Weighted positioning measurements

Abstract

In accordance with an example embodiment of the present disclosure, a method for weighted positioning measurements is presented. A difference between the measurement and the reference value is determined based on one or more channel characteristics associated with the measurement and the reference value. A weight of the measurement is determined based on a difference between the measurement and the reference value. In this way, positioning accuracy can be improved. In addition, multiple measurements are not required in assigning weights to measurements.

Description

Technical Field

[0001] Various example embodiments of the present disclosure relate generally to the field of telecommunications, and in particular to methods, devices, apparatus, and computer-readable storage media for weighted positioning measurements. Background Art

[0002] Location awareness is a fundamental aspect of wireless communication networks and will enable a multitude of location-enabled services in different applications. As the accuracy of the technology evolves, the integration and utilization of location information in everyday applications will grow significantly.

[0003] Many positioning techniques have been proposed, such as time of arrival (TOA), time difference of arrival (TDOA), round trip time (RTT), angle of arrival (AOA), and angle of departure (AOD). Position estimation can be performed using multiple positioning measurements acquired from different located anchors or transmission reception points (TRPs) in a time-based and angle-based approach. Such multiple measurements are then combined to estimate the position of the user equipment (UE). Summary of the invention

[0004] In a first aspect of the present disclosure, a first device is provided. The first device includes at least one processor; and at least one memory storing instructions, which when executed by the at least one processor causes the first device to at least: determine a channel feature set and a reference value set associated with the channel feature set; determine at least one target channel feature from a target positioning measurement based on the channel feature set; determine a difference between the target positioning measurement and at least one reference value in the reference value set based on the at least one target channel feature; and determine a weight of the target positioning measurement based on the difference.

[0005] In a second aspect of the present disclosure, a method is provided. The method includes determining a channel feature set and a reference value set associated with the channel feature set. The method also includes determining at least one target channel feature from a target positioning measurement based on the channel feature set. The method also includes determining a difference between the target positioning measurement and at least one reference value in the reference value set based on the at least one target channel feature. The method also includes determining a weight of the target positioning measurement based on the difference.

[0006] In a third aspect of the present disclosure, a first device is provided. The first device includes: a component for determining a channel feature set and a reference value set associated with the channel feature set; a component for determining at least one target channel feature from a target positioning measurement based on the channel feature set; a component for determining a difference between the target positioning measurement and at least one reference value in the reference value set based on the at least one target channel feature; and a component for determining a weight of the target positioning measurement based on the difference.

[0007] In a fourth aspect of the present disclosure, a computer-readable medium is provided, wherein the computer-readable medium includes instructions stored thereon, and is used to cause an apparatus to execute at least the method according to the first aspect.

[0008] It should be understood that the present invention content is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure.Through the following description, other features of the present disclosure will become easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Some example embodiments will now be described with reference to the accompanying drawings, in which:

[0010] Figure 1 An example communication environment is shown in which example embodiments of the present disclosure may be implemented;

[0011] Figure 2 A flowchart showing a process for weighting positioning measurements according to some example embodiments of the present disclosure is shown;

[0012] Figure 3 shows a signaling diagram for communication according to some example embodiments of the present disclosure;

[0013] Figure 4 A schematic diagram illustrating determining a difference between a positioning measurement and one or more reference values ​​according to some example embodiments of the present disclosure;

[0014] Figure 5 shows a simplified block diagram of a device suitable for implementing an example embodiment of the present disclosure; and

[0015] Figure 6 A block diagram of an example computer-readable medium is shown according to some example embodiments of the present disclosure.

[0016] Throughout the drawings, the same or similar reference numerals represent the same or similar elements. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. DETAILED DESCRIPTION

[0017] The principles of the present disclosure will now be described with reference to some example embodiments. It should be understood that these embodiments are described only for illustrative purposes, and help those skilled in the art to understand and implement the present disclosure, without indicating any limitation to the scope of the present disclosure. The embodiments described herein can be implemented in various ways except for the ways described below.

[0018] In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0019] References in this disclosure to "one embodiment," "an embodiment," "an example embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes the particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it should be noted that it is within the knowledge of those skilled in the art to affect such features, structures, or characteristics in connection with other embodiments, whether or not explicitly described.

[0020] It should be understood that although the terms "first", "second", etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the example embodiments. As used herein, the term "and / or" includes any and all combinations of one or more of the listed terms.

[0021] As used herein, “at least one of: ” and “at least one of ” and similar expressions (wherein a list of two or more elements is connected by “and” or “or”) mean at least any one of the elements, or at least two or more of the elements, or at least all of the elements.

[0022] As used herein, unless explicitly stated, performing a step "in response to A" does not indicate that the step is performed immediately after "A" occurs, and may include one or more intermediate steps.

[0023] The terms used herein are used only for the purpose of describing specific embodiments and are not intended to limit the example embodiments. As used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms, unless the context clearly indicates otherwise. It will also be understood that the terms "comprises", "comprising", "has", "having", "includes", and / or "including" when used herein specify the presence of stated features, elements, and / or components, etc., but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0024] As used in this application, the term "circuitry" may refer to one, more, or all of the following:

[0025] (a) pure hardware circuit implementation (such as an implementation using only analog and / or digital circuitry) and

[0026] (b) a combination of hardware circuitry and software such as (where applicable):

[0027] (i) a combination of analog and / or digital hardware circuits and software / firmware, and

[0028] (ii) any portion of a hardware processor(s) with software, including digital signal processor(s), software and memory(s), which work together to enable a device (such as a mobile phone or server) to perform various functions, and

[0029] (c) Hardware circuit(s) and / or processor(s), such as microprocessor(s) or portion(s) of microprocessor(s), that require software (e.g., firmware) to operate, but which may not be present when the software is not required for operation.

[0030] This definition of circuitry applies to all uses of the term in this application, including in any claims. As a further example, as used in this application, the term circuitry also covers an implementation of only a hardware circuit or processor (or multiple processors) or a portion of a hardware circuit or process and its accompanying software and / or firmware. For example, if applicable to a particular claim element, the term circuitry also covers a baseband integrated circuit or processor integrated circuit for a mobile device, or a similar integrated circuit in a server, cellular network device, or other computing or network device.

[0031] As used herein, the term "communication network" refers to a network that complies with any appropriate communication standard, such as New Radio (NR), Long Term Evolution (LTE), Advanced LTE (LTE-A), Wideband Code Division Multiple Access (WCDMA), High Speed ​​Packet Access (HSPA), Narrowband Internet of Things (NB-IoT), etc. In addition, the communication between the terminal device and the network device in the communication network can be performed according to any appropriate generation of communication protocols, including but not limited to the first generation (1G), second generation (2G), 2.5G, 2.75G, third generation (3G), fourth generation (4G), 4.5G, fifth generation (5G) communication protocols and / or any other currently known or future protocols to be developed. The example embodiments of the present disclosure can be applied to various communication systems. In view of the rapid development of communication, there will certainly be future types of communication technologies and systems that can embody the present disclosure. It should not be regarded as limiting the scope of the present disclosure to the above-mentioned systems.

[0032] As used herein, the term "network device" refers to a node in a communication network through which a terminal device accesses the network and receives services from it. A network device may refer to a base station (BS) or an access point (AP), for example, a NodeB (NodeB or NB), an evolved NodeB (eNodeB or eNB), a NR NB (also referred to as a gNB), a remote radio unit (RRU), a radio head (RH), a remote radio head (RRH), a relay, an integrated access and backhaul (IAB) node, a low-power node (such as a femto, a micro), a non-terrestrial network (NTN) or a non-terrestrial network device (such as a satellite network device, a low earth orbit (LEO) satellite, and a geosynchronous orbit (GEO) satellite), an aircraft network device, etc., depending on the terminology and technology applied. In some example embodiments, a radio access network (RAN) separation architecture includes a centralized unit (CU) and a distributed unit (DU) at an IAB donor node. An IAB node includes a mobile terminal (IAB-MT) portion that behaves like a UE toward a parent node, and a DU portion of an IAB node behaves like a base station toward a next-hop IAB node.

[0033] The term "terminal device" refers to any terminal device that can perform wireless communication. As an example and not limitation, the terminal device may also be referred to as a communication device, a user equipment (UE), a subscriber station (SS), a portable subscriber station, a mobile station (MS) or an access terminal (AT). The terminal device may include, but is not limited to, a mobile phone, a cellular phone, a smart phone, a voice over IP (VoIP) phone, a wireless local loop phone, a tablet computer, a wearable terminal device, a personal digital assistant (PDA), a portable computer, a desktop computer, an image capture terminal device (such as a digital camera), a game terminal device, a music storage and playback device, a vehicle-mounted wireless terminal device, a wireless endpoint, a mobile station, a laptop embedded device (LEE), a laptop mounted device (LME), a USB dongle, a smart device, a wireless client device (CPE), an Internet of Things (IoT) device, a watch or other wearable device, a head mounted display (HMD), a vehicle, a drone, a medical device and an application (such as remote surgery), an industrial device and an application (such as a robot and / or other wireless device running in the context of an industrial and / or automated processing chain), a consumer electronic device, a device running on a commercial and / or industrial wireless network, etc. The terminal device may also correspond to the mobile terminal (MT) part of an IAB node (eg, a relay node).In the following description, the terms "terminal device", "communication device", "terminal", "user equipment" and "UE" may be used interchangeably.

[0034] As used herein, the term "resource", "transmission resource", "resource block", "physical resource block" (PRB), "uplink resource" or "downlink resource" may refer to any resource used to perform communication (e.g., communication between a terminal device and a network device), such as a resource in the time domain, a resource in the frequency domain, a resource in the space domain, a resource in the code domain, or any other resource that enables communication. In the following, unless explicitly stated, some example embodiments of the present disclosure will be described using resources in both the frequency domain and the time domain as examples of transmission resources. It should be noted that the example embodiments of the present disclosure are also applicable to other resources in other domains.

[0035] As mentioned above, multiple positioning measurements obtained from different positioned anchors or TRPs can be used to perform position estimation in time-based and angle-based methods. The accuracy of each time-based or angle-based positioning measurement utilized may directly affect the positioning accuracy. However, each measurement may typically be associated with a different radio environment and, therefore, not have the same reliability for the positioning task.

[0036] While some measurements may carry accurate information, some other measurements may be inaccurate due to challenging radio conditions such as non-line-of-sight (NLOS) or multipath propagation. When inaccurate measurements are included in the positioning solution, the accuracy of the final position estimate may be reduced. For example, the case of NLOS measurements is already a known problem because the flight time of the signal on the NLOS path does not correlate with the distance from the transmitter to the receiver, thereby distorting the position estimate. Therefore, solutions are needed to mitigate such measurement inaccuracies.

[0037] In order to mitigate the negative impact of inaccurate positioning measurements on the final position estimate, each positioning measurement can be evaluated in terms of accuracy and reliability. Although received power can be used as a simple scheme for such evaluation, relying solely on received power for positioning purposes results in very limited information extraction. For time-based and angle-based positioning methods, NLOS propagation is one of the main sources of reduced accuracy. Therefore, evaluating the accuracy of positioning measurements based on classifying propagation conditions (i.e., line of sight (LOS) or NLOS) has aroused interest and has been shown to be efficient. According to some solutions, it can be considered to discard NLOS-classified samples from positioning, i.e., only using LOS-classified measurements for positioning. However, this approach may lead to inaccurate positioning when the number of available measurements is low.

[0038] According to some other solutions, another method is to include NLOS measurements in the positioning solution by introducing a weighting process. In this way, lower weights can be assigned to, for example, NLOS-class measurements, while higher weights can be assigned to, for example, LOS-class measurements. Weights can be applied to positioning by applying a weighted least squares (WLS) estimator instead of a least squares (LS) estimator. The mentioned LOS / NLOS indicator can be reported. However, it is not specified how to obtain such an indicator. Various features extracted from the received positioning signal are processed by likelihood testing, support vector machines, and Gaussian processes or fuzzy comprehensive evaluations to determine the weights. In addition, each ranging measurement in the positioning solution can be weighted using the ranging error estimated from the channel impulse response (CIR) by a deep learning algorithm. However, this method also requires data marked (using LOS / NLOS flags or using ranging errors) to train the adopted supervision method, in which data marked for each scene of interest is collected, and the cost of updating the label when the relevant scene undergoes a major change may be high due to the labor and time required.

[0039] Example Environment

[0040] Figure 1 An example communication environment 100 is illustrated in which example embodiments of the present disclosure may be implemented. The communication environment 100 includes a device 110-1, a device 110-2, ..., a device 110-N, which may be collectively referred to as "(multiple) devices 110", and N may be any integer. The communication environment 100 also includes a device 120. In the communication environment 100, multiple communication devices including the device 110 and the device 120 may communicate with each other.

[0041] It should be understood that Figure 1 The number of devices and their connections shown in are for illustrative purposes only and do not indicate any limitation. Communication environment 100 may include any appropriate number of devices configured to implement the example embodiments of the present disclosure. It should be noted that although device 120 is illustrated as a core network device, device 120 may be a device other than a core network device. Although device 110 is illustrated as a terminal device, device 110 may be a device other than a terminal device.

[0042] In the following, for the purpose of illustration, some example embodiments are described with device 110 operating as a terminal device and device 120 operating as a core network device. However, in some example embodiments, the operations described in conjunction with the terminal device may be implemented at a network device or other device, and the operations described in conjunction with the network device may be implemented at a terminal device or other device.

[0043] In some example embodiments, if device 110 is a terminal device, the link from the network device to device 110 is referred to as a downlink (DL), and the link from device 110 to the network device is referred to as an uplink (UL). In some example embodiments, device 120 may be a transmitting (TX) device (or transmitter), and device 110 may be a receiving (RX) device (or receiver). In some other embodiments, device 110 may be a TX device (or transmitter), and device 120 may be a RX device (or receiver).

[0044] The communication in the communication environment 100 may be implemented according to any appropriate (multiple) communication protocols, including but not limited to cellular communication protocols of the first generation (1G), second generation (2G), third generation (3G), fourth generation (4G), fifth generation (5G), sixth generation (6G), etc., wireless local area network communication protocols such as Institute of Electrical and Electronics Engineers (IEEE) 802.11, etc., and / or any other protocol currently known or to be developed in the future. In addition, the communication may utilize any appropriate wireless communication technology, including but not limited to: code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), frequency division duplex (FDD), time division duplex (TDD), multiple input multiple output (MIMO), orthogonal frequency division multiplexing (OFDM), discrete Fourier transform spread OFDM (DFT-s-OFDM), and / or any other technology currently known or to be developed in the future.

[0045] How it works and how to use it

[0046] According to an example embodiment of the present disclosure, a method for weighting positioning measurements is proposed. The difference between the measurement and the reference value is determined based on one or more channel characteristics associated with the measurement and the reference value. The weight of the measurement is determined based on the difference between the measurement and the reference value. In this way, positioning accuracy can be improved. In addition, multiple measurements are not required when assigning weights to the measurements.

[0047] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0048] Figure 2 A flowchart of an example method 200 implemented at a first device according to some example embodiments of the present disclosure is shown. In some example embodiments, the first device may refer to device 110. Alternatively, the first device may refer to device 120.

[0049] At block 210, the first device determines a channel feature set, and a reference value set associated with the channel feature set. In some example embodiments, the first device may determine the reference value set and the channel feature set on its own. For example, if the first device refers to device 120, device 120 may determine the reference value set and the channel feature set on its own. Alternatively, the first device may receive first information indicating at least one of the following from the second device: a reference value set and a channel feature set. For example, in some example embodiments, the first device may refer to device 110-1, and the second device may refer to device 120. In this case, device 120 may determine the reference value set and the channel feature set, and send the first information indicating the reference value set and the channel feature set to device 110-1. In some example embodiments, device 110-1 may send a request for at least one of the following to device 120: a reference value set and a channel feature set, and device 120 may send the first information based on the request. For example, in some example embodiments, device 110-1 may request the reference value set and the channel feature set. In this case, device 110-1 may receive first information indicating both the reference value set and the channel characteristic set. Alternatively, the channel characteristic set may be predetermined or prepaid. In this case, device 110-1 may request the reference value set and receive first information indicating the reference value set.

[0050] In some example embodiments, a reference value set and a channel characteristic set may be determined during an offline phase. In this case, in some example embodiments, the first device may collect channel measurement information related to the measurement set. In some example embodiments, the measurement set may include one or more positioning measurements based on time. For example, the measurement set may include one or more of the following: TOA, TDOA, or RTT. Alternatively, or in addition, the measurement set may include one or more measurements based on angles. For example, the measurement set may include one or more of the following: AOA or AOD. The channel measurement information may include one or more types of information useful for characterizing a communication channel. In some example embodiments, the channel measurement information may include a channel impulse response (CIR), a channel state information (CSI), a received signal strength indicator (RSSI), a reference signal received power (RSRP), and / or other information that may be measured. In some example embodiments, the measurement set may include uplink measurements. Alternatively, the measurement set may include downlink measurements. In some other example embodiments, the measurement set may include side link measurements.

[0051] In some example embodiments, the first device may determine a channel feature set from the measurement set. For example, the first device may extract one or more channel features that are different for LOS propagation and NLOS propagation from the collected channel measurement information. In some example embodiments, the channel feature set may include a root mean square (RMS) delay spread. For example, the RMS delay spread of LOS propagation may be lower than that of NLOS propagation. Alternatively, or in addition, the channel feature set may include a channel response amplitude (e.g., a maximum channel response amplitude). For example, the maximum channel response amplitude of LOS propagation may be greater than that of NLOS propagation. In some other embodiments, the channel feature set may include a channel response rise time. For example, the channel response rise time of LOS propagation may be shorter than that of NLOS propagation. Alternatively, or in addition, the channel feature set may include a Rician K factor. For example, the Rician K factor of LOS propagation may be higher than that of NLOS propagation. It should be noted that the channel feature set may include one or any combination of the above-mentioned channel features, and the channel feature set may also include one or more of the other channel features not mentioned above.

[0052] In some example embodiments, the first device may cluster the measurement set into a plurality of classes based on the channel feature set. For example, the measurement set may be clustered into K classes based on the channel feature set, where K may be an integer. In addition, the first device may determine a reference value set for the class. For example, the centroids of the K classes may be determined. In some example embodiments, the K clusters may be sorted relative to the (N)LOS similarity of their centroid coordinates. For example, a centroid with a higher delay spread and a lower Rician K factor may be a cluster that is more NLOS-like. As a result of the offline phase, a channel feature set and a reference value set for the class may be obtained.

[0053] In some example embodiments, a contradiction check may be performed on the reference value set. In this way, clusters do not contradict each other with respect to LOS similarity or NLOS similarity. For example, a cluster cannot simultaneously have a higher channel response kurtosis (meaning more LOS similarity) and a higher delay spread (meaning less LOS similarity) than another cluster.

[0054] At block 220, the first device determines at least one target channel characteristic from the target positioning measurement based on the channel characteristic set. In some example embodiments, the target positioning measurement may include a time-based positioning measurement. For example, the target positioning measurement may include one of the following: TOA, TDOA, or RTT. Alternatively, or in addition, the target positioning measurement may include an angle-based measurement. For example, the target positioning measurement may include one of the following: AOA or AOD. In some example embodiments, if the channel characteristic set includes a first channel characteristic, the first device may determine the first channel characteristic of the target positioning measurement. By way of example only, if the channel characteristic set includes a channel response amplitude, the first device may determine the channel response amplitude of the target positioning measurement. Alternatively, if the channel characteristic set includes multiple channel characteristics, the first device may determine multiple channel characteristics of the target positioning measurement. For example, if the channel characteristic set includes a channel response amplitude and a delay spread, the first device may determine the channel response amplitude and the delay spread of the target positioning measurement. In some example embodiments, the set of channel characteristics may include one or more of: received waveform amplitude, received waveform rise time, received waveform kurtosis, average energy of the channel response, average energy of the received waveform, total energy of the channel response, total energy of the received waveform, total amplitude of the channel response, total amplitude of the received waveform, average excess delay, skewness of the channel response, skewness of the received waveform, standard deviation of the channel response, standard deviation of the received waveform, standard variance of the channel response, or standard variance of the received waveform.

[0055] At block 230, the first device determines a difference between the target positioning measurement and at least one reference value based on at least one target channel characteristic. For example, the difference may be determined as d i =|OC j | i , where d represents the difference, for j = {1, 2}, i = {LOS, NLOS}, C j represents the jth reference value, and O represents the value of the target feature measured for target positioning.

[0056] In some example embodiments, the first device may determine a difference between the target positioning measurement and one reference value. Alternatively, the first device may determine a difference between the target positioning measurement and more than one reference value. In some example embodiments, the first device may determine a difference between the target positioning measurement and a subset of reference values. For example, if the reference value set has two reference values, a first reference value associated with a LOS channel (or LOS radio propagation condition) and a second reference value associated with a NLOS channel (or NLOS radio propagation condition) may be used. In this case, the first device may determine a first difference (e.g., denoted as d ) between the target positioning measurement and the first reference value. LOS), and determining a second difference (e.g., denoted as d NLOS ). The term “line-of-sight (LOS)” as used herein may refer to a type of propagation in which data can be sent and received only if a transmitting station and a receiving station can see each other and there are no obstacles between them.

[0057] In some embodiments, the first device may determine a third reference value from the reference value set, the third reference value being associated with a channel that is more like line of sight than other reference values ​​in the reference value set. The first device may also determine a fourth reference value from the reference value set, the fourth reference value being associated with a channel that is more like non-line of sight than other reference values ​​in the reference value set. In this case, the first device may determine a third difference between the target positioning measurement and the third reference value, and determine a fourth difference between the target positioning measurement and the fourth reference value. In other words, if the reference value set has more than two reference values, one reference value associated with a channel that is more like LOS and another reference value associated with a channel that is more like NLOS may be used to determine the difference. Alternatively, in some example embodiments, the first device may determine the difference between the target positioning measurement and multiple reference values ​​(e.g., all reference values) in the reference value set. In other words, the difference may be determined using all or multiple reference values ​​in the reference value set. For example, if the reference value set includes 5 reference values, the difference between the target positioning measurement and each of the 5 reference values ​​may be calculated. In this case, 5 differences may be obtained. As used herein, the term "LOS-like channel" may refer to a channel having a propagation similar to or the same as LOS. As used herein, the term "NLOS-like channel" may refer to a channel having a propagation different from LOS.

[0058] In some example embodiments, the target positioning measurements may include measurements related to the uplink. Alternatively, the target positioning measurements may include measurements related to the downlink. In some other embodiments, the target positioning measurements may include measurements related to the sidelink. In this case, for example, the target positioning measurements may be performed on a reference signal sent via the sidelink (e.g., between the first device and (multiple) anchor UEs). Alternatively, or in addition, the target positioning measurements may be performed on a reference signal received via the sidelink.

[0059] At box 240, the first device determines the weight of the target positioning measurement based on the difference. For example, if the first difference is less than the second difference, the target positioning measurement can be assigned a first weight. If the first difference is greater than the second difference, the target positioning measurement can be assigned a second weight. In this case, the first weight can be greater than the second weight. In other words, a positioning measurement that is closer to the center of mass that is most like LOS and away from the center of mass that is most like NLOS may produce a high weight, while a positioning measurement that is away from the center of mass that is most like LOS and closer to the center of mass that is most like NLOS may produce a low weight. Alternatively, in some example embodiments, all reference values ​​or multiple reference values ​​in a reference value set may be used to determine the difference. In this case, the weight can be determined based on all differences. For example, if the reference value set includes 5 reference values, the difference between the target positioning measurement and each of the 5 reference values ​​can be calculated. In this case, the weight can be determined based on the 5 differences obtained.

[0060] In some example embodiments, the first device may determine the weight as a function of the difference. For example, the weight may be determined as w=f(d LOS , d NLOS ), where w represents weight, f represents weight function, and d LOS represents a first difference between the target positioning measurement and a first reference value associated with the LOS, and d NLOS represents a second difference between the target positioning measurement and a second reference value associated with the NLOS. In some example embodiments, the function f may be selected so that the weight w increases with d LOC Smaller, d NLOS It should be noted that the exemplary embodiments of the present disclosure are not limited to K=2 clusters, and K can take any integer value greater than 1, and the number of channel features can be arbitrarily selected.

[0061] In some example embodiments, the function may include a ratio between the first difference and the second difference, for example, d LOS / D NIOS Alternatively, the function may comprise a ratio between the first difference and the sum of the first difference plus the second difference, for example, d LOS / (d LOS +d NLOS In some other embodiments, the function may include a ratio between the second difference and the sum of the first difference plus the second difference, for example, d NLOS / (d LOS +d NLOS ). In some example embodiments, the function may include a ratio between the first difference and a difference between the first difference and the second difference, for example, d LOS / (d LOS -d NLOS). In some other embodiments, the function may include a ratio between the second difference and a difference between the first difference and the second difference, for example, d NLOS / (d LOS -d NLOS ). Alternatively, the function may comprise a ratio between the first difference and the absolute value of the sum of the first difference plus the second difference, e.g., d NLOS / |d LOS +d NLOS |. Alternatively, the function may comprise the ratio between the second difference and the absolute value of the sum of the first difference plus the second difference, e.g., d NLOS / |d LOS +d NLOS |. Alternatively, the function may comprise the ratio between the sum of the first difference plus the second difference and the difference between the first difference and the second difference, for example, (d LOS -d NLOS ) / |d LOS +d NLOS |.

[0062] In some example embodiments, the function may include a ratio between a function of the first difference and a function of the second difference, for example, log d LOS / logd NLOS or expd LOS / expd NLOS Alternatively, the function may comprise a ratio between a function of the first difference and a function of the sum of the first difference plus the second difference, for example, log d LOS / log(d LOS +d NLOS ) or logd LOS / log(d LOS +d NLOS In some other embodiments, the function may include a ratio between a function of the second difference and a function of the sum of the first difference plus the second difference, for example, log d NLOS / log(d LOS +d NLOS ) or expd NLOS / exp(d LOS +d NLOS In some example embodiments, the function may include a ratio between a function of the first difference and a function of the difference between the first difference and the second difference, for example, log d LOS / log(d LOS -d NLOS ) or expd LOS / exp(d LOS -d NLOSIn some other embodiments, the function may include a ratio between a function of the second difference and a function of the difference between the first difference and the second difference, for example, log d NLOS / log(d LOS -d NLOS ) or expd NLOS / exp(d LOS -d NLOS ). Alternatively, the function may comprise a ratio between a function of the first difference and a function of the absolute value of the sum of the first difference plus the second difference, for example, log d LOS / log|d LOS +d NLOS | or expd LOS / exp|d LOS -d NLOS |. Alternatively, the function may comprise the ratio between a function of the second difference and a function of the absolute value of the sum of the first difference plus the second difference, for example, log NLOS / log|d LOS +d NLOS | or expd NLOS / exp|d LOS +d NLOS |. Alternatively, the function may comprise the ratio between a function of the sum of the first difference plus the second difference and a function of the difference between the first difference and the second difference, for example, log(d LOS -d NLOS ) / log|d LOS +d NLOS | or exp(d LOS -d NLOS ) / exp|d LOS +d NLOS |.

[0063] In some example embodiments, the first device may determine the location estimate based on the weights. For example, the first device may determine the location estimate by using a weighted least squares algorithm. Alternatively, the first device may send second information indicating the weights used to determine the location estimate to the second device.

[0064] According to an example embodiment of the present disclosure, the first device (i.e., the weighting entity, e.g., device 110 or device 120) can utilize a reference value set belonging to a cluster of previously determined positioning measurements and the positioning measurements to be weighted as inputs, and generate a weight of a given measurement as output for use in positioning estimation. In this way, during the online phase, an example embodiment of the present disclosure may not require multiple measurements to determine the weight of the positioning measurement. In addition, the accuracy of positioning may also be improved.

[0065] Example signaling for communication

[0066] Reference now Figure 3 , which shows a signaling diagram 300 for communication according to some example embodiments of the present disclosure. Figure 3 As shown in FIG. 3 , signaling diagram 300 involves device 310 and device 320. In some example embodiments, device 310 may be implemented as Figure 1 One of the devices 110 (eg, device 110-1) shown in FIG. 1 and device 320 may be implemented as Figure 1 . In this case, in some example embodiments, the signaling may provide an auxiliary data message from device 120 to device 110-1 via the LTE Positioning Protocol (LPP). In some other example embodiments, the signaling may first provide auxiliary data from device 120 to a network device (e.g., a gNB) via the NR Positioning Protocol (NRPPa), and may then be sent to device 110-1 via a radio resource control (RRC) message or a medium access control (MAC) message. Alternatively, device 310 may be implemented as one of devices 110 (e.g., device 110-1), and device 320 may be implemented as another of devices 110 (e.g., device 110-2). In this case, the signaling may be via a side link between devices 110.

[0067] Despite Figure 3 The figure shows one device 310 and one device 320, but it is understood that there may be multiple devices that perform similar operations as described below with respect to device 310, and there may be multiple devices that perform similar operations as described below with respect to device 320. It should be noted that Figure 3 The signaling shown in is only an example and is not limiting.

[0068] In some example embodiments, device 310 may send 3005 to device 320 a request for at least one of: a reference value set and a channel feature set. For example, device 310 may request a centroid feature vector value set to be used. For example, in some example embodiments, device 310 may request both a reference value set and a channel feature set. Alternatively, the channel feature set may be predetermined or prepaid. In this case, device 310 may request a reference value set.

[0069] In some example embodiments, the reference value set and the channel characteristic set may be determined during the offline phase. In this case, in some example embodiments, the device 320 may collect channel measurement information related to the measurement set. In some example embodiments, the measurement set may include one or more positioning measurements based on time. For example, the measurement set may include one or more of the following: TOA, TDOA, or RTT. Alternatively, or in addition, the measurement set may include one or more measurements based on angles. For example, the measurement set may include one or more of the following: AOA or AOD. The channel measurement information may include one or more types of information useful for characterizing the communication channel. In some example embodiments, the channel measurement information may include a channel impulse response (CIR), a channel state information (CSI), a received signal strength indicator (RSSI), a reference signal received power (RSRP), and / or other information that may be measured. In some example embodiments, the measurement set may include uplink measurements. Alternatively, the measurement set may include downlink measurements. In some other example embodiments, the measurement set may include side link measurements.

[0070] The device 320 may determine 3010 a channel feature set based on the measurement set. For example, the device 320 may extract one or more channel features that differ for LOS propagation and NLOS propagation from the collected channel measurement information. In some example embodiments, the channel feature set may include a root mean square (RMS) delay spread. For example, the RMS delay spread of LOS propagation may be lower than that of NLOS propagation. Alternatively, or in addition, the channel feature set may include a channel response amplitude (e.g., a maximum channel response amplitude). For example, the maximum channel response amplitude of LOS propagation may be greater than that of NLOS propagation. In some other embodiments, the channel feature set may include a channel response rise time. For example, the channel response rise time of LOS propagation may be shorter than that of NLOS propagation. Alternatively, or in addition, the channel feature set may include a Rician K factor. For example, the Rician K factor of LOS propagation may be higher than that of NLOS propagation. It should be noted that the channel feature set may include one or any combination of the above-mentioned channel features, and the channel feature set may also include one or more of the other channel features not mentioned above. In some example embodiments, the set of channel characteristics may include one or more of the following: root mean square delay spread, channel response or received waveform amplitude, channel response or received waveform rise time, channel response or received waveform kurtosis, Rician K factor, average energy of the channel response or received waveform, total energy of the channel response or received waveform, average amplitude of the channel response or received waveform, total amplitude of the channel response or received waveform, average excess delay, skewness of the channel response or received waveform, standard deviation of the channel response or received waveform, or standard variance of the channel response or received waveform.

[0071] In some example embodiments, the device 320 may cluster 3015 the set of measurements into a plurality of clusters based on the set of channel characteristics. For example, the set of measurements may be clustered into K clusters based on the set of channel characteristics, where K may be an integer.

[0072] In addition, the device 320 may determine 3020 a set of reference values ​​for the class. For example, the centroids of the K classes may be determined. In some example embodiments, the K clusters may be sorted with respect to the (N)LOS similarity of the centroid coordinates of the K clusters. For example, a centroid with a higher delay spread and a lower Rician K factor may be a cluster that is more NLOS-like. As a result of the offline phase, a set of channel characteristics and a set of reference values ​​for the class may be obtained.

[0073] In some example embodiments, a contradiction check may be performed on the reference value set. In this way, clusters do not contradict each other with respect to LOS similarity or NLOS similarity. For example, a cluster cannot simultaneously have a higher channel response kurtosis (meaning more LOS similarity) and a higher delay spread (meaning less LOS similarity) than another cluster.

[0074] Device 320 may send 3025 first information indicating at least one of the following to device 310: a reference value set and a channel feature set. For example, device 320 may provide channel features and K centroid feature vector values ​​to device 310. For example, if device 310 requests both a reference value set and a channel feature set, the first information may indicate both the reference value set and the channel feature set. Alternatively, the channel feature set may be predetermined or prepaid. In this case, device 110-1 may request a reference value set and receive first information indicating the reference value set.

[0075] The device 310 may determine 3030 a target channel characteristic from the target positioning measurement based on the set of channel characteristics. In some example embodiments, the target positioning measurement may include a time-based positioning measurement. For example, the target positioning measurement may include one of the following: TOA, TDOA, or RTT. Alternatively, or in addition, the target positioning measurement may include an angle-based measurement. For example, the target positioning measurement may include one of the following: AOA or AOD.

[0076] In some example embodiments, if the channel feature set includes a first channel feature, the first device may determine the first channel feature for target positioning measurement. By way of example only, if the channel feature set includes a channel response amplitude, the first device may determine the channel response amplitude for target positioning measurement. Alternatively, if the channel feature set includes multiple channel features, the first device may determine multiple channel features for target positioning measurement. For example, if the channel feature set includes a channel response amplitude and a delay spread, the first device may determine the channel response amplitude and the delay spread for target positioning measurement. In some example embodiments, the channel feature set may include one or more of the following: delay spread, CIR or received waveform energy, channel response or received waveform kurtosis, maximum channel response or received waveform amplitude, channel response or received waveform rise time, or Rician K factor.

[0077] In some example embodiments, the target positioning measurements may include measurements related to the uplink. Alternatively, the target positioning measurements may include measurements related to the downlink. In some other embodiments, the target positioning measurements may include measurements related to the sidelink. In this case, for example, the target positioning measurements may be performed on a reference signal sent via the sidelink (e.g., between the first device and (multiple) anchor UEs). Alternatively, or in addition, the target positioning measurements may be performed on a reference signal received via the sidelink.

[0078] The device 310 may determine 3035 a difference between the target positioning measurement and at least one reference value. For example, the difference may be determined as d i =|OC j | l , where d represents the difference, for j = {1, 2}, i = {LOS, NLOS}, C j represents the jth reference value (ie, the jth centroid vector), and O represents the value of the target feature (ie, the feature vector) of the target positioning measurement. The length of the vector can be determined by the number of features extracted from the positioning measurement.

[0079] refer to Figure 4 , the channel characteristic set may include a first channel characteristic and a second channel characteristic. As an example only, the first channel characteristic may be a maximum channel response amplitude, and the second channel characteristic may be an RMS delay spread. Figure 4As shown in , cluster 401 may have a greater value of a first channel characteristic than cluster 402, and a smaller value of a second channel characteristic than cluster 402. For example, cluster 401 may be associated with LOS propagation, while cluster 402 may be associated with NLOS propagation. In this case, cluster 401 may have a greater maximum channel response amplitude than cluster 402, and a smaller RMS delay spread than cluster 402. Cluster 401 may have a centroid 403 (i.e., a first reference value), while cluster 402 may have a centroid 404 (i.e., a second reference value). Device 310 may determine a first difference between positioning measurement 405 and centroid 403 and a second difference between positioning measurement 405 and centroid 404. For example, device 310 may calculate a distance 410 between positioning measurement 405 and centroid 403. Device 310 may also calculate a distance 420 between positioning measurement 405 and centroid 404.

[0080] Return to reference Figure 3 , the device 310 may determine 3040 a weight for the target location measurement based on the difference. Figure 4 As shown in , the weight of positioning measurement 405 may be determined based on distance 410 and distance 420. In some example embodiments, the weight may be determined as w=f(d LOS , d NLOS ), where w represents weight, f represents weight function, and d LOS represents a first difference between the target positioning measurement and a first reference value associated with the LOS, and d NLOS represents a second difference between the target positioning measurement and a second reference value associated with the NLOS. In some example embodiments, the function f may be selected such that the weight w increases with d LOS Smaller, d NLOS Go big and get bigger.

[0081] In some example embodiments, the function may include a ratio between the first difference and the second difference. Alternatively, the function may include a ratio between the first difference and the sum of the first difference plus the second difference. In some other embodiments, the function may include a ratio between the second difference and the sum of the first difference plus the second difference. In some example embodiments, the function may include a ratio between the first difference and the difference between the first difference and the second difference. In some other embodiments, the function may include a ratio between the second difference and the difference between the first difference and the second difference. Alternatively, the function may include a ratio between the first difference and the absolute value of the sum of the first difference plus the second difference. Alternatively, the function may include a ratio between the second difference and the absolute value of the sum of the first difference plus the second difference. Alternatively, the function may include a ratio between the sum of the first difference plus the second difference and the difference between the first difference and the second difference.

[0082] In some example embodiments, the function may include a ratio between a function of the first difference and a function of the second difference. Alternatively, the function may include a ratio between a function of the first difference and a function of the sum of the first difference plus the second difference. In some other embodiments, the function may include a ratio between a function of the second difference and a function of the sum of the first difference plus the second difference. In some example embodiments, the function may include a ratio between a function of the first difference and a function of the difference between the first difference and the second difference. In some other embodiments, the function may include a ratio between a function of the second difference and a function of the difference between the first difference and the second difference. Alternatively, the function may include a ratio between a function of the first difference and a function of the absolute value of the sum of the first difference plus the second difference. Alternatively, the function may include a ratio between a function of the second difference and a function of the absolute value of the sum of the first difference plus the second difference. Alternatively, the function may include a ratio between a function of the sum of the first difference plus the second difference and a function of the difference between the first difference and the second difference.

[0083] In some example embodiments, device 310 may send 3045 second information indicating weights of target positioning measurements to device 320. In this case, device 320 may perform 3050 positioning estimation based on the weights. For example, the first device may determine the position estimate by using a weighted least squares algorithm. For example, if device 320 obtains a first positioning measurement with a first weight and a second positioning measurement with a second weight, device 320 may determine the position estimate by combining the first positioning measurement and the second positioning measurement based on the first weight and the second weight.

[0084] Alternatively, the device 310 may perform 3055 the positioning estimate based on the weights. For example, the first device may determine the position estimate by using a weighted least squares algorithm.

[0085] Example embodiments of the present disclosure may not require any labeled data since it is unsupervised, and additionally may not require multiple (real-time) measurements when assigning weights to a given positioning measurement.

[0086] Example devices, equipment, and media

[0087] In some example embodiments, a first device (eg, Figure 1 The device 110 or the device 120 in the embodiment may include a component for performing the corresponding operation of the method 200. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit system or a software module. In some example embodiments, the first device may be implemented as Figure 1 Alternatively, the first device may be implemented as a device 110 Figure 1 The device 120 in or included therein.

[0088] In some example embodiments, the first device includes components for determining a set of channel characteristics, and a set of reference values ​​associated with the set of channel characteristics; components for determining at least one target channel characteristic from a target positioning measurement based on the set of channel characteristics; components for determining a difference between the target positioning measurement and at least one reference value in the reference value set based on the at least one target channel characteristic; and components for determining a weight of the target positioning measurement based on the difference.

[0089] In some example embodiments, means for determining a channel characteristic set, and a reference value set associated with the channel characteristic set includes means for receiving, from a second device, first information indicating at least one of: a reference value set and a channel characteristic set.

[0090] In some example embodiments, the first apparatus comprises means for sending a request to the second device for at least one of: a reference value set, and a channel characteristic set associated with the channel characteristic set.

[0091] In some example embodiments, a component for determining a channel feature set, and a reference value set associated with the channel feature set includes: a component for determining the channel feature set from a measurement set; a component for clustering the channel feature set into a plurality of classes based on the channel feature set; and a component for determining a reference value set for a class.

[0092] In some example embodiments, the first apparatus comprises means for performing a contradiction check on the set of reference values.

[0093] In some example embodiments, means for determining a difference between a target positioning measurement and at least one reference value includes means for determining a first difference between the target positioning measurement and a first reference value associated with a line-of-sight channel; and means for determining a second difference between the target positioning measurement and a second reference value associated with a non-line-of-sight channel.

[0094] In some example embodiments, means for determining a difference between a target positioning measurement and at least one reference value includes: means for determining a third reference value from a set of reference values, the third reference value being associated with a channel that is more like line-of-sight than other reference values ​​in the set of reference values; means for determining a fourth reference value from the set of reference values, the fourth reference value being associated with a channel that is more like non-line-of-sight than other reference values ​​in the set of reference values; means for determining a third difference between the target positioning measurement and the third reference value; and means for determining a fourth difference between the target positioning measurement and the fourth reference value.

[0095] In some example embodiments, means for determining a difference between the target positioning measurement and at least one reference value comprises means for respectively determining a difference between the target positioning measurement and a plurality of reference values ​​in a set of reference values.

[0096] In some example embodiments, means for determining weights of target positioning measurements comprises means for determining the weights as a function of the differences.

[0097] In some example embodiments, the first apparatus comprises means for sending, to the second device, second information indicating a weight used for determining the position estimate by the second device.

[0098] In some example embodiments, the first apparatus comprises means for determining a position estimate based on the weights.

[0099] In some example embodiments, the set of channel characteristics includes at least one of the following: root mean square delay spread, channel response or received waveform amplitude, channel response or received waveform rise time, channel response or received waveform kurtosis, Rician K factor, average energy of the channel response or received waveform, total energy of the channel response or received waveform, average amplitude of the channel response or received waveform, total amplitude of the channel response or received waveform, average excess delay, skewness of the channel response or received waveform, standard deviation of the channel response or received waveform, or standard variance of the channel response or received waveform.

[0100] In some example embodiments, the first device comprises one of: a first terminal device, a first core network device, or a first network device; and the second device comprises one of: a second terminal device, a second core network device, or a second network device.

[0101] Figure 5 5 is a simplified block diagram of a device 500 suitable for implementing an example embodiment of the present disclosure. The device 500 may be provided to implement a communication device, such as Figure 1 As shown in the figure, the device 500 includes one or more processors 510, one or more memories 520 coupled to the processor 510, and one or more communication modules 540 coupled to the processor 510.

[0102] The communication module 540 is used for two-way communication. The communication module 540 has one or more communication interfaces to facilitate communication with one or more other modules or devices. The communication interface may represent any interface necessary for communicating with other network elements. In some example embodiments, the communication module 540 may include at least one antenna.

[0103] Processor 510 may be of any type suitable for the local technology network, and may include, as non-limiting examples, one or more of the following: a general purpose computer, a special purpose computer, a microprocessor, a digital signal processor (DSP), and a processor based on a multi-core processor architecture. Device 500 may have multiple processors, such as application specific integrated circuit chips, which are time-slaved to a clock synchronized with a main processor.

[0104] The memory 520 may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, read-only memory (ROM) 524, electrically programmable read-only memory (EPROM), flash memory, hard disk, compact disk (CD), digital video disk (DVD), optical disk, laser disk, and other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, random access memory (RAM) 522 and other volatile memories that will not persist during a power outage.

[0105] Computer program 530 includes computer executable instructions executed by associated processor 510. The instructions of program 530 may include instructions for performing the operations / actions of some example embodiments of the present disclosure. Program 530 may be stored in a memory (e.g., ROM 524). Processor 510 may perform any appropriate actions and processes by loading program 530 into RAM 522.

[0106] The exemplary embodiments of the present disclosure may be implemented by a program 530 so that the device 500 may execute the Figures 2 to 4 Any process of the present disclosure discussed. The exemplary embodiments of the present disclosure may also be implemented by hardware or by a combination of software and hardware.

[0107] In some example embodiments, the program 530 may be tangibly contained in a computer-readable medium, which may be included in the device 500 (such as in the memory 520) or in other storage devices accessible to the device 500. The device 500 may load the program 530 from the computer-readable medium to the RAM 522 for execution. In some example embodiments, the computer-readable medium may include any type of non-transitory storage medium, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc. The term "non-transitory" as used herein is a limitation on the medium itself (i.e., tangible, not a signal), not a limitation on the persistence of data storage (e.g., RAM vs. ROM).

[0108] Figure 6 An example of a computer readable medium 600 is shown, which may be in the form of a CD, DVD or other optical storage disk. Stored on the computer readable medium 600 is a program 530 .

[0109] Generally, various embodiments of the present disclosure may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. Some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software, which may be performed by a controller, microprocessor, or other computing device. Although various aspects of the embodiments of the present disclosure are illustrated and described as block diagrams, flow charts, or using some other graphical representations, it should be understood that, as non-limiting examples, the boxes, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuits or logic, general hardware or controllers or other computing devices, or some combination thereof.

[0110] Some example embodiments of the present disclosure also provide at least one computer program product tangibly stored on a computer-readable medium (such as a non-transitory computer-readable medium). The computer program product includes computer executable instructions, such as instructions included in a program module, which are executed in a device on a target physical or virtual processor to perform any of the methods described above. Typically, a program module includes routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functions of the program modules can be combined or split between program modules as needed. The machine executable instructions of the program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in both local and remote storage media.

[0111] The program code for executing the method of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0112] In the context of the present disclosure, computer program codes or related data may be carried by any appropriate carrier to enable a device, apparatus or processor to perform various processes and operations as described above. Examples of carriers include signals, computer readable media, etc.

[0113] The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. More specific examples of computer readable storage media include an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] In addition, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in a sequential order, or that all illustrated operations be performed to achieve the desired results. In some cases, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these details should not be interpreted as limitations on the scope of the present disclosure, but rather as descriptions of features that may be unique to a particular embodiment. Unless expressly stated, certain features described in the context of a separate embodiment may also be implemented in combination in a single embodiment. Conversely, unless expressly stated, various features described in the context of a single embodiment may also be implemented separately or in any appropriate sub-combination in multiple embodiments.

[0115] Although the disclosure has been described in language specific to structural features and / or methodological acts, it should be understood that the disclosure defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A first device, comprising: at least one processor; as well as at least one memory storing instructions that, when executed by the at least one processor, cause the first device to at least perform: Determining a channel characteristic set and a reference value set associated with the channel characteristic set; determining at least one target channel characteristic from target positioning measurements based on the set of channel characteristics; determining, based on the at least one target channel characteristic, a difference between the target positioning measurement and at least one reference value in the set of reference values; as well as A weight of the target positioning measurement is determined based on the difference.

2. The first device according to claim 1, wherein determining the channel characteristic set and the reference value set associated with the channel characteristic set comprises: First information indicating at least one of the following is received from a second device: the reference value set and the channel characteristic set.

3. The first device according to claim 1 or 2, wherein the first device is configured to perform: A request is sent to a second device for at least one of: the set of reference values, and the channel characteristic set associated with the channel characteristic set.

4. The first device according to claim 1, wherein determining the channel characteristic set and the reference value set associated with the channel characteristic set comprises: Determining the channel characteristic set from a measurement set; Based on the channel feature set, clustering the channel feature set into a plurality of classes; as well as The reference value set for the class is determined.

5. The first device according to claim 4, wherein the first device is caused to perform: A contradiction check is performed on the reference value set.

6. The first device according to any one of claims 1 to 5, wherein determining the difference between the target positioning measurement and the at least one reference value comprises: determining a first difference between the target location measurement and a first reference value associated with a line-of-sight channel; as well as A second difference between the target positioning measurement and a second reference value associated with a non-line-of-sight channel is determined.

7. The first device according to any one of claims 1 to 5, wherein determining the difference between the target positioning measurement and the at least one reference value comprises: determining a third reference value from the set of reference values, the third reference value being associated with a channel that is more like line of sight than other reference values ​​in the set of reference values; determining a fourth reference value from the set of reference values, the fourth reference value being associated with a channel that is more likely to be non-line-of-sight than other reference values ​​in the set of reference values; determining a third difference between the target positioning measurement and the third reference value; and A fourth difference between the target positioning measurement and the fourth reference value is determined.

8. The first device according to any one of claims 1 to 5, wherein determining the difference between the target positioning measurement and the at least one reference value comprises: A difference between the target positioning measurement and a plurality of reference values ​​in the set of reference values ​​is determined accordingly.

9. The first device according to any one of claims 1 to 8, wherein determining the weight of the target positioning measurement comprises: The weight is determined as a function of the difference.

10. The first device according to any one of claims 1 to 9, wherein the first device is caused to perform: Second information indicative of the weights used to determine a position estimate by the second device is sent to a second device.

11. A first device according to any one of claims 1 to 9, wherein the first device is configured to perform: A position estimate is determined based on the weights.

12. The first device according to any one of claims 1 to 11, wherein the channel feature set comprises at least one of the following: RMS delay spread, The channel response or received waveform amplitude, Channel response or received waveform rise time, Channel response or received waveform kurtosis, Rician K Factor, The channel response or the average energy of the received waveform, The channel response or the total energy of the received waveform, the channel response or the average amplitude of the received waveform, The channel response or the total amplitude of the received waveform, Average excess delay, the channel response or the skewness of the received waveform, the standard deviation of the channel response or received waveform, or The standard deviation of the channel response or received waveform.

13. The first device according to any one of claims 1 to 12, wherein the first device comprises one of the following: a first terminal device, a first core network device, or a first network device; and The second device includes one of the following: a second terminal device, a second core network device or a second network device.

14. A method comprising: At a first device, determining a channel characteristic set and a reference value set associated with the channel characteristic set; determining at least one target channel characteristic from target positioning measurements based on the set of channel characteristics; determining, based on the at least one target channel characteristic, a difference between the target positioning measurement and at least one reference value in the set of reference values; as well as A weight of the target positioning measurement is determined based on the difference.

15. The method according to claim 14, wherein determining the channel characteristic set and the reference value set associated with the channel characteristic set comprises: First information indicating at least one of the following is received from a second device: the reference value set and the channel characteristic set.

16. The method according to claim 14 or 15, further comprising: A request is sent to a second device for at least one of: the set of reference values, and the channel characteristic set associated with the channel characteristic set.

17. The method according to claim 14, wherein determining the channel characteristic set and the reference value set associated with the channel characteristic set comprises: Determining the channel characteristic set from a measurement set; Based on the channel feature set, clustering the channel feature set into a plurality of classes; as well as The reference value set for the class is determined.

18. The method according to claim 17, further comprising: A contradiction check is performed on the reference value set.

19. The method of any one of claims 14 to 18, wherein determining the difference between the target positioning measurement and the at least one reference value comprises: determining a first difference between the target location measurement and a first reference value associated with a line-of-sight channel; as well as A second difference between the target positioning measurement and a second reference value associated with a non-line-of-sight channel is determined.

20. The method of any one of claims 14 to 18, wherein determining the difference between the target positioning measurement and the at least one reference value comprises: determining a third reference value from the set of reference values, the third reference value being associated with a channel that is more like line of sight than other reference values ​​in the set of reference values; determining a fourth reference value from the set of reference values, the fourth reference value being associated with a channel that is more likely to be non-line-of-sight than other reference values ​​in the set of reference values; determining a third difference between the target positioning measurement and the third reference value; and A fourth difference between the target positioning measurement and the fourth reference value is determined.

21. The method of any one of claims 14 to 18, wherein determining the difference between the target positioning measurement and the at least one reference value comprises: A difference between the target positioning measurement and a plurality of reference values ​​in the set of reference values ​​is determined accordingly.

22. The method of any one of claims 14 to 21, wherein determining the weight of the target positioning measurement comprises: The weight is determined as a function of the difference.

23. The method according to any one of claims 14 to 22, further comprising: Second information indicative of the weights used to determine a position estimate by the second device is sent to a second device.

24. The method according to any one of claims 14 to 22, further comprising: A position estimate is determined based on the weights.

25. The method according to any one of claims 14 to 24, wherein the channel feature set comprises at least one of the following: RMS delay spread, The channel response or received waveform amplitude, Channel response or received waveform rise time, Channel response or received waveform kurtosis, Rician K Factor, The channel response or the average energy of the received waveform, The channel response or the total energy of the received waveform, the channel response or the average amplitude of the received waveform, The channel response or the total amplitude of the received waveform, Average excess delay, the channel response or the skewness of the received waveform, the standard deviation of the channel response or received waveform, or The standard deviation of the channel response or received waveform.

26. The method according to any one of claims 14 to 25, wherein the first device comprises one of the following: a first terminal device, a first core network device, or a first network device; and The second device includes one of the following: a second terminal device, a second core network device or a second network device.

27. A first device, comprising: A means for determining a reference value set and a channel characteristic set, and a reference value set associated with the channel characteristic set; means for determining at least one target channel characteristic from target positioning measurements based on the set of channel characteristics; means for determining a difference between the target positioning measurement and at least one reference value in the set of reference values ​​based on the at least one target channel characteristic; as well as Means for determining a weight for said target positioning measurement based on said difference.

28. A computer-readable medium comprising instructions, which, when executed by a device, cause the device to perform at least the following operations: Determining a set of channel characteristics and a set of reference values ​​associated with the channel characteristics; determining at least one target channel characteristic from target positioning measurements based on the set of channel characteristics; determining a difference between the target positioning measurement and at least one reference value in the set of reference values ​​based on the at least one target channel characteristic; as well as A weight of the target positioning measurement is determined based on the difference.

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