Positioning method and device, equipment and storage medium

Abstract

The embodiment of the invention provides a positioning method and device, equipment and a storage medium, and the method comprises the steps that user equipment transmits positioning signals on ARPs in at least one ARP group, the user equipment corresponds to at least two ARP groups, each ARP group comprises at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment. In the embodiment of the invention, the user equipment or the positioning equipment can determine the position of the user equipment corresponding to the ARP group according to the positioning signal on the ARP in each ARP group, and when the user equipment comprises a plurality of pieces of equipment, each piece of equipment can be associated with one ARP group, so that the positions of the plurality of pieces of equipment included in the user equipment can be respectively positioned according to the ARP groups.

Description

Technical Field

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

[0002] In the New Radio (NR) system, NR positioning is introduced. NR positioning locates the user equipment according to a positioning reference signal (PRS).

[0003] In some scenarios, multiple associated devices can be regarded as one terminal. For example, in the Extended Reality (XR) scenario, the head-mounted device and the handle are regarded as one terminal, or, in the Internet of Things devices, the mobile phone and the wearable device connected to the mobile phone are regarded as one terminal. The existing NR positioning method cannot distinguish the positions of multiple associated devices regarded as one terminal, for example, it cannot distinguish the positions of the head-mounted device and the handle. Summary of the invention

[0004] Embodiments of the present application provide a positioning method, apparatus, device, and storage medium, which can respectively locate the positions of multiple devices included in a user equipment.

[0005] In a first aspect, an embodiment of the present application provides a positioning method, the method comprising: a user device transmits a positioning signal on an ARP within at least one ARP group, the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device.

[0006] In a second aspect, an embodiment of the present application provides a positioning method, the method comprising: receiving information of at least one ARP group sent by a user device, the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and positioning signals on ARPs in different ARP groups respectively determine the position of the user device; obtaining the position information of the ARPs in the ARP group; and determining the position of the user device based on the position information of the ARPs in the ARP group.

[0007] In a third aspect, an embodiment of the present application provides a positioning device, comprising: a transmission module, used to transmit a positioning signal on an ARP within at least one ARP group of a user device, the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device.

[0008] In a fourth aspect, an embodiment of the present application provides a positioning device, comprising: a receiving module, used to receive information of at least one antenna reference point ARP group sent by a user device, the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device; an acquisition module, used to acquire the position information of the ARPs in the ARP group according to the information of the ARP group; a first determination module, used to determine the position of the user device according to the position information of the ARPs in the ARP group.

[0009] In a fifth aspect, an embodiment of the present application provides a user device, comprising: a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method provided in the first aspect above.

[0010] In a sixth aspect, an embodiment of the present application provides a positioning device, comprising: a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method provided in the second aspect above.

[0011] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program enables a computer to execute the method provided in the first aspect or the second aspect above.

[0012] In an eighth aspect, an embodiment of the present application provides a chip, comprising a processor, wherein the processor is used to call and run a computer program from a memory so that the chip executes the method provided in the first aspect or the second aspect above.

[0013] In a ninth aspect, an embodiment of the present application provides a communication system, comprising a user device and a positioning device, wherein the user device and the positioning device communicate with each other to implement the method provided in the first aspect or the second aspect above.

[0014] The positioning method, apparatus, device and storage medium provided by the embodiment of the present application include: a user device transmits a positioning signal on an ARP in at least one ARP group, the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device. The user device or the positioning device can determine the position of the user device corresponding to the ARP group according to the positioning signal on the ARP in each ARP group. When the user device includes multiple devices, an ARP group can be associated with each device, so that the positions of the multiple devices included in the user device can be located respectively according to the ARP group. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of an architecture of a communication system to which the present application is applicable;

[0017] Figure 2 is a flowchart of the positioning method provided in Example 1 of the present application;

[0018] Figure 3 A schematic diagram of the distribution of an ARP group of a user device;

[0019] Figure 4 A flowchart of a positioning method provided in Embodiment 2 of the present application;

[0020] Figure 5 A flowchart of the positioning method provided in Embodiment 3 of the present application;

[0021] Figure 6 A flowchart of a positioning method provided in Embodiment 4 of the present application;

[0022] Figure 7 A flowchart of a positioning method provided in Embodiment 5 of the present application;

[0023] Figure 8 A flowchart of a positioning method provided in Embodiment 6 of the present application;

[0024] Fig. 9 A flowchart of a positioning method provided in Embodiment 7 of the present application;

[0025] Fig.10 A flowchart of a positioning method provided in Embodiment 8 of the present application;

[0026] Fig.11 A signaling flow chart of a positioning method provided in Embodiment 9 of the present application;

[0027] Fig.12 A signaling flow chart of a positioning method provided in Embodiment 10 of the present application;

[0028] Fig.13 A signaling flow chart of a positioning method provided in Example 11 of the present application;

[0029] Fig.14 A structural schematic diagram of a positioning device provided in Embodiment 12 of the present application;

[0030] Fig.15 A structural schematic diagram of a positioning device provided in Embodiment 13 of the present application;

[0031] Fig.16 A structural diagram of a user device provided in Example 14 of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0034] The positioning method provided in the embodiment of the present application can be applied in an existing communication system, which includes but is not limited to a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) system, a general packet radio service (GPRS), a long term evolution (LTE) system, an advanced long term evolution (LTE-A) system, a new wireless (NR) system, a next generation communication system or other communication systems, etc. The terms "system" and "network" in the embodiments of the present application are often used interchangeably.

[0035] Figure 1 A schematic diagram of the architecture of a communication system to which this application is applicable, such as Figure 1 In the communication system shown, the communication system includes a user device 110, a user device 120, a user device 130 and a positioning device 140. The positioning device 140 and the user devices 110, 120, 130 can communicate with each other via wired or wireless means. It can be understood that Figure 1 Just for illustration, the communication system may also include more or fewer user equipments, and may also include other network equipments, such as access network equipments, base stations, etc.

[0036] User Equipment (UE) can also be called a terminal or terminal device. Figure 1 The mobile phone (user device 110), laptop computer (Laptop Computer) or notebook computer (user device 120), extended reality (Extended Reality, XR) device (user device 130) shown in the figure may also be a tablet computer (Tablet Personal Computer), a personal digital assistant (Personal Digital Assistant, PDA), a handheld computer, a netbook, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a mobile Internet device (Mobile Internet Device, MID), a wearable device (Wearable Device) or a vehicle-mounted device (VUE), a pedestrian terminal (PUE) and other terminal side devices, and the wearable device includes: a bracelet, a headset, glasses, etc. It should be noted that the specific type of the user device is not limited in the embodiments of the present application.

[0037] The positioning device 140 is used to locate the user equipment or assist the user equipment in locating, and can also store and manage the positioning results of the user equipment. The positioning device 140 includes but is not limited to: a location server, a location service terminal (location server UE), a base station, an anchor terminal (anchor UE), or other types of network devices, other types of terminals.

[0038] Taking the NR system as an example, the location server can be a positioning management function (LMF) network element in the NR system. The LMF network element is used to perform positioning calculations on the user equipment based on the measurement results of other network elements.

[0039] The positioning of the user equipment involved in the embodiments of the present application refers to positioning the user equipment in the communication system. Positioning the user equipment in the communication system generally refers to positioning the user equipment using the positioning reference signal (PRS) in the communication system or the sidelink positioning reference signal (sidelink PRS). Of course, the positioning reference signal in the present invention can also be other reference signals used for positioning, including but not limited to sounding reference signal (SRS), demodulation reference signal (DMRS), channel state information reference signal (CSI-RS), phase tracking reference signal (PTRS), tracking reference signal (TRS), sidelink demodulation reference signal SL-DMRS, sidelink channel state reference signal SL-CSI-RS, sidelink phase tracking reference signal SL PTRS, sidelink tracking reference signal SL TRS.

[0040] Taking NR system positioning as an example, according to the transmission direction of the positioning reference signal, NR positioning technology is divided into: uplink (UL), downlink (DL) and uplink / downlink positioning technology, among which downlink positioning technology realizes positioning based on the measurement of the downlink positioning reference signal by the user equipment, uplink positioning realizes positioning based on the measurement of the positioning reference signal by the base station, and uplink / downlink positioning needs to realize positioning based on the uplink and downlink positioning reference signals. The subsequent evolution of NR positioning also considers sidelink positioning, which can ultimately determine the absolute position, relative position or ranging of the target terminal and the anchor terminal through the transmission of the SL positioning reference signal between the target terminal and the anchor terminal.

[0041] According to the participation of user equipment and the network side, NR positioning technology can be divided into: UE autonomous (UE-based) positioning, UE assisted (UE-assisted) positioning and network (NW-based) positioning. Among them, UE-based means that the UE calculates the UE position, such as the UE measures the downlink positioning reference signal and calculates the UE position. UE-assisted refers to UE-assisted positioning, such as the UE is responsible for measuring the downlink positioning reference signal, reporting the measurement results to the LMF network element, and the LMF network element calculates the UE position. NW-based means that the UE position is calculated by the network equipment, such as the UE only sends the uplink positioning reference signal, which is measured by the base station, and the LMF network element calculates the UE position based on the base station measurement results.

[0042] When positioning user devices, the positioning of XR devices is different from that of other types of user devices due to the particularity of their own implementation form.

[0043] Among them, XR devices include but are not limited to virtual reality (VR) devices, augmented reality (AR) devices and mixed reality (MR) devices.

[0044] XR devices usually include a head-mounted display (HMD) and at least one auxiliary device. The head-mounted display is a device that provides virtual reality effects to users. It can take the form of glasses, helmet-mounted displays, contact lenses, etc. to achieve visual perception and other forms of perception.

[0045] The auxiliary equipment of the XR device includes a handle (also called a controller or handheld device) and / or a body tracker worn on different parts of the body. The handle is usually used to control the XR device, and the body tracker is used to track the motion data of different parts of the body. The number of body trackers can be one or more, and can be worn on the user's wrist, calf, thigh, waist, etc. The body trackers worn on different parts of the body are used to track the motion data of different parts of the body.

[0046] refer to Figure 1 As shown, the XR device includes a head-mounted device and a handle, and the head-mounted device and the handle communicate via Bluetooth or other short-range communication technologies (such as Sidelink).

[0047] In the prior art, when determining the position of an XR device, the head-mounted device and at least one auxiliary device included in the XR device are considered as the same terminal. Among them, considering multiple devices included in the XR device as the same terminal means that a terminal identifier (such as UE ID) is assigned to the XR device. When positioning, the UE ID corresponds to a location information, and the positions of the multiple devices included in the XR device cannot be distinguished. However, in the actual use scenarios of XR devices, it is often necessary to distinguish the positions of multiple devices included in the XR device.

[0048] In addition, the positioning of XR devices includes not only position tracking, but also rotation angle tracking. Therefore, the positioning of XR devices is also called 6-degree-of-freedom (DOF) positioning. That is, it is necessary not only to detect the free movement of the XR device in three directions (i.e., X-axis, Y-axis, and Z-axis) (i.e., translation up and down, left and right, and front and back), but also to detect the rotation of the XR device in three directions (around the X-axis, around the Y-axis, and around the Z-axis). Therefore, XR devices with 6DOF positioning allow users to move and rotate freely in the virtual world as in the real world, enhancing the user's sense of immersion and reality and making the virtual world more realistic.

[0049] The translation tracking of the XR device in three directions is called the position tracking of the XR device, and the tracking of the rotation angle of the XR device in three directions is called the posture tracking of the XR device. In the existing communication system, only the position of the XR device can be tracked, and the rotation angle (or posture) of the XR device cannot be tracked.

[0050] In summary, there are two problems with the positioning of XR devices in the communication system: Problem 1: It is impossible to distinguish the positions of multiple devices included in the XR device; Problem 2: It is impossible to track the rotation angle of the XR device.

[0051] The above uses XR devices as an example to illustrate the problems existing in the positioning of user devices. It can be understood that the above technical problems may also exist in other devices.

[0052] For example, in question 1, in the Internet of Things (IoT) scenario, IoT devices are connected to the network through mobile phones, and the IoT devices include wearable devices (such as headphones, watches, health monitors, etc.) and / or smart home appliances (such as refrigerators, smart speakers, desk lamps, cameras, air conditioners, etc.). At this time, the mobile phone and the IoT device can be regarded as a user device, which is composed of multiple separate devices. When locating the user device, it is necessary to distinguish the positions of the mobile phone and the IoT device.

[0053] Regarding question 2, with the diversity of user device application scenarios, other devices besides XR devices may also have the need for 6DOF positioning. For example, mobile phones, tablets, or smart wearable devices also require 6DOF positioning.

[0054] In summary, the existing communication system positioning has the following two problems when positioning the user equipment: Problem 1, when the user equipment includes multiple devices, it is impossible to distinguish the positions of the multiple devices included in the user equipment; Problem 2, it is impossible to track the rotation angle of the user equipment. In order to solve the problems of the prior art, the embodiment of the present application provides a positioning method, which can distinguish the positions of the multiple devices included in the user equipment and can track the rotation angle of the user equipment.

[0055] The positioning method provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings through some embodiments and their application scenarios. The following embodiments may be combined with each other, and the same or similar concepts and processes may not be described in detail in some embodiments.

[0056] Embodiment 1

[0057] Figure 2 1 is a flow chart of a positioning method provided in Embodiment 1 of the present application, and the method is applied to a user device. Figure 2 As shown, the method provided in this embodiment includes the following steps.

[0058] S101. Transmit a positioning signal on an ARP in at least one ARP group. The user equipment corresponds to at least two ARP groups. Each ARP group includes at least one ARP. Positioning signals on ARPs in different ARP groups respectively determine the location of the user equipment.

[0059] In this embodiment, the user equipment includes at least two devices, the at least two devices are separate, and the at least two devices can move simultaneously. During the movement, the absolute positions of the at least two devices are constantly changing, and the relative positions may also be constantly changing. It is necessary to track the positions of the multiple devices included in the user equipment separately.

[0060] In order to realize the location tracking of at least two devices included in the user equipment respectively, at least two antenna reference point (ARP) groups are set on the user equipment, and each ARP group includes at least one ARP. Among them, at least one ARP group can be set on each device included in the user equipment, and different devices of the user equipment are distinguished by different ARP groups. Since the network side regards the multiple devices included in the user equipment as one user equipment, distinguishing different devices of the user equipment by different ARP groups can also be understood as: distinguishing different locations of the user equipment by different ARP groups.

[0061] ARP can also be described as antenna position or other names. ARP is used to receive and / or send positioning signals, which are physical signals and / or channels used to track the location of user equipment, including but not limited to at least one of the following:

[0062] Positioning reference signal (PRS)

[0063] Side link position reference signal (side link PRS, SL PRS)

[0064] Sounding reference signal (SRS)

[0065] Synchronization signal and physical broadcast channel block, or synchronization signal block (synchronization signal and PBCH block, SSB)

[0066] Channel state information reference signal (CSI-RS)

[0067] Side link CSI-RS (SL CSI-RS)

[0068] Physical side link control channel (PSCCH)

[0069] Physical side link shared channel (PSSCH)

[0070] Physical downlink shared channel (PDSCH)

[0071] Physical up link shared channel (PUSCH), etc.

[0072] Figure 3 A schematic diagram of the distribution of an ARP group of user equipment is shown in FIG. Figure 3 As shown, the user device is an XR device, which includes a head-mounted device and a handle. The head-mounted device is provided with 4 ARPs: ARP1, 2, 3, and 4, and the handle is provided with two ARPs: ARP5 and 6. The 4 ARPs on the head-mounted device are divided into ARP group 1, and the two ARPs on the handle are divided into ARP group 2. The positioning signals on the ARPs in ARP group 1 are used to determine the position of the head-mounted device, and the ARPs in ARP group 2 are used to determine the position of the handle. After time T, the handle moves from position L1 to position L2.

[0073] Since the network side considers the XR device to be a user device, the network side cannot distinguish the positions of the head-mounted device and the handle through the UEID. In this embodiment, the network side and the user device can distinguish the positions of the head-mounted device and the handle based on the ARP group of the XR device. ARP group 1 and ARP group 2 are respectively associated with or correspond to a position of the XR device. For example, ARP group 1 is associated with the position of the head-mounted device, and ARP group 2 is associated with the position of the handle.

[0074] Although the user equipment corresponds to at least two ARP groups, at any time or in a certain period of time, the user equipment can only transmit the positioning signal on the ARP in at least one ARP group, that is, the user equipment can transmit the positioning signal on all or part of the ARP groups, such as transmitting the positioning signal on the ARP in the ARP group corresponding to the device to be located. The ARP group that does not transmit the positioning signal cannot be used to determine the location of the user equipment.

[0075] Transmitting the positioning signal on the ARP in the ARP group includes: sending and / or receiving the positioning signal on the ARP in the ARP group.

[0076] Each ARP group has an ARP group identity (ID), and the ARP group ID can uniquely identify (recognize or distinguish) an ARP group of a user device.

[0077] The ARP in each ARP group has an identifier, called an ARP ID. Each ARP can be identified (recognized or distinguished) by at least one of the ARP ID and the ARP group ID.

[0078] Optionally, the ARP ID includes a per UE ID or a per ARP group ID.

[0079] When an ARP is uniquely identified by an ARP ID, the ARP ID can uniquely distinguish an ARP in a user equipment (also referred to as an ARP ID being a per UE ID), and the ARP IDs of the ARPs included in each ARP group are all different.

[0080] When ARP is uniquely identified by ARP ID and ARP group ID, ARP ID is the ID within ARP group (also called ARP ID is perARP group ID). ARP ID can only uniquely distinguish one ARP within ARP group, and cannot uniquely distinguish one ARP in user equipment. Therefore, the ARP IDs of ARPs in different ARP groups may be the same. For example, user equipment has two ARP groups: ARP group 1 and ARP group 2. The ARP IDs of the two ARPs in ARP group 1 are ARP ID1 and ARP ID2. The ARPIDs of the two ARPs in ARP group 2 are also ARP ID1 and ARP ID2. If the user equipment only sends ARP ID1 and ARP ID2 to the positioning device, the positioning device cannot distinguish whether the two ARPs are from ARP group 1 or ARP group 2. The two ARPs need to be distinguished based on ARP group ID and ARP ID.

[0081] The ARPs in an ARP group correspond to a local coordinate system (LCS), and / or the relative positions of the ARPs in the LCS of the ARP group to which they belong are fixed (or the relative positions of the ARPs in the ARP group are fixed).

[0082] The LCS of the ARP group is established based on the relative positions of the ARPs in the ARP group. Optionally, the LCS of the ARP group satisfies at least one of the following conditions or is established in at least one of the following ways: the origin of the LCS of the ARP group is the position of any ARP included in the ARP group; the LCS of the ARP group uses a plane formed by any three ARPs included in the ARP group as one of the coordinate planes (one of the XOY, XOZ, and YOZ planes); the LCS of the ARP group uses the vertical direction of the plane formed by any three ARPs included in the ARP group as one of the coordinate axes (one of the X-axis, the Y-axis, and the Z-axis).

[0083] The LCS of an ARP group can be established by any of the above methods. Figure 3For example, the four ARPs on the head-mounted device are grouped as a group. In one exemplary method, ARP1 is used as the origin, and the plane formed by ARP1, 2, and 3 is used as the XOY plane to establish the LCS of the ARP group. In another exemplary method, ARP is used as the origin, and the vertical direction of the plane formed by ARP1, 2, and 3 is used as the X axis, and the plane formed by ARP1, 2, and 3 is used as the YOZ plane to establish the LCS of the ARP group.

[0084] Optionally, the ARP used to determine the LCS in the ARP group is determined by at least one of the following methods: a protocol agreed method, a network indicated method, or a terminal determined method. Among them, the ARP used to determine the LCS includes at least one of the following: an ARP used to determine the origin of the LCS, an ARP used to determine the coordinate plane of the LCS, and an ARP used to determine the coordinate axis of the LCS.

[0085] Optionally, the relative position of the ARP in the ARP group may be a relative position relative to a reference point. Optionally, the reference point may be an origin in the LCS, a specific position in the LCS, a position of an ARP, a position selected by the UE, or a specified position (such as specified by the network or other terminals), etc.

[0086] In the present application, if the number of ARP groups of a user equipment is 1, then 1 ARP group may correspond to 1 user equipment. At least 1 ARP in an ARP group has the same meaning as at least one ARP of 1 UE.

[0087] In this embodiment, both the positioning device and the user device need to know the association relationship between the ARP group and the ARP, that is, which ARPs are included in the ARP group, or which ARP group the ARP belongs to. When there are multiple ARPs on the user device, optionally, all or part of the ARPs on the user device are associated with the ARP group. For example, there are 8 ARPs on the user device, and the 8 ARPs are divided into two ARP groups, then all ARPs are associated with the ARP group. If 6 ARPs are selected from the 8 ARPs and divided into two ARP groups, then the remaining 2 ARPs do not belong to any ARP group, or one of the remaining 2 ARPs is not divided into 1 group with any other ARP, that is, some ARPs on the user device are associated with the ARP group, and the remaining ARPs are not associated with the ARP group. For the ARP group that is not associated with the ARP group, there is no assumption of the association relationship between the ARP group and the ARP.

[0088] The user device itself defines or configures the association relationship, and the user device needs to send the association relationship between the ARP group and the ARP to the positioning device. In one implementation, the user device sends the information of the ARP group to the positioning device, and the information of the ARP group includes at least one of the ARP group ID, the ARP ID in the ARP group, and the relative position information of the ARP in the ARP group. Among them, the ARP ID in the ARP group refers to the ID of the ARP included in the ARP group.

[0089] The information of the ARP group can also be called the configuration information of the ARP group. The user equipment or the positioning device uses the positioning signal of the ARP in the ARP group to estimate the position according to the information of the ARP group, and obtains the position estimation result of each ARP in the ARP group. The position of the ARP group is determined according to the position estimation result of the ARP in the ARP group. The position of each ARP group is a position of the user equipment, and the positions of different ARP groups correspond to different positions of the user equipment.

[0090] Optionally, the user equipment may send the ARP group information to the positioning device in the following manner:

[0091] Method 1: Before starting positioning, the user equipment may send the information of the ARP group to the positioning device.

[0092] In the second method, the user equipment may send the information of the ARP group to the positioning device during the positioning process, such as sending the information in the ARP position estimation result carried in the ARP group to the positioning device.

[0093] The position estimation result of the ARP in the ARP group is estimated by the user equipment according to the positioning signal on the ARP in the ARP group.

[0094] Optionally, the user equipment may send the ARP group information to the positioning device in the following two information formats:

[0095] Format 1: The information of the ARP group is carried in the ARP group list (ARP group list). The ARP group list includes at least one information element (IE) of the ARP group. Each IE of the ARP group includes the following fields: ARP group ID (ARP group ID) and ARP list (ARP list); The ARP list includes at least one IE of ARP. Each IE of ARP includes the following fields: at least one of the ARP ID and the relative position information of ARP.

[0096] For example, in this format, the IE of each ARP group can be expressed as {ARP group ID, ARP list}, and the IE of each ARP can be expressed as {ARP ID, ARP location}, where ARP location indicates the relative location information of ARP, or the location of ARP in the LCS of the ARP group.

[0097] Format 2: ARP group information is carried in an ARP list; the ARP list includes at least one ARP IE, and each ARP IE includes the following fields: at least one of ARP ID, ARP relative position information, and ARP group ID.

[0098] For example, in this format, each ARP IE can be expressed as {ARP ID, ARP location, ARP groupID}.

[0099] In the method of this embodiment, the user equipment transmits a positioning signal on an ARP in at least one ARP group, the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment. The user equipment or the positioning device can determine the position of the user equipment corresponding to the ARP group according to the positioning signal on the ARP in each ARP group. When the user equipment includes multiple devices, an ARP group can be set (associated) on each device, so that the positions of the multiple devices can be located respectively according to the ARP group.

[0100] Embodiment 2

[0101] Based on the first embodiment, the second embodiment of the present application provides a positioning method, and the implementation methods recorded in the first embodiment can be applied to the second embodiment, and the same technical effect can be achieved. This embodiment is described by taking the user equipment including two devices, each of which is provided with an ARP group as an example, that is, the user equipment includes two ARP groups, and the user equipment estimates the position of the ARP in the ARP group. Figure 4 This is a flowchart of the positioning method provided in Example 2 of the present application, such as Figure 4 As shown, the method provided in this embodiment includes the following steps.

[0102] S201: User equipment receives positioning signals on ARPs in two ARP groups.

[0103] The positioning signal received by the user equipment is sent by the base station to which the user equipment accesses. The base station can send the positioning signal at one or more transmission and receiving points (TRP).

[0104] S202: The user equipment estimates the position of each ARP according to the positioning signal received on the ARP in each ARP group, and obtains a position estimation result of each ARP.

[0105] Optionally, the user equipment may estimate the position of the ARP in at least one of the following ways: downlink-time difference of arrival (DL-TDOA), downlink-angle of departure (DL-AOD), multi-round trip time (Multi-RTT), downlink-angle of arrival (DL-AOA).

[0106] The location estimation result of each ARP includes but is not limited to: the location information of the ARP and at least one of the measurement result of the positioning signal of the ARP.

[0107] The location information of ARP is determined based on the measurement result of the ARP positioning signal. The user equipment receives the positioning signal on the ARP, measures the positioning signal, and obtains the measurement result of the positioning signal. The terminal can send the measurement result of the ARP positioning signal to the positioning device, and the positioning device determines the location information of ARP based on the measurement result of the ARP positioning signal; the user equipment can also determine the location information of ARP based on the measurement result of the ARP positioning signal and send the location information of ARP to the positioning device.

[0108] The measurement result of the ARP positioning signal includes angle information of ARP, which includes but is not limited to AOD or AOA. Optionally, the measurement result of the ARP positioning signal also includes at least one of TDOA, Multi-RTT, reference signal receiving power (reference signal receiving power, RSRP), reference signal receiving strength indicator (reference signal strength indicator, RSSI), and reference signal receiving quality (reference signal receiving quality, RSRQ).

[0109] S203: The user equipment sends the location estimation result of the ARP in each ARP group and the information of each ARP to the positioning device, or the user equipment determines the location information of the user equipment according to the location estimation result of the ARP in each ARP group.

[0110] In one implementation, the user equipment reports the ARP location estimation result and the ARP information to the positioning device, that is, the ARP location estimation result and the ARP information are carried in the same message and sent to the positioning device to save signaling overhead.

[0111] If ARP is uniquely identified by ARP ID, and the user device has sent the association relationship between the ARP group and ARP to the positioning device before positioning begins, the user device can report only the ARP location estimation result and the ARP ID to the positioning device. By associating the ARP location estimation result and the ARP ID, after the positioning device receives the ARP location estimation result, it can know that the ARP location estimation result is obtained based on the ARP measurement corresponding to the ARP ID. The positioning device determines the ARP group to which the ARP associated with the ARP location estimation result belongs based on the ARP ID associated with the ARP location estimation result and the pre-acquired association relationship between the ARP group and ARP. Optionally, the user device can also report the ARP group ID and / or the relative location information of the ARP together with the ARP location estimation result to the positioning device.

[0112] If ARP is uniquely identified by ARP ID and ARP group ID, then in order for the positioning device to distinguish which ARP the reported ARP location estimation result is associated with (or which ARP it belongs to), the user device needs to report the ARP location estimation result, ARP ID and ARP group ID together to the positioning device. After the positioning device receives the ARP location estimation result, it identifies the ARP associated with the ARP location estimation result based on the ARPID and the ARP group ID. Furthermore, the ARP group to which the ARP associated with the ARP location estimation result belongs can be determined based on the ARP group ID. Optionally, the user device can also report the relative location information of the ARP together with the ARP location estimation result to the positioning device.

[0113] Optionally, the location estimation results of the ARPs in the two ARP groups reported by the user equipment to the positioning device are obtained by simultaneous measurement. Accordingly, before the user equipment estimates the location, the network side may request the user equipment to simultaneously measure the positioning signals on the ARPs in the two ARP groups.

[0114] Optionally, when the user equipment reports the location estimation results of the ARPs in the two ARP groups to the positioning device, it not only carries the ARP information, but also carries the time stamp corresponding to the location estimation results of the ARPs. Optionally, the time stamps corresponding to the location estimation results of the ARPs in the two ARP groups are the same.

[0115] In this embodiment, the user equipment sends the location estimation results of the ARPs in the two ARP groups and the information of each ARP to the positioning device, and the positioning device calculates the location estimation results of the ARPs in each ARP group respectively to obtain the location information of the user equipment corresponding to each ARP group. The location information of the user equipment corresponding to each ARP group can also be called the location information of the ARP group. The location information of each ARP group corresponds to a location information of the user equipment.

[0116] After the positioning device determines the location information of the user equipment, the location information of the user equipment can be sent to the user equipment and other devices, wherein the other devices include other terminals (such as external clients) or network devices that require the location information of the user equipment.

[0117] In another implementation method, optionally, the user equipment may not send the position estimation results of the ARPs in the two ARP groups to the positioning device. Instead, the user equipment calculates the position estimation results of the ARPs in each ARP group based on the position estimation results of the ARPs in the two ARP groups to obtain the position information of the user equipment corresponding to each ARP group.

[0118] Optionally, after acquiring the location information, the user equipment may send the location information of the user equipment to the positioning device and other devices, wherein the other devices include other terminals (such as external clients) or network devices that require the location information of the user equipment.

[0119] Optionally, the location information of the user device includes but is not limited to at least one of the following: the absolute location of the user device, the relative location of the user device, the position change (ranging) between the user device and other nodes, and the position change of the user device. The position change between the user device and other nodes refers to the displacement of the user device relative to other nodes at two moments, for example, the displacement of the user device from the previous moment to the current moment relative to other nodes. The position change of the user device refers to the displacement of the user device between two moments, for example, the displacement of the user device from the previous moment to the current moment.

[0120] Optionally, when the user equipment and the positioning device calculate the location information of the ARP group according to the location estimation result of the ARP in the ARP group, they may use the same calculation method or different calculation methods, and the embodiments of the present application are not limited to this.

[0121] If the ARP location estimation result is the ARP location information, illustratively, the user equipment / positioning device may determine the location information of the user equipment in any of the following ways:

[0122] (1) The user equipment / positioning device may randomly select the location information of an ARP from the ARP group as the location information of the user equipment.

[0123] (2) The user equipment / positioning device calculates average location information based on the location information of each ARP in the ARP group, and uses the average location information as the location information of the user equipment.

[0124] (3) The user equipment / positioning device calculates a weighted average location information according to the location information of each ARP in the ARP group and a predefined weighting factor, and uses the weighted average location information as the location information of the user equipment.

[0125] (4) The user equipment / positioning device does not process the ARP location information and uses all the ARP location information as the terminal's location information.

[0126] If the ARP location estimation result is the measurement result of the ARP positioning signal, the user equipment / positioning device first determines the ARP location information according to the measurement result of the ARP positioning signal, and then determines the user equipment location information according to the ARP location information using any of the above methods.

[0127] In this embodiment, the user equipment receives positioning signals on the ARPs in two ARP groups, estimates the position according to the positioning signals received on the ARPs in each ARP group, obtains the position estimation result of each ARP, and sends the position estimation result of the ARPs in each ARP group and the information of each ARP to the positioning device, so that the positioning device determines the position information of the user equipment corresponding to each ARP group according to the position estimation result of the ARPs in each ARP group, thereby realizing the positioning of multiple devices separately.

[0128] Embodiment 3

[0129] On the basis of the first embodiment, the third embodiment of the present application provides a positioning method, and the implementation methods recorded in the first embodiment can be applied to the third embodiment, and the same technical effect can be achieved. In this embodiment, the user equipment includes two devices, and an ARP group is set on each device as an example. The difference between this embodiment and the first embodiment is that in this embodiment, the positioning device estimates the position of the ARP in the ARP group. Figure 5 This is a flowchart of the positioning method provided in Example 3 of the present application, such as Figure 5 As shown, the method provided in this embodiment includes the following steps.

[0130] S301. The user equipment sends information of two ARP groups to the positioning device. The information of the ARP group includes an ARP group identification ID and an ARP ID within the ARP group.

[0131] In this embodiment, the positioning device estimates the position of the ARP in the ARP group. Therefore, the user equipment needs to send the association relationship between the ARP group and the ARP to the positioning device so that the positioning device can subsequently locate the user equipment according to the association relationship.

[0132] Optionally, the information of the ARP group further includes relative position information of the ARPs in the ARP group, and the relative position information of the ARPs in the ARP group is used to determine the LCS of the ARP group.

[0133] S302: The user equipment sends a positioning signal on the ARPs in two ARP groups.

[0134] The positioning device measures the positioning signal sent on the ARP to obtain the position estimation result of the ARP. The position estimation result of each ARP includes but is not limited to: the position information of the ARP and at least one of the measurement result of the positioning signal of the ARP.

[0135] After the positioning device estimates the position estimation result of ARP, in an optional manner, the positioning device determines the ARP group to which the ARP belongs based on the association between the ARP group and the ARP, and determines the position information of the user device based on the position estimation result of the ARP in the same ARP group. In another optional manner, the positioning device sends the ARP position estimation result and the ARP information to the user device, and the user device determines the position information of the user device based on the position estimation result of the ARP in the ARP group. The user device can save signaling overhead by carrying the ARP position estimation result and the ARP information in the same message and sending them to the positioning device.

[0136] In this embodiment, the manner in which the positioning device sends the ARP position estimation result and the ARP information to the user equipment is the same as the manner in which the user equipment sends the ARP position estimation result and the ARP information to the positioning device. Please refer to the relevant description of Embodiment 2 and will not be repeated here.

[0137] In addition, the manner in which the positioning device or the user equipment determines the location information of the user equipment according to the location estimation result of the ARP in the ARP group is the same as that in the second embodiment, and the relevant description of the second embodiment is referred to and will not be repeated here.

[0138] In this embodiment, the user equipment sends information of two ARP groups to the positioning device, where the information of the ARP groups includes an ARP group identification ID and an ARP ID within the ARP group, and sends positioning signals on the ARPs within the two ARP groups, so that the positioning device estimates the position of the ARP according to the positioning signals sent on the ARPs within the ARP groups, and determines the location information of the user equipment according to the position estimation results of the ARPs within the ARP groups.

[0139] Embodiment 4

[0140] The embodiments of the present application also provide a positioning method for positioning the rotation angle of a user device. In one implementation, the positioning of the rotation angle of the user device can be performed independently from the position positioning of the user device, that is, the determination of the rotation angle information of the user device does not depend on the position estimation result of the ARP in the aforementioned embodiment, nor does it depend on the scheme that the user device corresponds to at least two ARP groups in the aforementioned embodiment. That is to say, embodiment 4 can be executed separately relative to the aforementioned embodiments 1 to 3. In another implementation, the positioning of the rotation angle of the user device can be associated with the position positioning of the user device, that is, the determination of the rotation angle information of the user device is based on the position estimation result of the ARP in the aforementioned embodiment. For example, the rotation angle information of the user device can be determined based on the position information or angle information of the ARP included in the position estimation result of the ARP. Accordingly, embodiment 4 can be executed on the basis of embodiments 1 to 3.

[0141] It should be noted that the method for determining the rotation angle information of a user device provided in this embodiment is not only applicable to user devices including multiple devices, such as XR devices, but also to user devices including a single device. When determining the rotation angle information of a user device including multiple devices, the rotation angle information of the ARP group may be determined based on the above-mentioned ARP group, or the rotation angle information of the user device may be determined not based on the ARP group, for example, one ARP is selected on each of the multiple devices included in the user device to determine the location information of the user device.

[0142] Figure 6 This is a flowchart of a positioning method provided in Embodiment 4 of the present application, which is applied to a user device and is used to determine the rotation angle information of the user device. Figure 6 As shown, the method provided in this embodiment includes the following steps.

[0143] S401: The user equipment obtains the location information or angle information of the ARP.

[0144] Optionally, the user device can obtain the ARP location information in the following ways:

[0145] Method 1: The user equipment estimates the position according to the positioning signal received on the ARP to obtain the position information of the ARP.

[0146] Method 2: The user equipment receives the ARP location information sent by the positioning device.

[0147] Method 3: The user equipment uses global positioning system (GPS) or other positioning methods to obtain the location information of ARP.

[0148] The angle information of the ARP includes but is not limited to the AOA or AOD of the ARP. The user equipment estimates the position according to the positioning signal received on the ARP to obtain the AOA or AOD of the ARP.

[0149] S402: The user equipment determines rotation angle information of the user equipment according to the location information or angle information of the ARP.

[0150] The rotation angle information of the user device refers to the angular changes of the pitch, yaw and roll angles of the user device, including but not limited to at least one of the following: the rotation angles of the pitch, yaw and roll of the user device at two different times (for example, time T1 and time T2), or the rotation angles of the pitch, yaw and roll of the user device relative to other devices.

[0151] Method 1: The user equipment determines the rotation angle information of the user equipment according to the ARP location information.

[0152] When the user equipment determines the rotation angle information of the user equipment according to the location information of the ARP, the user equipment needs to obtain the location information of the ARP, such as the location information of at least 3 ARPs. The user equipment determines the rotation angle information of the user equipment according to the location information of the at least 3 ARPs and the relative location information of the at least 3 ARPs in the LCS.

[0153] Taking three ARPs as an example, at time T1, the user equipment determines the three unit vectors corresponding to the three ARPs in the LCS according to the positions of the three ARPs in the LCS. According to the position information of the three ARPs in the GCS, the three unit vectors corresponding to the three ARPs in the GCS are determined. According to the three unit vectors corresponding to the three ARPs in the LCS and GCS, the conversion matrix between the LCS and the GCS is determined, and the conversion parameters between the LCS and the GCS at time T1 are determined according to the conversion matrix between the LCS and the GCS. Optionally, the user equipment can use the conversion parameters as the rotation angle of the user equipment.

[0154] The user equipment obtains the conversion parameters of the LCS and the GCS at time T2 in the same way. Optionally, time T2 is later than time T1. Optionally, the user equipment can use the conversion parameters at time T2 as the rotation angle of the user equipment, or the user equipment determines the rotation angle of the user equipment from time T1 to time T2 according to the conversion parameters of the LCS and the GCS at time T1 and time T2.

[0155] The LCS is an LCS established based on the three ARPs, and the establishment of the LCS refers to the description of the aforementioned embodiment. The GCS may be a world coordinate system. If the location information of the three ARPs is determined in the GCS, the location information of the three ARPs may be directly used to determine the three unit vectors corresponding to the three ARPs in the GCS. If the location information of the three ARPs is not determined in the GCS, the conversion parameters of the LCS and the coordinate system corresponding to the location information may be determined based on the estimated coordinate system corresponding to the location information, that is, the estimated coordinate system corresponding to the location information may be used to replace the GCS.

[0156] The conversion parameters of the LCS and the GCS at time T1 or time T2 include a bearing angle α, a downtilt angle β, and a slant angle γ. The conversion parameters of the LCS and the GCS can be determined by an existing method, and the embodiments of the present application will not be repeated.

[0157] The conversion parameters of the LCS and GCS of the user equipment at time T1 and time T2 can determine the rotation angle of the LCS relative to the GCS; or, according to the vector coordinates of the three unit vectors in the GCS in two different LCSs, the rotation angles of the two LCSs can be determined. Specifically, the first rotation angle of LCS1 relative to the GCS and the second rotation angle of LCS2 relative to the GCS can be determined respectively, and the rotation angle of LCS1 relative to LCS2 is determined according to the first rotation angle and the second rotation angle.

[0158] The rotation angle of the LCS relative to the GCS, and / or the rotation angle of the LCS relative to other LCSs, and / or the rotation angle of the LCS relative to other designated CSs may be used as the rotation angle of the user equipment.

[0159] Method 2: The user equipment determines the rotation angle information of the user equipment according to the angle information of ARP.

[0160] Taking the angle information of ARP as AOA as an example, the user equipment may determine the rotation angle information of the user equipment according to the AOA of one or more ARPs.

[0161] When the user equipment determines the rotation angle information of the user equipment based on the AOA of one ARP, it is necessary to obtain the AOA of the ARP and TRP (such as at least 3 ARPs). The rotation angle information of the user equipment is determined based on the AOA of the ARP and at least 3 TRPs in the LCS, and the AOA of the ARP and at least 3 TRPs in the GCS.

[0162] Taking 3 TRPs as an example, at time T1, the user equipment determines the 3 unit vectors of the ARP in the LCS based on the AOA of the ARP in the LCS and the 3 TRPs. Determine the 3 unit vectors of the ARP in the GCS based on the AOA of the ARP in the GCS and the 3 TRPs. Determine the transformation matrix between the LCS and GCS based on the 3 unit vectors corresponding to the ARP in the LCS and GCS, and determine the transformation parameters between the LCS and GCS at time T1 based on the transformation matrix between the LCS and GCS. Optionally, the user equipment may use the transformation parameters as the rotation angle of the user equipment.

[0163] The user equipment obtains the conversion parameters of the LCS and GCS at time T2 in the same way. Optionally, the user equipment can use the conversion parameters at time T2 as the rotation angle of the user equipment, or determine the rotation angle of the user equipment from time T1 to time T2 based on the conversion parameters of the LCS and GCS at time T1 and time T2.

[0164] The AOA of ARP and three TRPs is not limited to GCS, but can also be AOA in other CSs.

[0165] Optionally, the angle (AOA or AOD) between ARP and TRP in GCS or other CS can be determined by at least one of the following methods: determined by the positions of ARP and TRP in GCS or other CS, determined by the AOD / AOA measurement results of the positioning device and ARP measured by the positioning device, determined by the AOD / AOA measurement results of the positioning device and ARP measured by the positioning device and sending the determined AOA or AOD to the user equipment.

[0166] Optionally, the user equipment may also determine the rotation angle information of the user equipment based on the AOA of at least three ARPs. Accordingly, the terminal needs to obtain the AOA of the at least three ARPs and one TRP, and determine the rotation angle information of the user equipment based on the AOA of the at least three ARPs and one TRP in the LCS, and the AOA of the at least three ARPs and one TRP in the GCS.

[0167] Among them, in determining the conversion parameters of LCS and GCS at time T1 or time T2, the calculation principles of using the AOA of one ARP and at least 3 TRPs, and the AOA of at least 3 ARPs and one TRP are the same and will not be repeated here.

[0168] Optionally, the AOA may be replaced by AOD. Optionally, the AOD in LCS may be determined by the terminal after measuring the positioning signal of the user equipment through a positioning device and feeding back the measurement result to the terminal.

[0169] After determining the rotation angle information of the user equipment, the user equipment may send the rotation angle information to the positioning device or other devices, where the other devices include a terminal or a network device that requires the rotation angle information of the user equipment.

[0170] Optionally, before determining the rotation angle information, the user equipment receives first configuration information sent by a positioning device or other network device, where the first configuration information includes information for determining and / or requesting (reporting) the rotation angle information of the user equipment.

[0171] Optionally, in other embodiments of the present application, the user device may also send the ARP location information or angle information to the positioning device, and the positioning device determines the rotation angle information of the user device based on the ARP location information or angle information. The positioning device may determine the rotation angle information of the user device using any of the above methods, which will not be repeated here.

[0172] Optionally, before sending the ARP angle information to the positioning device, the user equipment receives second configuration information sent by the positioning device or other network devices, where the second configuration information includes information for determining and / or requesting (reporting) the ARP angle information.

[0173] In this embodiment, the user device obtains the position information or angle information of the ARP, and determines the rotation angle information of the user device according to the position information or angle information of the ARP, thereby achieving 6DOF positioning of the user device. For a user device including multiple devices, the rotation angle information of each device can be determined according to the position information or angle information of the ARP on each device. For example, for an XR device, the rotation angle information of the head-mounted device can be determined according to the position information or angle information of the ARP on the head-mounted device, and the rotation angle information of the handle can be determined according to the position information or angle information of the ARP on the handle.

[0174] Embodiment 5

[0175] On the basis of the fourth embodiment, the fifth embodiment of the present application provides a positioning method for determining the rotation angle information of the user equipment, and the implementation methods recorded in the fourth embodiment can be applied to the fifth embodiment, and the same technical effect can be achieved. This embodiment is described by taking the user equipment including two devices, each of which is provided with an ARP group as an example, that is, the user equipment includes two ARP groups, and the user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP. Figure 7 This is a flowchart of the positioning method provided in Example 5 of the present application, such as Figure 7 As shown, the method provided in this embodiment includes the following steps.

[0176] S501: User equipment obtains ARP location information.

[0177] For the specific acquisition method, refer to the description of step S401 in the fourth embodiment.

[0178] S502: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs.

[0179] In this embodiment, the ARP group includes ARPs, such as at least 3 ARPs, and the user equipment obtains the location information of at least 3 ARPs in the ARP group, and determines the rotation angle information of the ARP group according to the location information of the ARPs in the ARP group and the relative location information of the ARPs in the ARP group.

[0180] Optionally, the rotation angle information of the ARP group to which the ARP belongs includes any one of the following information:

[0181] The LCS of the ARP group and at least one of the coordinate conversion parameters of the target coordinate system, the timestamp, and the ARP group ID, the target coordinate system including at least one of the GCS, the coordinate system corresponding to the position estimation result of the ARP in the ARP group, and the LCS of another ARP group;

[0182] or at least one of a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp at the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp at the target time, and an ARP group ID;

[0183] or at least one of a coordinate conversion parameter between the LCS of the ARP group and the LCS of the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID;

[0184] Alternatively, at least one of the coordinate conversion parameters of the LCS of the ARP group and the target coordinate system at the reference time, the timestamp of the reference time, the coordinate conversion parameters of the LCS of the ARP group at the target time and the target coordinate system at the reference time, the timestamp of the target time, and the ARP group ID.

[0185] When the target coordinate system is the LCS of another ARP group, the ARP group and the other ARP group are both ARP groups of the user equipment, and the user equipment includes multiple ARP groups.

[0186] The target time and the reference time are two different times, the target time is later than the reference time, and optionally, the target time is the current time.

[0187] Optionally, the reference time is any one of the following times: the time before the current time, the time of the first position estimation of ARP, the time corresponding to the first measurement instance in the measurement report, and the time corresponding to the first measurement instance in the measurement window indicated by the network.

[0188] Optionally, the reference time is determined by at least one of the following methods: protocol agreement, network indication, and terminal determination.

[0189] Optionally, the above-mentioned coordinate conversion parameters include conversion angles (azimuth angle α, downtilt angle β and tilt angle γ) and at least one of the following parameters: angle granularity of the coordinate conversion parameters, angle estimation quality or angle estimation confidence.

[0190] In this embodiment, the method for the user device to determine the rotation angle information of the ARP group is the same as the principle of method one in embodiment four, and the difference is that embodiment four does not introduce the concept of ARP group, and the ARP used when determining the rotation angle information of the user device belongs to the user device, while in this embodiment, the concept of ARP group is introduced, and the ARP used when determining the rotation angle information of an ARP group belongs to the ARP group. The specific determination method refers to method one in embodiment four and will not be repeated here.

[0191] S503: The user equipment sends the rotation angle information of the ARP group to which the ARP belongs to the positioning device.

[0192] It can be understood that step S503 is an optional step. After determining the rotation angle information of the ARP group, the user equipment may only use it for itself and not send it to the positioning device. Alternatively, the user equipment may also send the rotation angle information of the ARP group to other devices that need the rotation angle information of the user equipment.

[0193] Optionally, the user equipment carries the ARP position estimation result and the rotation angle information of the ARP group to which the ARP belongs in the same message and sends it to the positioning device to save signaling. Exemplarily, the ARP position estimation result and the rotation angle information of the ARP group to which the ARP belongs can be included in the same measurement report. Of course, the ARP position estimation result and the rotation angle information of the ARP group to which the ARP belongs can also be sent separately, and the embodiments of the present application are not limited to this.

[0194] Optionally, before determining the rotation angle information of the ARP group to which the ARP belongs, the user equipment receives first configuration information, where the first configuration information includes information for determining and / or reporting the rotation angle information of the ARP group to which the ARP belongs.

[0195] Correspondingly, the user equipment determines the rotation angle information of the ARP group according to the first configuration information, the position information of the ARP in the ARP group, and the relative position information of the ARP in the LCS of the ARP group.

[0196] The first configuration information may be sent by the positioning device to the user equipment, or may be sent by other network devices to the user equipment.

[0197] Optionally, the first configuration information includes at least one of the following information:

[0198] The estimated accuracy of the rotation angle;

[0199] The reporting granularity of the rotation angle;

[0200] an indication of the reference time;

[0201] ARP group ID that needs to be reported;

[0202] Determined time information of the rotation angle;

[0203] Reporting time information of rotation angle;

[0204] The reporting response time requirements for the rotation angle;

[0205] ARP information used to assist in determining the rotation angle;

[0206] The location information of the TRP is used to assist in determining the location information of the ARP.

[0207] In order to ensure user experience, certain requirements must be placed on the tracking accuracy of user devices. It is understandable that different types of user devices may have different requirements for tracking accuracy. Taking XR devices as an example, the position tracking accuracy of XR devices must be less than 1cm, the rotation angle tracking accuracy must be less than 1 / 4 degree, and the latency must be less than 20ms.

[0208] The estimated accuracy of the rotation angle in the first configuration information is the tracking accuracy requirement of the rotation angle of the user device. For example, the estimated accuracy of the rotation angle is within x degrees. For example, the value of x is 1 / 4 degree or 1 / 2 degree. The smaller the value of x, the higher the estimated accuracy requirement of the rotation angle.

[0209] The reporting granularity of the rotation angle refers to the accuracy requirement of the rotation angle of the ARP group sent by the user device to the positioning device or other devices. For example, the granularity of the rotation angle reported by the user device is required to be 0.XX or 0.X, where 0.XX means that the reported rotation angle value must be accurate to two decimal places, and 0.X means that the reported rotation angle value must be accurate to one decimal place.

[0210] The ARP group ID corresponding to the rotation angle information requested to be reported indicates a request to report the rotation angle information of the ARP group corresponding to the ARP group ID. There are multiple ARP groups on the user device, and the network side can specify which ARP groups' rotation angles the user device reports.

[0211] The rotation angle determination time information may be a sampling interval, which indicates how often the rotation angle is determined. Optionally, the rotation angle determination time information also includes a sampling start time.

[0212] The reporting time information of the rotation angle may be a reporting interval, where the reporting interval indicates how often the reporting is performed.

[0213] The reporting response time requirement for the rotation angle requires the user equipment to report the rotation angle information within the response time after receiving the first configuration information.

[0214] An ARP group may include multiple ARPs. When determining the rotation angle information of the ARP group, only some ARPs in the ARP group may be needed. Therefore, the network side may indicate information of the ARP used to assist in determining the rotation angle, such as location information, ARP ID, or at least one of the ARP ID and the ARP group indicating the ARP that assists in determining the rotation angle. The user equipment determines the rotation angle of the ARP group using the ARP indicated by the network side.

[0215] The network side may also indicate TRP information to assist in determining the location information of the ARP, where the TRP information includes at least one of the TRP identifier, the number of TRPs, and the location information of the TRP.

[0216] It should be noted that all or part of the information in the first configuration information may also be indicated by a protocol agreement, a predefined method, or a method determined by the terminal. For example, the indication information of the reference time is indicated by a predefined method, or the ARP group to be reported may be determined by the user equipment itself, and the ARP for assisting in determining the rotation angle is determined by the terminal itself or all ARPs in the group are adopted by default.

[0217] In this embodiment, the user equipment obtains the location information of the ARP, determines the rotation angle information of the ARP group to which the ARP belongs based on the location information of the ARP and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs, and sends the rotation angle information of the ARP group to which the ARP belongs to the positioning device. This method can determine the rotation angle information of the ARP group based on the location information of the ARP, and when the user equipment includes multiple devices, it can determine the rotation angle of the ARP group on each device, so that the rotation angles of the multiple devices included in the user equipment can be positioned respectively.

[0218] Embodiment 6

[0219] On the basis of the fourth embodiment, the sixth embodiment of the present application provides a positioning method for determining the rotation angle information of the user equipment, and the implementation methods recorded in the fourth embodiment can be applied to the sixth embodiment and can achieve the same technical effect. The difference between this embodiment and the fifth embodiment is that in this embodiment, the user equipment determines the rotation angle information of the ARP group to which the ARP belongs based on the angle information of the ARP. Figure 8 This is a flowchart of the positioning method provided in Example 6 of the present application, such as Figure 8 As shown, the method provided in this embodiment includes the following steps.

[0220] S601. The user equipment determines, according to a positioning signal received on the ARP, a first angle estimation result between the ARP and the TRP in the LCS of the ARP group to which the ARP belongs.

[0221] The first angle estimation result is an angle estimation result of the ARP and the TRP in the LCS of the ARP group to which the ARP belongs. The first angle estimation result includes an angle measurement value (such as an AOA or AOD measurement value), or the first angle estimation result includes an angle measurement value and a coordinate system corresponding to the angle estimation result.

[0222] The coordinate system corresponding to the angle estimation result may be the LCS of the ARP group or other coordinate systems.

[0223] Optionally, the coordinate system corresponding to the default angle estimation result is the LCS of the ARP group. When the coordinate system corresponding to the default angle estimation result is the LCS of the ARP group by default, the first angle estimation result may only include the angle measurement value, but not the coordinate system corresponding to the angle estimation result.

[0224] The user device may obtain the first angle estimation result of all or part of the ARPs in the ARP group. For example, the user device obtains the first angle estimation result of one ARP in the LCS of the ARP group and three TRPs. Alternatively, the user device obtains the first angle estimation result of three ARPs in the LCS of the ARP group and one TRP.

[0225] S602: The user equipment obtains a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in the GCS.

[0226] The second angle estimation result of the ARP may be configured on the network side, or may be estimated by the user equipment according to the location information of the ARP.

[0227] Taking one TRP as an example, illustratively, the user equipment calculates the angle between the ARP and three TRPs in the GCS based on the location information of the ARP in the GCS.

[0228] S603: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP.

[0229] In this embodiment, the method for the user device to determine the rotation angle information of the ARP group is the same as the principle of method 2 in embodiment 4. The difference is that embodiment 4 does not introduce the concept of ARP group, and the ARP used when determining the rotation angle information of the user device belongs to the user device, while this embodiment introduces the concept of ARP group. The ARP used when determining the rotation angle information of an ARP group must belong to the ARP group. The specific determination method refers to method 2 in embodiment 4 and will not be repeated here.

[0230] S604: The user equipment sends the rotation angle information of the ARP group to which the ARP belongs to the positioning device.

[0231] It can be understood that step S603 is an optional step. After determining the rotation angle information of the ARP group, the user equipment may only use it for itself and not send it to the positioning device. Alternatively, the user equipment may also send the rotation angle information of the ARP group to other devices that need the rotation angle information of the user equipment.

[0232] In other embodiments of the present application, after the user equipment determines the first angle estimation result between the ARP and the TRP in the LCS of the ARP group to which it belongs based on the positioning signal received on the ARP, the user equipment sends the first angle estimation result to the positioning device, and the positioning device uses the first angle estimation result to determine the rotation angle information of the ARP group to which the ARP belongs.

[0233] Optionally, the first angle estimation result and other downlink measurement results are carried in the same message and sent to the positioning device. For example, the first angle estimation result and downlink measurement results such as reference signal time difference (RSTD), Rx-Tx time difference, RSRP, etc. are reported to the positioning device together.

[0234] Optionally, before the user equipment determines the first angle estimation result of the ARP, it receives second configuration information, where the second configuration information includes information for determining and / or reporting the first angle (AOA or AOD) estimation result. The second configuration information may be sent by the positioning device to the user equipment, or may be sent by other network devices to the user equipment.

[0235] Optionally, the second configuration information includes at least one of the following:

[0236] Angle estimation result reporting enable flag;

[0237] Information about the coordinate system corresponding to the reported angle estimation result;

[0238] Angle estimation accuracy;

[0239] Angle reporting granularity;

[0240] The ARP group ID corresponding to the angle estimation result requested to be reported;

[0241] The ARP ID corresponding to the angle estimation result requested to be reported;

[0242] Angle determines time information;

[0243] Angle reporting time information;

[0244] Angle reporting response time requirements;

[0245] An angle reporting method, the angle reporting method including: a first reporting method for reporting an angle estimation result of a first path, or a second reporting method for reporting an angle estimation result of a multipath;

[0246] The number of angle measurements reported for each path;

[0247] Information of TRP used for angle estimation.

[0248] Among them, the angle in the second configuration information refers to AOA or AOD, and the following target parameters in the second configuration information are similar to the definitions of the parameters in the first configuration information. The difference is that the angle in the second configuration information is different from the angle in the first configuration information, and the description is not repeated here. The target parameters include: angle estimation accuracy, angle reporting granularity, ARP group ID corresponding to the angle estimation result requested to be reported, angle determination time information, angle reporting time information, and TRP information used for angle estimation.

[0249] The reporting enable flag of the angle estimation result indicates that the angle estimation result needs to be reported. The information of the coordinate system corresponding to the reported angle estimation result may be the type of the coordinate system, for example, LCS coordinates.

[0250] The ARP ID corresponding to the angle estimation result requested to be reported is used to indicate the ARP whose AOA or AOD estimation result needs to be reported.

[0251] When estimating the AOA or AOD between ARP and TRP, there are multipaths between each ARP and TRP. Therefore, when reporting the angle, two reporting methods are provided. The first reporting method only reports the angle estimation result of the first path, and the second reporting method reports the angle estimation result of multiple paths. The user equipment uses the reporting method requested or specified by the network side.

[0252] It should be noted that all or part of the information in the second configuration information may also be indicated by a protocol agreed manner, a predefined manner, or a terminal determined manner. For example, the user equipment can decide by itself which angle reporting method to adopt, and then there is no need to carry the angle reporting method in the second configuration information; or, the angle estimation accuracy and the angle reporting granularity are agreed by the protocol, and then there is no need to carry the angle estimation accuracy and the angle reporting granularity in the second configuration information.

[0253] In this embodiment, the user equipment determines the first angle estimation result of the ARP and the TRP in the LCS of the ARP group to which the ARP belongs based on the positioning signal received on the ARP, and obtains the second angle estimation result of the ARP and the TRP in the GCS, determines the rotation angle information of the ARP group to which the ARP belongs based on the first angle estimation result and the second angle estimation result of the ARP, and sends the rotation angle information of the ARP group to which the ARP belongs to the positioning device. This method can determine the rotation angle information of the ARP group to which the ARP belongs based on the AOA or AOD of the ARP and the TRP, and when the user equipment includes multiple devices, it can determine the rotation angle of the ARP group on each device, so that the rotation angles of the multiple devices included in the user equipment can be positioned separately.

[0254] Embodiment 7

[0255] Embodiment 7 of the present application provides a positioning method, which is executed by a positioning device. Fig. 9 This is a flowchart of the positioning method provided in Example 7 of the present application, such as Fig. 9 As shown, the method provided in this embodiment includes the following steps.

[0256] S701. A positioning device receives information of at least one ARP group sent by a user equipment. The user equipment corresponds to at least two ARP groups. Each ARP group includes at least one ARP. Positioning signals on ARPs in different ARP groups respectively determine the position of the user equipment.

[0257] The information of the ARP group includes at least one of the ARP group identification ID, the ARP ID within the ARP group, and the relative position information of the ARP within the ARP group. Based on the information of the ARP group, the positioning device can obtain the association relationship between the ARP group and the ARP, and optionally, can also obtain the relative position relationship of the ARPs in the ARP group, which can be used to determine the rotation angle information of the ARP.

[0258] S702: The positioning device obtains the location information of the ARP in the ARP group according to the information of the ARP group.

[0259] The positioning device obtains the location information of the ARP and determines the ARP group to which the ARP belongs according to the information of the ARP group.

[0260] Exemplarily, the positioning device obtains the location information of the ARP in the ARP group in the following ways:

[0261] Method 1: The positioning device receives the ARP location estimation result sent by the user equipment, determines the ARP location information according to the ARP location estimation result, and determines the ARP group to which the ARP belongs according to the ARP group information, thereby obtaining the ARP location estimation result within the ARP group.

[0262] The ARP position estimation result includes but is not limited to: the ARP position information, at least one of the measurement result of the ARP positioning signal.

[0263] When the location estimation result of ARP includes the location information of ARP, the positioning device can directly use the location information of ARP. The location information of ARP can be determined by the user equipment according to the positioning signal on ARP, or can be obtained by other methods, such as GPS positioning, RAT-independent positioning methods or other RAT-dependent positioning methods. Among them, RAT-independent positioning methods refer to positioning methods that are independent of radio access technology (RAT), and RAT-dependent positioning methods refer to positioning methods related to radio access technology.

[0264] When the ARP location estimation result includes the measurement result of the ARP positioning signal, the positioning device determines the location information of the ARP according to the measurement result of the ARP positioning signal, which is obtained by the user equipment according to the measurement of the ARP positioning signal.

[0265] Method 2: The positioning device receives the positioning signal sent by the ARP, estimates the position of the ARP according to the positioning signal received from the ARP, obtains the position information of the ARP, determines the ARP group to which the ARP belongs according to the information of the ARP group, and thus obtains the position estimation result of the ARP in the ARP group.

[0266] S703: The positioning device determines the location of the user equipment according to the ARP location information in the ARP group.

[0267] The specific manner in which the positioning device determines the position of the user equipment is similar to that of the user equipment. For details, refer to the description related to the user equipment, which will not be repeated here.

[0268] Optionally, after determining the location information of the user equipment, the positioning device may send the location information of the user equipment to the user equipment and other devices, wherein the other devices include other terminals (such as external clients) or network devices that require the location information of the user equipment.

[0269] In this embodiment, the positioning device receives information of at least one ARP group sent by the user equipment, the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment, and obtain the position information of the ARPs in the ARP groups, and determine the position of the user equipment according to the position information of the ARPs in the ARP groups. When the user equipment includes multiple devices, an ARP group can be set on each device, and the position of the user equipment can be distinguished by the ARP group.

[0270] Embodiment 8

[0271] Fig.10 This is a flowchart of a positioning method provided in Embodiment 8 of the present application, which is applied to a positioning device, and the positioning device determines the rotation angle information of the user equipment. Fig.10 As shown, the method provided in this embodiment includes the following steps.

[0272] S801. A positioning device obtains location information or angle information of an ARP.

[0273] The manner in which the positioning device obtains the ARP location information is as described in step S701 of the seventh embodiment, and will not be described in detail here.

[0274] The angle information of ARP includes a first angle estimation result and a second angle estimation result of ARP. The first angle estimation result is an angle estimation result between ARP and TRP in the LCS of the ARP group to which ARP belongs, and the second angle estimation result is an angle estimation result between ARP and TRP in the GCS.

[0275] Optionally, the positioning device obtains the ARP angle information in the following manner: receiving the first angle estimation result and the second angle estimation result sent by the user equipment. The second angle estimation result may also be determined by the positioning device itself according to the ARP location information.

[0276] Optionally, the positioning device sends second configuration information to the user equipment, where the second configuration information includes information used to determine and / or report the first angle estimation result.

[0277] Optionally, the second configuration information includes at least one of the following: a reporting enable flag for the angle estimation result, information on the coordinate system corresponding to the reported angle estimation result; angle estimation accuracy, angle reporting granularity, ARP group ID corresponding to the angle estimation result requested to be reported, ARP ID corresponding to the angle estimation result requested to be reported, angle determination time information, angle reporting time information, and angle reporting method, the angle reporting method including: a first reporting method for reporting the angle estimation result of the first path, or a second reporting method for reporting the angle estimation result of multiple paths, the number of angle measurement values ​​reported for each path, and TRP information used for angle estimation.

[0278] S802: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

[0279] Specifically, the positioning device determines the rotation angle information of the ARP group to which the ARP belongs based on the location information of the ARP and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs. Alternatively, the positioning device determines the rotation angle information of the ARP group to which the ARP belongs based on the first angle estimation result and the second angle estimation result of the ARP.

[0280] The specific manner in which the positioning device determines the rotation angle information of the ARP group to which the ARP belongs refers to the specific manner in which the user equipment determines the rotation angle information of the ARP group to which the ARP belongs in the aforementioned embodiment, which will not be repeated here.

[0281] Optionally, the rotation angle information of the ARP group to which the ARP belongs includes the following information: at least one of a coordinate conversion parameter between the LCS of the ARP group and a target coordinate system, a timestamp, and an ARP group ID.

[0282] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp at the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp at the target time, and an ARP group ID;

[0283] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID;

[0284] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes the following information: coordinate conversion parameters of the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, coordinate conversion parameters of the LCS of the ARP group at the target time and the target coordinate system at the reference time, a timestamp of the target time, and at least one of the ARP group ID.

[0285] The target coordinate system includes at least one of a global coordinate system, a coordinate system corresponding to a position estimation result of an ARP in the ARP group, and an LCS of another ARP group.

[0286] S803: The positioning device sends the rotation angle information of the ARP group to the user equipment.

[0287] This step is an optional step. After determining the rotation angle information of the ARP group, the positioning device may send the rotation angle information of the ARP group to the user equipment and other devices that require the rotation angle of the user equipment.

[0288] Optionally, before the positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the location information or angle information of the ARP, it receives first configuration information, where the first configuration information includes information for determining and / or reporting the rotation angle information of the ARP group to which the ARP belongs.

[0289] Optionally, the first configuration information includes at least one of the following information: estimated accuracy of the rotation angle, reporting granularity of the rotation angle, indication information of the reference time, ARP group ID corresponding to the rotation angle information requested to be reported, determination time information of the rotation angle, reporting time information of the rotation angle, ARP information used to assist in determining the rotation angle, and TRP information used to assist in determining the location information of the ARP.

[0290] In this embodiment, the positioning device obtains the position information or angle information of the ARP, determines the rotation angle information of the ARP group to which the ARP belongs based on the position information or angle information of the ARP, and locates the rotation angle of the user device, thereby achieving 6DOF positioning of the user device.

[0291] It should be noted that the embodiments on the positioning device side correspond to the embodiments on the user equipment side. The information sent by the user equipment is received by the positioning device, so the limitation of its information is consistent with the user equipment side. For the features repeated on the UE side, they will not be repeated on the positioning device side.

[0292] Embodiment 9

[0293] Based on the above embodiments, Embodiment 9 of the present application provides a positioning method. This embodiment is used to describe the signaling interaction between the user equipment and the positioning device during the positioning process. Fig.11This is a signaling flow chart of a positioning method provided in Example 9 of the present application. Fig.11 As shown, the method provided in this embodiment includes the following steps.

[0294] S901. The user equipment sends the information of the ARP group to the positioning device.

[0295] S902: User equipment receives a positioning signal on an ARP in at least one ARP group.

[0296] S903: The user equipment estimates the position of the ARP according to the positioning signal received on the ARP to obtain the position information of the ARP.

[0297] S904: The user equipment sends the ARP position estimation result to the positioning device.

[0298] The ARP location estimation result includes an ARP ID corresponding to the ARP, or includes an ID corresponding to the ARP and an ARP group ID.

[0299] S905: The positioning device determines the location of the user equipment according to the ARP location information in the ARP group.

[0300] S906: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP.

[0301] S907: The positioning device sends the position of the user equipment and the rotation angle information of the ARP group to the user equipment.

[0302] Embodiment 10

[0303] Based on the above embodiments, Embodiment 10 of the present application provides a positioning method. This embodiment is used to describe the signaling interaction between the user equipment and the positioning device during the positioning process. Fig.12 This is a signaling flow chart of a positioning method provided in Example 10 of the present application. Fig.12 As shown, the method provided in this embodiment includes the following steps.

[0304] S1001. User equipment sends information of an ARP group to a positioning device.

[0305] S1002: User equipment receives a positioning signal on an ARP in at least one ARP group.

[0306] S1003: The user equipment estimates the position of the ARP according to the positioning signal received on the ARP to obtain the position information of the ARP.

[0307] S1004: The user equipment determines the location of the user equipment according to the ARP location information in the ARP group.

[0308] S1005: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP.

[0309] S1006: The user equipment sends the position of the user equipment and the rotation angle information of the ARP group to the positioning device.

[0310] The user equipment location and the ARP group rotation angle information sent by the user equipment include the ARP group ID, so that the user equipment can know which ARP group the received user equipment location corresponds to and which ARP group the ARP rotation angle information belongs to according to the ARP group ID.

[0311] Embodiment 11

[0312] Based on the above embodiments, the eleventh embodiment of the present application provides a positioning method. This embodiment is used to describe the signaling interaction between the user equipment and the positioning device during the positioning process. Fig.13 This is a signaling flow chart of a positioning method provided in Example 11 of the present application. Fig.13 As shown, the method provided in this embodiment includes the following steps.

[0313] S1101. User equipment sends information of an ARP group to a positioning device.

[0314] S1102: User equipment receives a positioning signal on an ARP in at least one ARP group.

[0315] S1103: The user equipment determines, according to the positioning signal received on the ARP, a first angle estimation result between the ARP and the TRP in the LCS of the ARP group to which the ARP belongs.

[0316] S1104: The user equipment sends the first angle estimation result of the ARP to the positioning device.

[0317] S1105: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result of the ARP.

[0318] S1106: The positioning device determines the location information of the ARP according to the first angle estimation result of the ARP, and determines the location of the user equipment according to the location information of the ARP in the ARP group.

[0319] S1107: The positioning device sends the position of the user equipment and the rotation angle information of the ARP group to the user equipment.

[0320] The specific implementation methods of Embodiment 9 to Embodiment 11 refer to the description of the aforementioned embodiments and will not be repeated here.

[0321] Embodiment 12

[0322] In order to better implement the positioning method of the embodiment of the present application, the embodiment of the present application also provides a positioning device, which can be applied in a user equipment. Fig.14 A structural schematic diagram of a positioning device provided in Example 12 of the present application, such as Fig.14 As shown, the positioning device 100 provided in this embodiment includes the following modules.

[0323] The transmission module 11 is used to transmit a positioning signal on an ARP in at least one ARP group. The user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment.

[0324] In an optional implementation, the apparatus 100 further includes:

[0325] The sending module 12 is used to send the information of the ARP group to the positioning device, wherein the information of the ARP group includes at least one of the ARP group identification ID, the ARP ID in the ARP group, and the relative position information of the ARP in the ARP group.

[0326] In an optional implementation manner, an ARP in an ARP group corresponds to an LCS, and / or a relative position of the ARP in the LCS of the ARP group to which it belongs is fixed.

[0327] In an optional implementation manner, the ARP is uniquely identified by an ARP ID; or, the ARP is uniquely identified by an ARP ID and an ARP group ID.

[0328] In an optional implementation, the information of the ARP group is carried in an ARP group list;

[0329] The ARP group list includes the information element IE of the at least one ARP group, and the IE of each ARP group includes the following fields: ARP group ID and ARP list;

[0330] The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of ARPID and ARP relative location information.

[0331] In an optional implementation, the information of the ARP group is carried in an ARP list;

[0332] The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of an ARPID, relative location information of the ARP, and an ARP group ID.

[0333] In an optional implementation, the device 100 further includes: a determination module, configured to determine rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

[0334] In an optional implementation manner, the determination module is specifically configured to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

[0335] In another optional implementation, the determining module is specifically configured to:

[0336] Determine the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP;

[0337] The first angle estimation result is an angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs, and the second angle estimation result is an angle estimation result between the ARP and the TRP in the global coordinate system.

[0338] In an optional implementation, the sending module 12 is further configured to send the rotation angle information of the ARP group to which the ARP belongs to a positioning device.

[0339] In an optional implementation, the device 100 further includes: a position estimation module, configured to estimate the position of the ARP according to the positioning signal received on the ARP to obtain the position information of the ARP.

[0340] In an optional implementation, the device 100 further includes: an angle estimation module, configured to determine a first angle estimation result of the ARP according to a positioning signal received on the ARP.

[0341] In an optional implementation, the sending module 12 is further configured to send the location estimation result of the ARP to a positioning device, where the location estimation result of the ARP includes the location information of the ARP and an ARP ID.

[0342] In an optional implementation, the position estimation result of the ARP and the rotation angle information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device;

[0343] And / or, the location estimation result of the ARP and the information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device.

[0344] In an optional implementation, the apparatus 100 further includes: a receiving module, configured to receive first configuration information, wherein the first configuration information includes information for determining and / or requesting rotation angle information of an ARP group to which the ARP belongs.

[0345] In an optional implementation, the rotation angle information of the ARP group to which the ARP belongs includes the following information: at least one of a coordinate conversion parameter between the LCS of the ARP group and a target coordinate system, a timestamp, and an ARP group ID;

[0346] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp at the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp at the target time, and an ARP group ID;

[0347] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID;

[0348] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group at a target time and the target coordinate system at a reference time, a timestamp of the target time, and an ARP group ID;

[0349] The target coordinate system includes at least one of a global coordinate system, a coordinate system corresponding to a position estimation result of an ARP in the ARP group, and an LCS of another ARP group.

[0350] In an optional implementation manner, the first configuration information includes at least one of the following information:

[0351] The estimated accuracy of the rotation angle;

[0352] The reporting granularity of the rotation angle;

[0353] an indication of the reference time;

[0354] The ARP group ID corresponding to the rotation angle information requested to be reported;

[0355] Determined time information of the rotation angle;

[0356] Reporting time information of rotation angle;

[0357] The reporting response time requirements for the rotation angle;

[0358] ARP information used to assist in determining the rotation angle;

[0359] Information of the TRP used to assist in determining the location information of the ARP.

[0360] In an optional implementation, the coordinate conversion parameter includes a conversion angle and at least one of the following parameters: an angle granularity of the coordinate conversion parameter, an angle estimation quality, or an angle estimation confidence.

[0361] In an optional implementation, the reference time is any one of the following times:

[0362] The moment before the current moment;

[0363] The moment of the first position estimate of ARP;

[0364] The time corresponding to the first measurement instance in the measurement report;

[0365] The time corresponding to the first measurement instance in the measurement window indicated by the network.

[0366] In an optional implementation, the apparatus 100 further includes:

[0367] An angle estimation module, used to determine a first angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs according to the positioning signal received on the ARP;

[0368] The sending module 12 is further used to send the first angle estimation result to a positioning device, where the first angle estimation result is used to determine the rotation angle information of the ARP group to which the ARP belongs.

[0369] In an optional implementation, the first angle estimation result includes an angle measurement value; or, the first angle estimation result includes the angle measurement value and a coordinate system corresponding to the angle estimation result.

[0370] In an optional implementation manner, the first angle estimation result and other downlink measurement results are carried in the same message and sent to the positioning device.

[0371] In an optional implementation, the apparatus 100 further includes: a receiving module, configured to receive second configuration information, wherein the second configuration information includes information for determining and / or requesting the first angle estimation result.

[0372] In an optional implementation manner, the second configuration information includes at least one of the following:

[0373] Angle estimation result reporting enable flag;

[0374] Information about the coordinate system corresponding to the reported angle estimation result;

[0375] Angle estimation accuracy;

[0376] Angle reporting granularity;

[0377] The ARP group ID corresponding to the angle estimation result requested to be reported;

[0378] The ARP ID corresponding to the angle estimation result requested to be reported;

[0379] Angle determines time information;

[0380] Angle reporting time information;

[0381] Angle reporting response time requirements;

[0382] An angle reporting method, the angle reporting method including: a first reporting method for reporting an angle estimation result of a first path, or a second reporting method for reporting an angle estimation result of a multipath;

[0383] The number of angle measurements reported for each path;

[0384] Information of the transmit / receive point TRP used for angle estimation.

[0385] In an optional implementation, the LCS of the ARP group satisfies at least one of the following conditions:

[0386] The origin of the LCS of the ARP group is the location of any ARP included in the ARP group;

[0387] The LCS of the ARP group uses a plane formed by any three ARPs included in the ARP group as one of the coordinate planes;

[0388] The LCS of the ARP group uses the vertical direction of the plane formed by any three ARPs included in the ARP group as one of the coordinate axes.

[0389] It should be understood that the apparatus embodiment of the user equipment and the method embodiment may correspond to each other, and similar descriptions may refer to the method embodiment. To avoid repetition, they will not be described here.

[0390] Embodiment 13

[0391] Embodiment 13 of the present application provides a positioning device, which can be used in a positioning device. Fig.15A structural schematic diagram of a positioning device provided in Example 13 of the present application, such as Fig.15 As shown, the positioning device 200 provided in this embodiment includes the following modules.

[0392] A receiving module 21 is configured to receive information of at least one antenna reference point ARP group sent by a user equipment, wherein the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and positioning signals on ARPs in different ARP groups respectively determine the position of the user equipment;

[0393] An acquisition module 22, configured to acquire location information of the ARP in the ARP group according to the information of the ARP group;

[0394] The first determination module 23 is configured to determine the location of the user equipment according to the location information of the ARP in the ARP group.

[0395] The information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of ARPs within the ARP group.

[0396] In an optional implementation, the device 200 further includes: a second determination module, configured to determine rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

[0397] In an optional implementation manner, the second determination module is specifically configured to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

[0398] In another optional implementation, the second determining module is specifically configured to:

[0399] receiving a first angle estimation result sent by the user equipment, where the first angle estimation result is an angle estimation result between the ARP and a transmitting and receiving point TRP in an LCS of an ARP group to which the ARP belongs;

[0400] Obtain a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in a global coordinate system;

[0401] The rotation angle information of the ARP group to which the ARP belongs is determined according to the first angle estimation result and the second angle estimation result of the ARP.

[0402] It should be understood that the device embodiment of the positioning device and the method embodiment may correspond to each other, and similar descriptions may refer to the method embodiment, which will not be repeated here to avoid repetition. In addition, the positioning device side and the user device side also correspond to each other, and the content repeated with the user device side will not be repeated here to avoid repetition.

[0403] The above describes the device 100 and the device 200 of the embodiment of the present application from the perspective of the functional module in conjunction with the accompanying drawings. It should be understood that the functional module can be implemented in hardware form, can be implemented by instructions in software form, and can also be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software form instructions in the processor, and the steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or a combination of hardware and software modules in the decoding processor to perform. Optionally, the software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory, and completes the steps in the above method embodiment in conjunction with its hardware.

[0404] Embodiment 14

[0405] An embodiment of the present application also provides a user equipment. Fig.16 A schematic diagram of the structure of a user device provided in Embodiment 14 of the present application, such as Fig.16 As shown, the user equipment 300 may include:

[0406] The memory 31 and the processor 32, the memory 31 is used to store the computer program and transmit the program code to the processor 32. In other words, the processor 32 can call and run the computer program from the memory 31 to implement the method steps performed by the user equipment in the first to eleventh embodiments of the method of the present application. Similar descriptions can refer to the method embodiments, and will not be repeated here to avoid repetition. For example, the processor 32 can be used to execute the above method embodiments according to the instructions in the computer program.

[0407] In some embodiments of the present application, the processor 32 may include but is not limited to: a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0408] In some embodiments of the present application, the memory 31 includes, but is not limited to, volatile memory and / or non-volatile memory. 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), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus random access memory (Direct Rambus RAM, DR RAM).

[0409] In some embodiments of the present application, the computer program may be divided into one or more modules, which are stored in the memory 31 and executed by the processor 32 to complete the method provided by the present application. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the user equipment.

[0410] like Fig.16 As shown, the user equipment 300 may further include: a transceiver 33 , which may be connected to the processor 32 or the memory 31 .

[0411] The processor 32 may control the transceiver 33 to communicate with other devices, specifically, to send information or data to other devices, or to receive information or data sent by other devices. The transceiver 33 may include a transmitter and a receiver. The transceiver 33 may further include an antenna, and the number of antennas may be one or more.

[0412] Understandable, although Fig.16Not shown, the user equipment 300 may also include a camera module, a wireless fidelity WIFI module, a positioning module, a Bluetooth module, a display, a controller, etc., which will not be repeated here.

[0413] It should be understood that the various components in the user equipment are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus and a status signal bus.

[0414] The present application also provides a positioning device, which includes a processor and a memory. The structure of the positioning device is as shown in FIG. Fig.16 The structure of the user equipment shown in the figure, the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method steps performed by the positioning device in the method embodiments 1 to 11 of the present application. Similar descriptions can refer to the method embodiments, and to avoid repetition, they are not repeated here.

[0415] An embodiment of the present application also provides a computer storage medium on which a computer program is stored. When the computer program is executed by a computer, the computer is enabled to execute the method performed by the user equipment or positioning device in the above-mentioned method embodiments 1 to 11. Similar descriptions can refer to the method embodiments. To avoid repetition, they are not repeated here.

[0416] An embodiment of the present application also provides a chip, which includes a processor, and the processor is used to call and run a computer program from a memory so that the chip executes the method executed by the user equipment or positioning device in the above-mentioned method embodiments one to eleven. Similar descriptions can refer to the method embodiments, and to avoid repetition, they are not repeated here.

[0417] An embodiment of the present application provides a communication system, which includes at least a user device and a positioning device. The user device and the positioning device communicate with each other to implement the positioning method described in the above method embodiments 1 to 11. Similar descriptions can refer to the method embodiments. To avoid repetition, they are not repeated here.

[0418] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the module is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0419] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. For example, each functional module in each embodiment of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0420] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A positioning method, characterized in that: The method comprises: The user equipment transmits a positioning signal on an ARP within at least one antenna reference point ARP group. The user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment.

2. The method according to claim 1, characterized in that Also includes: The user equipment sends information of the ARP group to the positioning device, where the information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of the ARP within the ARP group.

3. The method according to claim 1 or 2, characterized in that: The ARPs in an ARP group correspond to a local coordinate system LCS, and / or the relative position of the ARPs in the LCS of the ARP group to which they belong is fixed.

4. The method according to any one of claims 1 to 3, characterized in that The ARP is uniquely identified by an ARP ID; Alternatively, the ARP is uniquely identified by an ARP ID and an ARP group ID.

5. The method according to claim 2, characterized in that: The information of the ARP group is carried in the ARP group list; The ARP group list includes the information element IE of the at least one ARP group, and the IE of each ARP group includes the following fields: ARP group ID and ARP list; The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of an ARP ID and relative location information of the ARP.

6. The method according to claim 2, characterized in that The information of the ARP group is carried in the ARP list; The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of ARP ID, ARP relative position information, and ARP group ID.

7. The method according to claim 1 or 2, characterized in that: The method further comprises: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

8. The method according to claim 7, characterized in that The user equipment determines, according to the location information of the ARP, the rotation angle information of the ARP group to which the ARP belongs, including: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs.

9. The method according to claim 7, characterized in that: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the angle information of the ARP, including: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP; The first angle estimation result is an angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs, and the second angle estimation result is an angle estimation result between the ARP and the TRP in the global coordinate system.

10. The method according to claim 7, characterized in that Also includes: The user equipment sends the rotation angle information of the ARP group to which the ARP belongs to a positioning device.

11. The method according to claim 7, characterized in that Before the user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP, the method further includes: The user equipment estimates the position of the ARP according to the positioning signal received on the ARP to obtain the position information of the ARP.

12. The method according to claim 7, characterized in that Before the user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the angle information of the ARP, the method further includes: The user equipment determines a first angle estimation result of the ARP according to the positioning signal received on the ARP.

13. The method according to claim 11, characterized in that Also includes: The user equipment sends the ARP location estimation result to the positioning device, where the ARP location estimation result includes the ARP location information and ARP ID.

14. The method according to claim 13, characterized in that The position estimation result of the ARP and the rotation angle information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device; or, The location estimation result of the ARP and the information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device.

15. The method according to claim 7, characterized in that Before the user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP, the method further includes: The user equipment receives first configuration information, where the first configuration information includes information for determining and / or requesting rotation angle information of an ARP group to which the ARP belongs.

16. The method according to any one of claims 7 to 15, characterized in that: The rotation angle information of the ARP group to which the ARP belongs includes: at least one of the coordinate conversion parameters of the LCS of the ARP group and the target coordinate system, a timestamp, and an ARP group ID; Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes: at least one of: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp at the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp at the target time, and an ARP group ID; Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes: at least one of: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID; Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes: at least one of: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group at a target time and the target coordinate system at a reference time, a timestamp of the target time, and an ARP group ID; The target coordinate system includes at least one of a global coordinate system, a coordinate system corresponding to a position estimation result of an ARP in the ARP group, and an LCS of another ARP group.

17. The method according to claim 15, characterized in that The first configuration information includes at least one of the following information: Estimation accuracy of rotation angle; The reporting granularity of the rotation angle; an indication of the reference time; The ARP group ID corresponding to the rotation angle information requested to be reported; Determined time information of the rotation angle; Reporting time information of rotation angle; The reporting response time requirements for the rotation angle; ARP information used to assist in determining the rotation angle; Information of the TRP used to assist in determining the location information of the ARP.

18. The method according to claim 16, characterized in that The coordinate conversion parameters include a conversion angle and at least one of the following parameters: an angle granularity of the coordinate conversion parameters, an angle estimation quality, or an angle estimation confidence.

19. The method according to claim 16, characterized in that The reference time is any one of the following times: The moment before the current moment; The moment of the first position estimate of ARP; The time corresponding to the first measurement instance in the measurement report; The time corresponding to the first measurement instance in the measurement window indicated by the network.

20. The method according to claim 1 or 2, characterized in that: The method further comprises: The user equipment determines, according to the positioning signal received on the ARP, a first angle estimation result between the ARP and the transmission and reception point TRP in the LCS of the ARP group to which the ARP belongs; The user equipment sends the first angle estimation result to a positioning device, where the first angle estimation result is used to determine rotation angle information of the ARP group to which the ARP belongs.

21. The method according to claim 12 or 20, characterized in that The first angle estimation result includes an angle measurement value; Alternatively, the first angle estimation result includes the angle measurement value and a coordinate system corresponding to the angle estimation result.

22. The method according to claim 20, characterized in that The first angle estimation result and other downlink measurement results are carried in the same message and sent to the positioning device.

23. The method according to claim 12 or 20, characterized in that Before determining the first angle estimation result of the ARP, the method further includes: The user equipment receives second configuration information, where the second configuration information includes information for determining and / or requesting the first angle estimation result.

24. The method according to claim 23, characterized in that The second configuration information includes at least one of the following: Angle estimation result reporting enable flag; Information about the coordinate system corresponding to the reported angle estimation result; Angle estimation accuracy; Angle reporting granularity; The ARP group ID corresponding to the angle estimation result requested to be reported; The ARP ID corresponding to the angle estimation result requested to be reported; Angle determines time information; Angle reporting time information; Angle reporting response time requirements; An angle reporting method, the angle reporting method including: a first reporting method for reporting an angle estimation result of a first path, or a second reporting method for reporting an angle estimation result of a multipath; The number of angle measurements reported for each path; Information of the transmit / receive point TRP used for angle estimation.

25. The method according to any one of claims 3, 8, 9 and 20, characterized in that The LCS of the ARP group meets at least one of the following conditions: The origin of the LCS of the ARP group is the location of any ARP included in the ARP group; The LCS of the ARP group uses a plane formed by any three ARPs included in the ARP group as one of the coordinate planes; The LCS of the ARP group uses the vertical direction of the plane formed by any three ARPs included in the ARP group as one of the coordinate axes.

26. A positioning method, characterized in that: The method comprises: The positioning device receives information of at least one antenna reference point ARP group from the user equipment, the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment; The positioning device acquires the location information of the ARP in the ARP group according to the information of the ARP group; The positioning device determines the location of the user equipment according to the location information of the ARP in the ARP group.

27. The method according to claim 26, characterized in that The information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of ARPs within the ARP group.

28. The method according to claim 26 or 27, characterized in that Also includes: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

29. The method according to claim 28, characterized in that The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP, including: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

30. The method according to claim 28, characterized in that The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the angle information of the ARP, including: The positioning device receives a first angle estimation result sent by the user equipment, where the first angle estimation result is an angle estimation result between the ARP and a transmission and reception point TRP in an LCS of an ARP group to which the ARP belongs; The positioning device obtains a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in a global coordinate system; The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP.

31. A positioning device, characterized in that: The device comprises: A transmission module is used to transmit a positioning signal on an ARP within at least one antenna reference point ARP group of a user device, wherein the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device.

32. The device according to claim 31, characterized in that Also includes: The sending module is used to send the information of the ARP group to the positioning device, wherein the information of the ARP group includes at least one of the ARP group identification ID, the ARP ID in the ARP group, and the relative position information of the ARP in the ARP group.

33. The device according to claim 31 or 32, characterized in that Also includes: The determination module is used to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

34. The device according to claim 33, characterized in that The determination module is specifically used for: The rotation angle information of the ARP group to which the ARP belongs is determined according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

35. The device according to claim 33, characterized in that The determination module is specifically used for: Determine the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP; The first angle estimation result is an angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs, and the second angle estimation result is an angle estimation result between the ARP and the TRP in the global coordinate system.

36. The device according to claim 33, characterized in that Also includes: The sending module is used to send the rotation angle information of the ARP group to which the ARP belongs to a positioning device.

37. The device according to claim 33, characterized in that Also includes: The location estimation module is used to estimate the location of the ARP according to the positioning signal received on the ARP to obtain the location information of the ARP.

38. The device according to claim 33, characterized in that Also includes: The angle estimation module is used to determine a first angle estimation result of the ARP according to the positioning signal received on the ARP.

39. The device according to claim 37, characterized in that Also includes: The sending module is used to send the ARP location estimation result to the positioning device, where the ARP location estimation result includes the ARP location information and ARP ID.

40. The device according to claim 33, characterized in that Also includes: The receiving module is used to receive first configuration information, where the first configuration information includes information used to determine and / or request rotation angle information of the ARP group to which the ARP belongs.

41. The device according to claim 31 or 32, characterized in that The device also includes: An angle estimation module, used to determine a first angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs according to the positioning signal received on the ARP; A sending module is used to send the first angle estimation result to a positioning device, where the first angle estimation result is used to determine the rotation angle information of the ARP group to which the ARP belongs.

42. The device according to claim 38 or 41, characterized in that Also includes: The receiving module is used to receive second configuration information, where the second configuration information includes information used to determine and / or request the first angle estimation result.

43. A positioning device, characterized in that: The device comprises: A receiving module, configured to receive information of at least one antenna reference point ARP group sent by a user equipment, wherein the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and positioning signals on ARPs in different ARP groups respectively determine the position of the user equipment; An acquisition module, used for acquiring the location information of the ARP in the ARP group according to the information of the ARP group; The first determining module is used to determine the location of the user equipment according to the location information of the ARP in the ARP group.

44. The device according to claim 43, characterized in that The information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of ARPs within the ARP group.

45. The device according to claim 43 or 44, characterized in that Also includes: The second determining module is used to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

46. ​​The device according to claim 45, characterized in that The second determining module is specifically used for: The rotation angle information of the ARP group to which the ARP belongs is determined according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

47. The device according to claim 45, characterized in that The second determining module is specifically used for: receiving a first angle estimation result sent by the user equipment, where the first angle estimation result is an angle estimation result between the ARP and a transmitting and receiving point TRP in an LCS of an ARP group to which the ARP belongs; Obtain a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in a global coordinate system; The rotation angle information of the ARP group to which the ARP belongs is determined according to the first angle estimation result and the second angle estimation result of the ARP.

48. A user equipment, characterized in that include: A processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to execute the method according to any one of claims 1 to 25.

49. A positioning device, characterized in that: include: A processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to execute the method according to any one of claims 26 to 30.

50. A computer-readable storage medium, characterized in that Used to store a computer program, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 25.

51. A computer-readable storage medium, characterized in that: Used to store a computer program, the computer program causing a computer to execute the method according to any one of claims 26 to 30.

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