Positioning method, positioning device, communication equipment and readable storage medium

Abstract

The invention discloses a positioning method, a positioning device, communication equipment and a readable storage medium, and belongs to the technical field of wireless communication, and the positioning method comprises the steps that first equipment sends a first positioning reference signal; the second device receives the first positioning reference signal; the first device determines a pattern of a second positioning reference signal according to a first mapping rule, the second positioning reference signal being a backscattering signal of the first positioning reference signal, and the second positioning reference signal being used for determining position information of a second device; the second device determines a pattern of a second positioning reference signal according to a second mapping rule, and backscatter the second positioning reference signal according to the pattern of the second reference signal; and the first device receives the second positioning reference signal according to the pattern of the second positioning reference signal.

Description

Technical Field

[0001] The present application belongs to the field of wireless communication technology, and specifically relates to a positioning method, a positioning device, a communication device and a readable storage medium. Background Art

[0002] In the TR 22.840 use case, there is a direct demand for positioning ambient IoT devices (such as tags), or it is necessary to simultaneously locate ambient IoT devices during the inventory process or to assist in positioning other terminals based on ambient IoT devices.

[0003] How to locate environmental IoT devices is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a positioning method, a positioning device, a communication device and a readable storage medium, which can solve the problem of how to locate an environmental Internet of Things device.

[0005] In a first aspect, a positioning method is provided, comprising:

[0006] The first device sends a first positioning reference signal;

[0007] The first device determines a pattern of a second positioning reference signal according to a first mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of the second device;

[0008] The first device receives the second positioning reference signal according to the pattern of the second positioning reference signal.

[0009] In a second aspect, a positioning method is provided, including:

[0010] The second device receives the first positioning reference signal;

[0011] The second device determines a pattern of a second positioning reference signal according to a second mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of the second device;

[0012] The second device sends the second positioning reference signal according to the pattern of the second positioning reference signal.

[0013] In a third aspect, a positioning device is provided, comprising:

[0014] A first sending module, configured to send a first positioning reference signal;

[0015] A first determination module is configured to determine a pattern of a second positioning reference signal according to a first mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device;

[0016] The first receiving module is configured to receive the second positioning reference signal according to a pattern of the second positioning reference signal.

[0017] In a fourth aspect, a positioning device is provided, comprising:

[0018] A first receiving module, configured to receive a first positioning reference signal;

[0019] a determination module, configured to determine a pattern of a second positioning reference signal according to a second mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device;

[0020] The first sending module is used to send the second positioning reference signal according to the pattern of the second positioning reference signal.

[0021] In a fifth aspect, a communication device is provided, which terminal includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect or the second aspect are implemented.

[0022] In a sixth aspect, a communication device is provided, comprising a processor and a communication interface, wherein the communication interface is used to send a first positioning reference signal; the processor is used to determine a pattern of a second positioning reference signal according to a first mapping rule, the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device; the communication interface is also used to receive the second positioning reference signal according to the pattern of the second positioning reference signal.

[0023] In the seventh aspect, a communication device is provided, including a processor and a communication interface, wherein the communication interface is used to receive a first positioning reference signal; the processor is used to determine a pattern of a second positioning reference signal according to a second mapping rule, the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine the location information of a second device; the communication interface is also used to send the second positioning reference signal according to the pattern of the second positioning reference signal.

[0024] In an eighth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the positioning method as described in the first aspect or the second aspect are implemented.

[0025] In a ninth aspect, a wireless communication system is provided, comprising: a first device and a second device, wherein the first device can be used to execute the steps of the positioning method as described in the first aspect, and the second device can be used to execute the steps of the positioning method as described in the second aspect.

[0026] In a tenth aspect, a chip is provided, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the positioning method as described in the first aspect or the second aspect.

[0027] In the eleventh aspect, a computer program / program product is provided, wherein the computer program / program product is stored in a storage medium, and the program / program product is executed by at least one processor to implement the steps of the positioning method as described in the first aspect or the second aspect.

[0028] In an embodiment of the present application, after the first device sends the first positioning reference signal, it determines the pattern of the second positioning reference signal according to a pre-set resource mapping rule, and receives the second positioning reference signal backscattered by the second device to the first positioning reference signal based on the pattern, and the second device can be positioned using the received second positioning reference signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a communication method between a reader and a tag;

[0030] Figure 2 It is a schematic diagram of the structure of the reader and the tag;

[0031] Figure 3 This is a schematic diagram of the modulation principle of backscatter communication;

[0032] Figure 4 A schematic diagram of the process of receiving and sending data for tags;

[0033] Figure 5 A flowchart for querying and accessing a single tag;

[0034] Figure 6 It is a schematic diagram of the positioning architecture in NR;

[0035] Figure 7 It is a schematic diagram of the structure of the LPP protocol stack;

[0036] Figure 8 It is a schematic diagram of the structure of the NRPPa protocol stack;

[0037] Fig. 9 It is a schematic diagram of the overall process of positioning in NR;

[0038] Fig.10 A flowchart of positioning based on UL TDOA is shown;

[0039] Fig.11 is a schematic diagram of a positioning method for dual-frequency signals;

[0040] Fig.12 Schematic diagram of FMCW positioning method;

[0041] Fig.13 is a schematic diagram of a single-base backscatter communication system;

[0042] Fig.14 is a schematic diagram of a bistatic backscatter communication system;

[0043] Fig.15 A schematic diagram of a flow chart of a positioning method applied to a first device according to an embodiment of the present application;

[0044] Fig.16 A schematic diagram of a flow chart of a positioning method applied to a second device according to an embodiment of the present application;

[0045] Fig.17 A frequency domain schematic diagram of a single-frequency carrier sent by the network side in an embodiment of the present application;

[0046] Fig.18 This is a schematic diagram of a case where the network side sends a single-frequency carrier in an embodiment of the present application, and the tag uses a single backscatter modulation frequency to modulate the carrier frequency domain;

[0047] Fig.19 This is a second schematic diagram of a case where the network side sends a single-frequency carrier in an embodiment of the present application, and the tag uses a single backscatter modulation frequency to modulate the carrier frequency domain;

[0048] Fig. 20 This is one of the schematic diagrams of a tag using two backscatter modulation frequencies to modulate a carrier frequency domain when a single-frequency carrier is sent by the network side in an embodiment of the present application;

[0049] Fig.21 This is a second schematic diagram of a tag using two backscatter modulation frequencies to modulate the carrier frequency domain when a single-frequency carrier is sent by the network side in an embodiment of the present application;

[0050] Fig. 22 A frequency domain schematic diagram of a dual-frequency carrier sent by a network side in an embodiment of the present application;

[0051] Fig.23This is a schematic diagram of a case where the network side sends a dual-frequency carrier in an embodiment of the present application, and the tag uses a single backscatter modulation frequency to modulate the carrier frequency domain;

[0052] Fig.24 This is a second schematic diagram of a tag using a single backscatter modulation frequency to modulate the carrier frequency domain when the network side sends a dual-frequency carrier in an embodiment of the present application;

[0053] Fig.25 It is a schematic diagram of a carrier sent by the network side and a tag backscattered carrier in a full reflection mode in an embodiment of the present application;

[0054] Fig.26 A schematic diagram of a PRS pattern of an embodiment of the present application;

[0055] Fig. 27 This is one of the pattern schematic diagrams of the dual-frequency PRS of an embodiment of the present application;

[0056] Fig.28 This is a second schematic diagram of a dual-frequency PRS pattern according to an embodiment of the present application;

[0057] Fig.29 A schematic diagram of a continuous carrier frequency pattern of an embodiment of the present application;

[0058] Fig.30 This is one of the structural schematic diagrams of the positioning device according to an embodiment of the present application;

[0059] Fig.31 This is a second structural diagram of the positioning device according to an embodiment of the present application;

[0060] Fig.32 A schematic diagram of the structure of a communication device according to an embodiment of the present application;

[0061] Fig.33 A schematic diagram of the structure of a terminal according to an embodiment of the present application;

[0062] Fig.34 A schematic diagram of the structure of a network side device according to an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

[0064] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of one type, and the number of objects is not limited, for example, the first object can be one or more. In addition, "or" in this application represents at least one of the connected objects. For example, "A or B" covers three schemes, namely, Scheme 1: including A but not including B; Scheme 2: including B but not including A; Scheme 3: including both A and B. The character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0065] The term "indication" in this application can be a direct indication (or explicit indication) or an indirect indication (or implicit indication). A direct indication can be understood as the sender explicitly informing the receiver of specific information, operations to be performed, or request results in the sent indication; an indirect indication can be understood as the receiver determining the corresponding information according to the indication sent by the sender, or making a judgment and determining the operation to be performed or the request result according to the judgment result.

[0066] It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used for the systems and radio technologies mentioned above as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for illustrative purposes, and NR terminology is used in most of the following descriptions, but these technologies can also be applied to systems other than NR systems, such as the 6th generation (6 thGeneration, 6G) communication system.

[0067] The following is a brief description of the technical contents involved in this application.

[0068] 1. Backscatter Communication (BSC)

[0069] Backscatter communication refers to the backscatter communication device using the radio frequency (RF) signal from other devices or the environment to perform signal modulation to transmit its own information.

[0070] Please refer to Figure 1 , Figure 1 The figure is a schematic diagram of a communication method between a reader and a tag, wherein there are two links between the reader and the tag, one link is a link from the reader to the tag, and the other link is a link from the tag to the reader (backscatter link). The reader sends a control command or a continuous wave to the tag through the link from the reader to the tag. The tag sends a backscatter signal through the link from the tag to the reader.

[0071] Please refer to Figure 2 , Figure 2 Schematic diagram of the structure of the reader and tag.

[0072] The basic building blocks and main functions of tags include:

[0073] Antenna unit: used to receive RF signals and control commands, and also used to send modulated backscatter signals (i.e., uplink reflected signals in the figure).

[0074] Energy harvesting module (i.e. RF harvester in the figure) or power supply module: This module is used for backscatter communication equipment to harvest radio frequency (RF) energy, or other energy, including but not limited to solar energy, kinetic energy, mechanical energy, thermal energy, etc. In addition to the energy harvesting module, it may also include a power supply module, in which case the backscatter communication device is a semi-passive device. The energy harvesting module or power supply module supplies power to all other modules in the device.

[0075] Microcontroller (Logic in the figure): used to control baseband signal processing, energy storage or data scheduling status, switch switching, system synchronization, etc.

[0076] Signal receiving module (i.e. demodulator in the figure): used to demodulate control commands or data sent by the backscatter communication receiving end (such as reader) or other network nodes.

[0077] Channel coding and modulation module: performs channel coding and signal modulation under the control of the microcontroller, and realizes modulation by selecting different load impedances under the control of the microcontroller through a selection switch;

[0078] Memory or sensor module: used to store device identification (ID) information, location information or sensor data, etc.

[0079] In addition to the typical building blocks mentioned above, future backscatter communication transmitters (such as tags) can even integrate tunnel diode amplifier modules, low noise amplifier modules, etc. to improve the receiving sensitivity and transmission power of the transmitter.

[0080] A simple implementation method of sending a backscatter signal by a tag is that when a '1' needs to be sent, the tag reflects the incident carrier signal, and when a '0' needs to be sent, the tag does not reflect.

[0081] like Figure 3 As shown, the backscatter communication device controls the reflection coefficient Γ of the circuit by adjusting its internal impedance, thereby changing at least one of the amplitude, frequency or phase of the incident signal to achieve signal modulation. The reflection coefficient Γ of the signal can be characterized as:

[0082]

[0083] Where Z0 is the antenna characteristic impedance, Z1 is the load impedance, θ T is the phase, j represents an imaginary number. Assume that the incident signal is S in (t), the output signal is Therefore, at least one of corresponding amplitude modulation, frequency modulation or phase modulation can be achieved by properly controlling the reflection coefficient Γ.

[0084] 2. Radio Frequency Identification (RFID) sending and receiving process

[0085] Please refer to Figure 4 , Figure 4 The following is a flow chart of the tag receiving and sending data. The current UHF (Ultra High Frequency) RFID protocol is designed in the inventory mode, which requires the reader to send a query command (Query) and the tag (tag) to respond (Reply), that is, to generate a 16-bit (RN16) random number to the reader. Then the reader sends the sequence to the tag through the ACK command, and the tag sends the relevant data (such as PC / XPC, Electronic Product Code (EPC), packetCRC) to the reader.

[0086] Please refer to Figure 5 , Figure 5 A schematic diagram of the process of querying and accessing a single tag, wherein the interrogator may be a reader.

[0087] 3. Positioning based on Uu interface

[0088] In the existing positioning technology based on mobile networks (Location Management Function (LMF) as a positioning server, measuring the reference signal of the Uu interface or satellite navigation signal), multiple types of positioning and positioning methods are supported, including:

[0089] 1) The base station sends a downlink positioning reference signal (PRS), and the user equipment (UE, also known as the terminal) performs measurement;

[0090] 2) The UE sends an uplink positioning reference signal, such as a channel sounding reference signal (Sounding Reference Signal, SRS), and the base station performs measurement.

[0091] The positioning methods include: uplink (UL) / downlink (DL) time difference-of-arrival (TDOA) positioning, round-trip time (RTT) positioning, UL / DL angle of arrival (AOA) positioning, and DL / UL angle of departure (AOD) positioning.

[0092] The positioning architecture is as follows Figure 6 As shown. Among them, LMF is the positioning server. LMF interacts with UE through the LTE Positioning Protocol (LPP), which is a protocol suitable for positioning servers and positioning targets. In the control plane, it is mainly used for positioning information interaction between LMF and terminals on the core network side. The protocol defines multiple positioning processes, such as terminal capability interaction, auxiliary data transmission or positioning information transmission. For a positioning request, there is a corresponding LPP session between the server and the target, and this session can be composed of one or more LPP positioning processes. The structure of the LPP protocol stack is shown in Figure 7 shown.

[0093] The LMF interacts with the base station through the NRPPa protocol. The structure of the NRPPa protocol stack is as follows: Figure 8 shown.

[0094] like Fig. 9 As shown, Fig. 9 The figure is a schematic diagram of the overall process of positioning in NR. AMF receives a positioning service request for a terminal from a third party, a terminal or itself. If the terminal is in the connection management idle (CM-IDLE) state at this time, AMF pages the UE to trigger the UE to enter the connection management connected (CM-CONNECTED) state (the corresponding state of the terminal in the air interface is the RRC connected state), and then AMF sends a positioning service request to the positioning server LMF. LMF determines the positioning method based on the Uu interface. The positioning method is divided into uplink-based positioning and downlink-based positioning. Then LMF initiates a specific positioning process to obtain the location of the terminal. During the positioning process, LMF may need to interact with the terminal through the LPP protocol or with the base station through the NRPPa protocol, such as interactive capabilities, interactive positioning assistance data, interactive positioning measurement results, etc. LMF sends a positioning service response to AMF, carrying the location of the terminal.

[0095] A typical uplink positioning method flowchart is as follows: Fig.10 As shown (taking UL-TDOA positioning as an example), the following steps are included:

[0096] Step 0: NRPPa Transmission and Receiving Point (TRP) configuration information is exchanged between the serving base station and the LMF;

[0097] Step 1: LMF obtains the LPP positioning capability of UE;

[0098] Step 2: LMF requests SRS configuration from the serving base station;

[0099] Step 3-3a: The serving base station determines the SRS configuration of the UE and configures the SRS to the UE through an RRC message;

[0100] Step 4: The serving base station replies a response message to the LMF, carrying the corresponding SRS configuration;

[0101] Steps 5a, 5b, and 5c: The LMF sends a message to the serving base station, requesting to activate SRS transmission. The serving base station activates the UE to send SRS over the air interface, and then replies with a response message.

[0102] Step 6: LMF requests the serving base station and the adjacent base station to perform positioning measurements;

[0103] Step 7: The serving base station and the adjacent base station perform positioning measurement to obtain positioning measurement results;

[0104] Step 8: The serving base station and the adjacent base station send the positioning measurement results to the LMF.

[0105] In the above process, the configuration information of the SRS resource is determined by the serving base station and sent to the UE, and then the UE is activated to send SRS. The LMF sends the SRS configuration to the serving base station and the adjacent base station that need to measure the SRS signal.

[0106] 4. Phase-difference-of-arrival (PDOA) positioning method

[0107] Please refer to Fig.11 ,The PDOA positioning method mainly includes the following steps:

[0108] Step 1: The reader (also called reader) antenna sends two continuous wave (CW) signals (i.e., the transmission signals in the figure) at frequencies f1 and f2;

[0109] Step 2: The CW signal is backscattered by the electronic tag (ie, the backscattered signal in the figure) and received at the antenna of the reader.

[0110] Step 3: Frequency f i The phase of the backscattered signal at (including f1 and f2) It can be expressed as:

[0111]

[0112] Where d represents the distance between the electronic tag and the reader, and c represents the speed of light.

[0113] Step 4: The label distance d is estimated as:

[0114]

[0115] in, is the package phase difference, and m is an unknown integer.

[0116] 5. Frequency Modulated Continuous Wave (FMCW) positioning

[0117] Please refer to Fig.12 , Fig.12 Schematic diagram of the FMCW positioning method, where:

[0118] Signal frequency: f(t)=f0+kt, k=Δf / Δt;

[0119] Signal Phase:

[0120] Transmit signal (TX signal):

[0121] Receive signal (RX signal): Δt is the time delay of the received signal relative to the transmitted signal, and R is the distance of the object.

[0122] The signal after mixing and filtering:

[0123]

[0124] Among them, the intermediate frequency Depends on the target distance.

[0125] 6. Different backscatter communication system architectures

[0126] like Fig.13 The figure shows a schematic diagram of a monostatic backscatter communication system (MBCS). For example, a traditional RFID system is a typical MBCS. The system includes a BSC transmitter (such as a tag) and a reader (such as a base station). The reader includes an RF source and a BSC receiver, wherein the RF source is used to generate an RF signal to power the BSC transmitter / Tag. The BSC transmitter backscatters the modulated RF signal, and the BSC receiver in the reader receives the backscattered signal and performs signal demodulation. Since the RF source and the BSC receiver are in the same device, such as the reader here, it becomes a monostatic (or single-station) backscatter communication system. In the MBCS system, since the RF signal sent from the BSC transmitter will undergo a double near-far effect caused by the signal attenuation of the round-trip signal, the signal energy attenuation is large. Therefore, the MBCS system is generally used for short-distance backscatter communication, such as traditional RFID applications.

[0127] Please refer to Fig.14Different from the MBCS system, the RF source, BSC transmitting device and BSC receiving device in the bi-static backscatter communication system (BBCS) are separate. Therefore, BBCS avoids the problem of large round-trip signal attenuation. In addition, the performance of the BBCS communication system can be further improved by properly placing the RF source. It is worth noting that the ambient backscatter communication system (ABCS) is also a type of bi-static backscatter communication. However, unlike the dedicated signal RF source in the BBCS system, the RF source in the ABCS system can be an available early RF source in the environment, such as TV towers, cellular base stations, WiFi signals, Bluetooth signals, etc.

[0128] The positioning method, positioning device, communication equipment and readable storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through some embodiments and their application scenarios.

[0129] Please refer to Fig.15 , an embodiment of the present application provides a positioning method, including:

[0130] Step 11: The first device sends a first positioning reference signal;

[0131] Optionally, the first device may send the first positioning reference signal to the second device or other auxiliary positioning device. The auxiliary positioning device is used to assist in positioning the second device.

[0132] Optionally, the second device is a backscatter communication device, including at least one of the following:

[0133] 1) The backscatter communication device in traditional Radio Frequency Identification (RFID) is generally a tag, which belongs to the passive Internet of Things (IoT) device (Passive-IoT);

[0134] 2) Semi-passive tags, which have a certain amplification capability for downlink reception or uplink reflection;

[0135] 3) Tags with active sending capabilities (active tags), which can send information to the reader without relying on the reflection of the incident signal.

[0136] Passive tags can also be called passive IOT, that is, passive Internet of Things devices.

[0137] The communication method of the second device can be backscattered radio frequency (RF) signals for signal transmission, or some active tags have the ability to actively generate signals. Because the energy of the second device can come from the environment, such as ambient RF energy, thermal energy, wind energy, kinetic energy, etc., it can also be called Ambient IoT. It can also be regarded as a terminal, which can be called a terminal device.

[0138] Step 12: The first device determines a pattern of a second positioning reference signal according to a first mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of the second device;

[0139] The pattern of the second positioning reference signal includes: at least one of a frequency domain pattern of the second positioning reference signal and a time domain pattern of the second positioning reference signal.

[0140] Step 13: The first device receives the second positioning reference signal according to the pattern of the second positioning reference signal.

[0141] In an embodiment of the present application, after the first device sends the first positioning reference signal, it determines the pattern of the second positioning reference signal according to a pre-set resource mapping rule, and receives the second positioning reference signal backscattered by the second device to the first positioning reference signal based on the pattern, and the second device can be positioned using the received second positioning reference signal.

[0142] In this embodiment of the present application, optionally, the first positioning reference signal includes at least one of the following:

[0143] 1) Group positioning reference signal, wherein each group positioning reference signal corresponds to a group, and each group includes one or more second devices; that is, the group positioning reference signal is used to locate all second devices in the corresponding group. Assume that there are 10 second devices, which are divided into two groups, with 3 second devices in the first group and 7 second devices in the second group. The first group positioning reference signal corresponds to the first group and is used to locate all second devices in the first group. The second group positioning reference signal corresponds to the second group and is used to locate all second devices in the second group.

[0144] Optionally, before sending the group positioning reference signal, the first device determines information of the grouping.

[0145] Further optionally, the first device may also send information of the determined group to the second device, where the information of the group may include, for example, an ID (identity identifier) ​​of the group and an ID of each second device in the group. After receiving the information of the group determined by the first device, the second device may learn the group to which it belongs.

[0146] Optionally, the group positioning reference signal may include an ID of a group corresponding to the group positioning reference signal, and after receiving the group positioning reference signal, the second device determines whether to respond to the group positioning reference signal according to the ID of the group corresponding to the group positioning reference signal. If the second device belongs to the group corresponding to the group positioning reference signal, it responds to the group positioning reference signal, otherwise it does not respond.

[0147] Optionally, the first device may also predetermine the mapping relationship between the ID of the group positioning reference signal and the group, and notify the second device. In this case, the group positioning reference signal only needs to carry its own ID, and the second device can determine whether to respond to the group positioning reference signal based on the ID of the group positioning reference signal.

[0148] Optionally, one or more second devices in the group are of the same type, and the type includes at least one of the following:

[0149] 1A) Energy supply or energy storage mode; for example, the energy supply or energy storage mode may include at least one of the following: passive, semi-passive and active. For example, the second devices in the group are all active tags, that is, the current group positioning reference signal is used to locate tags with active energy supply or energy storage mode.

[0150] 1B) Modulation mode; the modulation mode includes at least one of the following: On-Off Keying (OOK), Amplitude Shift Keying (ASK), Phase-shift keying (PSK), Frequency-shift keying (FSK), etc.

[0151] 1C) Coding method; the coding method may be, for example, FM0 coding or Miller coding. Furthermore, the coding duty cycle may be the same, or the Miller coding subcarrier coefficients may be the same. The Miller coding subcarrier coefficients may be, for example, M=2, 4, 8.

[0152] 1D) modulation frequency; for example, it can be a backscatter link frequency (BLF), and the modulation frequency can include: 40KHz, 80KHz, 160KHz, 320KHz or 640KHz, etc. For example, the current group positioning reference signal is used to locate the second device with BLF = 40KHz.

[0153] 1E) Data rate;

[0154] 1F) Sequence mode, the sequence mode can be, for example: ZC sequence or gold sequence.

[0155] 2) A specific (UE-specific) positioning reference signal, wherein the specific positioning reference signal corresponds to a specific second device, that is, is used to locate the specific second device.

[0156] Optionally, before sending the specific positioning reference signal, the first device determines a specific second device corresponding to the specific positioning reference signal.

[0157] Optionally, the specific second device is determined by at least one of the following information:

[0158] ID information; for example, tag-ID or antenna ID.

[0159] Preamble;

[0160] Cyclic Redundancy Check Code (CRC).

[0161] Optionally, the sequence ID of the specific positioning reference signal has a mapping relationship with the first information, and the first information includes at least one item:

[0162] ID information of the second device; for example, tag-ID or antenna.

[0163] Randomly generated ID information of the second device;

[0164] ID information of a first positioning reference signal associated with the second device indicated by a network device or a second device.

[0165] Among them, the specific positioning reference signal is usually composed of sequence + data, wherein the sequence ID refers to the identity of the sequence.

[0166] The network device may be the first device or other network devices.

[0167] The first device can identify the second device based on the above-mentioned first information. Further, if the first information includes randomly generated ID information of the second device, ID information of the first positioning reference signal associated with the second device indicated by the network device or the second device, the first device also needs to maintain the mapping relationship between the sequence ID of the specific positioning reference signal and the first information.

[0168] Optionally, the positioning method further includes: the first device sending a mapping relationship between a sequence ID of the specific positioning reference signal and the first information to the second device;

[0169] Alternatively, the specific positioning reference signal carries the first information, that is, the specific positioning reference signal sent by the first device carries the first information.

[0170] Based on any one of the above two methods, the second device that receives the specific positioning reference signal can know whether the specific positioning reference signal is sent to itself.

[0171] In an embodiment of the present application, if the sequence ID in the specific positioning reference signal has a mapping relationship with the randomly generated ID information of the second device, that is, the first device maintains a mapping relationship between the sequence ID in the specific positioning reference signal and the randomly generated ID information of the second device (the sequence ID of the specific positioning reference signal cannot be directly associated with the ID of the second device), optionally, the positioning method further includes:

[0172] The first device receives the ID information of the second device;

[0173] The first device determines the mapping relationship between the sequence ID in the specific positioning reference signal and the ID information of the second device according to the mapping relationship between the sequence ID in the specific positioning reference signal and the randomly generated ID information of the second device, and the ID information of the second device.

[0174] That is, after the first device receives the ID information of the second device reported by the second device, it can first determine the mapping relationship between the ID information of the second device and the randomly generated ID information of the second device, and establish a mapping relationship between the sequence ID in the specific positioning reference signal and the ID information of the second device based on the mapping relationship between the sequence ID in the specific positioning reference signal and the randomly generated ID information of the second device.

[0175] The first mapping rule is described below.

[0176] The first mapping rule is a resource mapping rule for determining a pattern of the second positioning reference signal, and the first mapping rule may include: at least one of a mapping rule related to time domain resources and a mapping rule related to frequency domain resources.

[0177] In some embodiments, optionally, the first mapping rule includes an association relationship between the first positioning reference signal and the second positioning reference signal, and the association relationship includes at least one of the following:

[0178] The sending time of the first positioning reference signal compensates the group delay of the second positioning reference signal; wherein the group delay refers to the rate of change of the phase (phase shift) of the system at a certain frequency with respect to the frequency, similar to the report free round trip time (RTT), that is, the second device can be regarded as a zero delay reflection, and the first device directly calculates the time difference between sending and receiving.

[0179] The sending time of the first positioning reference signal compensates the phase offset of the second positioning reference signal; similar to the RTT of report free, that is, the second device can be regarded as a reflection of 0 phase offset, and the first device directly calculates the phase difference between sending and receiving; it should be noted that due to the different frequencies of sending and receiving, the phase calculation may need to be based on the frequency formula.

[0180] The frequency deviation of the sending frequency of the second positioning reference signal relative to the frequency of the first positioning reference signal (ie, +-delta f).

[0181] The first and second association relationships mentioned above belong to a mapping rule related to time domain resources. According to the mapping rule, the time domain pattern of the second positioning reference signal can be determined;

[0182] The third rule mentioned above is a mapping rule related to frequency domain resources. According to the mapping rule, the frequency domain pattern of the second positioning reference signal can be determined.

[0183] In some embodiments, optionally, the first mapping rule includes: determining a frequency domain pattern for receiving the second positioning reference signal by the first device according to frequency domain resource information for sending the first positioning reference signal by the first device. Optionally, the frequency resource information includes at least one of the following: carrier frequency, bandwidth, etc.

[0184] In some embodiments of the present application, optionally, in the first mapping rule, the frequency domain resource information of the first positioning reference signal and the frequency domain pattern of the second positioning reference signal may be in a fixed correspondence. For example, the first positioning reference signal is a zero-frequency signal, and correspondingly, the modulation frequency of the first positioning reference signal modulated by the second device side is fixed to 40KHz. The first device determines that the frequency domain position of the second positioning reference signal is 40KHz, and demodulates the second positioning reference signal at the position of 40KHz.

[0185] In some embodiments of the present application, optionally, in the first mapping rule, the frequency domain pattern of the second positioning reference signal can also be obtained by calculating the frequency domain resource information of the first positioning reference signal. For example, the frequency domain pattern of the second positioning reference signal is a multiple of the frequency of the first positioning reference signal or an additive constant relationship. For example, the frequency of the first positioning reference signal is 40KHz, and correspondingly, the modulation frequency of the first positioning reference signal modulated by the second device side is (the frequency of the first positioning reference signal*2), or (the frequency of the first positioning reference signal*3), or (the frequency of the first positioning reference signal+40KHz), or (the frequency of the first positioning reference signal+80KHz), etc.

[0186] In some embodiments, optionally, the first device determines the pattern of the second positioning reference signal according to the first mapping rule, and the method also includes: the first device receives initial phase information of the second positioning reference signal, and the first mapping rule includes: determining the pattern of the second positioning reference signal according to the initial phase information of the second positioning reference signal. Based on the initial phase information, the first device can better calculate the phase offset corresponding to the path.

[0187] In an embodiment of the present application, when determining the pattern of the second positioning reference signal, one or more of the first mapping rules mentioned above may be used.

[0188] In the embodiment of the present application, optionally, the first mapping rule is predefined, agreed upon by a protocol, or indicated by a network device.

[0189] In the embodiment of the present application, optionally, the number of the second positioning reference signals is one or more. If the number of the second positioning reference signals is multiple, at least one of the following items of the multiple second positioning reference signals is the same:

[0190] Modulation method;

[0191] bandwidth;

[0192] power;

[0193] Encoding method;

[0194] Modulation frequency;

[0195] Data rate;

[0196] At least part of the sequence.

[0197] In an embodiment of the present application, optionally, the first device receives the second positioning reference signal according to the pattern of the second positioning reference signal, and then further includes: the first device determines the distance to the second device according to the received second positioning reference signal; the distance is used to determine the location information of the second device. The distance between the first device and the second device is a relative distance to the second device, for example, 10 meters from the second device. At this time, the first device cannot locate the absolute position of the second device. Optionally, multiple first devices are usually required to cooperate to complete the determination of the location information of the second device.

[0198] In the prior art, distance-related positioning technologies include positioning based on time, phase and angle. Angle-based positioning requires multi-antenna support, and time-based positioning technology is related to the actual sampling rate. Considering that the signal bandwidth of ambient IoT communication is small, the sampling rate is low, which will lead to low time resolution and ultimately cause large positioning errors. Therefore, phase-based positioning technology has a high application prospect.

[0199] In an embodiment of the present application, the first device can determine the distance from the second device based on the phase-difference-of-arrival (PDOA) method. In the PDOA method, the second device needs to backscatter at least two signals of different frequencies to obtain the phase difference (that is, the number of second positioning reference signals is multiple), thereby realizing the positioning of the second device. Furthermore, using signals of multiple frequencies, such as 4 or 6 frequencies, has the advantage that the accuracy of positioning can be improved by the mean method. It should be noted that the above description only considers the scenario where the second device is a single antenna application.

[0200] In the embodiment of the present application, the influence of non-ideal factors on the measured phase difference is not considered, and the initial phase is known or directly equal to 0 when calculating the distance based on the phase.

[0201] In the embodiment of the present application, optionally, the location information of the second device includes at least one of the following:

[0202] Relative position information;

[0203] Absolute position information;

[0204] time information between the first device and the first device;

[0205] time information between the auxiliary positioning device and the auxiliary positioning device;

[0206] distance information between the first device and the first device;

[0207] distance information between the auxiliary positioning device and the auxiliary positioning device;

[0208] Angle information between the first device and the first device;

[0209] and the angle information between the auxiliary positioning device and the auxiliary positioning device.

[0210] In the embodiment of the present application, optionally, the first positioning reference signal or the second positioning reference signal includes at least one of the following: continuous wave (CW), control command, positioning reference signal (PRS). The control command may include at least one of the following: selection command, inventory command, access command.

[0211] In an embodiment of the present application, optionally, the first device may include at least one of the following: a reader, an integrated access backhaul node (IAB node), a terminal (UE), a base station (gNB), a network controlled repeater (network controlled repeater), and a pole station (Pole station).

[0212] In the above embodiments of the present application, a single-base architecture is mainly used. For a dual-base architecture, the transmitting end (RF source) sends first information to instruct the receiving end (Base Station Controller (BSC) receiver) to receive the second positioning reference signal on a determined pattern.

[0213] Please refer to Fig.16 , the embodiment of the present application also provides a positioning method, including:

[0214] Step 21: The second device receives a first positioning reference signal;

[0215] Optionally, the second device is a backscatter communication device, including at least one of the following:

[0216] 1) The backscatter communication device in traditional Radio Frequency Identification (RFID) is generally a tag, which belongs to the passive Internet of Things (IoT) device (Passive-IoT);

[0217] 2) Semi-passive tags, which have a certain amplification capability for downlink reception or uplink reflection;

[0218] 3) Tags with active sending capabilities (active tags), which can send information to the reader without relying on the reflection of the incident signal.

[0219] Passive tags can also be called passive IOT, that is, passive Internet of Things devices.

[0220] The communication method of the second device can be backscattered radio frequency (RF) signals for signal transmission, or some active tags have the ability to actively generate signals. Because the energy of the second device can come from the environment, such as ambient RF energy, thermal energy, wind energy, kinetic energy, etc., it can also be called Ambient IoT. It can also be regarded as a terminal, which can be called a terminal device.

[0221] Step 22: The second device determines a pattern of a second positioning reference signal according to a second mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of the second device;

[0222] Step 23: The second device sends the second positioning reference signal according to the pattern of the second positioning reference signal.

[0223] In an embodiment of the present application, after receiving the first positioning reference signal, the second device determines the pattern of the second positioning reference signal according to a preset resource mapping rule, and sends a second positioning reference signal that is backscattered from the first positioning reference signal based on the pattern, thereby realizing the positioning of the second device.

[0224] In this embodiment of the present application, optionally, the first positioning reference signal includes at least one of the following:

[0225] A group positioning reference signal, wherein each of the group positioning reference signals corresponds to a group, and each of the group includes one or more second devices; that is, the group positioning reference signal is used to locate all second devices in the corresponding group.

[0226] A specific positioning reference signal, wherein the specific positioning reference signal corresponds to a specific second device, that is, is used to locate the specific second device.

[0227] In the embodiment of the present application, optionally, the sequence ID of the specific positioning reference signal has a mapping relationship with the first information, and the first information includes at least one of the following:

[0228] ID information of the second device; for example, tag-ID or antenna.

[0229] Randomly generated ID information of the second device;

[0230] ID information of a positioning reference signal associated with the second device indicated by a network device or a second device.

[0231] Among them, the specific positioning reference signal is usually composed of sequence + data, wherein the sequence ID refers to the identity of the sequence.

[0232] The network device may be the first device or other network devices.

[0233] In the embodiment of the present application, optionally, the positioning method further includes: the second device receives a mapping relationship between a sequence ID of the specific positioning reference signal and the first information;

[0234] Alternatively, the specific positioning reference signal carries the first information.

[0235] Based on any one of the above two methods, the second device that receives the specific positioning reference signal can know whether the specific positioning reference signal is sent to itself.

[0236] Optionally, the sequence ID in the specific positioning reference signal has a mapping relationship with the randomly generated ID information of the second device, and the method further includes: the second device reporting the ID information of the second device.

[0237] The second mapping rule is described below.

[0238] The second mapping rule is a resource mapping rule for determining a pattern of the second positioning reference signal, and the second mapping rule may include: at least one of a mapping rule related to time domain resources and a mapping rule related to frequency domain resources.

[0239] In some embodiments, optionally, the second mapping rule includes an association relationship between the first positioning reference signal and the second positioning reference signal, and the association relationship includes at least one of the following:

[0240] The sending time of the first positioning reference signal compensates the group delay of the second positioning reference signal; wherein the group delay refers to the rate of change of the phase (phase shift) of the system at a certain frequency with respect to the frequency, similar to the report free round trip time (RTT), that is, the second device can be regarded as a zero delay reflection, and the first device directly calculates the time difference between sending and receiving.

[0241] The sending time of the first positioning reference signal compensates the phase offset of the second positioning reference signal; similar to the RTT of report free, that is, the second device can be regarded as a reflection of 0 phase offset, and the first device directly calculates the phase difference between sending and receiving; it should be noted that due to the different frequencies of sending and receiving, the phase calculation may need to be based on the frequency formula.

[0242] The frequency deviation of the sending frequency of the second positioning reference signal relative to the frequency of the first positioning reference signal (ie, +-delta f).

[0243] The first and second association relationships mentioned above belong to a mapping rule related to time domain resources. According to the mapping rule, the time domain pattern of the second positioning reference signal can be determined;

[0244] The third rule mentioned above is a mapping rule related to frequency domain resources. According to the mapping rule, the frequency domain pattern of the second positioning reference signal can be determined.

[0245] In some embodiments, optionally, the second device determines the pattern of the second positioning reference signal according to a second mapping rule, and the process also includes: the second device sends initial phase information of the second positioning reference signal, and the second mapping rule includes: determining the pattern of the second positioning reference signal according to the initial phase information of the second positioning reference signal.

[0246] In some embodiments, optionally, the second mapping rule includes a first time domain mapping rule, and the first time domain mapping rule includes at least one of the following:

[0247] ) a symbol length of the second positioning reference signal;

[0248] When the second device adopts OOK modulation, the symbol length includes at least one of the following:

[0249] Interrogator-to-Tag calibration symbol (RTcal), that is, the time length is symbol 0 + symbol 1.

[0250] Symbol 0 or symbol 1.

[0251] 2) a backscatter link pulse repetition interval of the second positioning reference signal, wherein the backscatter link pulse repetition interval represents a time interval between two pulses (Backscatter-link pulse-repetition interval, Tpri);

[0252] 3) The time required for the second positioning reference signal to reach the target frequency offset requirement.

[0253] In some embodiments, optionally, the second mapping rule includes a second time domain mapping rule, and the second time domain mapping rule includes at least one of the following:

[0254] 1) The starting time of the second positioning reference signal;

[0255] 2) the termination time of the second positioning reference signal;

[0256] 3) Duration of the second positioning reference signal;

[0257] 4) a transmission interval of a second positioning reference signal;

[0258] 5) frequency sweep period of the second positioning reference signal;

[0259] 6) Offset time of the second positioning reference signal: The offset time is a backward offset relative to the start time or a forward offset relative to the end time.

[0260] In the embodiment of the present application, optionally, the second mapping rule includes a time-frequency domain mapping rule, and the frequency domain mapping rule includes at least one of the following:

[0261] 1) The tag-to-interrogator calibration symbol (TRcal) from the second device to the first device, i.e., the calibration symbol from the second device to the first device, is used to determine the BLF, BLF = DR / TRcal, where DR is the divide ratio, and the value is or 8;

[0262] 2) A modulation frequency of the second positioning reference signal; for example, a backscatter modulation frequency (BLF).

[0263] 3) a starting frequency of the second positioning reference signal;

[0264] 4) a stop frequency of the second positioning reference signal;

[0265] 5) a frequency sweep bandwidth of the second positioning reference signal;

[0266] 6) a frequency interval of the second positioning reference signal;

[0267] 7) A frequency offset of the second positioning reference signal.

[0268] The sweep bandwidth refers to the frequency band range obtained by subtracting the start frequency from the end frequency.

[0269] In some embodiments, optionally, the second mapping rule includes: determining a frequency domain pattern for sending a second positioning reference signal by the second device according to frequency domain resource information for receiving the first positioning reference signal by the second device.

[0270] In some embodiments, optionally, the second mapping rule further includes first indication information, where the first indication information is used to indicate at least one of the following:

[0271] 1) The maximum communication distance of the second device;

[0272] 2) the maximum transmit power or power adjustment factor or power offset of the second positioning reference signal;

[0273] 3) A multiplexing method of the second positioning reference signal; the multiplexing method is, for example, a time division multiplexing (TDM) technology or a frequency division multiplexing (FDM) technology.

[0274] 4) The second positioning reference signal is in full reflection mode or non-full reflection mode. Full reflection means that the second device receives the carrier signal of the first device and reflects the carrier signal back to the first device without signal absorption. The full reflection mode can be used for ranging based on the FMCW principle.

[0275] In the embodiment of the present application, optionally, the second mapping rule is predefined, agreed upon by a protocol, or indicated by a network device.

[0276] In an embodiment of the present application, when determining the pattern of the second positioning reference signal, the above one or more second mapping rules may be used.

[0277] In the embodiment of the present application, optionally, the number of the second positioning reference signals is one or more. If the number of the second positioning reference signals is multiple, at least one of the following items of the multiple second positioning reference signals is the same:

[0278] Modulation method;

[0279] bandwidth;

[0280] power;

[0281] Coding method;

[0282] Modulation frequency;

[0283] Data rate;

[0284] At least part of the sequence.

[0285] In the embodiment of the present application, optionally, the first positioning reference signal or the second positioning reference signal includes at least one of the following: continuous wave (CW), control command, positioning reference signal (PRS). The control command may include at least one of the following: selection command, inventory command, access command.

[0286] In the embodiment of the present application, optionally, the second device is at least one of a tag or a UE.

[0287] The following is an example of the positioning method of the present application in combination with specific application scenarios.

[0288] Embodiment 1 of the present application: non-total reflection method

[0289] In the embodiment of the present application, the second device is a tag, and the tag adopts a non-total reflection method. The non-total reflection method indicates that the tag modulates the received carrier, and is divided into the following types according to the difference in carrier and backscatter modulation frequency:

[0290] (1) The network side (first device) sends a single frequency carrier, and the tag side uses a single backscatter modulation frequency (BLF) to modulate the carrier

[0291] like Fig.17 As shown, the network side sends a carrier frequency with a frequency point of f0 (ie, the first positioning reference signal), such as Fig.18 and Fig.19 As shown, the tag side modulates the carrier frequency to obtain a modulated signal (ie, a second positioning reference signal), wherein the backscatter modulation frequency used is f1, and the backscatter modulation frequency f1 is indicated in advance to the tag side by the network side. Fig.18 and Fig.19 The spectrum diagram in the figure shows frequency shifting, which moves the carrier frequency signal from f0 to f0+f1 and f0-f1. It should be noted that there are two forms of modulated signals: one is Fig.18 As shown, the frequency-shifted signal has a certain bandwidth, such as Fig.19 As shown in the figure, the signal after frequency shifting is still an impulse signal.

[0292] In an embodiment of the present application, the tag side determines the pattern of the second positioning reference signal and sends the second positioning reference signal, and the network side determines the pattern of the second positioning reference signal and receives the second positioning reference signal.

[0293] Fig.18 and Fig.19The advantage of the second positioning reference signal pattern in is that the network side only needs to send a single frequency signal. The tag modulates the carrier frequency and then backscatters the signal. The network side can calculate different phases at two frequency points, thereby calculating the distance based on the arrival phase difference (PDOA). The calculation method is shown in Table 1:

[0294] Table 1

[0295]

[0296] Among them, T represents tag, R represents network side, and link represents link.

[0297] The arrival phase difference Δφ is calculated as follows:

[0298]

[0299] Among them, φ1, φ2, φ′1 and φ′2 are phases, d is the distance from the network side to the tag, c is the speed of light, and m0, m1, m2 are integers representing weights. The distance d from the network side to the tag can be calculated from the above formula.

[0300] It should be noted that in the present application, when calculating the distance based on the arrival phase difference, the phase offset caused by irrational factors on the network side / tag side is not considered and the initial phase is assumed to be 0.

[0301] (2) The network side sends a single frequency carrier, and the tag side uses two backscatter modulation frequencies (BLF) to modulate the carrier.

[0302] like Fig.17 As shown, the network side sends a carrier frequency with a frequency point of f0 (ie, the first positioning reference signal), such as Fig. 20 and Fig.21 As shown, the tag side modulates the carrier frequency to obtain a modulated signal (ie, a second positioning reference signal), wherein the reflected scattering modulation frequencies used for modulation are f1 and f2, and the backscattering modulation frequencies f1 and f2 are indicated in advance to the tag side by the network side. Fig. 20 and Fig.21 The spectrum diagram in the figure shows frequency shifting, which moves the carrier frequency signal from f0 to f0+f1, f0+f2 and f0-f1, f0-f2. It should be noted that there are two forms of modulated signals: one is as Fig. 20 As shown, the frequency-shifted signal has a certain bandwidth, such as Fig.21 As shown in the figure, the signal after frequency shifting is still an impulse signal.

[0303] In an embodiment of the present application, the tag side determines the pattern of the second positioning reference signal and sends the second positioning reference signal, and the network side determines the pattern of the second positioning reference signal and receives the second positioning reference signal.

[0304] Fig. 20 and Fig.21 The advantage of the second positioning reference signal pattern is that the network side device only needs one bandpass filter. The tag modulates the carrier frequency and then backscatters the signal. The network side can calculate different phases at two frequency points. These two frequency points can be f0+f1, f0+f2 or f0-f1, f0-f2, so as to calculate the distance based on PDOA. The calculation method is shown in Table 2:

[0305] Table 2

[0306]

[0307] Among them, T represents tag, R represents network side, and link represents link.

[0308] The arrival phase difference Δφ is calculated as follows:

[0309]

[0310] Among them, φ1, φ2, φ′1 and φ′2 are phases, d is the distance from the network side to the tag, c is the speed of light, and m0, m1, m2 are integers representing weights. The distance d from the network side to the tag can be calculated from the above formula.

[0311] It should be noted that the above calculation does not take into account the phase offset caused by irrational factors on the network side / tag side and the initial phase is assumed to be 0.

[0312] The above formula is the derivation of the design of the filter on the right side of f0. Another design is that the filter is on the left side of f0, that is, it includes f0-f1 and f0-f2. The derivation process is similar and will not be repeated here.

[0313] (3) The network side sends dual-frequency carriers, and the tag side uses a single backscatter modulation frequency (BLF) to modulate the carrier.

[0314] like Fig. 22 As shown, the network side sends carrier frequencies f0 and f1 (i.e., the first positioning reference signal). Please refer to Fig.23 and Fig.24 The tag side modulates the carrier frequency to obtain a modulated signal (i.e., a second positioning reference signal), wherein the backscatter modulation frequency used in the modulation is f2, and the backscatter modulation frequency f2 is indicated in advance to the tag side by the network side. Fig.23 and Fig.24 The spectrum diagram in the figure shows frequency shifting, which moves the carrier frequency signal from f0 to f0+f2, f0-f2 and f1+f2, f1-f2. It should be noted that there are two forms of modulated signals: one is as Fig.23As shown, the frequency-shifted signal has a certain bandwidth, such as Fig.24 As shown in the figure, the signal after frequency shifting is still an impulse signal.

[0315] In an embodiment of the present application, the tag side determines the pattern of the second positioning reference signal and sends the second positioning reference signal, and the network side determines the pattern of the second positioning reference signal and receives the second positioning reference signal.

[0316] Above Fig.23 and Fig.24 The advantage of the pattern of the second positioning reference signal in is that the network-side device sends signals at multiple frequencies to resist the fading effect of different frequencies caused by the channel, or multiple frequencies (more than two frequencies) increase the positioning accuracy on average. The tag modulates the carrier frequency and then backscatters the signal. The network side can calculate different phases at two frequencies. These two frequencies can be f0+f2, f1+f2, or f0-f2, f1-f2, thereby calculating the distance based on PDOA. The calculation method is shown in Table 3:

[0317] Table 3

[0318]

[0319] Among them, T represents tag, R represents network side, and link represents link.

[0320] The arrival phase difference Δφ is calculated as follows:

[0321]

[0322] Among them, φ1, φ2, φ′1 and φ′2 are phases, d is the distance from the network side to the tag, c is the speed of light, and m0, m1, m2 are integers representing weights. The distance d from the network side to the tag can be calculated from the above formula.

[0323] It should be noted that the above calculation does not consider the phase offset caused by irrational factors on the network side / tag side and the initial phase is assumed to be 0. At the same time, in order to avoid interference, f0, f1, and f2 satisfy |f0-f1|>2f2.

[0324] Embodiment 2 of the present application: Total reflection method

[0325] In the embodiment of the present application, the second device is a tag, and the tag adopts a total reflection method. The total reflection method indicates that the tag does not modulate the received carrier.

[0326] like Fig.25As shown, the network side sends a carrier frequency with frequencies f0 and f1 (ie, the first positioning reference signal), and the tag side does not modulate the carrier frequency, that is, full reflection is performed, and the network side indicates the tag side in advance by full reflection.

[0327] The network side calculates the distance based on the received backscatter signal (second positioning reference signal) based on PDOA. The calculation method is shown in Table 4:

[0328] Table 4

[0329]

[0330] Among them, T represents tag, R represents network side, and link represents link.

[0331] The arrival phase difference Δφ is calculated as follows:

[0332]

[0333] Among them, φ1, φ2, φ′1 and φ′2 are phases, d is the distance from the network side to the tag, c is the speed of light, and m0, m1, m2 are integers representing weights. The distance d from the network side to the tag can be calculated from the above formula.

[0334] It should be noted that the above calculation does not take into account the phase offset caused by irrational factors on the network side / tag side and the initial phase is assumed to be 0.

[0335] Embodiment 3 of the present application

[0336] This embodiment takes the first positioning reference signal and the second positioning reference signal as a positioning reference signal (PRS) as an example, provides a resource mapping rule for the PRS, and determines a pattern of the PRS according to the resource mapping rule:

[0337] In one embodiment, please refer to Fig.26 , determine the time domain pattern of PRS according to the start time T0, end time Tn and sending interval Δt of PRS, and determine the frequency domain pattern of PRS according to the start frequency f0, end frequency fn and frequency domain interval Δf of PRS, that is, the first device sends the first positioning reference signal according to the carrier frequency f0 from T0 to T0+Δt, the second device receives the first positioning reference signal according to the carrier frequency f0 from T0 to T0+Δt, the second device sends the second positioning reference signal (the backscattered signal of the first positioning reference signal) according to the carrier frequency f1 from T0+Δt to T0+2Δt, and the first device receives the second positioning reference signal according to the carrier frequency f1 from T0+Δt to T0+2Δt.

[0338] In one embodiment, the time domain pattern of PRS may be determined according to the start time T0, the frequency sweep period and the transmission interval Δt of PRS, and the frequency domain pattern of PRS may be determined according to the start frequency f0, the frequency sweep bandwidth and the frequency domain interval Δf of PRS.

[0339] Consider a special pattern where there are only two carrier frequencies:

[0340] Pattern application method 1:

[0341] Please refer to Fig. 27 , the first device sends a first positioning reference signal with a carrier frequency f0 during a time period from T0 to T0+Δt, and sends a first positioning reference signal with a carrier frequency f1 during a time period from T0+Δt to T1.

[0342] Pattern application method 2:

[0343] Please refer to Fig.28 , the first device continuously sends a zero-frequency signal or a single-frequency signal, and the second device backscatters the positioning reference signal according to different BLFs. Specifically, for example, from T0 to T0+Δt, BLF=40KHz, and the positioning reference signal is sent at a carrier frequency of 40KHz after backscattering; from T0+Δt to T1, BLF=80KHz, and the positioning reference signal is sent at a carrier frequency of 80KHz after backscattering.

[0344] based on Fig. 27 and Fig.28 pattern, the positioning of the second device can utilize the PDOA positioning method.

[0345] Please refer to Fig.29 , consider a special pattern, namely continuous carrier frequency, signal frequency f(t) = f0 + kt, Wherein, T is the scanning period, B is the scanning bandwidth, f0 is the starting frequency, and K is the slope, which indicates the degree of frequency change. Based on the above pattern, the positioning of the second device can adopt the FMCW positioning method.

[0346] In the above embodiments of the present application, the PRS pattern is determined by determining the PRS resource mapping rule, and the positioning function of the ambient IoT device is realized by using the positioning technology of measuring phase correlation based on the pattern.

[0347] The positioning method provided in the embodiment of the present application can be executed by a positioning device. In the embodiment of the present application, the positioning method executed by the positioning device is taken as an example to illustrate the positioning device provided in the embodiment of the present application.

[0348] Please refer to Fig.30, the present application provides a positioning device 30, comprising:

[0349] A first sending module 31, configured to send a first positioning reference signal;

[0350] A determination module 32, configured to determine a pattern of a second positioning reference signal according to a first mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device;

[0351] The first receiving module 33 is configured to receive the second positioning reference signal according to a pattern of the second positioning reference signal.

[0352] Optionally, the first positioning reference signal includes at least one of the following:

[0353] A group positioning reference signal, wherein each of the group positioning reference signals corresponds to a group, and each of the groups includes one or more second devices;

[0354] A specific positioning reference signal, wherein the specific positioning reference signal corresponds to a specific second device.

[0355] Optionally, one or more second devices in the group are of the same type, and the type includes at least one of the following:

[0356] Energy supply or storage method;

[0357] Modulation method;

[0358] Coding method;

[0359] Modulation frequency;

[0360] Data rate;

[0361] Sequential mode.

[0362] Optionally, the specific second device is determined by at least one of the following information:

[0363] Identity information;

[0364] Preamble;

[0365] Cyclic Redundancy Check Code.

[0366] Optionally, the sequence ID of the specific positioning reference signal has a mapping relationship with the first information, and the first information includes at least one item:

[0367] ID information of the second device;

[0368] Randomly generated ID information of the second device;

[0369] ID information of a first positioning reference signal associated with the second device indicated by a network device or a second device.

[0370] Optionally, the positioning device 30 further includes: a second sending module, configured to send a mapping relationship between the sequence ID of the specific positioning reference signal and the first information;

[0371] or

[0372] The specific positioning reference signal carries the first information.

[0373] Optionally, the sequence ID in the specific positioning reference signal has a mapping relationship with the randomly generated ID information of the second device, and the positioning device 30 further includes:

[0374] A second receiving module, used to receive the ID information of the second device;

[0375] The second determination module is used to determine the mapping relationship between the sequence ID in the specific positioning reference signal and the ID information of the second device according to the mapping relationship between the sequence ID in the specific positioning reference signal and the randomly generated ID information of the second device, and the ID information of the second device.

[0376] Optionally, the first mapping rule includes an association relationship between the first positioning reference signal and the second positioning reference signal, and the association relationship includes at least one of the following:

[0377] The sending time of the first positioning reference signal compensates for the group delay of the second positioning reference signal;

[0378] The sending time of the first positioning reference signal compensates for the phase offset of the second positioning reference signal;

[0379] A frequency deviation of a sending frequency of the second positioning reference signal relative to a frequency of the first positioning reference signal.

[0380] Optionally, the first mapping rule includes: determining a frequency domain pattern for receiving the second positioning reference signal by the first device according to frequency domain resource information for sending the first positioning reference signal by the first device.

[0381] Optionally, the positioning device further includes:

[0382] The third receiving module is used to receive the initial phase information of the second positioning reference signal, and the first mapping rule includes: determining the pattern of the second positioning reference signal according to the initial phase information of the second positioning reference signal.

[0383] Optionally, the first mapping rule is predefined, agreed upon by a protocol, or indicated by a network device.

[0384] Optionally, the number of the second positioning reference signals is one or more. If the number of the second positioning reference signals is multiple, at least one of the following items of the multiple second positioning reference signals is the same:

[0385] Modulation method;

[0386] bandwidth;

[0387] power;

[0388] Coding method;

[0389] Modulation frequency;

[0390] Data rate;

[0391] At least part of the sequence.

[0392] Optionally, the first positioning reference signal or the second positioning reference signal includes at least one of the following: a continuous wave CW, a control command, and a positioning reference signal PRS.

[0393] Optionally, the positioning device 30 further includes:

[0394] The third determination module is used to determine the distance to the second device according to the received second positioning reference signal; the distance is used to determine the location information of the second device.

[0395] Optionally, the location information of the second device includes at least one of the following:

[0396] Relative position information;

[0397] Absolute position information;

[0398] time information between the first device and the first device;

[0399] time information between the auxiliary positioning device and the auxiliary positioning device;

[0400] distance information between the first device and the first device;

[0401] distance information between the auxiliary positioning device and the auxiliary positioning device;

[0402] Angle information between the first device and the first device;

[0403] and the angle information between the auxiliary positioning device and the auxiliary positioning device.

[0404] The positioning device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. Exemplarily, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of the present application.

[0405] The positioning device provided in the embodiment of the present application can achieve Fig.15 The various processes implemented by the method embodiment and achieving the same technical effect are not described here to avoid repetition.

[0406] Please refer to Fig.31 The present application provides a positioning device 40, comprising:

[0407] A first receiving module 41, configured to receive a first positioning reference signal;

[0408] A determination module 42, configured to determine a pattern of a second positioning reference signal according to a second mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device;

[0409] The first sending module 43 is configured to send the second positioning reference signal according to a pattern of the second positioning reference signal.

[0410] Optionally, the first positioning reference signal includes at least one of the following:

[0411] A group positioning reference signal, wherein each of the group positioning reference signals corresponds to a group, and each of the groups includes one or more second devices;

[0412] A specific positioning reference signal, wherein the specific positioning reference signal corresponds to a specific second device.

[0413] Optionally, the sequence ID of the specific positioning reference signal has a mapping relationship with the first information, and the first information includes at least one of the following:

[0414] ID information of the second device;

[0415] Randomly generated ID information of the second device;

[0416] ID information of a positioning reference signal associated with the second device indicated by a network device or a second device.

[0417] Optionally, the positioning device 40 further includes: a second receiving module, configured to receive a mapping relationship between a sequence ID of the specific positioning reference signal and the first information;

[0418] or

[0419] The specific positioning reference signal carries the first information.

[0420] Optionally, the sequence ID in the specific positioning reference signal has a mapping relationship with the randomly generated ID information of the second device, and the positioning device 40 further includes:

[0421] The second sending module is used to report the ID information of the second device.

[0422] Optionally, the second mapping rule includes an association relationship between the first positioning reference signal and the second positioning reference signal, where the association relationship includes at least one of the following:

[0423] The sending time of the first positioning reference signal compensates for the group delay of the second positioning reference signal;

[0424] The sending time of the first positioning reference signal compensates for the phase offset of the second positioning reference signal;

[0425] A frequency deviation of a sending frequency of the second positioning reference signal relative to a frequency of the first positioning reference signal.

[0426] Optionally, the positioning device 40 further includes:

[0427] The third sending module is used to send the initial phase information of the second positioning reference signal, and the second mapping rule includes: determining the pattern of the second positioning reference signal according to the initial phase information of the second positioning reference signal.

[0428] Optionally, the second mapping rule includes a first time domain mapping rule, and the first time domain mapping rule includes at least one of the following:

[0429] a symbol length of the second positioning reference signal;

[0430] a backscatter link pulse repetition interval of the second positioning reference signal;

[0431] The time required for the second positioning reference signal to reach the target frequency offset requirement.

[0432] Optionally, the second mapping rule includes a time-frequency domain mapping rule, and the frequency domain mapping rule includes at least one of the following:

[0433] a calibration symbol from the second device to the first device;

[0434] a modulation frequency of the second positioning reference signal;

[0435] a starting frequency of the second positioning reference signal;

[0436] a stop frequency of the second positioning reference signal;

[0437] a swept frequency bandwidth of the second positioning reference signal;

[0438] A frequency interval of the second positioning reference signal;

[0439] The frequency offset of the second positioning reference signal.

[0440] Optionally, the second mapping rule includes: determining a frequency domain pattern for sending a second positioning reference signal by the second device according to frequency domain resource information for receiving the first positioning reference signal by the second device.

[0441] Optionally, the second mapping rule further includes first indication information, where the first indication information is used to indicate at least one of the following:

[0442] The maximum communication distance of the second device;

[0443] The maximum transmit power or power adjustment factor or power offset of the second positioning reference signal;

[0444] a multiplexing method of the second positioning reference signal;

[0445] The second positioning reference signal is in a total reflection mode or a non-total reflection mode.

[0446] Optionally, the second mapping rule is predefined, agreed upon by a protocol, or indicated by a network device.

[0447] Optionally, the number of the second positioning reference signals is one or more. If the number of the second positioning reference signals is multiple, at least one of the following items of the multiple second positioning reference signals is the same:

[0448] Modulation method;

[0449] bandwidth;

[0450] power;

[0451] Coding method;

[0452] Modulation frequency;

[0453] Data rate;

[0454] At least part of the sequence.

[0455] Optionally, the first positioning reference signal or the second positioning reference signal includes at least one of the following: a continuous wave CW, a control command, and a positioning reference signal PRS.

[0456] The positioning device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. Exemplarily, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of the present application.

[0457] The positioning device provided in the embodiment of the present application can achieve Fig.16 The various processes implemented by the method embodiment and achieving the same technical effect are not described here to avoid repetition.

[0458] like Fig.32 As shown, the embodiment of the present application further provides a communication device 50, including a processor 51 and a memory 52, and the memory 52 stores a program or instruction that can be run on the processor 51. For example, when the communication device 50 is a first device, the program or instruction is executed by the processor 51 to implement the various steps of the positioning method embodiment executed by the first device, and can achieve the same technical effect. When the communication device 50 is a second device, the program or instruction is executed by the processor 51 to implement the various steps of the method embodiment executed by the second device, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0459] The embodiment of the present application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the following Fig.15 or Fig.16 The steps in the method embodiment shown. This terminal embodiment corresponds to the above positioning method embodiment, and each implementation process and implementation method of the above method embodiment can be applied to this terminal embodiment and can achieve the same technical effect. Specifically, Fig.33 A schematic diagram of the hardware structure of a terminal for implementing an embodiment of the present application.

[0460] The terminal 60 includes but is not limited to: a radio frequency unit 61, a network module 62, an audio output unit 63, an input unit 64, a sensor 65, a display unit 66, a user input unit 67, an interface unit 68, a memory 69 and at least some of the components of a processor 610.

[0461] Those skilled in the art will appreciate that the terminal 60 may also include a power source (such as a battery) for supplying power to various components, and the power source may be logically connected to the processor 610 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption through the power management system. Fig.33 The terminal structure shown in the figure does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be described in detail here.

[0462] It should be understood that in the embodiment of the present application, the input unit 64 may include a graphics processing unit (GPU) 641 and a microphone 642, and the graphics processor 641 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 66 may include a display panel 661, and the display panel 661 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 67 includes a touch panel 671 and at least one of other input devices 672. The touch panel 671 is also called a touch screen. The touch panel 671 may include two parts: a touch detection device and a touch controller. Other input devices 672 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0463] In the embodiment of the present application, after receiving downlink data from the network side device, the RF unit 61 can transmit the data to the processor 610 for processing; in addition, the RF unit 61 can send uplink data to the network side device. Generally, the RF unit 61 includes but is not limited to an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0464] The memory 69 can be used to store software programs or instructions and various data. The memory 69 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instruction required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 69 may include a volatile memory or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 69 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0465] The processor 610 may include one or more processing units; optionally, the processor 610 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 610.

[0466] Wherein, in some embodiments, the radio frequency unit 61 is used to send a first positioning reference signal;

[0467] The processor 610 is configured to determine a pattern of a second positioning reference signal according to a first mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device;

[0468] The radio frequency unit 61 is further configured to receive the second positioning reference signal according to the pattern of the second positioning reference signal.

[0469] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of method embodiment 15, and achieve the same or corresponding technical effect. To avoid repetition, it will not be repeated here.

[0470] Wherein, in some embodiments, the radio frequency unit 61 is used to receive a first positioning reference signal;

[0471] The processor 610 is configured to determine a pattern of a second positioning reference signal according to a second mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device;

[0472] The radio frequency unit 61 is further configured to send the second positioning reference signal according to the pattern of the second positioning reference signal.

[0473] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of method embodiment 16, and achieve the same or corresponding technical effect. To avoid repetition, it will not be repeated here.

[0474] The embodiment of the present application also provides a network side device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the following Fig.15 The steps of the method embodiment shown. The network side device embodiment corresponds to the embodiment of the positioning method performed by the first device above, and each implementation process and implementation method of the above method embodiment can be applied to the network side device embodiment and can achieve the same technical effect.

[0475] Specifically, the embodiment of the present application also provides a network side device. Fig.34 As shown, the network side device 70 includes: an antenna 71, a radio frequency device 72, a baseband device 73, a processor 74 and a memory 75. The antenna 71 is connected to the radio frequency device 72. In the uplink direction, the radio frequency device 72 receives information through the antenna 71 and sends the received information to the baseband device 73 for processing. In the downlink direction, the baseband device 73 processes the information to be sent and sends it to the radio frequency device 72. The radio frequency device 72 processes the received information and sends it out through the antenna 71.

[0476] The method executed by the network-side device in the above embodiment may be implemented in the baseband device 73, which includes a baseband processor.

[0477] The baseband device 73 may include, for example, at least one baseband board on which a plurality of chips are arranged. Fig.34 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 75 via a bus interface to call the program in the memory 75 to execute the network device operations shown in the above method embodiment.

[0478] The network side device may further include a network interface 76, which is, for example, a Common Public Radio Interface (CPRI).

[0479] Specifically, the network side device 70 of the embodiment of the present application further includes: instructions or programs stored in the memory 75 and executable on the processor 74, and the processor 74 calls the instructions or programs in the memory 75 to execute. Fig.31 The methods executed by the modules shown achieve the same technical effects, and therefore will not be described here in detail to avoid repetition.

[0480] The embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned positioning method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0481] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0482] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned positioning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0483] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0484] The embodiment of the present application further provides a computer program / program product, which is stored in a storage medium. The computer program / program product is executed by at least one processor to implement the various processes of the above-mentioned positioning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0485] An embodiment of the present application also provides a communication system, including: a first device and a second device, wherein the first device can be used to execute the steps of the positioning method performed by the first device as described above, and the second device can be used to execute the steps of the positioning method performed by the second device as described above.

[0486] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0487] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general hardware platform, and of course, can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, disk, CD, etc.), including several instructions to enable a terminal or a network-side device to execute the methods described in each embodiment of the present application.

[0488] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of the present application and the scope of protection of the claims, and these implementation methods are all within the protection of the present application.

Claims

1. A positioning method, characterized in that: include: The first device sends a first positioning reference signal; The first device determines a pattern of a second positioning reference signal according to a first mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of the second device; The first device receives the second positioning reference signal according to the pattern of the second positioning reference signal.

2. The method according to claim 1, characterized in that The first positioning reference signal includes at least one of the following: A group positioning reference signal, wherein each of the group positioning reference signals corresponds to a group, and each of the groups includes one or more second devices; A specific positioning reference signal, wherein the specific positioning reference signal corresponds to a specific second device.

3. The method according to claim 2, characterized in that The one or more second devices in the group are of the same type, and the type includes at least one of the following: Energy supply or storage method; Modulation method; Encoding method; Modulation frequency; Data rate; Sequential mode.

4. The method according to claim 2, characterized in that: The specific second device is determined by at least one of the following information: Identity information; Preamble; Cyclic Redundancy Check Code.

5. The method according to claim 2, characterized in that: The sequence ID of the specific positioning reference signal has a mapping relationship with the first information, and the first information includes at least one item: ID information of the second device; Randomly generated ID information of the second device; ID information of a first positioning reference signal associated with the second device indicated by a network device or a second device.

6. The method according to claim 5, characterized in that The method further includes: the first device sending a mapping relationship between a sequence ID of the specific positioning reference signal and first information; or, The specific positioning reference signal carries the first information.

7. The method according to claim 5, characterized in that The sequence ID in the specific positioning reference signal has a mapping relationship with the randomly generated ID information of the second device, and the method further includes: The first device receives the ID information of the second device; The first device determines the mapping relationship between the sequence ID in the specific positioning reference signal and the ID information of the second device according to the mapping relationship between the sequence ID in the specific positioning reference signal and the randomly generated ID information of the second device, and the ID information of the second device.

8. The method according to claim 1, characterized in that The first mapping rule includes an association relationship between the first positioning reference signal and the second positioning reference signal, and the association relationship includes at least one of the following: The sending time of the first positioning reference signal compensates for the group delay of the second positioning reference signal; The sending time of the first positioning reference signal compensates for the phase offset of the second positioning reference signal; A frequency deviation of a sending frequency of the second positioning reference signal relative to a frequency of the first positioning reference signal.

9. The method according to claim 1, characterized in that: The first mapping rule includes: determining a frequency domain pattern for the first device to receive the second positioning reference signal according to frequency domain resource information for the first device to send the first positioning reference signal.

10. The method according to claim 1, characterized in that The first device determines a pattern of a second positioning reference signal according to a first mapping rule, and the process also includes: The first device receives initial phase information of the second positioning reference signal, and the first mapping rule includes: determining a pattern of the second positioning reference signal according to the initial phase information of the second positioning reference signal.

11. The method according to claim 1 or 8 or 9 or 10, characterized in that: The first mapping rule is predefined, agreed upon by a protocol or indicated by a network device.

12. The method according to claim 1, characterized in that The number of the second positioning reference signals is one or more. If the number of the second positioning reference signals is multiple, at least one of the following items of the multiple second positioning reference signals is the same: Modulation method; bandwidth; power; Coding method; Modulation frequency; Data rate; At least part of the sequence.

13. The method according to claim 1, characterized in that The first positioning reference signal or the second positioning reference signal includes at least one of the following: a continuous wave CW, a control command, and a positioning reference signal PRS.

14. The method according to claim 1, characterized in that The first device receives the second positioning reference signal according to the pattern of the second positioning reference signal, and then further includes: The first device determines the distance to the second device based on the received second positioning reference signal; the distance is used to determine the location information of the second device.

15. The method according to claim 1 or 14, characterized in that The location information of the second device includes at least one of the following: Relative position information; Absolute position information; time information between the first device and the first device; Time information between the auxiliary positioning device; distance information between the first device and the first device; Distance information to auxiliary positioning equipment; Angle information between the first device and the first device; Angle information between the auxiliary positioning device and the auxiliary positioning device.

16. A positioning method, characterized in that: include: The second device receives the first positioning reference signal; The second device determines a pattern of a second positioning reference signal according to a second mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of the second device; The second device sends the second positioning reference signal according to the pattern of the second positioning reference signal.

17. The method according to claim 16, characterized in that The first positioning reference signal includes at least one of the following: A group positioning reference signal, wherein each of the group positioning reference signals corresponds to a group, and each of the groups includes one or more second devices; A specific positioning reference signal, wherein the specific positioning reference signal corresponds to a specific second device.

18. The method according to claim 17, characterized in that The sequence ID of the specific positioning reference signal has a mapping relationship with the first information, and the first information includes at least one of the following: ID information of the second device; Randomly generated ID information of the second device; ID information of a positioning reference signal associated with the second device indicated by a network device or a second device.

19. The method according to claim 18, characterized in that The method further includes: the second device receiving a mapping relationship between a sequence ID of the specific positioning reference signal and the first information; or The specific positioning reference signal carries the first information.

20. The method according to claim 18 or 19, characterized in that The sequence ID in the specific positioning reference signal has a mapping relationship with the randomly generated ID information of the second device, and the method further includes: The second device reports the ID information of the second device.

21. The method according to claim 16, characterized in that The second mapping rule includes an association relationship between the first positioning reference signal and the second positioning reference signal, and the association relationship includes at least one of the following: The sending time of the first positioning reference signal compensates for the group delay of the second positioning reference signal; The sending time of the first positioning reference signal compensates for the phase offset of the second positioning reference signal; A frequency deviation of a sending frequency of the second positioning reference signal relative to a frequency of the first positioning reference signal.

22. The method according to claim 16, characterized in that The second device determines a pattern of a second positioning reference signal according to a second mapping rule, and the process also includes: The second device sends initial phase information of the second positioning reference signal, and the second mapping rule includes: determining a pattern of the second positioning reference signal according to the initial phase information of the second positioning reference signal.

23. The method according to claim 16, characterized in that The second mapping rule includes a first time domain mapping rule, and the first time domain mapping rule includes at least one of the following: a symbol length of the second positioning reference signal; a backscatter link pulse repetition interval of the second positioning reference signal; The time required for the second positioning reference signal to reach the target frequency offset requirement.

24. The method according to claim 16, characterized in that The second mapping rule includes a time-frequency domain mapping rule, and the frequency-domain mapping rule includes at least one of the following: a calibration symbol from the second device to the first device; a modulation frequency of the second positioning reference signal; a starting frequency of the second positioning reference signal; a stop frequency of the second positioning reference signal; a swept frequency bandwidth of the second positioning reference signal; A frequency interval of the second positioning reference signal; The frequency offset of the second positioning reference signal.

25. The method according to claim 16, characterized in that The second mapping rule includes: determining a frequency domain pattern for sending a second positioning reference signal by the second device according to frequency domain resource information for receiving the first positioning reference signal by the second device.

26. The method according to claim 16, characterized in that The second mapping rule further includes first indication information, where the first indication information is used to indicate at least one of the following: The maximum communication distance of the second device; The maximum transmit power or power adjustment factor or power offset of the second positioning reference signal; a multiplexing method of the second positioning reference signal; The second positioning reference signal is in a total reflection mode or a non-total reflection mode.

27. The method according to any one of claims 16 or 21-26, characterized in that: The second mapping rule is predefined, agreed upon by a protocol or indicated by a network device.

28. The method according to claim 16, characterized in that The number of the second positioning reference signals is one or more. If the number of the second positioning reference signals is multiple, at least one of the following items of the multiple second positioning reference signals is the same: Modulation method; bandwidth; power; Encoding method; Modulation frequency; Data rate; At least part of the sequence.

29. The method according to claim 16, characterized in that The first positioning reference signal or the second positioning reference signal includes at least one of the following: a continuous wave CW, a control command, and a positioning reference signal PRS.

30. A positioning device, characterized in that: include: A first sending module, configured to send a first positioning reference signal; A first determination module is configured to determine a pattern of a second positioning reference signal according to a first mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device; The first receiving module is configured to receive the second positioning reference signal according to a pattern of the second positioning reference signal.

31. A positioning device, characterized in that: include: A first receiving module, configured to receive a first positioning reference signal; a determination module, configured to determine a pattern of a second positioning reference signal according to a second mapping rule, where the second positioning reference signal is a backscattered signal of the first positioning reference signal, and the second positioning reference signal is used to determine location information of a second device; The first sending module is used to send the second positioning reference signal according to the pattern of the second positioning reference signal.

32. A communication device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the positioning method as described in any one of claims 1 to 15 are implemented, or when the program or instruction is executed by the processor, the steps of the positioning method as described in any one of claims 16 to 29 are implemented.

33. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, it implements the positioning method as described in any one of claims 1 to 15, or implements the steps of the positioning method as described in any one of claims 16 to 29.

Images