Positioning method, device and system and storage medium

Abstract

A positioning method, device and system and a storage medium are used for improving positioning precision. In the application, a first device determines a first integer ambiguity according to first measurement information. The first measurement information comprises time measurement information and / or carrier phase measurement information. The first measurement information is obtained by performing measurement based on the at least one first reference signal. The first device may also obtain first information indicating a reliability of the first integer ambiguity. Since the first information indicates the reliability of the first integer ambiguity, the positioning precision can be improved by positioning based on the first information and the first integer ambiguity.

Description

Technical Field

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

[0002] With the rapid development of communication technology, high-precision positioning has gradually been identified as an important research project in the 5th generation mobile networks or 5th generation wireless systems (5G) of the 3rd Generation Partnership Project (3GPP). The scenarios of New Radio (NR) positioning mainly include: enhanced mobile broadband (eMBB) outdoor, eMBB indoor, ultra-reliable and low latency communications (URLLC) and massive machine type of communication (mMTC) / Internet of things (IOT). It is also required to have high security, scalability, high availability and accuracy assurance in high-speed applications.

[0003] In the 3GPP standard, multiple positioning technologies are supported, such as carrier phase positioning technology, time difference of arrival (TDOA), angle of departure (AOD), time difference of arrival (TDOA), angle of arrival (AOA), round trip time (RTT), etc. In the process of positioning based on one or more positioning technologies, a measuring device (such as a base station, a terminal, etc.) can measure the received reference signal to obtain measurement information. The measurement information can be used to locate the transmitter of the reference signal and / or the receiver of the reference signal. The measurement information may include the value of the measurement parameter. The measurement parameter may be associated with the positioning technology. For example, if the positioning technology is AOA, the measurement parameter may include the angle of arrival (AOA); for another example, if the positioning technology is TDOA, the measurement parameter may include the time difference of arrival of the reference signal, etc.

[0004] For example, in some positioning technologies (such as carrier phase positioning technology), measurement information can be used to determine the integer ambiguity, which is used to determine the distance between the transmitter and receiver of the reference signal, and the distance is used to locate the transmitter of the reference signal and / or the receiver of the reference signal.

[0005] With the development of positioning technology, how to improve positioning accuracy has become an urgent problem to be solved. Summary of the invention

[0006] The present application provides a positioning method, device, system and storage medium for obtaining integer ambiguity and information indicating the reliability of the integer ambiguity, thereby improving positioning accuracy.

[0007] In a first aspect, the present application provides a positioning method, which can be performed by a first device, such as a terminal, a chip system inside a terminal, a network device, a chip system inside a network device, a positioning management device, or a chip system inside a positioning management device.

[0008] In the present application, the first device determines at least one first integer ambiguity according to first measurement information. The first measurement information includes time measurement information and / or carrier phase measurement information. The first measurement information is obtained by measuring based on at least one first reference signal. The first device obtains the first information. The first information indicates the reliability of at least one first integer ambiguity.

[0009] In the present application, the first information and at least one first integer ambiguity are used for positioning. The first information and at least one first integer ambiguity can be used to locate the terminal, and the at least one first reference signal may include a reference signal sent by other devices (such as a base station or other terminals) to the terminal, and the at least one first reference signal may also include a reference signal sent by the terminal to other devices (such as a base station or other terminals).

[0010] In the present application, at least one first integer ambiguity may be one or more first integer ambiguities. Multiple first integer ambiguities may correspond to multiple first information, for example, multiple first integer ambiguities and multiple first information may correspond one to one, wherein one first information indicates the reliability of one first integer ambiguity. Alternatively, one first information may correspond to multiple first integer ambiguities, and the first information may indicate the reliability of multiple first integer ambiguities.

[0011] Since the first device of the present application can obtain the first information, and the first information indicates the reliability of at least one first integer ambiguity, the first information can assist in determining a more accurate integer ambiguity, thereby improving the positioning accuracy when positioning is performed based on the integer ambiguity.

[0012] The present application is applicable to a variety of scenarios, and two possible scenarios are illustrated below.

[0013] Scenario 1: The first device may be a terminal, a chip system inside a terminal, a network device, or a chip system inside a network device, and the second device may be a positioning management device or a chip system inside a positioning management device. For example, the first device sends at least one first integer ambiguity and a first information. Correspondingly, the second device receives at least one first integer ambiguity and a first information. The second device performs positioning based on at least one first integer ambiguity and the first information. For example, the second device determines a third integer ambiguity based on at least one first integer ambiguity and the first information, and the third integer ambiguity is used for positioning, such as the third integer ambiguity is used to locate the terminal. In this way, the second device can determine a more accurate integer ambiguity with the assistance of the first information. For example, the second device can select the integer ambiguity with the highest reliability for positioning. For another example, the second device can select multiple integer ambiguities with higher reliability for positioning, thereby improving the positioning accuracy.

[0014] In scenario two, the first device may be a positioning management device or a chip system inside the positioning management device. For example, before the first device determines at least one first integer ambiguity based on the first measurement information, it also receives the first measurement information. The first device performs positioning based on at least one first integer ambiguity and the first information. For example, the first device determines a third integer ambiguity based on at least one first integer ambiguity and the first information, and the third integer ambiguity is used for positioning, such as the third integer ambiguity is used to locate the terminal. In this solution, the first device may receive the first measurement information from other devices, such as receiving the first measurement information from a terminal or a network device, and the first device may obtain the first information based on these measurement information, and then may improve the positioning accuracy based on the first information.

[0015] In a possible implementation, the first information includes information for indicating the following content: at least one likelihood ratio of the first integer ambiguity being accurate. The likelihood ratio of the first integer ambiguity being accurate can be replaced by the probability that the first integer ambiguity is accurate, the degree of accuracy of the first integer ambiguity, etc. The degree of accuracy of the first integer ambiguity can be more accurately reflected by the likelihood ratio, thereby further improving the positioning accuracy.

[0016] There are many ways for the first device to determine the first integer ambiguity, and two possible ways are illustrated below.

[0017] In a first approach, the first device determines a first integer ambiguity set according to the first measurement information, wherein the first integer ambiguity set includes at least one integer ambiguity. The first integer ambiguity set includes a first integer ambiguity in at least one first integer ambiguity. In this approach, the first device may determine the first integer ambiguity set, and then regard the integer ambiguities in the first integer ambiguity set as first integer ambiguities, and further determine the reliability of the at least one first integer ambiguity.

[0018] Mode 2: A first integer ambiguity in at least one first integer ambiguity is determined based on integer ambiguities in a first integer ambiguity set. In this solution, the first device may determine a first integer ambiguity set, and then determine a first integer ambiguity based on the integer ambiguities in the first integer ambiguity set. For example, the first integer ambiguity set includes two integer ambiguities, and the integer ambiguity of the center frequency point of the frequency points corresponding to the two integer ambiguities may be regarded as the first integer ambiguity, and the first integer ambiguity may not belong to the integer ambiguity set.

[0019] In another possible implementation, at least one first integer ambiguity may partially belong to the first integer ambiguity set, partially not belong to the first integer ambiguity set, or all belong to the first integer ambiguity set, or all do not belong to the first integer ambiguity set. This can improve the flexibility of the solution.

[0020] In a possible implementation, the first device determines at least one second integer ambiguity based on the second measurement information; the second measurement information includes time measurement information and / or carrier phase measurement information. The second measurement information is obtained by measuring based on at least one second reference signal. The first device obtains at least one second integer ambiguity and second information, and the second information indicates the reliability of at least one second integer ambiguity; the at least one second integer ambiguity, the second information, the at least one first integer ambiguity and the first information are used to determine a third integer ambiguity.

[0021] In the present application, at least one second integer ambiguity may be one or more second integer ambiguities. Multiple second integer ambiguities may correspond to multiple second information, for example, multiple second integer ambiguities and multiple second information may correspond one to one, wherein one second information indicates the reliability of one second integer ambiguity. Alternatively, one second information may correspond to multiple second integer ambiguities, and the second information may indicate the reliability of multiple second integer ambiguities.

[0022] Since the first device also acquires the second information and at least one second integer ambiguity, and the second information indicates the reliability of at least one second integer ambiguity, a more accurate integer ambiguity can be determined based on the first information and the second information, thereby improving the positioning accuracy when positioning is performed based on the integer ambiguity.

[0023] In a scenario to which the present application is applicable, the first device may be a terminal, a chip system inside a terminal, a network device, a chip system inside a network device, and the second device may be a positioning management device or a chip system inside a positioning management device. For example, the first device sends at least one second integer ambiguity and a second information. Correspondingly, the second device receives at least one second integer ambiguity and a second information. The second device determines a third integer ambiguity based on at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information, and the third integer ambiguity is used for positioning. In this way, the second device can determine a more accurate integer ambiguity with the assistance of the first information and the second information, thereby improving the positioning accuracy.

[0024] In another scenario to which the present application is applicable, the first device may be a positioning management device or a chip system inside the positioning management device. For example, before the first device determines at least one second integer ambiguity based on the second measurement information, the first device receives the second measurement information. The first device determines a third integer ambiguity based on at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information, and the third integer ambiguity is used for positioning. In this solution, the first device may receive the first measurement information from other devices, and may also receive the second measurement information from other devices, such as receiving the first measurement information and the second measurement information from a terminal or a network device. The first device may obtain the first information and the second information based on these measurement information, and may then further improve the positioning accuracy based on the first information and the second information.

[0025] In a possible implementation, the second information includes information for indicating the following content: a likelihood ratio of at least one second integer ambiguity being accurate. The likelihood ratio of the second integer ambiguity being accurate can be replaced by a probability that the second integer ambiguity is accurate, a degree of accuracy of the second integer ambiguity, etc. The degree of accuracy of the second integer ambiguity can be more accurately reflected by the likelihood ratio, thereby further improving the positioning accuracy.

[0026] There are many ways for the first device to determine the second integer ambiguity, and two possible ways are illustrated below.

[0027] In a first approach, the first device determines a second integer ambiguity set according to the second measurement information, wherein the second integer ambiguity set includes at least one integer ambiguity. The second integer ambiguity set includes a second integer ambiguity in the at least one second integer ambiguity. In this approach, the first device may determine the second integer ambiguity set, and then regard the integer ambiguities in the second integer ambiguity set as the second integer ambiguities, and further determine the reliability of the at least one second integer ambiguity.

[0028] Mode 2: The second integer ambiguity in the at least one second integer ambiguity is determined based on the integer ambiguities in the second integer ambiguity set. In this solution, the first device may determine the second integer ambiguity set, and then determine the second integer ambiguity based on the integer ambiguities in the second integer ambiguity set. For example, the second integer ambiguity set includes two integer ambiguities, and the integer ambiguity of the center frequency point of the frequency points corresponding to the two integer ambiguities may be regarded as the second integer ambiguity, and the second integer ambiguity may not belong to the integer ambiguity set.

[0029] In another possible implementation, at least one second integer ambiguity may partially belong to the second integer ambiguity set, partially not belong to the second integer ambiguity set, or all belong to the second integer ambiguity set, or all do not belong to the second integer ambiguity set. This can improve the flexibility of the solution.

[0030] In a possible implementation, the second information and the first information are the same information. For example, the first device determines a likelihood (or reliability), which is the likelihood (or reliability) of the first integer ambiguity and the second integer ambiguity.

[0031] In a possible implementation, the first measurement information is obtained based on measurement information of a first frequency point of at least one first reference signal. The second measurement information is obtained based on measurement information of a second frequency point of at least one second reference signal. The first frequency point is different from the second frequency point.

[0032] In a possible implementation, a first reference signal in the at least one first reference signal and a second reference signal in the at least one second reference signal are the same reference signal, which can facilitate configuration on the network side. For example, the first reference signal and the second reference signal have the same resource identifier and the same resource set identifier.

[0033] In one possible implementation, the degree of proximity between the first distance value and the second distance value is positively correlated with the likelihood that at least one first integer ambiguity is correct. The first distance value is determined based on the first integer ambiguity. In another possible implementation, the degree of proximity between the first distance value and the second distance value is positively correlated with the likelihood that at least one second integer ambiguity is correct. The second distance value is determined based on the second integer ambiguity.

[0034] For example, the first distance value can be used to indicate the distance from the transmitter of the first reference signal to the first communication device. The second distance value is used to indicate the distance from the transmitter of the second reference signal to the first communication device. The transmitter of the first reference signal and the transmitter of the second reference signal can be the same. Therefore, the two distance values ​​corresponding to the first reference signal and the second reference signal (i.e., the first distance value and the second distance value) should be close or the same. The closer the first distance value and the second distance value are, the higher the degree of accuracy of the first distance value and the second distance value, and then the first integer ambiguity used to determine the first distance value and the second integer ambiguity used to determine the second distance value can be determined. It can be seen that it is very reasonable to reflect the correct likelihood of the two integer ambiguities based on the closeness of the two distance values ​​in the present application, and the solution is simple and easy to implement.

[0035] In one possible implementation, the first distance value is also determined based on the first wavelength corresponding to the first frequency point and the carrier phase measurement information in the first measurement information. In another possible implementation, the second distance value is also determined based on the second wavelength corresponding to the second frequency point and the carrier phase measurement information in the second measurement information.

[0036] In one possible implementation, at least one first integer ambiguity is determined based on at least one of the third distance value, the first wavelength corresponding to the first frequency point, or an error amount of time measurement information in the first measurement information. In another possible implementation, at least one second integer ambiguity is determined based on at least one of the third distance value, the second wavelength corresponding to the second frequency point, or an error amount of time measurement information in the second measurement information.

[0037] The third distance value may be used to indicate a distance from a transmitting end of the first reference signal and / or the second reference signal to the first communication device.

[0038] For example, the third distance value is determined according to: the time measurement information included in the first measurement information and / or the time measurement information included in the second measurement information.

[0039] For another example, the third distance value is determined based on at least one of the third wavelength corresponding to the third frequency point, the fourth integer ambiguity corresponding to the third frequency point, the carrier phase measurement information included in the first measurement information, or the carrier phase measurement information included in the second measurement information; the third frequency point is determined based on the first frequency point and the second frequency point.

[0040] In this way, at least one first integer ambiguity and at least one second integer ambiguity may be calculated based on the third distance value.

[0041] In a possible implementation, the third frequency point is the center frequency point of a bandwidth. The bandwidth can be understood as the bandwidth of the frequency domain resources occupied by the first reference signal and / or the second reference signal. The bandwidth includes the first frequency point and the second frequency point, and the center frequency point is located between the first frequency point and the second frequency point. The first frequency point and the second frequency point can be regarded as the frequency points at both ends of the bandwidth. Since the phase information corresponding to the center frequency point is more accurate than that of frequency point #1 and frequency point #2, positioning based on the integer ambiguity corresponding to the center frequency point can further improve the accuracy and robustness of positioning.

[0042] In a possible implementation, the fourth integer ambiguity corresponding to the third frequency point is determined according to the third wavelength and the fourth distance value. The third distance value is used to indicate the distance from the sender of the first reference signal and / or the second reference signal to the first communication device.

[0043] In a possible implementation, the fourth distance value is determined based on the time measurement information included in the first measurement information and / or the time measurement information included in the second measurement information. In this way, the third distance value determined based on at least one of the third wavelength corresponding to the third frequency point, the fourth integer ambiguity corresponding to the third frequency point, the carrier phase measurement information included in the first measurement information, or the carrier phase measurement information included in the second measurement information can be more accurate, and then the first integer ambiguity and the second integer ambiguity determined based on the third distance value can be more accurate.

[0044] In a possible implementation, the first information includes a soft bit value, and the second information includes a soft bit value. In this way, the accuracy of the first integer ambiguity and / or the second integer ambiguity can be expressed more accurately.

[0045] In a possible implementation manner, the first measurement information is obtained by measuring at least one first reference signal, where the at least one first reference signal includes a third reference signal and a fourth reference signal. The carrier phase measurement information in the first measurement information includes at least one of the following:

[0046] Information indicating a first phase, where the first phase is obtained by measuring a third reference signal from a fourth device by a third device;

[0047] Information indicating a first phase difference, where the first phase difference is obtained based on the first phase and the second phase, where the second phase is obtained by measuring a fourth reference signal from a fifth device by a third device;

[0048] Information indicating a second phase difference, where the second phase difference is obtained based on the first phase and a third phase, where the third phase is obtained by measuring a third reference signal from the fourth device by the sixth device;

[0049] Information for indicating a third phase difference, the third phase difference being obtained based on the first phase difference and the fourth phase difference, the fourth phase difference being obtained based on the fourth phase and the fifth phase, the fourth phase being obtained by the sixth device measuring the third reference signal from the fourth device, and the fifth phase being obtained by the sixth device measuring the fourth reference signal from the fifth device;

[0050] Or, information used to indicate a fourth phase difference, where the fourth phase difference is determined according to the acquired phase arrival error PAE, and the fourth phase difference is also determined according to the first phase and / or the first phase difference.

[0051] In a possible implementation, the time measurement information includes at least one of the following: time of arrival (TOA), relative time of arrival (RTOA), reference signal time difference (RSTD) or Rx-Tx Time Difference, etc.

[0052] In a possible implementation, the carrier phase measurement information includes at least one of the following: reference signal carrier phase (reference SignalCarrier Phase, RSCP), reference signal carrier phase difference (reference signalcarrier phase difference, RSCPD), multi-subband carrier phase (carrier phase), multi-subband carrier phase difference (carrier phase difference), multi-frequency carrier phase or multi-frequency carrier phase difference, etc.

[0053] In a second aspect, the present application provides a positioning method, in which the second device may be a positioning management device or a chip system inside the positioning management device.

[0054] In the present application, the second device receives at least one first integer ambiguity and first information. The at least one first integer ambiguity is determined based on the first measurement information. The first measurement information includes time measurement information and / or carrier phase measurement information. The first measurement information is obtained by measuring based on the first reference signal. The first information indicates the reliability of at least one first integer ambiguity. The second device performs positioning based on the at least one first integer ambiguity and the first information, such as positioning the terminal. For example, the second device determines a third integer ambiguity based on the at least one first integer ambiguity and the first information, and the third integer ambiguity is used for positioning.

[0055] Since the second device of the present application can obtain at least one first integer ambiguity and the first information, and since the first information indicates the reliability of at least one first integer ambiguity, the first information can assist in determining a more accurate integer ambiguity, thereby improving the positioning accuracy when positioning is performed based on the integer ambiguity.

[0056] In a possible implementation, the second device receives at least one second integer ambiguity and second information. The at least one second integer ambiguity is determined based on the second measurement information. The second measurement information includes time measurement information and / or carrier phase measurement information. The second measurement information is obtained by measuring based on a second reference signal. The second information indicates the reliability of at least one second integer ambiguity. The second device performs positioning based on at least one first integer ambiguity, the first information, at least one second integer ambiguity and the second information. For example, the second device determines a third integer ambiguity based on at least one first integer ambiguity, the first information, at least one second integer ambiguity and the second information, and the third integer ambiguity is used for positioning.

[0057] Since the second device of the present application can obtain at least one first integer ambiguity, the first information, at least one second integer ambiguity and the second information, and since the first information indicates the reliability of at least one first integer ambiguity and the second information indicates the reliability of at least one second integer ambiguity, the first information and the second information can assist in determining a more accurate integer ambiguity, thereby improving the positioning accuracy when positioning is performed based on the integer ambiguity.

[0058] For the relevant description about the first integer ambiguity, the first information, the second integer ambiguity and the second information, please refer to the relevant introduction of the first aspect mentioned above and will not be repeated here.

[0059] In a third aspect, a communication device is provided, which may be the aforementioned first device or the second device. The communication device may include a communication unit and a processing unit to perform any aspect of the aforementioned first to second aspects, or to perform any possible implementation of the first to second aspects. The communication unit is used to perform functions related to sending and receiving.

[0060] Optionally, the communication unit includes a transceiver unit, the transceiver unit may include a receiving unit and a sending unit, the receiving unit may be used to perform functions related to reception, and the sending unit may be used to perform functions related to sending. In one design, the communication device is a communication chip, the processing unit may be one or more processors or processor cores, and the communication unit may be an input / output circuit or port of the communication chip.

[0061] In another design, the communication unit may be a transceiver, which may include a transmitter and a receiver, or the communication unit may be a transceiver, which may include a transmitter and a receiver. The receiver (or receiver) may be used to perform functions related to reception, and the transmitter (or transmitter) receiving unit may be used to perform functions related to transmission.

[0062] Optionally, the communication device also includes various modules that can be used to execute any aspect of the first to second aspects above, or execute any possible implementation of the first to second aspects.

[0063] In a fourth aspect, a communication device is provided, which may be the aforementioned first device or second device. The communication device may include a processor and a memory to execute any aspect of the aforementioned first to second aspects, or execute any possible implementation of the aforementioned first to second aspects. Optionally, a transceiver is further included, the memory is used to store a computer program or instruction, and the processor is used to call and run the computer program or instruction from the memory, and when the processor executes the computer program or instruction in the memory, the communication device executes any aspect of the aforementioned first to second aspects, or executes any possible implementation of the aforementioned first to second aspects.

[0064] Optionally, there are one or more processors and one or more memories.

[0065] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0066] Optionally, the transceiver may include a transmitter (transmitter) and a receiver (receiver).

[0067] In a fifth aspect, a communication device is provided, which may be the aforementioned first device or second device. The communication device may include a processor to perform any aspect of the aforementioned first to second aspects, or to perform any possible implementation of the first to second aspects. The processor is coupled to a memory. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0068] In one implementation, when the communication device is the first device or the second device, the communication interface may be a transceiver, or an input / output interface. Optionally, the transceiver may be a transceiver circuit. Optionally, the input / output interface may be an input / output circuit.

[0069] In another implementation, when the communication device is a chip or a chip system, the communication interface may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit on the chip or the chip system, etc. The processor may also be embodied as a processing circuit or a logic circuit.

[0070] In a sixth aspect, a system is provided, the system comprising the first device mentioned above.

[0071] In a possible implementation, the system may further include a second device.

[0072] In a seventh aspect, a system is provided, the system comprising the first device mentioned above.

[0073] In a possible implementation manner, the system may further include a device for sending measurement information, where the device for sending measurement information is used to send first measurement information.

[0074] In an eighth aspect, a computer program product is provided, which includes: a computer program (also referred to as code, or instruction), which, when executed, enables a computer to execute any one of the first to second aspects described above, or any possible implementation of the first to second aspects.

[0075] In the ninth aspect, a computer-readable storage medium is provided, which stores a computer program (also referred to as code, or instructions). When the computer program is run on a computer, the computer executes any one of the first to second aspects above, or executes any possible implementation of the first to second aspects.

[0076] In a tenth aspect, a processing device is provided, comprising: an interface circuit and a processing circuit. The interface circuit may include an input circuit and an output circuit. The processing circuit is used to receive a signal through the input circuit and transmit a signal through the output circuit, so that any aspect of the first aspect to the second aspect above, or any possible implementation method of executing the first aspect to the second aspect is implemented.

[0077] In the specific implementation process, the above-mentioned processing device can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, a gate circuit, a trigger, and various logic circuits. The input signal received by the input circuit can be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter, and the input circuit and the output circuit can be the same circuit, which is used as an input circuit and an output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0078] In one implementation, when the communication device is the first device or the second device, the interface circuit may be a radio frequency processing chip in the first device or the second device, and the processing circuit may be a baseband processing chip in the first device or the second device.

[0079] In another implementation, the communication device may be a part of the first device or the second device, such as an integrated circuit product such as a system chip or a communication chip. The interface circuit may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin or a related circuit on the chip or the chip system. The processing circuit may be a logic circuit on the chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 A possible schematic diagram of the integer ambiguity;

[0081] Figure 2A A schematic diagram of the architecture of a communication system applicable to an embodiment of the present application;

[0082] Figure 2B A schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0083] Figure 2C A schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0084] Figure 2D A schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0085] Figure 2E A schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0086] Figure 2F A schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0087] Figure 3 A possible flow chart of a positioning method provided in an embodiment of the present application;

[0088] Figure 4 A possible flow chart of a positioning method provided in an embodiment of the present application;

[0089] Figure 5 A possible flow chart of a positioning method provided in an embodiment of the present application;

[0090] Figure 6 A possible flow chart of a positioning method provided in an embodiment of the present application;

[0091] Figure 7 A possible flow chart of a positioning method provided in an embodiment of the present application;

[0092] Figure 8 A possible flow chart of a positioning method provided in an embodiment of the present application;

[0093] Fig. 9 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0094] Fig.10 A schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0095] The following is an introduction to the nouns and terms involved in the embodiments of the present application.

[0096] (1) Reference signal

[0097] In an embodiment of the present application, the reference signal may be, for example, a dual-subband reference signal (DS-RS), a synchronization signal-physical sidelink broadcast channel block (SSB), a positioning reference signal (PRS) (such as a sidelink (SL)-PRS), a sounding reference signal (SRS), a channel state information reference signal (CSI-RS), a demodulation reference signal (DMRS), or at least one of a phase tracking reference signal (PTRS).

[0098] The sidelink in the embodiment of the present application may also be referred to as a sidelink, a sidelink, a direct link, an edge link or an auxiliary link, etc. In the embodiment of the present application, the above terms all refer to links established between devices of the same type, and have the same meaning. The so-called devices of the same type may be links between terminals, etc. For links between terminals, there are device-to-device (D2D) links defined in version (Rel)-12 / 13 of the 3rd Generation Partnership Project (3GPP), and there are also vehicle-to-vehicle, vehicle-to-mobile phone, or vehicle-to-any entity's vehicle-to-everything communication (V2X) links defined by 3GPP for the Internet of Vehicles, including Rel-14 / 15. It also includes Rel-16 and subsequent versions of V2X links based on NR systems that are currently being studied by 3GPP.

[0099] The embodiment of the present application involves the concept of a reference signal, for example, a first reference signal and a second reference signal may be the same reference signal. When two reference signals are the same reference signal, it can be understood that the resource identifiers (identity, ID) and resource set IDs corresponding to the two reference signals are the same. It can also be understood that the transmitter of the reference signal sends a reference signal, which can be called a first reference signal or a second reference signal.

[0100] (2) Integer ambiguity.

[0101] Integer ambiguity in the embodiment of the present application can be understood as the number of integers of wavelengths included in the distance between the transmitter and the receiver of the reference signal. Integer ambiguity can be called integer ambiguity.

[0102] Figure 1 A possible schematic diagram of the integer ambiguity is shown as an example. Figure 1 As shown, Figure 1 Where d is the distance between the reference signal transmitter and receiver, and d satisfies: in, is the carrier phase measurement information measured by the receiving end, N is the integer ambiguity, N is a positive integer, the value of N is used to indicate that the distance d includes N carrier integer cycles, and λ is the wavelength of the carrier.

[0103] Figure 2A The following is a schematic diagram of the architecture of a communication system applicable to the embodiments of the present application. Figure 2AAs shown, the communication system includes a wireless access network 100 and a core network 200. Optionally, the communication system 1000 may also include the Internet 300. The wireless access network 100 may include at least one wireless access network device (such as Figure 2A 110a and 110b), and may further include at least one terminal (such as Figure 2A 120a-120j in the figure). The terminal is connected to the wireless access network device by wireless means, and the wireless access network device is connected to the core network by wireless or wired means. The core network device and the wireless access network device can be independent and different physical devices, or the functions of the core network device and the logical functions of the wireless access network device can be integrated on the same physical device, or part of the functions of the core network device and part of the functions of the wireless access network device can be integrated on one physical device. Terminals and wireless access network devices can be connected to each other by wired or wireless means. Figure 2A This is just a schematic diagram. The communication system may also include other network devices, such as wireless relay devices and wireless backhaul devices. Figure 2A Not drawn in.

[0104] The network devices involved in the embodiments of the present application include, for example, radio access network (RAN) devices. The radio access network devices may be base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs), transmission nodes (TPs), next generation NodeBs (gNBs) in fifth generation (5G) mobile communication systems, next generation NodeBs in sixth generation (6G) mobile communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems, etc.

[0105] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU).

[0106] CU and DU can be set separately, or can also be included in the same network element, such as a baseband unit (BBU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP); DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete the functions of part of the physical layer or all of the physical layer. For the specific description of the above-mentioned various protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH).

[0107] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be called an open CU (open-CU, O-CU), DU may also be called an open DU (open-DU, O-DU), CU-CP may also be called an open CU-CP (open-CU-CP, O-CU-CP), CU-UP may also be called O-CU-UP, and RU may also be called an open RU (open-RU, O-RU). For the convenience of description, this application takes CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0108] In the embodiment of the present application, when the first device is a network device or a chip system inside the network device, the steps executed by the first device (such as one of the following steps 301, 302, 401, 402, 404, 405, 502, 503, 504, 602, 603, 605, 606 or 607, etc.) can be executed by a module inside the network device, such as one or more of CU, DU, O-RU, O-DU, O-CU-UP or O-CU-CP.

[0109] The wireless access network device can be a macro base station (such as Figure 2A 110a), or a micro base station or an indoor station (such as Figure 2A 110b), may also be a relay node or a donor node, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the wireless access network device. For ease of description, the following description takes a base station as an example of a wireless access network device.

[0110] The terminal may also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, for example, device-to-device (D2D), vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, a sensor, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.

[0111] The above-mentioned terminal can establish a connection with the operator network through the interface (such as N1, etc.) provided by the operator network, and use the data and / or voice services provided by the operator network. The terminal can also access the domain name system (DNS) through the operator network, use the operator services deployed on the DNS, and / or services provided by a third party. Among them, the above-mentioned third party can be a service provider other than the operator network and the terminal, and can provide other data and / or voice services to the terminal. Among them, the specific form of expression of the above-mentioned third party can be determined according to the actual application scenario, and is not limited here.

[0112] The terminal may also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, for example, device-to-device (D2D), vehicle to everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, a road side unit (RSU), etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.

[0113] Base stations and terminals can be fixed or movable. Base stations and terminals can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on the water surface; they can also be deployed on aircraft, balloons, and artificial satellites in the air. The embodiments of this application do not limit the application scenarios of base stations and terminals.

[0114] The roles of the base station and the terminal can be relative, for example, Figure 2A The helicopter or drone 120i in the figure can be configured as a mobile base station. For the terminal 120j that accesses the wireless access network 100 through 120i, the terminal 120i is a base station; but for the base station 110a, 120i is a terminal, that is, 110a and 120i communicate through the wireless air interface protocol. Of course, 110a and 120i can also communicate through the interface protocol between base stations. In this case, relative to 110a, 120i is also a base station. Therefore, base stations and terminals can be collectively referred to as communication devices. Figure 2A 110a and 110b in the figure may be referred to as communication devices having base station functions. Figure 2A 120a-120j in the figure can be called communication devices with terminal functions.

[0115] Base stations and terminals, base stations and base stations, and terminals and terminals can communicate through authorized spectrum, unauthorized spectrum, or both; they can communicate through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communication.

[0116] In the embodiments of the present application, the functions of the base station may also be performed by a module (such as a chip) in the base station, or by a control subsystem including the base station function. The control subsystem including the base station function here may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal may also be performed by a module (such as a chip or a modem) in the terminal, or by a device including the terminal function.

[0117] In this application, the base station sends a downlink signal or downlink information to the terminal, and the downlink information is carried on the downlink channel; the terminal sends an uplink signal or uplink information to the base station, and the uplink information is carried on the uplink channel. In order to communicate with the base station, the terminal needs to establish a wireless connection with the cell controlled by the base station. The cell with which the terminal has established a wireless connection is called the service cell of the terminal. When the terminal communicates with the service cell, it will also be interfered by signals from neighboring cells.

[0118] The core network involved in the embodiments of the present application may include network equipment that processes and forwards user signaling and data. For example, it includes access and mobility management function (AMF), session management function (SMF), user plane gateway, positioning management equipment and other core network equipment. Among them, the user plane gateway can be a server with functions such as mobility management, routing, and forwarding of user plane data, which is generally located on the network side, such as a serving gateway (SGW) or a packet data network gateway (PGW) or a user plane network element function entity (UPF). AMF and SMF are equivalent to the mobility management entity (MME) in the long term evolution (LTE) system. AMF is mainly responsible for access, and SMF is mainly responsible for session management. Of course, other network elements can also be included in the core network, which are not listed here one by one.

[0119] The positioning management device has a positioning function. The positioning management device involved in the embodiments of the present application may include a positioning management function (LMF) or a positioning management component (LMC), or may be a local location management function (LLMF) located in a network device, or a positioning server, which is not limited in the embodiments of the present application. For the convenience of description, the following embodiments are all introduced by taking the positioning management device as LMF as an example.

[0120] based on Figure 2A The content shown, Figure 2B The following is a schematic diagram of a communication system architecture applicable to the embodiments of the present application, which is illustrated by taking the positioning architecture in LTE and NR Rel-16 as an example. Figure 2B As shown in FIG. 1 , the network elements / modules involved mainly include the next generation radio access network (NG-RAN), the terminal and the core network. NG is the abbreviation of next generation.

[0121] The core network includes location management function (LMF), access and mobility management function (AMF), service location protocol (SLP) and evolved serving mobile location center (E-SMLC). LMF is connected to AMF, and LMF and AMF are connected through NLs ​​interface. The terminal device communicates with the serving base station through Uu link; Ng-eNB is the base station of LTE, gNB is the base station of NR, and the base stations communicate through Xn interface; the base station and AMF communicate through NG control plane (NG-C) interface, and AMF is equivalent to the router for communication between gNB and LMF; LMF realizes the location estimation of the terminal device, and AMF and LMF communicate through network layer signaling (NLs) interface. LMF is responsible for supporting different types of location services for the terminal, including positioning the terminal and delivering auxiliary data to the terminal. LMF can calculate the location of the terminal based on the measurement results of other network elements. AMF can receive location service requests related to the terminal from the 5th generation core network location services (5GC LCS) entity, or AMF itself can start some location services on behalf of a specific terminal and forward the location service request to LMF. After obtaining the location information returned by the terminal, the relevant location information is returned to the 5GC LCS entity.

[0122] NG RAN may include next generation node B (gNB), next generation evolved node B (ng-eNB), etc. gNB and ng-eNB are connected through the Xn interface, and LMF is connected to ng-eNB / gNB through the NG-C interface.

[0123] One or more network devices on the NG RAN side configure resources for sending reference signals and send reference signals to the terminal. The terminal measures downlink signals such as the reference signal and feeds back the measurement results to the LMF to support positioning. It should be understood that the reference signal is used for positioning and can also be called a positioning reference signal. Therefore, the positioning reference signal can be a PRS, a common reference signal (CRS), a channel state information (CSI)-RS, etc.

[0124] The positioning method provided in the embodiment of the present application can be applied to various communication systems, for example: LTE system, fifth generation (5th generation, 5G) system, such as NR, and next generation communication system, such as 6G system, etc. Of course, the technical solution of the embodiment of the present application can also be applied to other communication systems, as long as the communication system has a positioning demand for the terminal. In addition, the communication system can also be applied to future-oriented communication technologies. The system described in the embodiment of the present application is to more clearly illustrate 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. It is known to those skilled in the art that with the evolution of the network architecture, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0125] Figure 2C The network architecture of another communication system applicable to the embodiment of the present application is shown, and the communication system includes a core network, NG-RAN and a terminal. The core network includes LMF, AMF, secure user plane location (SUPL) location platform (SUPL location platform, SLP) and enhanced serving mobile location center (E-SMLC) and other network elements / modules, and NG RAN includes gNB, ng-eNB and other network elements / modules. The specific functions of LMF, AMF, SLP, E-SMLC, gNB and ng-eNB and other network elements / modules, and the connection relationship between each network element / module can be found in the above text. Figure 2B The introduction of the relevant parts will not be repeated here.

[0126] and Figure 2B The difference is, Figure 2CIn the network architecture shown, LMC is added to NG-RAN. The specific deployment method of LMC is to set it inside the base station, such as in gNB or ng-ENB. In this network architecture, LMC is a function inside the base station, so there is no need to introduce a new interface. LMC can assume part of the functions of LMF. Under this architecture, gNB can not report the measurement results of the signal used for positioning to the LMF of the core network, thereby saving signaling overhead and reducing positioning delay.

[0127] Figure 2D FIG. 4 shows another network architecture of a communication system to which the embodiment of the present application is applicable. Figure 2D As shown in Figure 1, the communication system also includes a core network, NG-RAN and terminals. Figure 2C The difference is, Figure 2D The LMC in the network architecture shown is an independent logical node in NG-RAN and is connected to the base station through a new interface, e.g. Figure 2D In the , LMC is connected to the gNB-CU through the Itf interface. Figure 2D The gNB-DU can be connected to the gNB-CU through the F1 interface.

[0128] Figure 2E FIG. 4 shows another network architecture of a communication system to which the embodiment of the present application is applicable. Figure 2E As shown in Figure 1, the communication system also includes the core network, NG-RAN and terminals. LMC is an independent logical node in NG-RAN. Figure 2D The difference is that LMC can Figure 2E Connect to multiple base stations simultaneously via new interfaces. Figure 2E Taking the example that the LMC is connected to two base stations at the same time, in specific implementation, the LMC can also be connected to more base stations.

[0129] Figure 2F FIG. 4 shows another network architecture of a communication system to which the embodiment of the present application is applicable. Figure 2F As shown, the communication system includes (R)AN, AMF and LMF, and multiple terminals. Multiple terminals can be connected through PC5, and reference signals can be transmitted between two terminals, one of which can be regarded as a transmitter of the reference signal, and one or more terminals can be regarded as a receiver of the reference signal. The receiver of the reference signal can measure the received reference signal to obtain measurement information, which can be used for positioning. In another possible implementation, LMC can be integrated in the terminal.

[0130] It should be understood that the above Figure 2B , Figure 2C , Figure 2D , Figure 2E and Figure 2FThese are several exemplary descriptions of communication systems to which the embodiments of the present application are applicable, and do not specifically limit the types, quantities, connection methods, etc. of network elements included in the communication systems to which the present application is applicable. Figure 2B , Figure 2C , Figure 2D , Figure 2E and Figure 2F The network elements / modules indicated by the dotted lines are not indispensable but optional, for example, E-SMLC or SLP are not indispensable; or, the network elements / modules indicated by the dotted lines are in another form of existence, for example, gNB or ng-eNB are also called transmission reception point (TRP) in some embodiments, and the terminal is called a SUPL-enabled terminal (SET) in some embodiments, where SUPL is the abbreviation of secure user plane location (SUPL).

[0131] based on Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E and Figure 2F The embodiments shown and the other contents described above, Figure 3 A flowchart of a positioning method provided in an embodiment of the present application is exemplified.

[0132] For ease of understanding, Figure 3 In this paper, we introduce it from the perspective of interaction. Figure 3 The first device in can be Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E or Figure 2F A terminal, a chip system inside a terminal, a network device, or a chip system inside a network device. Figure 3 The second device in can be Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E or Figure 2F The positioning management device or the chip system of the positioning management device. The first device reports the first integer ambiguity and the first information to the second device so that the second device can perform positioning.

[0133] See also Figure 3 , the method comprising:

[0134] Step 301: A first device determines at least one first integer ambiguity according to first measurement information.

[0135] In the embodiment of the present application, the first measurement information may be obtained by measuring at least one first reference signal (for distinction, the reference signal used to determine the first measurement information in the embodiment of the present application is referred to as the first reference signal) by the first device, or it may be received by the first device from other devices. For distinction, in the embodiment of the present application, the device for measuring the reference signal is referred to as a measuring device, and the measuring device may be the first device, or it may not be the first device (the measuring device may send the first measurement information to the first device after obtaining the first measurement information); or there are multiple measuring devices, and the multiple measuring devices include the first device and other devices. Part or all of the content in the first measurement information may include: information directly obtained by the measuring device measuring at least one reference signal, and may also include information obtained by the measuring device further processing the information. The more accurate integer ambiguity (such as the third integer ambiguity) obtained based on the first measurement information in the solution provided in the embodiment of the present application can be used for positioning, such as for positioning the first device, and can also be used for positioning other devices (other devices may include, for example, the transmitting end or the measuring end of the first reference signal).

[0136] The first measurement information includes time measurement information and / or carrier phase measurement information.

[0137] The time measurement information in the embodiment of the present application includes at least one of the following: TOA, RTOA, RSTD or a sending and receiving time difference, etc.

[0138] The carrier phase measurement information in the embodiment of the present application includes at least one of the following: RSCP, RSCPD, carrier phase of multiple subbands, carrier phase difference of multiple subbands, carrier phase of multiple frequencies or carrier phase difference of multiple frequencies, etc.

[0139] The following introduces information that may be included in the carrier phase measurement information in the first measurement information, for example, may include at least one of the following information A1, information A2, information A3, information A4 or information A5.

[0140] The third device and the sixth device in the following implementation manner may be devices for receiving reference signals, and may be used to measure reference signals. The fourth device and the fifth device may be devices for sending reference signals. Any one of the third device, the fourth device, the fifth device and the sixth device may be the aforementioned Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E or Figure 2F A terminal, a chip system inside a terminal, a network device, or a chip system inside a network device.

[0141] Information A1 is used to indicate information of the first phase.

[0142] The information indicating the first phase may include the first phase (or referred to as a first phase value or first phase information).

[0143] The first phase is obtained by measuring a third reference signal (at least one first reference signal includes the third reference signal) from a fourth device by the third device.

[0144] In the embodiment of the present application, the third device may be the first device. Or the third device and the first device are two different devices. In the case where the third device and the first device are two different devices, the third device may send information indicating the first phase to the first device.

[0145] When the first measurement information includes information indicating the first phase, since the information indicating the first phase may include more measurement information, the first device can perform positioning based on more measurement information, thereby improving positioning accuracy.

[0146] Information A2 is used to indicate the first phase difference.

[0147] The first phase difference is obtained based on the first phase and the second phase (for example, the first phase difference is the difference between the first phase and the second phase). The second phase is obtained by the third device measuring a fourth reference signal (at least one first reference signal includes the fourth reference signal) from the fifth device.

[0148] The information indicating the first phase difference includes the first phase difference, or the information indicating the first phase difference includes the first phase and the second phase.

[0149] In the case that the third device and the first device are two different devices, the third device may send information indicating the first phase difference to the first device.

[0150] In the embodiment of the present application, when the first measurement information includes information indicating the first phase difference, some errors can be eliminated in the process of determining the first integer ambiguity based on the first phase difference, such as the error in the random initial phase of the reference signal or the synchronization error.

[0151] For example, multiple base stations send reference signals to a terminal respectively, and the terminal measures the reference signals from the multiple base stations to obtain the first phase and the second phase respectively. Or a terminal sends a reference signal to multiple base stations, and the multiple base stations measure the reference signals from the terminal respectively to obtain the first phase and the second phase respectively. In these two scenarios, since the error of the terminal is fixed, when the first phase and the second phase are used as the difference to calculate the first integer ambiguity, the error on the terminal side can be eliminated, for example, the error of measuring multiple reference signals on the terminal side can be eliminated, or the random initial phase error of the reference signal sent by the terminal side can be eliminated.

[0152] For another example, multiple terminals send reference signals to a base station respectively, and the base station measures the reference signals from the multiple terminals to obtain the first phase and the second phase respectively. Or a base station sends a reference signal to multiple terminals, and the multiple terminals measure the reference signals from the base station respectively to obtain the first phase and the second phase respectively. In these two scenarios, since the error of the base station is fixed, when the first phase and the second phase are used as the difference to calculate the first integer ambiguity, the error on the base station side can be eliminated, for example, the error of measuring multiple reference signals on the base station side can be eliminated, or the random initial phase error of the reference signal sent by the base station side can be eliminated.

[0153] Information A3 is used to indicate information of the second phase difference.

[0154] The second phase difference is obtained based on the first phase and the third phase (for example, the second phase difference is the difference between the first phase and the third phase). The third phase is obtained by the sixth device measuring the third reference signal from the fourth device.

[0155] The information indicating the second phase difference includes the second phase difference, or the information indicating the second phase difference includes the first phase and / or the third phase.

[0156] In the embodiment of the present application, the sixth device and the third device are two different devices. The sixth device may send information indicating the third phase to the first device, and the third device may send information indicating the first phase to the first device. Alternatively, the sixth device sends information indicating the third phase to the third device, and the third device sends information indicating the second phase difference to the first device.

[0157] In the embodiment of the present application, when the first measurement information includes information for indicating the second phase difference, the error caused by the reference signal sending end can be eliminated in the process of determining the first integer ambiguity based on the second phase difference, and the error caused by the reference signal receiving end can also be eliminated, such as the error of the random initial phase of the reference signal or the synchronization error, etc., thereby further improving the positioning accuracy.

[0158] Information A4 is used to indicate the third phase difference.

[0159] The third phase difference is obtained based on the first phase difference and the fourth phase difference (for example, the third phase difference is the difference between the first phase and the fourth phase). The fourth phase difference is obtained based on the fourth phase and the fifth phase (for example, the fourth phase difference is the difference between the fourth phase and the fifth phase). The fourth phase is obtained by the sixth device measuring the third reference signal from the fourth device. The fifth phase is obtained by the sixth device measuring the fourth reference signal from the fifth device.

[0160] The information indicating the third phase difference includes the third phase difference. Or the information indicating the third phase difference includes the information indicating the first phase difference and the information indicating the fourth phase difference. The information indicating the fourth phase difference includes the fourth phase difference, or includes the fourth phase and the fifth phase.

[0161] In the embodiment of the present application, when the first measurement information includes information for indicating the third phase difference, the error caused by the reference signal sending end can be eliminated in the process of determining the first integer ambiguity based on the third phase difference, and the error caused by the reference signal receiving end can also be eliminated, such as the error of the random initial phase of the reference signal or the synchronization error, etc., thereby further improving the positioning accuracy.

[0162] In a possible implementation, the third device and the sixth device are terminals or chip systems inside terminals, and the fourth device and the fifth device are network devices (such as base stations) or chip systems inside network devices (such as base stations). The sixth device can communicate with the third device, and the sixth device can send information indicating the fourth phase difference to the third device. So that the third device calculates the third phase difference based on the fourth phase difference and the first phase difference. The third device can be the first device; or the third device and the first device are two different devices, and the third device can send information indicating the third phase difference to the first device. In this solution, the first device can determine the first integer ambiguity based on the phase difference between the phase differences, and then can improve the accuracy of the first integer ambiguity, thereby improving the positioning accuracy.

[0163] In another possible implementation, the third device and the sixth device are network devices (such as base stations) or chip systems inside network devices (such as base stations), and the fourth device and the fifth device are terminals or chip systems inside terminals. The sixth device and the third device can communicate with the first device respectively. For example, the first device is a base station, and the third device and the sixth device are different TRPs under the base station. The sixth device can send information indicating the fourth phase difference to the first device. The third device can send information indicating the first phase difference to the first device. The first device calculates the third phase difference based on the first phase difference and the fourth phase difference. In this scheme, the first device can determine the first integer ambiguity based on the phase difference between the phase differences, and then improve the accuracy of the first integer ambiguity, thereby improving the positioning accuracy.

[0164] Information A5 is used to indicate information of the fourth phase difference.

[0165] The fourth phase difference is determined based on the acquired phase arrival error (PAE), and the fourth phase difference is also determined based on the first phase difference or the first phase. For example, the fourth phase difference is the difference between PAE and the first phase, or the fourth phase difference is the difference between PAE and the first phase difference.

[0166] The information indicating the fourth phase difference includes the fourth phase difference. Or the information indicating the fourth phase difference includes the information indicating the first phase difference and the information indicating the first phase.

[0167] The first device may receive PAE from other devices (such as a positioning management device). PAE can be used to calibrate the phase deviation of different reference signals. For example, the UE and / or the positioning reference unit (PRU) receive reference signals from one or more base stations, and the UE and / or the PRU measures the reference signal to obtain a first phase or a first phase difference. The PRU in the embodiment of the present application can be understood as a device that can perform some tasks related to communication, such as some tasks related to the positioning process. For example, the PRU can measure the received reference signal, and for example, the PRU can send a reference signal. The PRU can be understood as a terminal or a chip device inside the terminal. Since the clocks between multiple base stations may be out of sync, there will be a certain phase deviation in the reference signals sent by different base stations, and PAE can calibrate the phase deviation between multiple reference signals sent by different base stations. Since the first device combines PAE and the first phase (or the first phase difference) to determine the first integer ambiguity, the scheme can improve the accuracy of the first integer ambiguity, thereby improving the positioning accuracy.

[0168] If the first device and the third device are the same device, the first device can determine the first integer ambiguity based on PAE and the first phase and / or first phase difference measured by itself without receiving carrier phase measurement information (phase and / or phase difference) from other devices, and then the accuracy of the first integer ambiguity can be improved, thereby improving positioning accuracy, and the process of interaction between the first device and other devices can be reduced, thereby reducing the complexity of the solution while improving positioning accuracy.

[0169] In the embodiment of the present application, several examples of information that may be included in the first measurement information are listed through the above-mentioned information A1, information A2, information A3, information A4 and information A5. The carrier phase measurement information in the first measurement information may also include other information, such as the difference between more than two phase differences.

[0170] For example, UE#1 measures frequency #1 and frequency #2 of reference signal #1 of base station #1 to obtain phase #1 and phase #2, and the difference between phase #1 and phase #2 is regarded as phase difference #1.

[0171] UE#1 measures frequency point #1 and frequency point #2 of reference signal #2 of base station #2, and obtains phase #3 and phase #4. The difference between phase #3 and phase #4 is regarded as phase difference #2. The difference between phase difference #1 and phase difference #2 is regarded as phase difference #3.

[0172] PRU #1 measures frequency point #1 and frequency point #2 of reference signal #1 of base station #1 to obtain phase #5 and phase #6. The difference between phase #5 and phase #6 is regarded as phase difference #4.

[0173] The difference between phase difference #3 and phase difference #4 is regarded as phase difference #5.

[0174] The carrier phase measurement information in the first measurement information may include information for indicating phase difference #5. It can be seen that in this example, the carrier phase measurement information in the first measurement information may include the difference between the three phase differences. This can further reduce the impact of the error on the accuracy of the first integer ambiguity, improve the accuracy of the first integer ambiguity, and thus improve the positioning accuracy. Similarly, the carrier phase information in the first measurement information may include more differences between phase differences, which will not be repeated.

[0175] Step 302: The first device obtains first information.

[0176] There are multiple possible implementations of step 302. In one possible implementation, the first device determines the first information based on the first measurement information and at least one first integer ambiguity.

[0177] The first information indicates a reliability of at least one first integer ambiguity.

[0178] The first information in the embodiment of the present application may indicate the reliability of one or more first integer ambiguities.

[0179] The first information may be in various specific forms. For example, the first information includes information indicating the likelihood of at least one first integer ambiguity being accurate. In the embodiment of the present application, the likelihood may be replaced by probability, degree, etc.

[0180] The first information may include a soft bit value. The soft bit value is understood to be a bit value carried on one or more bits, and the bit value may be 1 or 0, or may be a value other than 1 and 0, such as a number between 1 and 0. For example, the first information occupies one or more bits, and when the bit value of these bits is 0.9, the first information indicates that the likelihood of at least one first integer ambiguity being accurate is 90% (or it is understood that the probability of at least one first integer ambiguity being accurate is 90%); when the bit value of these bits is 0.7, the first information indicates that the likelihood of at least one first integer ambiguity being accurate is 70% (or it is understood that the probability of at least one first integer ambiguity being accurate is 70%).

[0181] Since the soft bit value can be a decimal, the accuracy of the first integer ambiguity can be indicated more flexibly and accurately through the soft bit value. Therefore, the second device can determine a more accurate integer ambiguity in combination with the first information, improve the accuracy of positioning, and improve the robustness of positioning. For example, the second device can perform positioning based on the integer ambiguity with a larger (or maximum) likelihood. On the other hand, since the first information is a soft bit value, the device used for positioning can determine the accuracy of the first integer ambiguity, and then use each first integer ambiguity according to the degree of accuracy, thereby increasing the number of first integer ambiguities that can be used. For some scenarios with a small number of first integer ambiguities, the solution in the embodiment of the present application can determine the location information of the device to be located based on the first integer ambiguity, and can also determine the accuracy of the location information based on the first information, thereby improving the robustness of positioning.

[0182] For another example, the first information may be information for indicating that at least one first integer ambiguity is reliable (or unreliable). For example, the first information occupies 1 bit, and when the bit value of the bit is 1, the first information indicates that at least one first integer ambiguity is reliable; when the bit value of the bit is 0, the first information indicates that at least one first integer ambiguity is unreliable. In this way, the second device can determine a more accurate integer ambiguity in combination with the first information. For example, the second device can perform positioning based on the integer ambiguity with a larger (or maximum) likelihood ratio, thereby improving positioning accuracy.

[0183] In a possible implementation, the first device may determine an integer ambiguity set according to the measurement information. In the embodiment of the present application, the integer ambiguity set may include one or more integer ambiguities. For the sake of distinction, in the embodiment of the present application, the integer ambiguity set determined by the first device according to the first measurement information is referred to as the first integer ambiguity set. The integer ambiguity set in the embodiment of the present application (such as the first integer ambiguity set and the subsequent second integer ambiguity set) can be replaced by an integer ambiguity range, an integer ambiguity set, an integer ambiguity group, etc.

[0184] In the embodiment of the present application, the at least one first integer ambiguity acquired by the first device may include: integer ambiguities in the first integer ambiguity set, and / or integer ambiguities outside the first integer ambiguity set (the integer ambiguities outside the first integer ambiguity set may be determined according to the first integer ambiguity set). Two possible implementations are introduced below through the following implementation B1 and implementation B2.

[0185] In implementation B1, the at least one first integer ambiguity may include: an integer ambiguity in a first integer ambiguity set.

[0186] For example, the first integer ambiguity set includes two integer ambiguities, namely N#1 and N#2, wherein the value of N#1 is 6 and the value of N#2 is 10. In a possible implementation, the first device calculates that the likelihood rate of N#1 and N#2 being correct is 90% (the specific calculation method is described later and will not be elaborated here).

[0187] In a possible implementation, at least one first integer ambiguity acquired by the first device in step 302 includes a value of N#1 and a value of N#2 (i.e., at least one first integer ambiguity acquired by the first device is a first integer ambiguity set including two integer ambiguities), and the first information acquired by the first device is 90%. The first information is one, and one first information indicates the likelihood that multiple integer ambiguities (N#1 and N#2) are correct. When the first device reports the first information, since one first information indicates the likelihood that multiple integer ambiguities are correct, the solution can save signaling overhead.

[0188] In another possible implementation, the first device determines the correct likelihood of N#1 (or N#2) (i.e., the correct likelihood of a single integer ambiguity) based on the correct likelihoods of N#1 and N#2. For example, if the correct likelihoods of N#1 and N#2 are 90%, then the first device may determine the correct likelihood of N#1 (or N#2) to be 90%, or other values ​​(e.g., 91% or 89%) (e.g., adding or subtracting 90% from a preset value). Then in step 302, at least one first integer ambiguity obtained by the first device includes the value of N#1 (or N#2) (i.e., at least one first integer ambiguity obtained by the first device is an integer ambiguity included in the first integer ambiguity set), and the first information obtained by the first device is 90% (or 91% or 89%). The first information is one, and one first information indicates the correct likelihood of N#1 (or N#2). Alternatively, the first device obtains N#1 and N#2, and obtains two first information, wherein one first information indicates the likelihood that N#1 is correct, and the other first information indicates the likelihood that N#2 is correct. In this solution, each integer ambiguity can correspond to a likelihood, which is more flexible and can more accurately determine the accuracy of each integer ambiguity.

[0189] In implementation B2, a first integer ambiguity in the at least one first integer ambiguity may be determined based on integer ambiguities in a first integer ambiguity set.

[0190] In a possible implementation, part or all of the at least one first integer ambiguity may include integer ambiguities outside the first integer ambiguity set.

[0191] For example, the first integer ambiguity set includes two integer ambiguities, namely N#1 and N#2, wherein the value of N#1 is 6 and the value of N#2 is 10. In a possible implementation, the first device calculates that the likelihood rate of N#1 and N#2 being correct is 90% (the specific calculation method is described later and will not be elaborated here).

[0192] N#1 corresponds to frequency point #1, which can also be understood as N#1 being obtained based on the measurement result of the reference signal of frequency point #1. N#2 corresponds to frequency point #2, which can also be understood as N#2 being obtained based on the measurement result of the reference signal of frequency point #2. The center frequency point of frequency points #1 and #2 is recorded as frequency point #3. Based on N#1 and N#2, the integer ambiguity N#3 corresponding to frequency point #3 is calculated (the calculation method of N#3 is described later and will not be elaborated here). N#3 does not belong to the first integer ambiguity set.

[0193] The first device determines the correct likelihood of N#3 based on the correct likelihoods of N#1 and N#2. For example, if the correct likelihoods of N#1 and N#2 are 90%, then the first device can determine the correct likelihood of N#3 to be 90%, or other values ​​(such as 91% or 89%) (such as adding or subtracting 90% from a preset value). Then in step 302, at least one first integer ambiguity obtained by the first device includes the value of N#3 (that is, at least one first integer ambiguity obtained by the first device includes integer ambiguities outside the first integer ambiguity set), and the first information obtained by the first device is 90% (or 91% or 89%). The first information is one, and one first information indicates the correct likelihood of N#3. N#3 can be regarded as the integer ambiguity corresponding to the center frequency point, and the center frequency point can be regarded as the center frequency point of the bandwidth. The bandwidth includes frequency point #1 and frequency point #2. Frequency point #1 and frequency point #2 can be regarded as the frequencies at both ends of the bandwidth. The bandwidth can be regarded as the bandwidth occupied by one or more first reference signals. Since the phase information corresponding to the center frequency is more accurate than that of frequency #1 and frequency #2, positioning based on the integer ambiguity corresponding to the center frequency can further improve the accuracy and robustness of positioning.

[0194] Step 303: The first device sends at least one first integer ambiguity and first information.

[0195] Correspondingly, the second device receives at least one first integer ambiguity and the first information.

[0196] The first integer ambiguity and the first information may be sent via one or more messages. For example, the first integer ambiguity and the first information may be carried in an LTE positioning protocol (LTE positioning protocol, LPP) providing positioning information (LPP provide location information) message. For another example, the first integer ambiguity and the first information may be carried in an LPP providing positioning information NRPPa measurement response (NRPPa measurement response) message. NRPPa is the abbreviation of new radio positioning protocol annex (NRPPa).

[0197] Step 304: The second device performs positioning according to at least one first integer ambiguity and the first information.

[0198] There are many ways for the second device to perform positioning with the assistance of the first information. For example, with the assistance of the first information, a more accurate integer ambiguity can be selected to improve the positioning accuracy. Or the second device provides information indicating the accuracy of the location information (such as the location information of the terminal to be located) with the assistance of the first information. For example, when the second device determines that the reliability of the first integer ambiguity and the second integer ambiguity indicated by the first information is high, the reliability of the location information obtained by the second device based on the first integer ambiguity is also high. The second device can provide information indicating that the reliability of the location information is high.

[0199] In a possible implementation, the second device determines a third integer ambiguity according to the at least one first integer ambiguity and the first information. The third integer ambiguity is used for positioning.

[0200] In this solution, the second device can determine the third integer ambiguity in combination with the first information, thereby improving the accuracy of the third integer ambiguity and further improving the positioning accuracy.

[0201] There are multiple schemes for determining the third integer ambiguity in the embodiment of the present application. For example, the third integer ambiguity may be the integer ambiguity obtained by the first device (including at least one first integer ambiguity) with the highest (or relatively high) correct likelihood. Alternatively, the third integer ambiguity may be the average value (or weighted average value) of multiple integer ambiguities with relatively high correct likelihood among the integer ambiguities obtained by the first device (including at least one first integer ambiguity).

[0202] In the solution provided in the embodiment of the present application, the more accurate third integer ambiguity obtained based on the first integer ambiguity and the first information can be used for positioning. The third integer ambiguity can be used to locate the first device, and can also be used to locate other devices (other devices may include, for example, a transmitter or a measurement end of the first reference signal).

[0203] based on Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E , Figure 2F and Figure 3 The embodiments shown and the other contents described above, Figure 4 A flowchart of a positioning method provided in an embodiment of the present application is exemplified. Figure 4 Can be regarded as Figure 3 An extended embodiment of Figure 4In the illustrated embodiment, the first device may also acquire at least one second integer ambiguity and second information. The at least one second integer ambiguity, the first information, the at least one second integer ambiguity and the second information may be used to determine a third integer ambiguity.

[0204] Figure 4 In this paper, we introduce it from the perspective of interaction. Figure 4 For the description of the first device and the second device, see Figure 3 The relevant description will not be repeated here.

[0205] See also Figure 4 , the method comprising:

[0206] Step 401: A first device determines at least one first integer ambiguity according to first measurement information.

[0207] The content of step 401 refers to the content of the aforementioned step 301 and will not be repeated here.

[0208] Step 402: The first device obtains first information.

[0209] The content of step 402 refers to the content of the aforementioned step 302 and will not be repeated here.

[0210] Step 403: The first device sends at least one first integer ambiguity and first information.

[0211] The content of step 403 refers to the content of the aforementioned step 303 and will not be repeated here.

[0212] Step 404: The first device determines at least one second integer ambiguity according to the second measurement information.

[0213] In the embodiment of the present application, the second measurement information may be obtained by the first device measuring at least one second reference signal (for distinction, the reference signal used to determine the second measurement information in the embodiment of the present application is referred to as the second reference signal), or may be received by the first device from other devices.

[0214] The second measurement information includes time measurement information and / or carrier phase measurement information. For the time measurement information and / or carrier phase measurement information, please refer to the above description and will not be repeated here.

[0215] The carrier phase measurement information in the second measurement information may include information for indicating the phase and / or information for indicating the phase difference. The phase difference indicated by the information for indicating the phase difference may be the difference between two phases or the difference between two (or more than two) phase differences. For related content, please refer to the aforementioned content about the first measurement information.

[0216] The second measurement information may include, for example, at least one of the following information C1, information C2, information C3, information C4, or information C5. The manner in which the first device acquires at least one of the following information C1, information C2, information C3, information C4, or information C5 can refer to the manner in which the first device acquires at least one of the information A1, information A2, information A3, information A4, or information A5, which will not be described in detail.

[0217] The relevant descriptions of the third device, the sixth device, the fourth device and the fifth device in the following implementation manner can refer to the relevant descriptions of the aforementioned step 301 and will not be repeated here.

[0218] Information C1 is used to indicate information of the sixth phase.

[0219] The information indicating the sixth phase may include the sixth phase.

[0220] The sixth phase is obtained by measuring the fifth reference signal (the at least one second reference signal includes the fifth reference signal) from the fourth device by the third device.

[0221] The way in which the first device obtains the information C1 can refer to the aforementioned way in which the first device obtains the information A1, which will not be repeated here.

[0222] Information C2 is used to indicate information of the fifth phase difference.

[0223] The fifth phase difference is obtained based on the sixth phase and the seventh phase (for example, the fifth phase difference is the difference between the sixth phase and the seventh phase). The seventh phase is obtained by the third device measuring the sixth reference signal (at least one second reference signal includes the sixth reference signal) from the fifth device.

[0224] The information indicating the fifth phase difference includes the fifth phase difference, or the information indicating the fifth phase difference includes the sixth phase and the seventh phase.

[0225] The way in which the first device obtains information C2 can refer to the aforementioned way in which the first device obtains information A2, which will not be repeated here.

[0226] Information C3 is used to indicate information of the sixth phase difference.

[0227] The sixth phase difference is obtained based on the sixth phase and the eighth phase (for example, the sixth phase difference is the difference between the sixth phase and the eighth phase). The eighth phase is obtained by the sixth device measuring the fifth reference signal from the fourth device.

[0228] The information indicating the sixth phase difference includes the sixth phase difference, or the information indicating the sixth phase difference includes the sixth phase and / or the eighth phase.

[0229] The way in which the first device obtains information C3 can refer to the aforementioned way in which the first device obtains information A3, which will not be repeated here.

[0230] Information C4 is used to indicate information of the seventh phase difference.

[0231] The seventh phase difference is obtained based on the fifth phase difference and the eighth phase difference (for example, the seventh phase difference is the difference between the sixth phase and the ninth phase). The eighth phase difference is obtained based on the ninth phase and the tenth phase (for example, the eighth phase difference is the difference between the ninth phase and the tenth phase). The ninth phase is obtained by the sixth device measuring the fifth reference signal from the fourth device. The tenth phase is obtained by the sixth device measuring the sixth reference signal from the fifth device.

[0232] The information indicating the seventh phase difference includes the seventh phase difference. Or the information indicating the seventh phase difference includes the information indicating the fifth phase difference and the information indicating the eighth phase difference. The information indicating the eighth phase difference includes the eighth phase difference, or includes the ninth phase and the tenth phase.

[0233] The way in which the first device obtains information C4 can refer to the aforementioned way in which the first device obtains information A4, which will not be repeated here.

[0234] Information C5 is used to indicate information of the eighth phase difference.

[0235] The eighth phase difference is determined based on the acquired phase arrival error (PAE), and the eighth phase difference is also determined based on the fifth phase difference or the sixth phase. For example, the eighth phase difference is the difference between PAE and the sixth phase, or the eighth phase difference is the difference between PAE and the fifth phase difference.

[0236] The information indicating the eighth phase difference includes the eighth phase difference. Or the information indicating the eighth phase difference includes the information indicating the fifth phase difference and the information indicating the sixth phase difference.

[0237] The way in which the first device obtains information C5 can refer to the aforementioned way in which the first device obtains information A5, which will not be repeated here.

[0238] In the embodiment of the present application, a first reference signal in at least one first reference signal (for example, the at least one first reference signal includes a third reference signal and a fourth reference signal) and a second reference signal in at least one second reference signal (for example, the at least one second reference signal includes a fifth reference signal and a sixth reference signal) may be the same (or different) reference signal. For example, the third reference signal and the fifth reference signal are the same (or different) reference signals. For another example, the fourth reference signal and the sixth reference signal are the same (or different) reference signals.

[0239] For example, the third reference signal and the fifth reference signal are two reference signals, the transmitting end of the third reference signal and the fifth reference signal is the same, the transmitting end transmits the third reference signal and the fifth reference signal at two frequency points respectively, the third reference signal and the fifth reference signal are DS-RS, the transmitting end transmits resources at the two ends, and does not transmit resources in the middle. The time domain resources of the third reference signal and the fifth reference signal are the same. In this way, the transmission power of the third reference signal and the fifth reference signal can be improved, and then the accuracy of the measurement results measured by the measuring end can be improved, and then the positioning accuracy can be improved.

[0240] For another example, the third reference signal and the fifth reference signal are the same reference signal. The reference signal covers two frequency points, and the measurement end measures at the two frequency points to obtain two phase information. In this solution, the network device can be configured with only one reference signal, which is relatively simple and easy to configure.

[0241] In another possible implementation manner, the first measurement information is obtained by measuring at a first frequency point of at least one first reference signal. The second measurement information is obtained by measuring at a second frequency point of at least one second reference signal. The first frequency point is different from the second frequency point.

[0242] For example, the first measurement information is obtained based on the measurement information of the first frequency point of the third reference signal and the measurement information of the first frequency point of the fourth reference signal. The second measurement information is obtained based on the measurement information of the second frequency point of the third reference signal (the third reference signal and the fifth reference signal are the same reference signal) and the measurement information of the second frequency point of the fourth reference signal (the fourth reference signal and the sixth reference signal are the same reference signal).

[0243] For example, the transmitter of the reference signal may send the reference signal in the entire bandwidth. The reference signal may be called a first reference signal or a second reference signal, that is, the first reference signal and the second reference signal are the same reference signal.

[0244] For another example, the transmitter of the reference signal can send the reference signal at both ends of the entire bandwidth (i.e., the first frequency point and the second frequency point), and no signal is sent in the middle part. It can also be understood that the reference signal occupies the bandwidth of the two ends of the entire bandwidth. The reference signal can be called the first reference signal or the second reference signal, that is, the first reference signal and the second reference signal are the same reference signal. Alternatively, the reference signal corresponding to the first frequency point can be called the first reference signal, and the reference signal corresponding to the second frequency point can be called the second reference signal.

[0245] Step 405: the first device obtains second information.

[0246] There are multiple possible implementations of step 405. In one possible implementation, the first device determines the second information based on the second measurement information and at least one second integer ambiguity.

[0247] The second information indicates a reliability of at least one second integer ambiguity.

[0248] The second information in the embodiment of the present application may indicate the reliability of one or more second integer ambiguities.

[0249] The second information may be in various specific forms. For example, the second information includes information indicating the likelihood of at least one second integer ambiguity being accurate. The form of the second information may refer to the relevant content of the aforementioned first information, except that the first information is used to indicate the reliability of the first integer ambiguity, and the second information is used to indicate the reliability of the second integer ambiguity. The contents are similar and will not be described in detail.

[0250] For the purpose of distinction, in the embodiment of the present application, the integer ambiguity set determined by the first device according to the second measurement information is referred to as the second integer ambiguity set. For the relevant content of the second integer ambiguity set, please refer to the relevant introduction of the first integer ambiguity set mentioned above, and will not be repeated here. Similarly, the at least one second integer ambiguity acquired by the first device may include: integer ambiguities in the second integer ambiguity set, and / or integer ambiguities outside the second integer ambiguity set (the integer ambiguities outside the second integer ambiguity set may be determined based on the second integer ambiguity set). For related implementations, please refer to the aforementioned implementations B1 and B2, and will not be repeated here.

[0251] In a possible implementation manner, the second information and the first information in the embodiment of the present application are the same information, and the information is used to indicate the correct likelihood of at least one first integer ambiguity and at least one second integer ambiguity; or, the information is used to indicate the correct likelihood of at least one first integer ambiguity and indicate the correct likelihood of at least one second integer ambiguity.

[0252] With respect to the above-mentioned step 403 and step 406, the embodiment of the present application provides an implementation method for determining the first information and the second information. In this implementation method, the first information and the second information are determined based on the first distance value and the second distance value.

[0253] In the embodiment of the present application, the first distance value can be understood as the distance corresponding to the first frequency point of the first reference signal, or as the distance traveled by the reference signal at the first frequency point of the first reference signal from the transmitting end to the receiving end (the receiving end of the reference signal). In the embodiment of the present application, the second distance value can be understood as the distance corresponding to the second frequency point of the second reference signal, or as the distance traveled by the reference signal at the second frequency point of the second reference signal from the transmitting end to the receiving end (the receiving end of the reference signal). In the embodiment of the present application, the receiving end of the reference signal may be the first device, or may not be the first device.

[0254] The degree of proximity between the first distance value and the second distance value is positively correlated with the likelihood that at least one first integer ambiguity is correct. For example, the closer the first distance value and the second distance value are, the greater the likelihood that the first integer ambiguity is correct. For another example, the greater the difference between the first distance value and the second distance value, the smaller the likelihood that the first integer ambiguity is correct. Alternatively, a correlation relationship between the degree of proximity between the first distance value and the second distance value (such as the difference range between the first distance value and the second distance value) and the likelihood that the first integer ambiguity is correct can be set. The larger the maximum value of the difference range, the greater the likelihood that the first integer ambiguity is correct, and vice versa. The degree of proximity between the first distance value and the second distance value is positively correlated with the likelihood that at least one second integer ambiguity is correct. For related content, please refer to the description of the likelihood that at least one second integer ambiguity is correct, and no further details will be given.

[0255] The likelihood that the second integer ambiguity is correct may be equal to the likelihood that the first integer ambiguity is correct, the first information and the second information are one information, the first information (or the second information) indicates the likelihood that the first integer ambiguity is correct, and indicates the likelihood that the second integer ambiguity is correct.

[0256] In another possible implementation, the proximity between the first distance value and the second distance value is positively correlated with the correct likelihood of the first integer ambiguity and the second integer ambiguity. It can also be understood that a plurality of integer ambiguities (the plurality of integer ambiguities include a first integer ambiguity and a second integer ambiguity) correspond to a likelihood, and the likelihood indicates the correct likelihood corresponding to the combination of the plurality of integer ambiguities. It can also be understood that the first information and the second information are one information, and the information indicates the correct likelihood of the combination of the first integer ambiguity and the second integer ambiguity.

[0257] For example, at least one first integer ambiguity includes N#11 and N#12, and at least one second integer ambiguity includes N#21 and N#22. For example, N#11 and N#21 may correspond to a likelihood ratio of 90%, and the likelihood ratio of 90% is used to indicate that the accuracy of the first integer ambiguity value is N#11 and the second integer ambiguity value is N#21 is 90%. For another example, N#11 and N#22 may correspond to a likelihood ratio of 85%, and the likelihood ratio of 85% is used to indicate that the accuracy of the first integer ambiguity value is N#11 and the second integer ambiguity value is N#22 is 85%.

[0258] In the embodiment of the present application, the first device may regard the correct likelihoods corresponding to multiple integer ambiguities (the multiple integer ambiguities include a first integer ambiguity and a second integer ambiguity) as the correct likelihood of a single integer ambiguity in the multiple integer ambiguities. Or the first device infers the correct likelihood of a single integer ambiguity in the multiple integer ambiguities based on the correct likelihoods corresponding to the multiple integer ambiguities. For example, at least one first integer ambiguity includes N#11 and N#12, and at least one second integer ambiguity includes N#21 and N#22. N#11 and N#21 may correspond to a likelihood of 90%, and N#11 and N#22 may correspond to a likelihood of 85%. The first device may determine the likelihood of N#11 as 90% or 85%, or the average of 90% and 85%, or the sum (or difference) of 90% and a preset value (such as 2%), etc.

[0259] In a possible implementation manner, the relationship between the first distance value, the second distance value, the likelihood that the second integer ambiguity is correct, and the likelihood that the first integer ambiguity is correct can be expressed by the following formula (1):

[0260] p(N 1 , N 2 )∝1 / (|d2-d1|)……Formula (1)

[0261] In formula (1), N 1 represents the first integer ambiguity, N 2 is the first integer ambiguity, p(N 1 , N 2 ) represents the likelihood that the first integer ambiguity and the second integer ambiguity are correct, d1 is the first distance value, d2 is the second distance value, |d2-d1| represents the absolute value of the difference between the second distance value and the first distance value, and ∝ represents correlation.

[0262] In the present application embodiment, N 1 A value may be taken from at least one (one or more) first integer ambiguity. 2It can represent the value of at least one (one or more) second integer ambiguity. For example, at least one first integer ambiguity includes N#11 and N#12, at least one second integer ambiguity includes N#21 and N#22, N 1 and N 2 The values ​​can be N#11 and N#21 respectively (p(N 1 , N 2 ) is used to represent the likelihood that the combination of N#11 and N#21 is correct), and can also be taken as N#11 and N#22 respectively (p(N 1 , N 2 ) is used to represent the likelihood that the combination of N#11 and N#22 is correct), and can also be taken as N#12 and N#21 respectively (p(N 1 , N 2 ) is used to represent the likelihood that the combination of N#12 and N#21 is correct), and can also be taken as N#12 and N#22 respectively (p(N 1 , N 2 ) is used to represent the likelihood that the combination of N#12 and N#22 is correct.

[0263] In the embodiment of the present application, the likelihood rate can be determined in combination with more integer ambiguities, for example, in combination with three distance values ​​corresponding to three integer ambiguities. When the three distance values ​​are closer, the accurate likelihood rate of the three integer ambiguities corresponding to the three distance values ​​is greater, or the correlation corresponding to the three integer ambiguities is stronger. In this case, one likelihood rate can indicate the likelihood rate corresponding to the three integer ambiguities.

[0264] In a possible implementation manner, the first distance value may be determined according to the first integer ambiguity. The first distance value is also determined according to the first wavelength corresponding to the first frequency point and the carrier phase measurement information in the first measurement information.

[0265] For example, the first distance value can be determined using the following formula (2):

[0266] d1=λ1(N 1 +φ1 / 2π)......Formula (2)

[0267] In formula (2), d1 is the first distance value, λ1 is the wavelength corresponding to the first frequency point, and N 1 is the first integer ambiguity, φ1 is the carrier phase measurement information in the first measurement information, π is pi, and / is division.

[0268] In the embodiment of the present application, the first distance value may also be determined by other means. For example, the first device may determine the first distance value based on other measurement information of the reference signal corresponding to the first frequency point. For example, the first distance value may be determined based on time measurement information such as TOA and / or carrier phase measurement information such as phase in the measurement information.

[0269] In a possible implementation manner, the second distance value may be determined according to the second integer ambiguity. The second distance value is also determined according to the second wavelength corresponding to the second frequency point and the carrier phase measurement information in the second measurement information.

[0270] For example, the second distance value can be determined using the following formula (3):

[0271] d2=λ2(N 2 +φ2 / 2π)......Formula (3)

[0272] In formula (3), d2 is the second distance value, λ2 is the wavelength corresponding to the second frequency point, and N 2 is the second integer ambiguity, φ2 is the carrier phase measurement information in the second measurement information, π is pi, / is division.

[0273] In the embodiment of the present application, the second distance value may also be determined by other means. For example, the first device may determine the second distance value based on other measurement information of the reference signal corresponding to the second frequency point. For example, the second distance value may be determined based on time measurement information such as TOA and / or carrier phase measurement information such as phase in the measurement information.

[0274] In a possible implementation, at least one first integer ambiguity is determined based on at least one of a third distance value, a first wavelength corresponding to a first frequency point, or an error amount of time measurement information in the first measurement information.

[0275] For example, at least one first integer ambiguity is determined according to the first integer ambiguity set, such as whether the first integer ambiguity belongs to or does not belong to the first integer ambiguity set. For related content, please refer to the above description and will not be repeated here. The first integer ambiguity set can be determined according to at least one of the third distance value, the first wavelength corresponding to the first frequency point, or the error amount of the time measurement information in the first measurement information. In the embodiment of the present application, the third distance value may be the distance transmitted by the first reference signal or the second reference signal (the first reference signal and the second reference signal may be the same reference signal) from the transmitting end to the receiving end.

[0276] For example, the first integer ambiguity set can be determined using the following formula (4):

[0277]

[0278] In formula (4), is the first whole cycle ambiguity set, d v1 is the third distance value, λ1 is the wavelength corresponding to the first frequency point, is the error range of the first integer ambiguity, and / is division.

[0279] In the present application embodiment It can be an integer value, for example, a value in {1, 2, 3, 4...}. It can be obtained based on the error value of the parameter obtained by measuring the first reference signal, for example, based on the error range of the time measurement information (such as TOA) and / or the carrier phase measurement information in the measurement information of the first reference signal. For example, the measurement quality of TOA will correspond to a TOA error value, and the TOA error value can be converted into a distance error value. The distance error value is divided by the wavelength corresponding to the first frequency point of the first reference signal, and the value obtained can be used as The value of .

[0280] In the embodiment of the present application, the first integer ambiguity can also be determined by other methods.

[0281] In a possible implementation, at least one second integer ambiguity is determined based on at least one of a third distance value, a second wavelength corresponding to a second frequency point, or an error amount of time measurement information in the second measurement information.

[0282] For example, at least one second integer ambiguity may be determined based on a second integer ambiguity set, for example, the second integer ambiguity belongs to or does not belong to the second integer ambiguity set, and the relevant content is referred to the above description, which is not repeated here. The second integer ambiguity set may be determined based on at least one of the third distance value, the second wavelength corresponding to the second frequency point, or the error amount of the time measurement information in the second measurement information.

[0283] For example, the second integer ambiguity set can be determined using the following formula (5):

[0284]

[0285] In formula (5), is the second integer ambiguity set, d v1 is the third distance value, λ2 is the wavelength corresponding to the second frequency point, is the error range of the second integer ambiguity, and / is division.

[0286] In the present application embodiment It can be an integer value, for example, a value in {1, 2, 3, 4...}. It can be obtained based on the error value of the parameter obtained by measuring the second reference signal, for example, based on the error range of the time measurement information (such as TOA) and / or the carrier phase measurement information in the measurement information of the second reference signal. For example, the measurement quality of TOA will correspond to a TOA error value, and the TOA error value can be converted into a distance error value. The distance error value is divided by the wavelength corresponding to the second frequency point of the second reference signal, and the value obtained can be used as The value of .

[0287] In one possible implementation, the first reference signal and the second reference signal may be the same reference signal, and the error value of a parameter obtained by measuring the first reference signal (such as TOA) and the error value of a parameter obtained by measuring the second reference signal (such as TOA) may be the same value.

[0288] In the above implementation, in a possible implementation, the third distance value is determined based on at least one of the third wavelength corresponding to the third frequency point, the fourth integer ambiguity corresponding to the third frequency point, the carrier phase measurement information included in the first measurement information, or the carrier phase measurement information included in the second measurement information. The third frequency point is determined based on the first frequency point and the second frequency point. For example, the third frequency point is a frequency point between the first frequency point and the second frequency point. For another example, the third frequency point is the center frequency point of a bandwidth. The bandwidth can be understood as the bandwidth of the frequency domain resources occupied by the first reference signal and / or the second reference signal. The bandwidth includes the first frequency point and the second frequency point, the center frequency point is located between the first frequency point and the second frequency point, and the first frequency point and the second frequency point can be regarded as the frequencies at both ends of the bandwidth. For example, f v =|f1-f2|, f v is the frequency of the third frequency point, f1 is the frequency of the first frequency point, and f2 is the frequency of the second frequency point.

[0289] For example, the third distance value can be determined using the following formula (6):

[0290]

[0291] In formula (6), d v1 is the third distance value, is the third wavelength corresponding to the third frequency point, is the fourth integer ambiguity corresponding to the third frequency point, φ1 is the carrier phase measurement information in the first measurement information, φ2 is the carrier phase measurement information in the second measurement information, and π is pi.

[0292] The fourth integer ambiguity corresponding to the third frequency point can be determined according to the third wavelength and the fourth distance value. For example: N v1 =[d0 / λ v1 ], is the fourth full cycle ambiguity corresponding to the third frequency point, is the third wavelength corresponding to the third frequency point, and d0 is the fourth distance value. The fourth distance value can be determined according to the time measurement information included in the first measurement information and / or the time measurement information included in the second measurement information, such as d0=τ0×c, where d0 is the fourth distance value, τ0 is the time measurement information (such as TOA) obtained by measuring the first reference signal (or the second reference signal), c is the speed of light, and × is multiplication. The third wavelength corresponding to the third frequency point can be determined according to the first wavelength and the second wavelength, such as is the third wavelength corresponding to the third frequency point, λ1 is the first wavelength corresponding to the first frequency point, and λ2 is the second wavelength corresponding to the second frequency point.

[0293] For example, the first reference signal (the first reference signal and the second reference signal are the same reference signal) occupies a bandwidth of 600MHz, the frequency of the first frequency point is 2.1GHz, the frequency of the second frequency point is 2.6GHz, the frequency of the third frequency point is 2.35GHz, and the third wavelength is calculated to be 0.6 meters. Since the solution combines the measurement information of the first frequency point and the second frequency point to determine the third distance, the accuracy of the third distance can be improved, and then the positioning accuracy can be improved.

[0294] In yet another possible implementation, the third distance value may be determined according to time measurement information included in the first measurement information and / or time measurement information included in the second measurement information.

[0295] For example, the third distance value can be determined using the following formula (7):

[0296] d v1 =τ0×c……Formula (7)

[0297] In formula (7), d v1 is the third distance value, τ0 is the time measurement information (such as TOA) obtained by measuring the first reference signal (or the second reference signal), c is the speed of light, and × is multiplication.

[0298] In step 406, the first device sends at least one second integer ambiguity and second information.

[0299] Correspondingly, the second device receives at least one second integer ambiguity and second information.

[0300] The first integer ambiguity, the first information, the second integer ambiguity and the second information may be sent through one or more messages. The second integer ambiguity and the second information may be carried in an LPP provide location information (LPP provide location information) message, or may be carried in an LPP provide location information NRPPa measurement response (NRPPa measurement response) message.

[0301] Step 407: The second device performs positioning according to the at least one first integer ambiguity, the first information, the at least one second integer ambiguity, and the second information.

[0302] There are many ways for the second device to perform positioning with the assistance of the first information and the second information. For example, with the assistance of the first information and the second information, a more accurate integer ambiguity can be selected to improve the positioning accuracy. Or the second device provides information indicating the accuracy of the location information (such as the location information of the terminal to be located) with the assistance of the first information and the second information. For example, when the second device determines that the reliability of the first integer ambiguity and the second integer ambiguity indicated by the first information and the second information is high, the reliability of the location information obtained by the second device based on the first integer ambiguity and the second integer ambiguity is also high, and the second device can provide information indicating that the reliability of the location information is high.

[0303] In a possible implementation, the second device determines the third integer ambiguity based on at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information.

[0304] Figure 4 In the illustrated embodiment, there is no necessary order relationship between any one of step 404, step 405 and step 406 and any one of step 401, step 402 and step 403. For example, any one of step 404, step 405 and step 406 may be located before step 403, or before step 402, or before step 401, etc.

[0305] Step 401 and step 404 may be one step or two steps. Step 402 and step 405 may be one step or two steps. Step 403 and step 406 may be one step or two steps. For example, at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information may be carried in one message or in multiple messages.

[0306] In this solution, the first device can combine more information to determine the third integer ambiguity, thereby improving the accuracy of the third integer ambiguity and further improving the positioning accuracy.

[0307] There are multiple schemes for determining the third integer ambiguity in the embodiment of the present application. For example, the third integer ambiguity may be the integer ambiguity obtained by the first device (including at least one first integer ambiguity and at least one second integer ambiguity) with the highest (or relatively high) correct likelihood. Alternatively, the third integer ambiguity may be the average value (or weighted average value) of multiple integer ambiguities with relatively high correct likelihood among the integer ambiguities obtained by the first device (including at least one first integer ambiguity and at least one second integer ambiguity).

[0308] based on Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E , Figure 2F , Figure 3 and Figure 4 The embodiments shown and the other contents described above, Figure 5 and Figure 6 The flowchart of several positioning methods provided in the embodiments of the present application is exemplified.

[0309] exist Figure 5 and Figure 6 In the embodiment shown, the first device may be Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E , Figure 2F , Figure 3 or Figure 4 The positioning management device or the chip system inside the positioning management device. In the embodiment of the present application, the first device can receive measurement information (such as the first measurement information and / or the second measurement information), and then determine the third integer ambiguity, and then perform positioning according to the third integer ambiguity.

[0310] See also Figure 5 , the method comprising:

[0311] Step 501: The measuring device sends first measurement information.

[0312] Correspondingly, the first device receives first measurement information from the measuring device.

[0313] The measuring device in step 501 may refer to a device for measuring the first reference signal to obtain the first measurement information. Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E or Figure 2FA terminal, a chip system inside a terminal, a network device, or a chip system inside a network device.

[0314] Step 502: The first device determines at least one first integer ambiguity according to first measurement information.

[0315] The content of step 502 refers to the content of the aforementioned step 301 and will not be repeated here.

[0316] Step 503: the first device obtains first information.

[0317] The content of step 503 refers to the content of the aforementioned step 302 and will not be repeated here.

[0318] Step 504: The first device performs positioning according to at least one first integer ambiguity and the first information.

[0319] The content of step 504 refers to the content of the aforementioned step 304 and will not be repeated here.

[0320] See also Figure 6 , the method comprising:

[0321] Step 601: The measuring device sends first measurement information.

[0322] Correspondingly, the first device receives first measurement information from the measuring device.

[0323] The content of step 601 refers to the content of the aforementioned step 501 and will not be repeated here.

[0324] Step 602: The first device determines at least one first integer ambiguity according to first measurement information.

[0325] The content of step 602 refers to the content of the aforementioned step 401 and will not be repeated here.

[0326] Step 603: the first device obtains first information.

[0327] The content of step 603 refers to the content of the aforementioned step 402 and will not be repeated here.

[0328] Step 604: The measuring device sends second measurement information.

[0329] Correspondingly, the first device receives second measurement information from the measuring device.

[0330] The measuring device in step 604 may refer to a device for measuring the second reference signal to obtain the second measurement information. Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E or Figure 2FA terminal, a chip system inside a terminal, a network device, or a chip system inside a network device.

[0331] The measuring device in step 604 may be the same device as the measuring device in step 601 ( Figure 6 The same device is used as an example in the figure), or two different devices may be used. Step 601 and step 604 may be one step or two steps, and the first measurement information and the second measurement information may be sent through one message or multiple messages.

[0332] Step 605: The first device determines at least one second integer ambiguity according to the second measurement information.

[0333] The content of step 605 refers to the content of the aforementioned step 404 and will not be repeated here.

[0334] Step 606: The first device obtains second information.

[0335] The content of step 606 refers to the content of the aforementioned step 405 and will not be repeated here.

[0336] Step 607: The first device performs positioning according to at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information.

[0337] The content of step 607 can refer to the content of the aforementioned step 407 and will not be repeated here.

[0338] pass Figure 3 , Figure 4 , Figure 5 and Figure 6 It can be seen from the provided solution that in the solution provided in the embodiment of the present application, other devices can report the determined integer ambiguity and the correct likelihood rate for indicating the integer ambiguity to the positioning management device, so that the positioning management device can determine a more accurate integer ambiguity ( Figure 3 and Figure 4 In another possible implementation, the positioning management device may obtain measurement information, and then determine the integer ambiguity and the correct likelihood for indicating the integer ambiguity, and then determine a more accurate integer ambiguity based on this information ( Figure 5 and Figure 6 The embodiments of the present application provide a variety of solutions, which can increase the flexibility of the solutions.

[0339] based on Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E , Figure 2F , Figure 3 , Figure 4 , Figure 5 and Figure 6 The embodiments shown and the other contents described above, Figure 7 and Figure 8 The flowchart of several positioning methods provided in the embodiments of the present application is exemplified.

[0340] Figure 7 and Figure 8 Can be regarded as Figure 3 , Figure 4 , Figure 5 or Figure 6 An extended embodiment of Figure 7 It can be regarded as an example of downlink positioning. In this example, the network device (the network device may include an access network device, and the access network device, for example, includes a base station and / or a neighboring base station) sends a reference signal, and the terminal measures the reference signal. Figure 8 This can be regarded as an example of uplink positioning, in which the terminal sends a reference signal and the network device measures the reference signal.

[0341] The PRU in the embodiment of the present application can also be regarded as a type of terminal. The types of terminals in the embodiment of the present application are not limited to UE and PRU. Figure 7 and Figure 8 The terminals in may also be of other types, Figure 7 and Figure 8 The types of any two terminals shown in may also be the same or different.

[0342] See also Figure 7 , the method comprising:

[0343] Step 701: The positioning management device sends an information request to a base station (and / or a neighboring base station).

[0344] The information request may include, for example, a gNB / TRP information request.

[0345] Before step 701, the LMF may obtain the capabilities of the terminal (UE and / or PRU) through an LPP capability transfer process.

[0346] Step 702: The base station (and / or neighboring base stations) sends an information response to the positioning management device.

[0347] The information response may include cell information, coordinates, identification or PRS configuration of the base station (and / or neighboring base stations).

[0348] Step 703: The positioning management device sends auxiliary data transmission to the terminal (UE).

[0349] The assistance data transmission may be used to transmit assistance information, such as PRS configuration, coordinates of the base station (and / or neighboring base stations), etc. The assistance data transmission may include, for example, assistance data transfer.

[0350] Step 704: The positioning management device sends a positioning information request to the terminal (UE and / or PRU).

[0351] The positioning information request is used to request the terminal (UE and / or PRU) to measure the received reference signal (such as PRS).

[0352] Step 705: The base station (and / or neighboring base station) sends a reference signal (such as a PRS).

[0353] The reference signal in step 705 may also be other reference signals. Figure 7 The reference signal in step 705 can be understood as Figure 3 , Figure 4 , Figure 5 or Figure 6 The first reference signal and the second reference signal.

[0354] Step 706: The terminal (UE and / or PRU) measures the received reference signal.

[0355] In step 706, the terminal measures the reference signal and obtains measurement information. The measurement information can be understood as Figure 3 , Figure 4 , Figure 5 or Figure 6 The first measurement information and / or the second measurement information in the.

[0356] Step 707: The terminal (UE and / or PRU) sends a positioning information response to the positioning management device.

[0357] when Figure 7 Considered as above Figure 3 and Figure 4 In an extended embodiment of the embodiment shown, the first device can be regarded as Figure 7 The second device can be regarded as a terminal or a chip system inside the terminal. Figure 7 In the positioning management device or the chip system inside the positioning management device, the positioning information response in step 707 may include: at least one first integer ambiguity, the first information, at least one second integer ambiguity or at least one of the second information.

[0358] when Figure 7 Considered as above Figure 5 and Figure 6 In an extended embodiment of the embodiment shown, the first device can be regarded as Figure 7 The positioning management device in the positioning management device or the chip system inside the positioning management device. The positioning information response in step 707 may include: the first measurement information and / or the second measurement information.

[0359] See also Figure 8 , the method comprising:

[0360] Step 801: The positioning management device sends a positioning information request to a base station.

[0361] The positioning information request may include, for example, an NRPPa positioning information request.

[0362] Step 802: The base station determines uplink reference signal (eg, SRS) resources.

[0363] Step 803: The base station sends a reference signal (such as SRS) configuration to the terminal (UE and / or PRU).

[0364] Step 804: The base station (and / or neighboring base stations) sends a positioning information response to the positioning management device.

[0365] The positioning information response may include, for example, an NRPPa positioning information response.

[0366] The positioning information response may include cell information, coordinates or ID of the base station (and / or neighboring base stations).

[0367] Step 805: The positioning management device sends a measurement request to the base station (and / or neighboring base stations).

[0368] The measurement request is used to request the base station (and / or neighboring base station) to measure the received reference signal (such as SRS).

[0369] Step 806: The terminal (UE and / or PRU) sends a reference signal (such as SRS).

[0370] The reference signal in step 806 may also be other reference signals. Figure 8 The reference signal in step 806 can be understood as: Figure 3 , Figure 4 , Figure 5 or Figure 6 The first reference signal and the second reference signal.

[0371] Step 807: The base station (and / or neighboring base station) measures the received reference signal.

[0372] In step 807, the terminal measures the reference signal and obtains measurement information. The measurement information can be understood as Figure 3 , Figure 4 , Figure 5 or Figure 6 The first measurement information and / or the second measurement information in the.

[0373] Step 808: The base station (and / or neighboring base stations) sends a measurement response to the positioning management device.

[0374] when Figure 8 Considered as above Figure 3 and Figure 4 In an extended embodiment of the embodiment shown, the first device can be regarded as Figure 8 The second device can be regarded as a terminal or a chip system inside the terminal. Figure 8 In the positioning management device or the chip system inside the positioning management device, the measurement response in step 808 may include: at least one first integer ambiguity, first information, at least one second integer ambiguity or at least one item of second information.

[0375] when Figure 8 Considered as above Figure 5 and Figure 6 In an extended embodiment of the embodiment shown, the first device can be regarded as Figure 8 The measurement response in step 808 may include: first measurement information and / or second measurement information.

[0376] It is understandable that in order to implement the functions in the above embodiments, the network equipment (such as base stations and / or neighboring base stations) and the terminal include 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 method steps of each example described in the embodiments disclosed in this application, 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 scenario and design constraints of the technical solution.

[0377] Fig. 9 and Fig.10 The following is a schematic diagram of the structure of possible communication devices provided in the embodiments of the present application. These communication devices can be used to implement the functions of the terminal or base station in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments. In the embodiments of the present application, the communication device can be as follows: Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E or Figure 2F The terminal shown (such as Figure 2A The terminal 120 shown), RAN nodes (such as Figure 2A The RAN node 110 shown in FIG. 1 ) or the positioning management device may also be applied to Figure 2A , Figure 2B , Figure 2C , Figure 2D , Figure 2E or Figure 2F The module (such as chip) of the terminal, RAN node or positioning management device shown.

[0378] like Fig. 9 As shown, the communication device 1300 includes a processing unit 1310 and a transceiver unit 1320. The communication device 1300 is used to implement the above Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The transceiver unit 1320 may include a receiving unit and a sending unit. The receiving unit may be used to implement the above Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In the method embodiment shown, the first device or the second device performs the functions related to reception, and the sending unit can be used to implement the above Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The first device or the second device in the method embodiment shown in the figure performs the functions related to sending. The processing unit 1310 is used to implement the above Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The functions performed by the first device or the second device in the method embodiment shown are functions other than sending and receiving.

[0379] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the first device in the method embodiment shown is: the processing unit 1310 is used to: determine the first integer ambiguity according to the first measurement information, and obtain the first information.

[0380] When the communication device 1300 is used to implement Figure 3, Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the first device in the method embodiment shown is: the processing unit 1310 is further used to send the first integer ambiguity and the first information through the transceiver unit 1320.

[0381] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the first device in the method embodiment shown is: the processing unit 1310 is also used to determine the second integer ambiguity according to the second measurement information through the transceiver unit 1320 to obtain the second information.

[0382] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In the method embodiment shown, the function of the first device is: the processing unit 1310 is further used to send the second integer ambiguity and the second information through the transceiver unit 1320.

[0383] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the first device in the method embodiment shown is: the processing unit 1310 is also used to: determine a first integer ambiguity set based on the first measurement information.

[0384] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the first device in the method embodiment shown is: the processing unit 1310 is used to: determine the first integer ambiguity according to the first measurement information, and obtain the first information.

[0385] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8The function of the first device in the method embodiment shown is: the processing unit 1310 is also used to: receive the first measurement information through the transceiver unit 1320; and perform positioning according to the first integer ambiguity and the first information.

[0386] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the first device in the method embodiment shown is: the processing unit 1310 is also used to determine the second integer ambiguity according to the second measurement information through the transceiver unit 1320 to obtain the second information.

[0387] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In the method embodiment shown, the function of the first device is: the processing unit 1310 is also used to: receive the second measurement information through the transceiver unit 1320; and perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

[0388] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the first device in the method embodiment shown is: the processing unit 1310 is also used to: determine a first integer ambiguity set based on the first measurement information.

[0389] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The function of the second device in the method embodiment shown is: the processing unit 1310 is used to: receive the first integer ambiguity and the first information through the transceiver unit 1320; and perform positioning according to the first integer ambiguity and the first information.

[0390] When the communication device 1300 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8The function of the second device in the method embodiment shown is: the processing unit 1310 is also used to: receive the second integer ambiguity and the second information through the transceiver unit 1320; and perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

[0391] like Fig.10 As shown, the communication device 1400 includes a processor 1410 and an interface circuit 1420. The processor 1410 and the interface circuit 1420 are coupled to each other. It is understood that the interface circuit 1420 can be a transceiver or an input-output interface. Optionally, the communication device 1400 may also include a memory 1430 for storing instructions executed by the processor 1410 or storing input data required by the processor 1410 to execute instructions or storing data generated after the processor 1410 executes instructions.

[0392] When the communication device 1400 is used to implement Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 When the method is shown, the processor 1410 is used to implement the function of the above-mentioned processing unit 1310, and the interface circuit 1420 is used to implement the function of the above-mentioned transceiver unit 1320.

[0393] When the above-mentioned communication device is a chip applied to a terminal, the terminal chip implements the functions of the terminal device in the above-mentioned method embodiment. The terminal chip receives information from the base station, which can be understood as the information is first received by other modules in the terminal (such as a radio frequency module or an antenna), and then sent to the terminal chip by these modules. The terminal chip sends information to the base station, which can be understood as the information is first sent to other modules in the terminal (such as a radio frequency module or an antenna), and then sent to the base station by these modules.

[0394] When the above-mentioned communication device is a chip applied to a base station, the base station chip implements the function of the network device in the above-mentioned method embodiment. The base station chip receives information from the terminal, which can be understood as the information is first received by other modules in the base station (such as a radio frequency module or an antenna), and then sent to the base station chip by these modules. The base station chip sends information to the terminal, which can be understood as the information is sent to other modules in the base station (such as a radio frequency module or an antenna), and then sent to the terminal by these modules.

[0395] In the present application, when entity A sends information to entity B, it can be that A sends it directly to B, or that A sends it to B indirectly through other entities. Similarly, when entity B receives information from entity A, it can be that entity B directly receives the information sent by entity A, or that entity B indirectly receives the information sent by entity A through other entities. Entities A and B here can be RAN nodes or terminals, or modules inside the RAN nodes or terminals. The sending and receiving of information can be information interaction between a RAN node and a terminal, for example, information interaction between a base station and a terminal; the sending and receiving of information can also be information interaction between two RAN nodes, for example, information interaction between a CU and a DU; the sending and receiving of information can also be information interaction between different modules inside a device, for example, information interaction between a terminal chip and other modules of the terminal, or information interaction between a base station chip and other modules in the base station.

[0396] It is understandable that the processor in the embodiments of the present application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0397] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, mobile hard disks, compact disc read-only memory (compact disc-read only memory, CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. The processor and the storage medium can also be present in a base station or a terminal as discrete components.

[0398] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, 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 programs or instructions. When a computer program or instruction is loaded and executed on a computer, the process or function of the embodiment of the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable device. The computer program or instruction can 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 program or instruction can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a tape; it can also be an optical medium, such as a digital video disc; it can also be a semiconductor medium, such as a solid-state hard disk. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0399] In the various embodiments of the present application, unless otherwise specified or provided for in any logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0400] In the present application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of the present application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of the present application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0401] It is understood that the various numbers involved in the embodiments of the present application (such as the digital numbers "first" and "second", and the letter numbers "parameter A", "parameter B", "parameter C", etc.) are only distinguished for the convenience of description and are not used to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic.

Claims

1. A positioning method, characterized in that: The method comprises: The first device determines a first integer ambiguity according to first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The first device sends the first integer ambiguity and first information, wherein the first information indicates reliability of the first integer ambiguity; A second device receives the first integer ambiguity and the first information; The second device performs positioning according to the first integer ambiguity and the first information.

2. The method according to claim 1, characterized in that The method further comprises: The first device determines a second integer ambiguity according to second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The first device sends the second integer ambiguity and second information, wherein the second information indicates reliability of the second integer ambiguity; The second device receives the second integer ambiguity and the second information; The second device performs positioning according to the first integer ambiguity and the first information, including: The second device performs positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

3. A positioning method, characterized in that: The method comprises: The first device receives first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The first device determines a first integer ambiguity according to the first measurement information; The first device performs positioning according to the first integer ambiguity and first information, where the first information indicates reliability of the first integer ambiguity.

4. The method according to claim 3, characterized in that The method further comprises: The first device receives second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The first device determines a second integer ambiguity according to the second measurement information; The first device performs positioning according to the first integer ambiguity and the first information, including: The first device performs positioning according to the first integer ambiguity, the first information, the second integer ambiguity, and the second information, wherein the second information indicates reliability of the second integer ambiguity.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The first device determines the first information according to the first measurement information and the first integer ambiguity.

6. The method according to any one of claims 1 to 5, characterized in that: The first device determines a first integer ambiguity according to the first measurement information, including: The first device determines a first integer ambiguity set according to the first measurement information, wherein the first integer ambiguity set includes at least one integer ambiguity; The first integer ambiguity is an integer ambiguity in the first integer ambiguity set; or the first integer ambiguity is determined according to the integer ambiguities in the first integer ambiguity set.

7. The method according to any one of claims 2, 4, 5 and 6, characterized in that The method further comprises: The first device determines the second information according to the second measurement information and the second integer ambiguity.

8. The method according to any one of claims 2, 4 and 7, characterized in that The first measurement information is obtained according to measurement information of a first frequency point of the at least one first reference signal; The second measurement information is obtained according to measurement information of a second frequency point of the at least one second reference signal; The first frequency point is different from the second frequency point.

9. The method according to any one of claims 2, 4, 7 and 8, characterized in that One first reference signal among the at least one first reference signal and one second reference signal among the at least one second reference signal are the same reference signal.

10. The method according to any one of claims 2, 4 and 7-9, characterized in that The first information and the second information are one piece of information, and the first information is used to indicate the reliability of the first integer ambiguity and the second integer ambiguity.

11. The method according to any one of claims 1 to 10, characterized in that: The at least one first reference signal includes a third reference signal and a fourth reference signal; The carrier phase measurement information in the first measurement information includes at least one of the following: Information indicating a first phase, where the first phase is obtained by measuring the third reference signal from the fourth device by the third device; information indicating a first phase difference, where the first phase difference is obtained based on the first phase and a second phase, where the second phase is obtained by the third device measuring the fourth reference signal from the fifth device; information for indicating a second phase difference, where the second phase difference is obtained according to the first phase and a third phase, where the third phase is obtained by the sixth device measuring the third reference signal from the fourth device; Information indicating a third phase difference, wherein the third phase difference is obtained based on the first phase difference and a fourth phase difference, the fourth phase difference is obtained based on the fourth phase and a fifth phase, the fourth phase is obtained by the sixth device measuring the third reference signal from the fourth device, and the fifth phase is obtained by the sixth device measuring the fourth reference signal from the fifth device; or, Information used to indicate a fourth phase difference, where the fourth phase difference is determined according to the acquired phase arrival error PAE, and the fourth phase difference is also determined according to the first phase and / or the first phase difference.

12. A positioning device, characterized in that: The device comprises a processing unit and a transceiver unit; The processing unit is configured to determine a first integer ambiguity according to first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The transceiver unit is used to send the first integer ambiguity and first information, where the first information indicates the reliability of the first integer ambiguity, and the first integer ambiguity and the first information are used for positioning.

13. The device according to claim 12, characterized in that The processing unit is further configured to: determine a second integer ambiguity according to second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The transceiver unit is further used to: send the second integer ambiguity and second information, where the second information indicates the reliability of the second integer ambiguity, and the second integer ambiguity and the second information are used to perform positioning in combination with the first integer ambiguity and the first information.

14. A positioning device, characterized in that: The device comprises a processing unit and a transceiver unit; The transceiver unit is configured to receive first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The processing unit is configured to determine a first integer ambiguity according to the first measurement information, and perform positioning according to the first integer ambiguity and first information, wherein the first information indicates reliability of the first integer ambiguity.

15. The device according to claim 14, characterized in that The transceiver unit is further used to: receive second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The processing unit is further configured to: determine a second integer ambiguity according to the second measurement information; The processing unit is specifically configured to perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information, wherein the second information indicates reliability of the second integer ambiguity.

16. The device according to any one of claims 12 to 15, characterized in that The processing unit is also used for: The first information is determined according to the first measurement information and the first integer ambiguity.

17. The device according to any one of claims 12 to 16, characterized in that: The processing unit is specifically used for: Determine a first integer ambiguity set according to the first measurement information, the first integer ambiguity set comprising at least one integer ambiguity; The first integer ambiguity is an integer ambiguity in the first integer ambiguity set; or the first integer ambiguity is determined according to the integer ambiguities in the first integer ambiguity set.

18. The device according to any one of claims 13, 15, 16 and 17, characterized in that The processing unit is also used for: The second information is determined according to the second measurement information and the second integer ambiguity.

19. A positioning device, characterized in that: The device comprises a processing unit and a transceiver unit; The transceiver unit is configured to receive a first integer ambiguity and first information, where the first integer ambiguity is determined according to first measurement information, the first measurement information includes time measurement information and / or carrier phase measurement information, the first measurement information is obtained by measuring at least one first reference signal, and the first information indicates reliability of the first integer ambiguity; The processing unit is used to perform positioning according to the first integer ambiguity and the first information.

20. The device according to claim 19, characterized in that The processing unit is further configured to: The transceiver unit is further configured to: receive a second integer ambiguity and second information, where the second integer ambiguity is determined according to second measurement information, the second measurement information includes time measurement information and / or carrier phase measurement information, the second measurement information is obtained by measuring at least one second reference signal, and the second information indicates reliability of the second integer ambiguity; The processing unit is further used to perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

21. A communication device, characterized in that: The method comprises a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices and transmit them to the processor or send signals from the processor to other communication devices, and the processor is used to implement the method as described in any one of claims 1 to 11 through a logic circuit or by executing code instructions.

22. A communication system, characterized in that: The first device and the second device include: The first device is configured to determine a first integer ambiguity according to first measurement information, and send the first integer ambiguity and first information, wherein the first measurement information includes time measurement information and / or carrier phase measurement information, the first measurement information is obtained by measuring at least one first reference signal, and the first information indicates reliability of the first integer ambiguity; The second device is used to receive the first integer ambiguity and the first information, and perform positioning according to the first integer ambiguity and the first information.

23. A communication system, characterized in that: The method comprises a first device and a device for sending measurement information: The device for sending measurement information is used to send first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The first device is used to determine a first integer ambiguity according to first measurement information, and perform positioning according to the first integer ambiguity and first information, wherein the first information indicates the reliability of the first integer ambiguity.

24. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or an instruction. When the computer program or the instruction is executed by the communication device, the method according to any one of claims 1 to 11 is implemented.

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