its own posture according to the sixth information, thereby reducing the alignment time between the first network device and the terminal device and reducing the signaling overhead of the beam alignment process.

[0305] Optionally, the communication method may further include step S2004:

[0306] S2004. The terminal device sends a first conversion relationship to the first network device. Correspondingly, the first network device receives the first conversion relationship from the terminal device. The first conversion relationship is a conversion relationship between the first coordinate system and the second coordinate system, the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis, and the reference systems of the first coordinate system, the second coordinate system, and the third coordinate system are different from each other.

[0307] Exemplarily, the process of the terminal device determining the first conversion relationship can refer to the relevant description of the terminal device determining the first conversion relationship, and the embodiments of the present application will not be repeated here.

[0308] In the communication method provided in the embodiment of the present application, when the reference systems of the second coordinate system and the third coordinate system are different, the first network device determines the second coordinate system based on the reference signal transmitted in at least two reference directions, and then determines the conversion relationship between the second coordinate system and the third coordinate system (i.e., the second conversion relationship), so that the sixth information in the third coordinate system can be converted to the second coordinate system according to the second conversion relationship, thereby realizing the conversion of information in the second coordinate system and the third coordinate system when the reference systems of the second coordinate system and the third coordinate system are different. Compared with the solution assuming that the reference systems of the second coordinate system and the third coordinate system are the same, the accuracy of the seventh information sent by the first network device can be improved.

[0309] The above examples all take two reference directions as an example to determine a unique second coordinate system. In fact, the present application also supports determining a unique second coordinate system based on multiple reference directions greater than 2. The method for determining the second coordinate system is similar to the above method for determining the second coordinate system using two reference directions as an example. For details, please refer to the above method for determining the second coordinate system using two reference directions as an example, and the embodiments of the present application will not be repeated here.

[0310] It can be understood that in the above embodiments, the methods and / or steps implemented by the first network device can also be implemented by components that can be used for the first network device (such as a processor, a chip, a chip system, a circuit, a logic module, or software such as a chip or a circuit); the methods and / or steps implemented by the terminal device can also be implemented by components that can be used for the terminal device (such as a processor, a chip, a chip system, a circuit, a logic module, or software such as a chip or a circuit).

[0311] The above mainly introduces the scheme provided by the present application. Accordingly, the present application also provides a communication device, which is used to implement the above various methods. The communication device can be a terminal device in the above method embodiment, or a device including the above terminal device, or a component that can be used for the terminal device, such as a chip or a chip system; or, the communication device can be the first network device in the above method embodiment, or a device including the above first network device, or a component that can be used for the network device, such as a chip or a chip system.

[0312] It is understandable that, in order to realize the above functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0313] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0314] Fig.21 A schematic diagram of the structure of a communication device 210 is shown. The communication device 210 includes a processing module 2101 and a transceiver module 2102. The communication device 210 can be used to implement the functions of the first network device or terminal device.

[0315] In some embodiments, the communication device 210 may further include a storage module ( Fig.21 ), for storing program instructions and data.

[0316] In some embodiments, the transceiver module 2102, which may also be referred to as a transceiver unit, is used to implement the sending and / or receiving functions. The transceiver module 2102 may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0317] In some embodiments, the transceiver module 2102 may include a receiving module and a sending module, which are respectively used to execute the receiving and sending steps performed by the first network device or the terminal device in the above-mentioned method embodiment, and / or used to support other processes of the technology described in this document; the processing module 2101 may be used to execute the processing steps (such as determination, generation, etc.) performed by the first network device or the terminal device in the above-mentioned method embodiment, and / or used to support other processes of the technology described in this document.

[0318] When the communication device 210 is used to implement the functions of the above terminal device:

[0319] In some embodiments, the processing module 2101 is used to obtain first information, the first information is the movement information of the terminal device in the first coordinate system, and the numerical value on the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis. The transceiver module 2102 is used to send second information, the second information is the movement information in the second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the movement of the terminal device, the second information is determined according to the rotation angle of the terminal device in the first coordinate system and the rotation angle of the second coordinate system, and the reference systems of the first coordinate system and the second coordinate system are different.

[0320] Optionally, the transceiver module 2102 is further used to receive third information, where the third information indicates resources used to carry the first reference signal and / or the second reference signal.

[0321] Optionally, the transceiver module 2102 is further used to receive fourth information, and the fourth information is used to query whether the first coordinate system is changed.

[0322] When the communication device 210 is used to implement the function of the first network device:

[0323] In some embodiments, the transceiver module 2102 is used to receive second information, the second information is the motion information of the terminal device in the second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the motion of the terminal device, and the second coordinate system is determined according to the reference signal transmitted in at least two reference directions. The processing module 2101 is used to determine fifth information according to the second information and the second conversion relationship, the fifth information is the motion information in the third coordinate system, the second conversion relationship is the conversion relationship between the second coordinate system and the third coordinate system, and the reference system of the second coordinate system is different from that of the third coordinate system.

[0324] In some other embodiments, the processing module 2101 is used to determine the sixth information, the sixth information is used to assist the movement of the terminal device, or to align the beam of the terminal device with the first network device, and the sixth information is information in the third coordinate system. The processing module 2101 is also used to determine the seventh information based on the sixth information and the second conversion relationship, the seventh information is information in the second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the movement of the terminal device, the second coordinate system is determined based on the reference signal transmitted in at least two reference directions, the second conversion relationship is the conversion relationship between the second coordinate system and the third coordinate system, and the reference system of the second coordinate system is different from that of the third coordinate system. The transceiver module 2102 is used to send the seventh information.

[0325] Optionally, the processing module 2101 is also used to determine the angle between each reference direction of at least two reference directions and each coordinate axis in the second coordinate system; the processing module 2101 is also used to determine the second coordinate system based on the angle between each reference direction and each coordinate axis in the second coordinate system.

[0326] Optionally, the transceiver module 2102 is also used to receive a first conversion relationship, which is a conversion relationship between a first coordinate system and a second coordinate system. The numerical value on the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis. The reference systems of the first coordinate system, the second coordinate system and the third coordinate system are different.

[0327] Optionally, the transceiver module 2102 is further used to send third information, where the third information indicates resources used to carry reference signals.

[0328] Optionally, the transceiver module 2102 is further used to send fourth information, and the fourth information is used to query whether the first coordinate system is changed.

[0329] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0330] In the present application, the communication device 210 may be presented in the form of dividing various functional modules in an integrated manner. The "module" here may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0331] In some embodiments, when Fig.21When the communication device 210 is a chip or a chip system, the function / implementation process of the transceiver module 2102 can be implemented through the input and output interface (or communication interface) of the chip or the chip system, and the function / implementation process of the processing module 2101 can be implemented through the processor (or processing circuit) of the chip or the chip system.

[0332] Since the communication device 210 provided in this embodiment can execute the above method, the technical effects that can be obtained can refer to the above method embodiments and will not be repeated here.

[0333] As a possible product form, the first network device or terminal device described in the embodiment of the present application can also be implemented using the following: one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits that can perform the various functions described throughout the present application.

[0334] As another possible product form, the first network device or terminal device in the embodiment of the present application can be implemented by a general bus architecture. Fig. 22 , Fig. 22 2 is a schematic diagram of the structure of a communication device 220 provided in an embodiment of the present application, wherein the communication device 220 includes a processor 2201 and a transceiver 2202. The communication device 220 may be a terminal device, or a chip or chip system therein; or, the communication device 220 may be a first network device, or a chip or module therein. Fig. 22 Only the main components of the communication device 220 are shown. In addition to the processor 2201 and the transceiver 2202, the communication device may further include a memory 2203, and an input and output device ( Fig. 22 not indicated).

[0335] Optionally, the processor 2201 is mainly used to process the communication protocol and communication data, and to control the entire communication device, execute the software program, and process the data of the software program. The memory 2203 is mainly used to store the software program and data. The transceiver 2202 may include a radio frequency circuit and an antenna. The radio frequency circuit is mainly used for converting baseband signals and radio frequency signals and processing radio frequency signals. The antenna is mainly used to transmit and receive radio frequency signals in the form of electromagnetic waves. The input and output devices, such as a touch screen, a display screen, a keyboard, etc., are mainly used to receive data input by the user and output data to the user.

[0336] Optionally, the processor 2201, the transceiver 2202, and the memory 2203 may be connected via a communication bus.

[0337] When the communication device is turned on, the processor 2201 can read the software program in the memory 2203, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 2201 performs baseband processing on the data to be sent, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then sends the radio frequency signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 2201. The processor 2201 converts the baseband signal into data and processes the data.

[0338] In another implementation, the RF circuit and antenna may be arranged independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna may be arranged remotely from the communication device.

[0339] In some embodiments, in terms of hardware implementation, those skilled in the art may imagine that the communication device 210 may be implemented as Fig. 22 The form of the communication device 220 is shown.

[0340] As an example, Fig.21 The function / implementation process of the processing module 2101 in can be Fig. 22 The processor 2201 in the communication device 220 shown calls the computer execution instructions stored in the memory 2203 to implement. Fig.21 The function / implementation process of the transceiver module 2102 can be achieved by Fig. 22 The transceiver 2202 in the communication device 220 is shown to be implemented.

[0341] As another possible product form, the first network device or terminal device in the present application can adopt Fig.23 The structure shown, or including Fig.23 Parts shown. Fig.23 A schematic diagram of the composition of a communication device 230 provided in the present application, wherein the communication device 230 may be a terminal device or a chip or a system on chip in a terminal device; or, it may be a first network device or a module or a chip or a system on chip in the first network device.

[0342] like Fig.23 As shown, the communication device 230 includes at least one processor 2301 and at least one communication interface ( Fig.23The communication device 230 is merely exemplary and is described by taking a communication interface 2304 and a processor 2301 as an example. Optionally, the communication device 230 may further include a communication bus 2302 and a memory 2303.

[0343] The processor 2301 may be a general-purpose central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 2301 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0344] The communication bus 2302 is used to connect different components in the communication device 230 so that different components can communicate. The communication bus 2302 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.23 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0345] The communication interface 2304 is used to communicate with other devices or communication networks. Exemplarily, the communication interface 2304 can be a module, a circuit, a transceiver, or any device capable of implementing communication. Optionally, the communication interface 2304 can also be an input and output interface located in the processor 2301 to implement signal input and signal output of the processor.

[0346] The memory 2303 may be a device with a storage function, used to store instructions and / or data, wherein the instructions may be computer programs.

[0347] Exemplarily, the memory 2303 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0348] It should be noted that the memory 2303 can exist independently of the processor 2301, or can be integrated with the processor 2301. The memory 2303 can be located in the communication device 230, or can be located outside the communication device 230, without limitation. The processor 2301 can be used to execute instructions stored in the memory 2303 to implement the method provided in the following embodiments of the present application.

[0349] As an optional implementation, the communication device 230 may also include an output device 2305 and an input device 2306. The output device 2305 communicates with the processor 2301 and can display information in a variety of ways. For example, the output device 2305 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 2306 communicates with the processor 2301 and can receive user input in a variety of ways. For example, the input device 2306 may be a mouse, a keyboard, a touch screen device, or a sensor device.

[0350] In some embodiments, in terms of hardware implementation, those skilled in the art may imagine that the communication device 210 may be implemented as Fig.23 The form of the communication device 230 is shown.

[0351] As an example, Fig.21 The function / implementation process of the processing module 2101 in can be Fig.23 The processor 2301 in the communication device 230 shown calls the computer execution instructions stored in the memory 2303 to implement. Fig.21The function / implementation process of the transceiver module 2102 can be achieved by Fig.23 The communication interface 2304 in the communication device 230 is shown to be implemented.

[0352] It should be noted that Fig.23 The structure shown does not constitute a specific limitation on the first network device or the terminal device. For example, in other embodiments of the present application, the first network device or the terminal device may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0353] In some embodiments, an embodiment of the present application further provides a communication device, which includes a processor for implementing a method in any of the above method embodiments.

[0354] As a possible implementation, the communication device further includes a memory. The memory is used to store necessary computer programs and data. The computer program may include instructions, and the processor may call the instructions in the computer program stored in the memory to instruct the communication device to execute the method in any of the above method embodiments. Of course, the memory may not be in the communication device.

[0355] As another possible implementation, the communication device also includes an interface circuit, which is a code / data read / write interface circuit, which is used to receive computer execution instructions (computer execution instructions are stored in a memory, may be read directly from the memory, or may pass through other devices) and transmit them to the processor.

[0356] As another possible implementation manner, the communication device further includes a communication interface, and the communication interface is used to communicate with a module outside the communication device.

[0357] It can be understood that the communication device can be a chip or a chip system. When the communication device is a chip system, it can be composed of chips, or it can include chips and other discrete devices. The embodiments of the present application do not specifically limit this.

[0358] The present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed by a computer, the functions of any of the above method embodiments are implemented.

[0359] The present application also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.

[0360] Those skilled in the art will appreciate that, for the sake of convenience and brevity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0361] It is understood that the systems, devices and methods described in the present application can also be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0362] The units described as separate components may or may not be physically separated, i.e., they may be located in one place, or they may be distributed over multiple network units. The components shown as units may or may not be physical units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0363] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0364] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or may contain one or more servers, data centers and other data storage devices that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)), etc. In the embodiment of the present application, the computer may include the aforementioned device.

[0365] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in a claim. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0366] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A communication method, It is characterized in that The method comprises: Acquire first information, where the first information is motion information of the terminal device in a first coordinate system, and a value of a coordinate axis of the first coordinate system represents a rotation angle of the terminal device relative to the coordinate axis; Send second information, where the second information is the motion information in a second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the movement of the terminal device, and the second information is determined based on the rotation angle of the terminal device in the first coordinate system and the rotation angle of the second coordinate system, and the reference systems of the first coordinate system and the second coordinate system are different.

2. The method according to claim 1, It is characterized in that The rotation angle of the second coordinate system is the difference between the first angle and the second angle, where: The first angle includes the angle between the wave direction of the first reference signal and each coordinate axis in the second coordinate system, and the first reference signal is a reference signal after the terminal device is rotated; The second angle includes the angles between the arrival direction of the second reference signal and each coordinate axis in the second coordinate system, and the second reference signal is a reference signal of the terminal device before rotation.

3. The method according to claim 2, It is characterized in that The first reference signal is a reference signal from the first network device after the terminal device is rotated; The second reference signal is a reference signal from the first network device before the terminal device rotates.

4. The method according to claim 2, It is characterized in that The first reference signal is a reference signal sent by the terminal device to the first network device after the terminal device rotates; The second reference signal is a reference signal sent by the terminal device to the first network device before the terminal device rotates.

5. The method according to any one of claims 2 to 4, It is characterized in that The method further comprises: Third information is received, where the third information indicates resources used to carry the first reference signal and / or the second reference signal.

6. The method according to any one of claims 1 to 5, It is characterized in that The method further comprises: Fourth information is received, where the fourth information is used to query whether the first coordinate system is changed.

7. The method according to any one of claims 1 to 6, It is characterized in that When the first coordinate system changes, the second information is determined based on a rotation angle of the terminal device in the changed first coordinate system and a rotation angle of the second coordinate system.

8. A communication method, It is characterized in that The method comprises: receiving second information, where the second information is motion information of the terminal device in a second coordinate system, a reference system of the second coordinate system is the terminal device, the second coordinate system changes with the motion of the terminal device, and the second coordinate system is determined according to reference signals transmitted in at least two reference directions; The fifth information is determined according to the second information and the second conversion relationship, where the fifth information is the motion information in the third coordinate system, the second conversion relationship is the conversion relationship between the second coordinate system and the third coordinate system, and the reference systems of the second coordinate system and the third coordinate system are different.

9. The method according to claim 8, It is characterized in that The method further comprises: Determine an angle between each reference direction of the at least two reference directions and each coordinate axis in the second coordinate system; The second coordinate system is determined according to the angles between each reference direction and each coordinate axis in the second coordinate system.

10. The method according to claim 8 or 9, It is characterized in that The at least two reference directions include signal transmission directions between at least two network devices and the terminal device respectively, and the network devices include a first network device and a second network device.

11. The method according to claim 8 or 9, It is characterized in that The at least two reference directions include signal transmission directions on at least two transmission paths between the first network device and the terminal device.

12. The method according to claim 11, It is characterized in that The at least two transmission paths include transmission paths between the terminal device and the first network device when the terminal device is located at different positions.

13. The method according to any one of claims 10 to 12, It is characterized in that The signal transmission direction includes a transmission direction of a reference signal from the terminal device and a transmission direction of a reference signal sent by the first network device or the network device to the terminal device.

14. The method according to claim 10, It is characterized in that The signal transmission direction includes a transmission direction of a reference signal from the terminal device.

15. The method according to any one of claims 8 to 14, It is characterized in that The method further comprises: A first conversion relationship is received, where the first conversion relationship is a conversion relationship between a first coordinate system and a second coordinate system, where the numerical value on the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis, and the reference systems of the first coordinate system, the second coordinate system and the third coordinate system are different from each other.

16. The method according to any one of claims 8 to 15, It is characterized in that The method further comprises: Sending third information, where the third information indicates resources used to carry the reference signal.

17. The method according to any one of claims 8 to 16, It is characterized in that The method further comprises: Sending fourth information, where the fourth information is used to query whether the first coordinate system is changed.

18. A communication method, It is characterized in that The method comprises: Determine sixth information, where the sixth information is used to assist the movement of the terminal device or to align the beam of the terminal device with the first network device, and the sixth information is information in the third coordinate system; Determine seventh information according to the sixth information and the second conversion relationship, the seventh information is the information in a second coordinate system, the reference system of the second coordinate system is the terminal device, the second coordinate system changes with the movement of the terminal device, the second coordinate system is determined according to reference signals transmitted in at least two reference directions, the second conversion relationship is a conversion relationship between the second coordinate system and the third coordinate system, and the second coordinate system is different from the reference system of the third coordinate system; The seventh information is sent.

19. The method according to claim 18, It is characterized in that The method further comprises: Determine an angle between each reference direction of the at least two reference directions and each coordinate axis in the second coordinate system; The second coordinate system is determined according to the angles between each reference direction and each coordinate axis in the second coordinate system.

20. The method according to claim 18 or 19, It is characterized in that The at least two reference directions include signal transmission directions between at least two network devices and the terminal device respectively, and the network devices include the first network device and the second network device.

21. The method according to claim 18 or 19, It is characterized in that The at least two reference directions include signal transmission directions on at least two transmission paths between the first network device and the terminal device.

22. The method according to claim 21, It is characterized in that The terminal devices on the at least two transmission paths are located at the same location or at different locations.

23. The method according to any one of claims 20 to 22, It is characterized in that The signal transmission direction includes a transmission direction of a reference signal from the terminal device and a transmission direction of a reference signal sent by the first network device to the terminal device.

24. The method according to claim 20, It is characterized in that The signal transmission direction includes a transmission direction of a reference signal from the terminal device.

25. The method according to any one of claims 18 to 24, It is characterized in that The method further comprises: A first conversion relationship is received, where the first conversion relationship is a conversion relationship between a first coordinate system and a second coordinate system, where the numerical value on the coordinate axis of the first coordinate system represents the rotation angle of the terminal device relative to the coordinate axis, and the reference systems of the first coordinate system, the second coordinate system and the third coordinate system are different from each other.

26. The method according to any one of claims 18 to 25, It is characterized in that The method further comprises: Sending third information, where the third information indicates resources used to carry the reference signal.

27. The method according to any one of claims 18 to 26, It is characterized in that The method further comprises: Sending fourth information, where the fourth information is used to query whether the first coordinate system is changed.

28. A communication device, It is characterized in that The communication device includes a transceiver module and a processing module. The transceiver module is used to perform the receiving behavior or the sending behavior in the method according to any one of claims 1 to 7, or the transceiver module is used to perform the receiving behavior or the sending behavior in the method according to any one of claims 8 to 17, or the transceiver module is used to perform the receiving behavior or the sending behavior in the method according to any one of claims 18 to 27; The processing module is used to perform the processing behavior in the method described in any one of claims 1-7, or the transceiver module is used to perform the processing behavior in the method described in any one of claims 8-17, or the transceiver module is used to perform the receiving behavior or the sending behavior in the method described in any one of claims 18-27.

29. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores computer instructions or programs, which, when executed on a computer, cause the method according to any one of claims 1 to 7 to be executed, or cause the method according to any one of claims 8 to 17 to be executed, or cause the method according to any one of claims 18 to 27 to be executed.

30. A chip, It is characterized in that include: A processor, wherein the processor is coupled to a memory, wherein the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the chip executes the method as described in any one of claims 1 to 7, or the chip executes the method as described in any one of claims 8 to 17, or the chip executes the method as described in any one of claims 18 to 27.

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