Positioning method and positioning device

Abstract

The invention discloses a positioning method and a positioning device, relates to the field of communication, and is used for improving the positioning accuracy of terminal equipment through low-orbit satellite positioning. The method comprises the steps that positioning auxiliary information is acquired, the positioning auxiliary information comprises the elevation angle and / or Doppler frequency offset of a ground reference station relative to a low-orbit satellite, and the distance between the ground reference station and terminal equipment is smaller than a threshold value; determining a target Doppler frequency offset of the terminal device relative to the low-orbit satellite based on the positioning auxiliary information; and positioning based on the target Doppler frequency offset.

Description

Technical Field

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

[0002] With the development of satellite positioning system technology, electronic devices can be positioned through the global navigation satellite system (GNSS), which includes the global positioning system (GPS), the Beidou satellite positioning system, etc.

[0003] Generally speaking, the satellites in various satellite positioning systems include high-orbit satellites. The high-orbit satellites move at a lower speed relative to the ground, and the corresponding Doppler frequency deviation is smaller. However, because the high-orbit satellites are too far away from the ground, the signal strength reaching the ground is easily interfered, which can easily cause the positioning accuracy of the terminal equipment to be poor. Summary of the invention

[0004] The embodiments of the present application provide a positioning method and a positioning device for improving the accuracy of terminal equipment positioning through low-orbit satellite positioning.

[0005] In a first aspect, a positioning method is provided, which includes: after a terminal device obtains positioning assistance information including an elevation angle and / or Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, the terminal device can determine a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the positioning assistance information, and then the terminal device can perform positioning based on the target Doppler frequency deviation.

[0006] Based on the above description, the positioning method provided by the present application, since the distance between the ground reference station and the terminal device is less than the threshold, it indicates that the elevation angle and / or Doppler frequency deviation of the ground reference station is very small compared with the elevation angle and / or Doppler frequency deviation of the terminal device relative to the low-orbit satellite. Therefore, the terminal device uses the elevation angle and / or Doppler frequency deviation of the ground reference station instead of the elevation angle and / or Doppler frequency deviation of the terminal device relative to the low-orbit satellite to facilitate subsequent positioning estimation, and then the terminal device determines the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the acquired elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, and performs positioning according to the target Doppler frequency deviation, so as to avoid the positioning of the terminal device being affected by the Doppler frequency deviation and improve the accuracy of positioning the terminal device.

[0007] In conjunction with the first aspect, in a possible implementation, the terminal device may obtain the positioning assistance information from the first network element. For example, the terminal device may send a request message for requesting the positioning assistance information to the first network element. In this way, after receiving a response message to the request information from the first network element, the terminal device may obtain the positioning assistance information from the response message.

[0008] The first network element includes any one of a positioning server, a ground reference station, and a service base station of the terminal device. The positioning assistance information may also include timestamp information carrying the time of calculating the elevation angle.

[0009] In one possible design, the terminal device sends a first request message to any one of the above-mentioned positioning server, ground reference station, and service base station of the terminal device, and can obtain the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite.

[0010] In combination with the first aspect, in a possible implementation manner, the terminal device may receive the timestamp information so as to subsequently compensate for the frequency deviation of the positioning reference signal at the corresponding moment through the target Doppler frequency deviation at that moment.

[0011] In combination with the first aspect, in a possible implementation manner, when the number of ground reference stations is one and the positioning assistance information is a Doppler frequency deviation, the terminal device may use the Doppler frequency deviation as a target Doppler frequency deviation.

[0012] In combination with the first aspect, in a possible implementation, the terminal device can receive ephemeris information sent from a low-orbit satellite or receive ephemeris information sent by a ground reference station, and determine the target Doppler frequency deviation based on the ephemeris information and elevation angle of the low-orbit satellite.

[0013] Among them, the ephemeris information of the low-orbit satellite includes the speed of the low-orbit satellite and the height of the low-orbit satellite relative to the ground.

[0014] Furthermore, the terminal device can also determine the target Doppler frequency deviation based on speed, altitude, and elevation angle.

[0015] Based on the above description, when the terminal device obtains the elevation angle of the ground reference station relative to the low-orbit satellite, the target Doppler frequency deviation can be accurately determined according to the speed, altitude and elevation angle, which is conducive to the subsequent frequency deviation compensation of the positioning reference signal.

[0016] In combination with the first aspect, in a possible implementation manner, the target Doppler frequency offset satisfies the following formula:

[0017]

[0018] Among them, f d,shiftis the target Doppler frequency deviation, v is the speed of the low-orbit satellite, c is the speed of light, R e is the radius of the earth, h is the height of the low-orbit satellite relative to the ground, E is the elevation angle, and f c is the carrier center frequency.

[0019] In combination with the first aspect, in a possible implementation method, when there are multiple ground reference stations and the positioning assistance information is the elevation angle of the ground reference station relative to the low-orbit satellite, for each ground reference station, the terminal device can determine the Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the elevation angle and ephemeris information of the ground reference station, and obtain multiple Doppler frequency deviations. Then, the terminal device determines the target Doppler frequency deviation based on the multiple Doppler frequency deviations.

[0020] Based on the above description, when there are multiple ground reference stations, the terminal device will determine multiple Doppler frequency deviations relative to the low-orbit satellite, which is more conducive to improving the accuracy of the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite. Accordingly, in subsequent positioning, the positioning estimation error is reduced, thereby improving the positioning accuracy.

[0021] In combination with the first aspect, in a possible implementation, when there are multiple ground reference stations and the positioning assistance information is the Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, the terminal device can determine the target Doppler frequency deviation based on multiple Doppler frequency deviations.

[0022] In a possible design, the terminal device may use an average value of multiple Doppler frequency offsets as the target Doppler frequency offset.

[0023] According to a second aspect, a positioning method is provided, which includes: after receiving a first request message sent from a terminal device for requesting the elevation angle and / or Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, the first network element can obtain the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite from the ground reference station, and send the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite to the terminal device.

[0024] The first network element includes any one of a positioning server, a ground reference station, and a service base station of a terminal device.

[0025] In combination with the second aspect, in a possible implementation, when the first network element is a positioning server, the positioning server may send second request information for requesting positioning assistance information to a ground reference station, and receive positioning assistance information sent from the ground reference station.

[0026] In a possible design, the positioning server can be set in a ground base station or a satellite, and the positioning server can also be set in a terminal device.

[0027] In combination with the second aspect, in a possible implementation method, when the first network element is a service base station of the terminal device, the service base station of the terminal device can send a second request information for requesting positioning assistance information to the ground reference station, and receive positioning assistance information sent from the ground reference station.

[0028] In combination with the second aspect, in a possible implementation, when the first network element is a ground reference station, the ground reference station can obtain ephemeris information of the low-orbit satellite and determine positioning assistance information based on the ephemeris information.

[0029] Based on the above description, the ground reference station receives the first request information sent from the terminal device, can directly calculate and determine the positioning assistance information through the ephemeris information, and directly send the positioning assistance information to the terminal device to reduce latency.

[0030] According to a third aspect, a positioning device is provided, which is applied to a terminal device, and the terminal device includes: an acquisition unit and a processing unit; the acquisition unit is used to acquire the elevation angle and / or Doppler frequency deviation of a ground reference station relative to a low-orbit satellite.

[0031] The ground reference station is a ground reference station whose distance to the terminal device is less than a threshold.

[0032] The processing unit is used to determine the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite.

[0033] The processing unit is also used to perform positioning according to the target Doppler frequency deviation.

[0034] In conjunction with the third aspect, in a possible implementation manner, the device further includes: a transceiver unit configured to send first request information to the first network element, wherein the first request information is used to request positioning assistance information.

[0035] The transceiver unit is further used to receive a response message to the first request information, and the processing unit can obtain the positioning assistance information from the response message.

[0036] Among them, the positioning assistance information also includes the ephemeris information of low-orbit satellites.

[0037] In combination with the third aspect, in a possible implementation manner, the processing unit is specifically configured to determine the target Doppler frequency deviation based on the ephemeris information and the elevation angle.

[0038] In combination with the third aspect, in a possible implementation method, when the number of ground reference stations is multiple, for each ground reference station, the processing unit is specifically used to determine the Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the elevation angle and ephemeris information of the ground reference station to obtain multiple Doppler frequency deviations, and then the processing unit can also determine the target Doppler frequency deviation based on the multiple Doppler frequency deviations.

[0039] In combination with the third aspect, in a possible implementation manner, the processing unit is specifically configured to use the Doppler frequency offset as the target Doppler frequency offset.

[0040] In a fourth aspect, a positioning device is applied to a first network element, where the first network element includes: a transceiver unit and an acquisition unit.

[0041] The transceiver unit is used to receive first request information sent from a terminal device requesting an elevation angle and / or Doppler frequency deviation of a ground reference station relative to a low-orbit satellite.

[0042] The acquisition unit is used to acquire the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite.

[0043] The transceiver unit is also used to send the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite to the terminal device.

[0044] The ground reference station is a ground reference station whose distance to the terminal device is less than a threshold.

[0045] In a fifth aspect, a communication device is provided for implementing the various methods described above. The communication device may be a terminal in the first aspect, the third aspect, or the fourth aspect, or a device including the terminal, or a device included in the terminal, such as a chip; or, the communication device may be a network device in the second aspect or the fifth aspect, or a device including the network device, or a device included in the network device, such as a chip. The communication device includes a module, unit, or means corresponding to the implementation of the above method, and the module, unit, or means may be implemented by hardware, software, or by hardware executing the corresponding software implementation. The hardware or software includes one or more modules or units corresponding to the above functions.

[0046] In some possible designs, the communication device may include a processing module and a transceiver module. The transceiver module, which may also be referred to as a transceiver unit, is used to implement the sending and / or receiving functions in any of the above aspects and any possible implementations thereof. The transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface. The processing module may be used to implement the processing functions in any of the above aspects and any possible implementations thereof.

[0047] In some possible designs, the transceiver module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in any of the above aspects and any possible implementation methods thereof.

[0048] Among them, the communication device provided in the sixth aspect is used to execute any one of the above aspects or any possible implementation of any one of the aspects. The specific details can be found in any one of the above aspects or any possible implementation of any one of the aspects, and will not be repeated here.

[0049] In the sixth aspect, a communication device comprises: a processor and a communication interface; the communication interface is used to communicate with a module outside the communication device; the processor is used to execute computer execution instructions so that the communication device executes any one of the methods provided in the first aspect, or so that the communication device executes any one of the methods provided in the second aspect.

[0050] In the seventh aspect, a chip is provided, comprising: a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor is used to run the code instructions to execute any one of the methods provided in the first aspect, or to execute any one of the methods provided in the second aspect.

[0051] In an eighth aspect, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is executed on a communication device, the communication device can execute any of the methods described above.

[0052] In a ninth aspect, a computer program product comprising instructions is provided, which, when executed on a communication device, enables the communication device to execute any of the methods described above.

[0053] In a tenth aspect, a communication device (for example, the communication device may be a chip or a chip system) is provided, wherein the communication device includes a processor for implementing the functions involved in any of the above aspects.

[0054] In some possible designs, the communication device includes a memory for storing necessary program instructions and data.

[0055] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0056] It can be understood that when the communication device provided in any one of the fifth to tenth aspects is a chip, the above-mentioned sending action / function can be understood as output information, and the above-mentioned receiving action / function can be understood as input information.

[0057] Among them, the technical effects brought about by any design method in the fifth to tenth aspects can refer to the technical effects brought about by different design methods in the above-mentioned first aspect, second aspect, third aspect or fourth aspect, and will not be repeated here.

[0058] In the eleventh aspect, a communication system is provided, which includes the first network element, terminal, and low-orbit satellite of the above aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A simplified schematic diagram of a communication system provided in an embodiment of the present application;

[0060] Figure 2 A schematic diagram of the composition of a communication device provided in an embodiment of the present application;

[0061] Figure 3 A simplified schematic diagram of another communication system provided in an embodiment of the present application;

[0062] Figure 4 A simplified schematic diagram of another communication system provided in an embodiment of the present application;

[0063] Figure 5a A simplified schematic diagram of another communication system provided in an embodiment of the present application;

[0064] Figure 5b A simplified schematic diagram of another communication system provided in an embodiment of the present application;

[0065] Figure 6a A simplified schematic diagram of another communication system provided in an embodiment of the present application;

[0066] Figure 6b A simplified schematic diagram of another communication system provided in an embodiment of the present application;

[0067] Figure 7 A flowchart of a positioning method provided in an embodiment of the present application;

[0068] Figure 8 A schematic diagram of a three-side positioning principle provided in an embodiment of the present application;

[0069] Fig. 9 A schematic diagram of the relative positions of a terminal device and a low-orbit satellite provided in an embodiment of the present application;

[0070] Fig.10 A schematic diagram of the relationship between Doppler frequency deviation and elevation angle provided in an embodiment of the present application;

[0071] Fig.11 A schematic diagram of the relationship between the Doppler frequency deviation and the terminal device positioning error provided in an embodiment of the present application;

[0072] Fig.12 A flowchart of another positioning method provided in an embodiment of the present application;

[0073] Fig.13 A flowchart of another positioning method provided in an embodiment of the present application;

[0074] Fig.14 A flowchart of another positioning method provided in an embodiment of the present application;

[0075] Fig.15 A schematic diagram of the structure of a positioning device provided in an embodiment of the present application;

[0076] Fig.16 A schematic diagram of the structure of another positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" means one or more, and "plurality" means two or more. The words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not limit them to be different.

[0078] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0079] In order to better understand the solution provided by this application, some terms involved in this application are first introduced.

[0080] NTN (non-terrestrial network) is a wireless communication network composed of aerial base stations.

[0081] Geostationary Earth orbit (GEO), also known as geostationary satellite, is a circular orbit located 35,786 kilometers above the Earth's equator. It follows the direction of the Earth's rotation. The orbital period of objects in this orbit is equal to the Earth's rotation period. Therefore, the fixed position in the sky appears motionless to ground observers.

[0082] Low Earth Orbit (LEO) refers to a satellite that orbits the earth at an altitude between 300 kilometers and 1,500 kilometers.

[0083] Medium Earth Orbit (MEO) refers to a satellite that operates in the space area around the earth above low Earth orbit and below geostationary orbit.

[0084] Doppler frequency deviation refers to the fact that in a mobile communication system, when a mobile station (such as a mobile terminal on a high-speed train or a car) communicates with a base station while moving, the signal received by the base station will have Doppler frequency deviation. Specifically, the signal received by the base station will have phase and frequency changes due to the movement of the mobile station. The magnitude of the Doppler frequency deviation is related to the elevation angle of the terminal device relative to the low-orbit satellite. For details, please refer to the subsequent Fig.10 As shown, the horizontal axis is the elevation angle and the vertical axis is the Doppler frequency deviation. It can be found that the Doppler frequency deviation decreases with the increase of the elevation angle, and the magnitude is tens of kHz. For example: the satellite altitude is 508 kilometers, the earth radius is 6378 kilometers, and the carrier frequency is 3.6GHz.

[0085] As the number of low-orbit satellites launched into satellite orbit increases, the construction of new satellite Internet led by various companies is developing rapidly in the satellite communication industry. At present, in order to support satellite communication and satellite navigation / positioning functions, terminal equipment needs to establish communication connections with medium-orbit satellites, high-orbit satellites and low-orbit satellites at the same time, which poses a huge challenge to the complexity and power consumption of terminal equipment. At the same time, there are different requirements for satellite communication and positioning in terms of signals, timing, number and distribution of satellites, and thus satellite communication and satellite navigation systems are developed and evolved independently. Among them, satellite navigation and positioning have high requirements for satellite timing and satellite geometric distribution, and generally rely on medium-orbit satellites or high-orbit satellites, while the satellite positioning technologies currently used are mostly arrival time difference or arrival angle.

[0086] Generally speaking, the positioning standard of the fifth generation mobile communication technology (5G) ground cellular network supports multiple positioning technologies such as downlink time difference of arrival (DL-TDOA), downlink angle of departure (DAOD), uplink time difference of arrival (UL-TDOA), uplink angle of arrival (UL-AOA), and round trip time (RTT).

[0087] Among them, DL-TDOA, UL-TDOA and RTT algorithms are positioning technologies based on arrival time, that is, the receiving end is required to measure the arrival time of the signal sent by the sending end, and then convert it into the distance information between the two, and finally obtain the position of the target to be located.

[0088] DL-AOD and UL-AOA are angle-based positioning technologies, in which the receiver measures the arrival angle of the reference signal sent by the transmitter, and then infers the receiver's position based on the angle information between the receiver and multiple transmitters with known positions.

[0089] From the above introduction, it can be determined that the condition for realizing the positioning of the terminal device is to receive the positioning reference signal sent by the satellite, then measure it, obtain the time information or angle information, and then calculate the distance and position.

[0090] With the development of satellite positioning technology, the positioning of terminal equipment can also be performed through the global navigation satellite system (GNSS). Among them, GNSS includes the global positioning system (GPS), the Beidou satellite system, etc. Among them, the satellite can be a communication satellite, that is, it can communicate data with the terminal equipment on the ground (or these satellites can support broadband Internet functions), and the satellite's reference signal is based on the positioning reference signal of the existing ground 5G communication network, or the reference signal of the future 6G.

[0091] Generally speaking, the global positioning system includes satellites in geostationary orbits, or medium / high orbit satellites. The larger the ground area covered by the high-orbit satellite, the smaller the corresponding Doppler frequency deviation. However, the high-orbit satellite is too far away from the ground, which makes the signal strength reaching the ground susceptible to interference, which can easily cause the problem of poor positioning accuracy of the terminal equipment. At the same time, if it is a geostationary satellite or a low-orbit satellite, when the speed of the satellite relative to the terminal on the ground is 0, the Doppler frequency deviation is also 0, which also helps to locate the terminal equipment. On this basis, how to improve the accuracy of terminal equipment positioning through low-orbit satellite positioning is a problem that needs to be solved urgently.

[0092] In response to the above problems, the positioning method provided by the present application, since the distance between the ground reference station and the terminal device is less than the threshold, it indicates that the elevation angle and / or Doppler frequency deviation of the ground reference station is very small compared with the elevation angle and / or Doppler frequency deviation of the terminal device relative to the low-orbit satellite. Therefore, the terminal device uses the elevation angle and / or Doppler frequency deviation of the ground reference station instead of the elevation angle and / or Doppler frequency deviation of the terminal device relative to the low-orbit satellite, so as to facilitate subsequent positioning estimation. Then, the terminal device determines the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the acquired elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, and performs positioning based on the target Doppler frequency deviation, thereby avoiding the positioning of the terminal device from being affected by the Doppler frequency deviation and improving the accuracy of positioning the terminal device.

[0093] In order to facilitate understanding of the embodiments of the present application, the following points are explained before introducing the embodiments of the present application.

[0094] 1. In the embodiment of the present application, the 3rd generation partnership project (3GPP) network may include an operator network, wherein the 3GPP network may include one or more operator networks.

[0095] 2. In the embodiments of the present application, "network element" and "node" may be logical entities or physical entities. In other words, in the embodiments of the present application, "device" may be replaced with "network element", which is explained here uniformly and will not be repeated below.

[0096] 3. In the embodiments of the present application, for the convenience of description, when numbering or indexing is involved, the numbering can be started from 1 or from 0, or from any parameter.

[0097] 4. "Pre-definition", "pre-configuration", or "protocol agreement" can be achieved by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in a device (e.g., a network device, a terminal device). The embodiments of this application do not limit the specific implementation method. Among them, "saving" can mean saving in one or more memories.

[0098] 5. The “protocol” involved in the embodiments of the present application may refer to a standard protocol in the field of communications, such as the long term evolution (LTE) protocol, the new radio (NR) protocol, and related protocols used in future communication systems (such as 6G communication systems), which are not limited in the embodiments of the present application.

[0099] 6. In the embodiments of the present application, descriptions such as “when…”, “in the case of…”, “if” and “if” all mean that the device will make corresponding processing under certain objective circumstances. It does not limit the time, nor does it require the device to have a judgment action when implementing it, nor does it mean that there are other limitations.

[0100] 7. In the embodiments of the present application, “sending information to...(terminal device)” can be understood as the destination of the information being the terminal device, and can include directly or indirectly sending information to the terminal device. “Receiving information from...(network device)” or “receiving information from...(network device)” can be understood as the source of the information being the network device, and can include directly or indirectly receiving information from the network device. The information may be processed as necessary between the source and destination of the information transmission, such as format changes, etc., but the destination can understand the valid information from the source. Similar expressions in the present application can be understood similarly and will not be repeated here.

[0101] 8. In the description of the embodiments of the present application, unless otherwise specified, the "and / or" in the embodiments of the present application indicates that there may be three relationships, for example, A and / or B, which may indicate: A exists alone, A and B exist at the same time, and B exists alone, wherein A and B may be singular or plural. Moreover, "at least one of the following" or similar expressions thereof refers to any combination of these items, including any combination of single items or plural items. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art may understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not limit the certain difference. At the same time, in the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions.

[0102] The embodiments of the present application may be applicable to LTE systems or NR systems (also referred to as fifth generation (5th generation, 5G) systems), systems with hybrid networking of LTE and NR, vehicle to everything (V2X) systems, device-to-device (D2D) systems, machine to machine (M2M) communication systems, Internet of Things (IoT) systems (such as narrowband Internet of Things (NB-IoT) systems), 6G systems and other systems evolved after 5G, as well as other next generation communication systems. Alternatively, the communication system may also be an open radio access network (O-RAN or ORAN), a cloud radio access network (cloud RAN, CRAN), or a wireless fidelity (Wi-Fi) system, without limitation.

[0103] In addition, the communication architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field can know that with the evolution of the communication architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0104] Figure 1 FIG. 1 is a simplified schematic diagram of a communication system provided by an embodiment of the present application. Figure 1 As shown, the communication system may include: a low-orbit satellite, a first network element and a terminal device. The low-orbit satellite, the first network element and the terminal device are communicatively connected.

[0105] Figure 1The first network element in the wireless access network is a device deployed in a wireless access network to provide wireless communication functions for a terminal device. That is, the first network element can be used to communicate with the terminal device, for example, it can include an evolved base station (NodeB or eNB or e-NodeB, evolutional NodeB) in an LTE system or an enhanced LTE (LTE-advanced, LTE-A) system, such as a traditional macro base station eNB and a micro base station eNB in ​​a heterogeneous network scenario. Or, it can include a next generation node B (next generation node B, gNB) in an NR system. Or, it can include a transmission reception point (TRP), a home base station (for example, home evolved NodeB, or home Node B, HNB), a base band unit (base band unit, BBU), a base band pool (BBU pool), or a wireless fidelity (wireless fidelity, WiFi) access point (access point, AP), etc. Alternatively, it may include a base station in a non-terrestrial network (NTN), that is, it may be deployed on a flying platform or a satellite. In the NTN, the first network element may be used as a layer 1 (L1) relay, or as a base station, or as an integrated access and backhaul (IAB) node. Alternatively, the network device may be a device that implements the base station function in IoT, such as a device that implements the base station function in drone communications, V2X, D2D, or machine to machine (M2M).

[0106] In some possible scenarios, the first network element may also be a module or unit that can implement some functions of the base station, for example, the first network element may be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU may be separately configured, or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

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

[0108] Optionally, the base station in the embodiment of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, home base stations, TRPs, transmitting points (TP), mobile switching centers, etc., and the embodiments of the present application do not make specific limitations on this.

[0109] In the embodiments of the present application, the form of the network device is not limited. The device for realizing the function of the network device can be the network device; or it can be a device that can support the network device to realize the function, such as a chip system. The device can be installed in the network device or used in combination with the network device.

[0110] The terminal equipment involved in the embodiments of the present application can be a user equipment (UE), an access terminal, a terminal unit, a user station, a terminal station, a mobile station, a mobile station, a mobile station, a remote station, a remote terminal, a user terminal terminal equipment, a mobile device, a wireless communication device, a terminal agent, a tablet computer (pad), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a vehicle-mounted transceiver unit, a wearable device, or a terminal device. The access terminal can be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a drone, a robot, a smart point of sale (point of The terminal device may be a point-of-sale (POS) machine, a customer-premises equipment (CPE) or a wearable device, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. Alternatively, the terminal device may be a terminal with a communication function in the Internet of Things (IoT), such as a terminal in V2X (such as a vehicle networking device), a terminal in D2D communication, or a terminal in M2M communication, etc. The terminal device may be mobile or fixed.

[0111] The terminal device can be a mobile station (MS), a subscriber unit, a cellular phone, a smart phone, a wireless data card, a personal digital assistant (PDA) computer, a tablet computer, a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, a tag, etc.

[0112] The embodiments of the present application do not limit the form of the terminal device. The device for realizing the function of the terminal device can be the terminal device; it can also be a device that can support the terminal device to realize the function, such as a chip system. The device can be installed in the terminal device or used in combination with the terminal device. In the embodiments of the present application, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0113] It should be noted that Figure 1 For exemplary drawings, Figure 1 The number of devices shown, Figure 1 There is no restriction on the naming of interfaces between devices. Figure 1 In addition to the network elements shown, Figure 1 The communication system shown may also include other devices, such as core network devices, etc., without limitation.

[0114] When implementing it specifically, Figure 1 The equipment in Figure 2 The structure shown, or including Figure 2 Parts shown. Figure 2 The present invention provides a schematic diagram of the composition of a communication device 200, which can be a master device or a chip or system on chip in a master device. Alternatively, the communication device 200 can be a slave device or a chip or system on chip in a slave device. Figure 2 As shown, the communication device 200 includes a processor 201 , a communication interface 204 and a communication line 203 .

[0115] Furthermore, the communication device 200 may also include a memory 202 . The processor 201 , the memory 202 and the communication interface 204 may be connected via a communication line 203 .

[0116] The processor 201 is a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 201 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0117] The communication interface 204 is used to communicate with other devices or other communication networks. The other communication networks may be Ethernet, radio access network (RAN), wireless local area network (WLAN), etc. The communication interface 204 may be a module, a circuit, a communication interface or any device capable of achieving communication.

[0118] The communication line 203 is used to transmit information between the components included in the communication device 200.

[0119] The memory 202 is used to store instructions, where the instructions may be computer programs.

[0120] Among them, the memory 202 can be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage medium or other magnetic storage devices, etc., without limitation.

[0121] It should be noted that the memory 202 can exist independently of the processor 201, or can be integrated with the processor 201. The memory 202 can be used to store instructions or program codes or some data, etc. The memory 202 can be located in the communication device 200, or can be located outside the communication device 200, without limitation. The processor 201 is used to execute the instructions stored in the memory 202 to implement the data transmission method for short-range wireless communication provided in the following embodiments of the present application.

[0122] In one example, the processor 201 may include one or more CPUs, such as Figure 2 CPU0 and CPU1 in.

[0123] As an optional implementation, the communication device 200 includes multiple processors, for example, Figure 2 In addition to the processor 201, a processor 207 may also be included.

[0124] As an optional implementation, the communication device 200 further includes an output device 205 and an input device 206. Exemplarily, the input device 206 is a device such as a keyboard, a mouse, a microphone or a joystick, and the output device 205 is a device such as a display screen and a speaker.

[0125] It should be noted that the communication device 200 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system or a Figure 2 In addition, Figure 2 The structure shown in the figure does not constitute a limitation on network devices and terminal devices, except Figure 2 In addition to the components shown, the network devices and terminal devices may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0126] In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices.

[0127] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The names of the information exchanged between the various devices in the embodiments of the present application or the names of the parameters in the information are only examples, and other names can also be used in the specific implementation without limitation.

[0128] Figure 3 FIG. 1 is a simplified schematic diagram of another communication system provided by an embodiment of the present application. Figure 3 As shown, Figure 1The first network element in the communication system may be a ground reference station, and the communication system may include: a low-orbit satellite-1, a low-orbit satellite-2, a ground reference station and a terminal device. The low-orbit satellite-1, the low-orbit satellite-2, the ground reference station and the terminal device are connected in communication.

[0129] Among them, low-orbit satellite-1 and low-orbit satellite-2 can carry communication base stations, which can then send reference signals to terminal devices and can communicate wirelessly with the terminal devices.

[0130] The ground reference station can be a base station or a road side unit (RSU), where the road side unit can be in the form of a UE with a known and fixed location, and the terminal device and the RSU can communicate through a communication link sidelink. Alternatively, the ground reference station can also be a device (gNB) deployed in a wireless access network that meets the 5G standard to provide wireless communication functions for terminal devices. Among them, gNB can include various forms of macro base stations, micro base stations (also known as small stations), relay stations, access points, wearable devices, and vehicle-mounted devices. gNB can also be a transmission and reception point (TRP) and a transmission measurement function (TMF). At the same time, gNB can include a central unit (CU) and a distributed unit (DU) integrated on the gNB. The ground reference station can be a ground reference station whose distance to the terminal device is less than a threshold, or a ground reference station that is closest to the terminal device.

[0131] Among them, the communication link sidelink, that is, the link for communication at the PC5 port defined in the standard, is also called the side communication link, which is analogous to the uplink communication link or the downlink communication link.

[0132] PC5 port: direct communication interface, mainly refers to the communication interface between terminals, that is, the short-distance direct communication interface between vehicles, people and road infrastructure. Its characteristics are: through direct connection, broadcasting and network scheduling, it can achieve low latency, high capacity and high reliability communication.

[0133] Figure 4 The simplified schematic diagram of another communication system provided by an embodiment of the present application is shown. The communication system includes: a low-orbit satellite-1, a low-orbit satellite-2, a ground reference station-1, a ground reference station-2, and a terminal device.

[0134] For example, Figure 4The ground reference station in the figure only shows ground reference station-1 and ground reference station-2, and the number of ground reference stations can be multiple. At the same time, the low-orbit satellite also only shows low-orbit satellite-1 and low-orbit satellite-2, and the number of corresponding low-orbit satellites can also be multiple, which is not limited in this application. Among them, the low-orbit satellite can send its own ephemeris information to the ground reference station and the terminal device.

[0135] Figure 5a FIG. 1 is a simplified schematic diagram of another communication system provided by an embodiment of the present application. The communication system includes: a low-orbit satellite-1, a low-orbit satellite-2, a ground reference station, a terminal device, and a service base station of a positioning server / terminal device. Figure 5a As shown, the first network element can be a service base station of the positioning server / terminal device, and low-orbit satellite-1, low-orbit satellite-2, a ground reference station, a terminal device, and a service base station of the positioning server / terminal device are communicatively connected.

[0136] The positioning server (Location management function, LMF) can be set in a ground reference station or a base station, and can also be set on a terminal device or a satellite.

[0137] Figure 5a FIG. 1 is a simplified schematic diagram of another communication system provided by an embodiment of the present application. The communication system includes: a low-orbit satellite-1, a low-orbit satellite-2, a ground reference station, a terminal device, and a positioning server. Figure 5a As shown, the first network element may be a positioning server, and low-orbit satellite-1, low-orbit satellite-2, a ground reference station, a terminal device, and the positioning server are communicatively connected.

[0138] Figure 5b FIG. 1 is a simplified schematic diagram of another communication system provided by an embodiment of the present application. The communication system includes: a low-orbit satellite-1, a low-orbit satellite-2, a ground reference station, a terminal device, and a service base station of the terminal device. Figure 5b As shown, the first network element may be a service base station of the terminal device, and low-orbit satellite-1, low-orbit satellite-2, a ground reference station, the terminal device, and the service base station of the terminal device are communicatively connected.

[0139] Figure 6a The simplified schematic diagram of another communication system provided by an embodiment of the present application is shown. The communication system includes: a low-orbit satellite-1, a low-orbit satellite-2, a ground reference station-1, a ground reference station-2, a terminal device, and a positioning server.

[0140] Figure 6bThe simplified schematic diagram of another communication system provided by an embodiment of the present application is shown. The communication system includes: a low-orbit satellite-1, a low-orbit satellite-2, a ground reference station-1, a ground reference station-2, a terminal device, and a service base station of the terminal device.

[0141] The following will be combined Figure 3-Figure 6a , Figure 6b , the positioning method provided in the embodiment of the present application is described in detail.

[0142] It should be understood that the information names between the various devices or the names of the various parameters in the information in the following embodiments of the present application are only examples, and other names may be used in specific implementations, and the embodiments of the present application do not specifically limit this.

[0143] like Figure 7 As shown, a positioning method provided in an embodiment of the present application is applied to a terminal device and specifically includes the following steps:

[0144] S701: Obtain positioning assistance information.

[0145] Among them, the positioning assistance information includes the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, and the ephemeris information of the low-orbit satellite. The ephemeris information of the low-orbit satellite includes the speed of the low-orbit satellite and the height of the low-orbit satellite relative to the ground. The ground reference station is a ground reference station whose distance to the terminal device is less than a threshold. The threshold can be a predetermined distance value, which is not limited in this application.

[0146] In one scenario, the terminal device may need to be positioned in response to a user's navigation operation or positioning operation, and the terminal device may then obtain positioning assistance information. For example, a navigation operation refers to an operation in which a user uses an electronic map to navigate, and a positioning operation refers to the need to locate the terminal device in response to the opening of an application.

[0147] In another scenario, the first network element needs to monitor the location information of the terminal device and send a monitoring request to the terminal device, so that the terminal device obtains positioning assistance. For example, when a large-scale event is held, the first network element needs to determine the number of terminal devices in the area in order to allocate corresponding carrier resources.

[0148] In one example, the terminal device may send a first request message to the ground reference station, and then the ground reference station feeds back the response message of the first request message to the terminal device, and the terminal device may obtain the positioning assistance information from the response message. For specific implementation methods, see Fig.12 The embodiments of the present invention will not be described in detail here.

[0149] In another example, the terminal device may send a first request message to the positioning server / service base station, and then the positioning server / service base station obtains the positioning assistance information from the ground reference station and forwards the positioning assistance information to the terminal device. For specific implementation methods, see Fig.13 The embodiments of the present invention will not be described in detail here.

[0150] S702: Determine the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the positioning assistance information.

[0151] Among them, the target Doppler frequency deviation can be used for positioning.

[0152] In one example, the terminal device can determine the Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the elevation angle of the ground reference station relative to the low-orbit satellite, or the terminal device uses the Doppler frequency deviation of the ground reference station relative to the low-orbit satellite as the Doppler frequency deviation of the terminal device relative to the low-orbit satellite.

[0153] It is understandable that, since the distance between the terminal device and the ground reference station is small, the terminal device can use the elevation angle of the ground reference station near the location relative to the low-orbit satellite as the elevation angle of the terminal device relative to the low-orbit satellite. For example, as shown in Table 1.

[0154] Table 1

[0155]

[0156] As can be seen from Table 1 above, the elevation angles at different terminal device locations vary from the determined terminal device location without error to the determined terminal device location with an error of 1000 meters. The corresponding elevation angle errors in the two cases are less than 0.1°, and the Doppler frequency deviation error is also less than 0.2kHz. Therefore, the terminal device can use the elevation angle of the ground reference station near the location relative to the low-orbit satellite to replace the elevation angle of the terminal device relative to the low-orbit satellite to estimate the Doppler frequency deviation, and the elevation angle of the ground reference station relative to the low-orbit satellite can be calculated by the satellite's position (i.e., ephemeris) and its own position.

[0157] As an implementation, the terminal device can determine the target Doppler frequency deviation based on the ephemeris information and the elevation angle.

[0158] In one scenario, for the satellite positioning scenario, the difference from ground cellular positioning is that low-orbit satellites are moving rapidly, while ground reference stations are stationary. Rapidly moving low-orbit satellites will cause the wireless signals they emit to have a large Doppler frequency deviation. Therefore, the terminal device can determine the target Doppler frequency deviation through the speed in the ephemeris information, the altitude in the ephemeris information, and the elevation angle.

[0159] The calculation of Doppler frequency deviation satisfies the following formula 1 or formula 2:

[0160]

[0161]

[0162] Among them, f d,shift is the Doppler frequency deviation, v is the speed of the low-orbit satellite, c is the speed of light, and f c is the carrier center frequency, θ is the angle between the movement direction of the low-orbit satellite and the line between the low-orbit satellite and the terminal equipment, Re is the radius of the earth, h is the height of the low-orbit satellite relative to the ground, and E is the elevation angle of the terminal equipment relative to the low-orbit satellite, that is, the angle between the horizontal plane and the line between the terminal equipment and the low-orbit satellite.

[0163] Specific as Fig. 9 As shown, Fig. 9 The relative position diagram of the terminal device and the low-orbit satellite is given in . In the triangle formed by the terminal device, the center of the earth and the low-orbit satellite, the sine theorem is applied to obtain Formula 3:

[0164]

[0165] From the trigonometric function relationship, we can get formula 4:

[0166] cos(θ)=sinβ Formula 4

[0167] Substituting formula 3 and formula 4 into formula 1, we can get formula 2.

[0168] In one scenario, when the positioning assistance information received by the terminal device includes the elevation angle of the ground reference station relative to the low-orbit satellite, and the number of elevation angles of the ground reference station relative to the low-orbit satellite is one, the terminal device can use the above formula 1 or formula 2 to calculate and determine the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the ephemeris information and the elevation angle.

[0169] In one scenario, the positioning assistance information received by the terminal device includes the elevation angle of the ground reference station relative to the low-orbit satellite, and when there are multiple ground reference stations, for each ground reference station, the terminal device can determine the Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the elevation angle and ephemeris information of the ground reference station to obtain multiple Doppler frequency deviations, and determine the target Doppler frequency deviation by taking the average of the multiple Doppler frequency deviations.

[0170] In one scenario, the terminal device uses the Doppler frequency deviation as the target Doppler frequency deviation.

[0171] In another example, when the positioning assistance information received by the terminal device includes the Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, and the number of Doppler frequency deviations of the ground reference station relative to the low-orbit satellite is one, the terminal device may use the Doppler frequency deviation of the ground reference station relative to the low-orbit satellite as the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite.

[0172] In one scenario, when the positioning assistance information received by the terminal device includes the Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, and when there are multiple ground reference stations, the terminal device can determine the target Doppler frequency deviation based on multiple Doppler frequency deviations.

[0173] As an example, when the positioning assistance information received by the terminal device is the Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, and the number of Doppler frequency deviations of the ground reference station relative to the low-orbit satellite is multiple, the terminal device can use the average of multiple Doppler frequency deviations as the target Doppler frequency deviation.

[0174] In one scenario, the positioning assistance information received by the terminal device includes the elevation angle and Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, and the number of the ground reference station is one. The terminal device can determine the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite through the ephemeris information and the elevation angle, or the terminal device uses the Doppler frequency deviation of the ground reference station relative to the low-orbit satellite as the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite.

[0175] In one scenario, the positioning assistance information received by the terminal device includes the elevation angle and Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, and the number of ground reference stations is multiple. For each ground reference station, the terminal device can determine the Doppler frequency deviation of the terminal device relative to the low-orbit satellite through the ephemeris information and the elevation angle, and use the average of multiple Doppler frequency deviations as the target Doppler frequency deviation, or the terminal device uses the average of multiple Doppler frequency deviations of the ground reference station relative to the low-orbit satellite as the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite.

[0176] Based on the above description, it can be seen that Doppler frequency offset will affect the accuracy of timing estimation. Specifically, Doppler frequency offset will destroy the orthogonality of the reference signal sequence, so that the autocorrelation characteristics of the reference signal no longer maintain a single-peak characteristic, resulting in the receiver being unable to accurately determine the first-path correlation peak when estimating the arrival time. The misjudgment of the correlation peak will cause a deviation in the arrival time estimation, which will ultimately affect the positioning accuracy. Fig.11 As shown in FIG. 1 , it is a schematic diagram of positioning accuracy after adding different Doppler frequency offsets. It can be seen that as the Doppler frequency offset increases, the positioning error of the terminal device becomes larger and larger.

[0177] S703: Perform positioning based on the target Doppler frequency deviation.

[0178] In one possible implementation, the terminal device compensates for the frequency deviation of the positioning reference signal (PRS) received from the low-orbit satellite according to the target Doppler frequency deviation determined in S702, and measures the positioning reference signal after the frequency deviation compensation to obtain the arrival time difference TDOA or arrival angle AOA of the low-orbit satellite, and determines the location information of the terminal device based on the arrival time difference TDOA technology or the arrival angle AOA technology.

[0179] The positioning reference signal (PRS) includes a downlink positioning reference signal (PRS) and an uplink positioning reference signal (SRS).

[0180] Exemplarily, the terminal device receives a positioning reference signal sent from a low-orbit satellite. The terminal device may perform frequency offset compensation on the positioning reference signal according to the target Doppler frequency offset. The frequency offset compensation may satisfy the following formula 5:

[0181] R(n)=r(n)·e -j·2·π·Δf·n Formula 5

[0182] Wherein, R(n) is the compensated positioning reference signal, r(n) is the positioning reference signal sent by the low-orbit satellite received by the terminal device, Δf is the target Doppler frequency deviation, and n is the time domain sampling point number. Of course, the frequency deviation compensation method here is only an example, and the present invention does not limit the specific compensation algorithm.

[0183] After determining the compensated positioning reference information, the terminal device can perform measurements based on the compensated positioning reference signal R(n), for example: measuring the arrival time and arrival angle of the signal. After the terminal device measures the arrival time or arrival angle of multiple satellites, it can determine its own position based on DL-TDOA technology.

[0184] The following is a brief introduction to downlink-based positioning technology (DL-TDOA).

[0185] For downlink-based solutions, it is necessary to measure the downlink reference signal on the terminal device side, such as measuring the arrival time of the downlink positioning reference signal sent by the base station. The measurement process generally goes through the following steps: First, the positioning server / positioning management function (LMF) requests the PRS configuration information from the serving base station, and the serving base station feeds back the PRS configuration information to the LMF, and then the LMF sends the PRS configuration information to the terminal device.

[0186] Subsequently, the LMF can request measurement from the terminal device. After receiving the instruction from the LMF, the terminal device starts to receive the PRS sent by the base station and measures the arrival time of the PRS. The terminal device then reports the measurement results to the positioning server (LMF). Finally, the positioning server uses the received measurement information to estimate the position.

[0187] The following is a brief introduction on how to calculate the location of the terminal device based on the measurement results of LMF's DL-TDOA technology. That is, how to estimate the location of the terminal device by calculating the intersection of the hyperbola. First, assume that the locations of the three base stations are known. Here, the coordinates of the i-th base station are defined as (x i ,y i ), the coordinates of the terminal device are (x UE ,y UE ), and take the first base station as the reference base station, assuming that the arrival time of the PRS measured by the terminal device from the i-th base station is t i , then the arrival time difference between any base station and the reference base station is Δt i1 According to the definition of a hyperbola (the distance from two fixed points is a constant), the target is located on the hyperbola with two base stations as foci, and the following formulas 6 and 7 can be listed:

[0188]

[0189]

[0190] Based on formula 6 and formula 7, the location coordinates of the terminal device (x UE ,y UE ). In fact, due to the existence of measurement errors, the above formula generally has no closed-form solution. Classical optimization algorithms such as the least squares algorithm or the particle swarm filter algorithm can be used to estimate the optimal solution of the above formula. Figure 8 The trilateral positioning principle in is used for satellite positioning, and only Figure 8 The base stations in the system are replaced by low-orbit satellites.

[0191] In an embodiment of the present application, since the elevation angle of the ground reference station relative to the low-orbit satellite carries the timestamp information of the time when the elevation angle is calculated, the positioning reference signal at the corresponding time is compensated for the frequency deviation only according to the target Doppler frequency deviation at the elevation angle.

[0192] based on Figure 7 The technical solution of the present application provides a positioning method. Since the distance between the ground reference station and the terminal device is less than the threshold, it indicates that the elevation angle and / or Doppler frequency deviation of the ground reference station is very small compared with the elevation angle and / or Doppler frequency deviation of the terminal device relative to the low-orbit satellite. Therefore, the terminal device uses the elevation angle and / or Doppler frequency deviation of the ground reference station instead of the elevation angle and / or Doppler frequency deviation of the terminal device relative to the low-orbit satellite to facilitate subsequent positioning estimation. Then, the terminal device determines the target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the acquired elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, and performs positioning based on the target Doppler frequency deviation, thereby avoiding the positioning of the terminal device from being affected by the Doppler frequency deviation and improving the accuracy of positioning the terminal device.

[0193] In one embodiment, the first network element is a ground reference station, such as Fig.12 As shown, a positioning method provided in an embodiment of the present application includes S1201 to S1203.

[0194] S1201: A terminal device sends first request information to a ground reference station. Correspondingly, the ground reference station receives the first request information sent by the terminal device.

[0195] The first request information is used to request positioning assistance information, and the positioning assistance information includes the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite. The ground reference station can be a ground reference station closest to the terminal device, or it can be multiple ground reference stations whose distances to the terminal device are less than a threshold. The ground reference station can also be called a reference station or a reference node.

[0196] In an embodiment of the present application, when the ground reference station is a base station, the data or messages between the ground reference station and the terminal device can be carried in RRC signaling. When the ground reference station is a roadside unit (RSU), the data or messages between the ground reference station and the terminal device are carried in SLPP signaling or SCI signaling.

[0197] In one scenario, the terminal device may need to be positioned in response to a user's navigation operation or positioning operation, and the terminal device may send a request message for positioning assistance information to a ground reference station through SLPP signaling or SCI signaling. For example, a navigation operation refers to an operation in which a user uses an electronic map to navigate, and a positioning operation refers to the need to locate the terminal device in response to the opening of an application.

[0198] In another scenario, the ground reference station needs to monitor the location information of the terminal device and send a monitoring request to the terminal device, and then the terminal device sends a request message for positioning assistance information to the corresponding ground reference station. For example, when a large-scale event is held, the ground reference station needs to determine the number of terminal devices in the area in order to allocate the corresponding carrier resources.

[0199] Exemplarily, the communication interface between the terminal device and the base station may be a Uu port, that is, a cellular network communication interface, including an uplink and a downlink, and characterized by achieving reliable communication over long distances and a larger range.

[0200] S1202: The ground reference station obtains positioning assistance information.

[0201] In a possible implementation, the ground reference station may determine the positioning assistance information based on the ephemeris information, wherein the ephemeris information may be broadcasted to the ground reference station by a low-orbit satellite.

[0202] In one scenario, combined Figure 3 As shown, when the number of ground reference stations is one, the ground reference station receives the position information of the low-orbit satellite-1, and determines the elevation angle A of the ground reference station relative to the low-orbit satellite-1 at 10:01 based on the position information of the low-orbit satellite-1 and its own position information. In the case where the ground reference station is not programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-1, the ground reference station can determine the elevation angle relative to the low-orbit satellite-1, and the elevation angle carries the timestamp information of the moment of calculating the elevation angle. In the case where the ground reference station is programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-1, the ground reference station can substitute the ephemeris information and elevation angle of the low-orbit satellite-1 into the above formulas 1 to 4 to calculate and determine the Doppler frequency deviation A of the ground reference station relative to the low-orbit satellite-1 at 10:01.

[0203] Correspondingly, the ground reference station receives the position information of the low-orbit satellite-2, and determines the elevation angle B of the ground reference station relative to the low-orbit satellite-2 at 10:01 based on the position information of the low-orbit satellite-2 and its own position information. In the case where the ground reference station is not programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-2, the ground reference station can determine the elevation angle relative to the low-orbit satellite-2, and the elevation angle carries the timestamp information of the time when the elevation angle is calculated. In the case where the ground reference station is programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-2, the ground reference station can substitute the ephemeris information and elevation angle of the low-orbit satellite-2 into the above formulas 1 to 4 to calculate and determine the Doppler frequency deviation B of the ground reference station relative to the low-orbit satellite-2 at 10:01. Among them, because the elevation angle carries the timestamp information of the time when the elevation angle is calculated, the Doppler frequency deviation can also carry the timestamp information of the time when the elevation angle is calculated, so as to ensure the accuracy of subsequent positioning.

[0204] In another scenario, combined with Figure 4 As shown, when the number of ground reference stations is two, ground reference station-1 can determine the elevation angle A between ground reference station-1 and low-orbit satellite-1 at 10:01 based on the received position information of low-orbit satellite-1 and its own position information. At the same time, ground reference station-1 can determine the elevation angle B between ground reference station-1 and low-orbit satellite-2 at 10:01 based on the received position information of low-orbit satellite-2 and its own position information.

[0205] Similarly, in the case where the ground reference station-1 is not programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-1, the ground reference station-1 can determine the elevation angle A relative to the low-orbit satellite-1 and the elevation angle B relative to the low-orbit satellite-2, and the elevation angle A and the elevation angle B carry the timestamp information of the time when the elevation angle is calculated. In the case where the ground reference station-1 is programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-1 and continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-2, the ground reference station-1 can substitute the ephemeris information and elevation angle of the low-orbit satellite-1 into the above formulas 1 to 4 to calculate and determine the Doppler frequency deviation A between the ground reference station-1 and the low-orbit satellite-1, and substitute the ephemeris information and elevation angle of the low-orbit satellite-2 into the above formulas 1 to 4 to calculate and determine the Doppler frequency deviation B between the ground reference station-1 and the low-orbit satellite-2.

[0206] Accordingly, continue to combine Figure 4 , ground reference station-2 can determine the elevation angle C between ground reference station-2 and low-orbit satellite-1 at 10:01 according to the received position information of low-orbit satellite-1 and its own position information. At the same time, ground reference station-2 can determine the elevation angle D between ground reference station-2 and low-orbit satellite-2 at 10:01 according to the received position information of low-orbit satellite-2 and its own position information.

[0207] Similarly, in the case where the ground reference station-2 is not programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-1, the ground reference station-2 can determine the elevation angle C relative to the low-orbit satellite-1 and the elevation angle D relative to the low-orbit satellite-2, and the elevation angle C and the elevation angle D carry the timestamp information of the moment of calculating the elevation angle. In the case where the ground reference station-2 is programmed with a program process for continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-1 and continuing to calculate the Doppler frequency deviation relative to the low-orbit satellite-2, the ground reference station-2 can substitute the ephemeris information and elevation angle of the low-orbit satellite-1 into the above formulas 1 to 4 to calculate and determine the Doppler frequency deviation C between the ground reference station-2 and the low-orbit satellite-1, and substitute the ephemeris information and elevation angle of the low-orbit satellite-2 into the above formulas 1 to 4 to calculate and determine the Doppler frequency deviation D between the ground reference station-2 and the low-orbit satellite-2.

[0208] S1203: The ground reference station sends a response message of the first request information to the terminal device. Correspondingly, the terminal device receives the response message of the first request information sent by the ground reference station.

[0209] It is understandable that the terminal device can obtain positioning assistance information from the response message.

[0210] In a possible implementation, when the positioning assistance information calculated and determined by the ground reference station is the elevation angle of the ground reference station relative to the low-orbit satellite, the ground reference station can send the elevation angle to the terminal device through SLPP signaling or SCI signaling. Correspondingly, when the positioning assistance information calculated and determined by the ground reference station is the Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, the ground reference station can send the Doppler frequency deviation to the terminal device through SLPP signaling or SCI signaling.

[0211] In one scenario, combined Figure 3 As shown, the ground reference station sends the elevation angle A relative to the low-orbit satellite-1 at 10:01 to the terminal device. Correspondingly, if the ground reference station calculates the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01 is sent to the terminal device.

[0212] In another possible implementation, if there are multiple ground reference stations, the terminal device will receive multiple elevation angles or multiple Doppler frequency deviations sent by multiple ground reference stations.

[0213] In another scenario, combined with Figure 4As shown, the ground reference station-1 sends the elevation angle A relative to the low-orbit satellite-1 at 10:01 to the terminal device. Accordingly, if the ground reference station-1 calculates the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01 is sent to the terminal device. Accordingly, the ground reference station-1 sends the elevation angle B relative to the low-orbit satellite-2 at 10:01 to the terminal device. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation B relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation B relative to the low-orbit satellite-2 at 10:01 is sent to the terminal device.

[0214] Further, the ground reference station-2 sends the elevation angle C relative to the low-orbit satellite-1 at 10:01 to the terminal device. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation C relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation C relative to the low-orbit satellite-2 at 10:01 is sent to the terminal device. Accordingly, the ground reference station-2 sends the elevation angle D relative to the low-orbit satellite-2 at 10:01 to the terminal device. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation D relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation D relative to the low-orbit satellite-2 at 10:01 is sent to the terminal device.

[0215] based on Fig.12 According to the technical solution, the terminal device directly requests the elevation angle or frequency deviation information relative to the low-orbit satellite from the ground reference station (RSU) to reduce the delay, and carries the request information in the SCI signaling or in the SLPP signaling.

[0216] In another embodiment, the first network element is a positioning server, such as Fig.13 As shown, a positioning method provided in an embodiment of the present application includes S1301 to S1305.

[0217] S1301: The terminal device sends a first request message to the positioning server. Correspondingly, the positioning server receives the first request message sent by the terminal device.

[0218] The first request information is used to request positioning assistance information, and the positioning assistance information includes the elevation angle and / or Doppler frequency deviation of the ground reference station relative to the low-orbit satellite. The ground reference station can be a ground reference station closest to the terminal device, or multiple ground reference stations whose distances to the terminal device are less than a threshold.

[0219] In one scenario, the terminal device may need to perform positioning in response to a user's navigation operation or positioning operation, and send a request message for positioning assistance information to a ground reference station, and the request message may be carried in LPP signaling. For example, a navigation operation refers to an operation in which a user uses an electronic map to navigate, and a positioning operation responds to the need to locate the terminal device in response to the opening of an application.

[0220] In another scenario, the positioning server needs to monitor the location information of the terminal device and send a monitoring request to the terminal device, and then the terminal device sends a request message for positioning assistance information to the positioning server. For example, when a large-scale event is held, the ground reference station needs to determine the number of terminal devices in the area in order to allocate the corresponding carrier resources.

[0221] In the embodiment of the present application, when the ground reference station is a base station, the data or message between the positioning server and the ground reference station can be carried in NRPPa signaling. When the ground reference station is a UE, the data or message between the positioning server / service and the terminal device can use LPP signaling.

[0222] S1302: The positioning server sends a second request message to the ground reference station. Correspondingly, the ground reference station receives the second request message sent by the positioning server.

[0223] The second request information is used to request positioning assistance information, and the number of ground reference stations can be one or more.

[0224] As an implementation manner, the second request information sent by the positioning server to the ground reference station can be carried in NRPPa signaling.

[0225] S1303. The ground reference station obtains positioning assistance information.

[0226] For the specific implementation method, please refer to the above S1202, which will not be repeated here.

[0227] S1304: The ground reference station sends positioning assistance information to the positioning server. Correspondingly, the positioning server receives the positioning assistance information sent from the ground reference station.

[0228] In one possible implementation, when the positioning assistance information calculated and determined by the ground reference station is the elevation angle of the ground reference station relative to the low-orbit satellite, the ground reference station can send the elevation angle to the positioning server through NRPPa signaling. Correspondingly, when the positioning assistance information calculated and determined by the ground reference station is the Doppler frequency deviation of the ground reference station relative to the low-orbit satellite, the ground reference station can send the Doppler frequency deviation to the positioning server through NRPPa signaling.

[0229] In one scenario, combined Figure 5a As shown, the ground reference station sends the elevation angle A relative to the low-orbit satellite-1 at 10:01 to the positioning server. Correspondingly, if the ground reference station calculates the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01 is sent to the positioning server.

[0230] In another possible implementation, if there are multiple ground reference stations, the positioning server will receive multiple elevation angles or multiple Doppler frequency deviations sent by the multiple ground reference stations.

[0231] In another scenario, combined with Figure 6a As shown, the ground reference station-1 sends the elevation angle A relative to the low-orbit satellite-1 at 10:01 to the positioning server. Accordingly, if the ground reference station-1 calculates the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01 is sent to the positioning server. Accordingly, the ground reference station-1 sends the elevation angle B relative to the low-orbit satellite-2 at 10:01 to the positioning server. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation B relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation B relative to the low-orbit satellite-2 at 10:01 is sent to the positioning server.

[0232] Further, the ground reference station-2 sends the elevation angle C relative to the low orbit satellite-1 at 10:01 to the positioning server. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation C relative to the low orbit satellite-1 at 10:01, the Doppler frequency deviation C relative to the low orbit satellite-2 at 10:01 is sent to the positioning server. Accordingly, the ground reference station-2 sends the elevation angle D relative to the low orbit satellite-2 at 10:01 to the positioning server. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation D relative to the low orbit satellite-2 at 10:01, the Doppler frequency deviation D relative to the low orbit satellite-2 at 10:01 is sent to the positioning server.

[0233] S1305: The positioning server sends positioning assistance information to the terminal device. Correspondingly, the terminal device receives the positioning assistance information sent from the positioning server.

[0234] Exemplarily, the positioning server may forward the positioning assistance information of the ground reference station to the terminal device via LPP signaling.

[0235] In another embodiment, the first network element is a serving base station of the terminal device, such as Fig.14 As shown, a positioning method provided in an embodiment of the present application includes S1401 to S1405.

[0236] S1401: The terminal device sends first request information to a serving base station of the terminal device. Correspondingly, the serving base station of the terminal device receives the first request information sent by the terminal device.

[0237] For the specific implementation method, please refer to the above S1301, which will not be repeated here.

[0238] S1402: The service base station of the terminal device sends second request information to the ground reference station. Correspondingly, the ground reference station receives the second request information sent by the service base station of the terminal device.

[0239] For the specific implementation method, please refer to the above S1302, which will not be repeated here.

[0240] S1403. The ground reference station obtains positioning assistance information.

[0241] For the specific implementation method, please refer to the above S1303, which will not be repeated here.

[0242] S1404: The ground reference station sends positioning assistance information to the service base station of the terminal device. Correspondingly, the service base station of the terminal device receives the positioning assistance information sent from the ground reference station.

[0243] In one scenario, combined Figure 5b As shown, the ground reference station sends the elevation angle A relative to the low-orbit satellite-1 at 10:01 to the service base station of the terminal device. Correspondingly, if the ground reference station calculates the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01 is sent to the service base station of the terminal device.

[0244] In yet another possible implementation, when there are multiple ground reference stations, the serving base station of the terminal device will receive multiple elevation angles or multiple Doppler frequency deviations sent by the multiple ground reference stations.

[0245] In another scenario, combined with Figure 6b As shown, the ground reference station-1 sends the elevation angle A relative to the low-orbit satellite-1 at 10:01 to the service base station of the terminal device. Accordingly, if the ground reference station-1 calculates the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation A relative to the low-orbit satellite-1 at 10:01 is sent to the service base station of the terminal device. Accordingly, the ground reference station-1 sends the elevation angle B relative to the low-orbit satellite-2 at 10:01 to the service base station of the terminal device. Accordingly, if the ground reference station-1 calculates the Doppler frequency deviation B relative to the low-orbit satellite-2 at 10:01, the Doppler frequency deviation B relative to the low-orbit satellite-2 at 10:01 is sent to the service base station of the terminal device.

[0246] Further, the ground reference station-2 sends the elevation angle C relative to the low-orbit satellite-1 at 10:01 to the service base station of the terminal device. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation C relative to the low-orbit satellite-1 at 10:01, the Doppler frequency deviation C relative to the low-orbit satellite-1 at 10:01 is sent to the service base station of the terminal device. Accordingly, the ground reference station-2 sends the elevation angle D relative to the low-orbit satellite-2 at 10:01 to the service base station of the terminal device. Accordingly, if the ground reference station-2 calculates the Doppler frequency deviation D relative to the low-orbit satellite-2 at 10:01, the Doppler frequency deviation D relative to the low-orbit satellite-2 at 10:01 is sent to the service base station of the terminal device.

[0247] S1405: The serving base station of the terminal device sends positioning assistance information to the terminal device. Correspondingly, the terminal device receives the positioning assistance information sent by the serving base station of the terminal device.

[0248] For the specific implementation method, please refer to the above S1305, which will not be repeated here.

[0249] In summary, the embodiments of the present application fully consider the evolution direction of the integration of low-orbit satellite communication and positioning, that is, the function of low-orbit satellite positioning is superimposed on the function of low-orbit satellite communication. Compared with the traditional satellite positioning method based on medium-orbit or high-orbit (satellite communication and satellite positioning are decoupled), low-orbit satellites have the following advantages: 1. Low-orbit satellites can be used for communication and positioning at the same time. When the terminal device communicates with the low-orbit satellite, there is no need to additionally capture and track the medium-orbit satellite or high-orbit satellite, thereby reducing the power consumption of the terminal device. 2. In the case of some low-cost IOT UEs that do not have a GNSS module or a weak GNSS scenario, the positioning function of the low-orbit satellite of the terminal device can also be realized. 3. The low-orbit satellite has a fast flight speed and can form a geometric space that is beneficial to the positioning of the terminal device. At the same time, the low-orbit satellite is closer to the ground and has a wider coverage. 4. Low-orbit satellites superimpose positioning characteristics on the basis of NTN communication to achieve commercial value-added.

[0250] It can be understood that in the above embodiments, the methods and / or steps implemented by the network device can also be implemented by components (such as chips or circuits) that can be used for the network device; the methods and / or steps implemented by the terminal can also be implemented by components (such as chips or circuits) that can be used for the terminal.

[0251] The above mainly introduces the solution provided by the present application from the perspective of interaction between various devices. Accordingly, the present application also provides a communication device, which is used to implement the above various methods. The communication device can be a network device in the above method embodiment, or a device including the above network device, or a component that can be used for a network device; or, the communication device can be a terminal in the above method embodiment, or a device including the above terminal, or a component that can be used for a terminal.

[0252] It is understandable that, in order to realize the above functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0253] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. The division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0254] In one implementation scenario, taking the communication device as the terminal in the above method embodiment as an example, Fig.15 The schematic diagram of the structure of a positioning device is shown. The positioning device 1500 includes an acquisition module 1501 , a processing module 1502 and a transceiver module 1503 .

[0255] In some embodiments, the positioning device may also include a storage module ( Fig.15 ), for storing program instructions and data.

[0256] In some embodiments, the transceiver module 1503, which may also be referred to as the transceiver module 1503, is used to implement the sending and / or receiving functions. The transceiver module 1503 may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0257] In some embodiments, the transceiver module 1503 may include a receiving module and a sending module, which are respectively used to execute the receiving and sending steps performed by the terminal in the above-mentioned method embodiments, and / or used to support other processes of the technology described in this document; the processing module 1502 may be used to execute the processing steps (such as determination, acquisition, etc.) performed by the terminal in the above-mentioned method embodiments, and / or used to support other processes of the technology described in this document.

[0258] As an example:

[0259] An acquisition module 1501 is used to acquire positioning assistance information, where the positioning assistance information includes an elevation angle and / or Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, where the ground reference station is a ground reference station whose distance to the terminal device is less than a threshold;

[0260] A processing module 1502 is used to determine a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the positioning assistance information;

[0261] The processing module 1502 is further configured to perform positioning based on the target Doppler frequency deviation.

[0262] As a possible implementation manner, the transceiver module 1503 is used to send a first request message to the first network element, where the first request message is used to request positioning assistance information; receive a response message to the first request message, and obtain the positioning assistance information from the response message.

[0263] As a possible implementation manner, the first network element includes any one of a positioning server, a ground reference station, and a service base station of the terminal device.

[0264] As a possible implementation, the positioning assistance information also includes ephemeris information of low-orbit satellites; the processing module 1502 is specifically used to determine the target Doppler frequency deviation based on the ephemeris information and the elevation angle.

[0265] As a possible implementation, the ephemeris information of the low-orbit satellite includes the speed of the low-orbit satellite and the height of the low-orbit satellite relative to the ground. The processing module 1502 is also used to determine the target Doppler frequency deviation based on the speed, height, and elevation angle.

[0266] As a possible implementation method, there are multiple ground reference stations; processing module 1502 is specifically used to determine, for each ground reference station, the Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the elevation angle and ephemeris information of the ground reference station to obtain multiple Doppler frequency deviations; based on the multiple Doppler frequency deviations, determine the target Doppler frequency deviation.

[0267] As a possible implementation manner, the processing module 1502 is specifically configured to use the Doppler frequency offset as the target Doppler frequency offset.

[0268] As a possible implementation manner, there are multiple ground reference stations; the processing module 1502 is further configured to determine a target Doppler frequency offset based on multiple Doppler frequency offsets.

[0269] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0270] In the present application, the positioning device is presented in the form of dividing various functional modules in an integrated manner. Here, "module" may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0271] In some embodiments, in terms of hardware implementation, those skilled in the art may imagine that the positioning device may be implemented using Figure 2 The form of the communication device shown.

[0272] As an example, Fig.15 The function / implementation process of the processing module 1502 in Figure 2 The processor 201 in the communication device shown calls the computer execution instructions stored in the memory 202 to implement, Fig.15 The function / implementation process of the transceiver module 1503 can be achieved by Figure 2 The communication interface 204 in the communication device shown is implemented.

[0273] In some embodiments, when Fig.15 When the positioning device is a chip or a chip system, the function / implementation process of the processing module can be implemented through the input and output interface (or communication interface) of the chip or the chip system, and the function / implementation process of the transceiver module can be implemented through the processor (or processing circuit) of the chip or the chip system.

[0274] Since the positioning device provided in this embodiment can execute the above method, the technical effects that can be obtained can refer to the above method embodiments and will not be repeated here.

[0275] In one implementation scenario, taking the communication device as the network device in the above method embodiment as an example, Fig.16 A structural schematic diagram of yet another positioning device 1600 is shown, which is applied to a first network element.

[0276] The positioning device includes an acquisition module 1601 , a processing module 1602 , and a transceiver module 1603 .

[0277] In some embodiments, the positioning device may also include a storage module ( Fig.16 ), for storing program instructions and data.

[0278] In some embodiments, the transceiver module 1603, which may also be referred to as a transceiver unit, is used to implement the sending and / or receiving functions. The transceiver module 1603 may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0279] In some embodiments, the transceiver module 1603 may include a receiving module and a sending module, which are respectively used to execute the receiving and sending steps performed by the network device in the above method embodiments, and / or used to support other processes of the technology described in this document; the processing module 1602 may be used to execute the processing steps (such as determination, acquisition, etc.) performed by the network device in the above method embodiments, and / or used to support other processes of the technology described in this document.

[0280] As an example:

[0281] The transceiver module 1603 is used to receive first request information from the terminal device, where the first request information is used to request positioning assistance information, where the positioning assistance information includes an elevation angle and / or Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, and the ground reference station is a ground reference station whose distance from the terminal device is less than a threshold;

[0282] The acquisition module 1601 acquires the positioning assistance information and sends the positioning assistance information to the terminal device.

[0283] As a possible implementation manner, the first network element includes any one of a positioning server, a ground reference station, and a service base station of the terminal device.

[0284] As a possible implementation method, the first network element includes a service base station of a positioning server or a terminal device; the transceiver module 1603 is also used to send a second request information to a ground reference station, the second request information is used to request positioning assistance information, and receive positioning assistance information sent from the ground reference station.

[0285] As a possible implementation, the first network element includes a ground reference station; the acquisition module 1601 is further used to acquire ephemeris information of the low-orbit satellite;

[0286] As a possible implementation manner, the processing module 1602 is further configured to determine positioning assistance information based on the ephemeris information.

[0287] For the detailed description of the above optional methods, please refer to the above method embodiments, which will not be repeated here. In addition, the explanation of any positioning device provided above and the description of the beneficial effects can refer to the above corresponding method embodiments, which will not be repeated here.

[0288] As an example, combining Figure 2 The functions implemented in part or in whole in the acquisition module 1601, the transceiver module 1603 and the processing module 1602 in the positioning device can be Figure 2 Processor 201 in the Figure 2 The program code in the memory 202 is implemented.

[0289] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed on a computer, the computer is enabled to execute the method executed by any one of the positioning devices provided above.

[0290] For the explanation of the relevant contents and description of the beneficial effects of any of the above-mentioned computer-readable storage media, reference may be made to the above-mentioned corresponding embodiments, which will not be repeated here.

[0291] The embodiment of the present application also provides a chip. The chip integrates a control circuit and one or more ports for realizing the functions of the above-mentioned positioning device. Optionally, the functions supported by the chip can be referred to above and will not be repeated here. A person of ordinary skill in the art can understand that all or part of the steps of implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program. The program can be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a random access memory, etc. The above-mentioned processing unit or processor can be a central processing unit, a general-purpose processor, an application specific integrated circuit (ASIC), a microprocessor (digital signal processor, DSP), a field programmable gate array (field programmable gatearray, FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof.

[0292] The embodiment of the present application also provides a computer program product including instructions, when the instructions are run on a computer, the computer executes any one of the methods in the above embodiments. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more servers that can be integrated with the medium. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., an SSD), etc.

[0293] It should be noted that the above-mentioned devices for storing computer instructions or computer programs provided in the embodiments of the present application, such as but not limited to the above-mentioned memories, computer-readable storage media and communication chips, etc., are all non-transitory.

[0294] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with a medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0295] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0296] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A positioning method, characterized in that: Applied to terminal equipment, including: Acquire positioning assistance information, where the positioning assistance information includes an elevation angle and / or a Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, where the ground reference station is a ground reference station whose distance from the terminal device is less than a threshold; Determining a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the positioning assistance information; Positioning is performed based on the target Doppler frequency deviation.

2. The method according to claim 1, characterized in that The obtaining of positioning assistance information includes: Sending first request information to a first network element, where the first request information is used to request the positioning assistance information; Receive a response message to the first request information, and obtain the positioning assistance information from the response message.

3. The method according to claim 2, characterized in that The first network element includes any one of a positioning server, the ground reference station, and a service base station of the terminal device.

4. The method according to any one of claims 1 to 3, characterized in that: The positioning assistance information also includes ephemeris information of the low-orbit satellite; The determining, based on the positioning assistance information, a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite includes: The target Doppler frequency deviation is determined based on the ephemeris information and the elevation angle.

5. The method according to claim 4, characterized in that The ephemeris information of the low-orbit satellite includes the speed of the low-orbit satellite and the height of the low-orbit satellite relative to the ground; The determining the target Doppler frequency deviation based on the ephemeris information and the elevation angle includes: The target Doppler frequency shift is determined based on the speed, the altitude, and the elevation angle.

6. The method according to claim 5, characterized in that The target Doppler frequency deviation satisfies the following formula: Among them, f d,shift is the target Doppler frequency deviation, v is the speed of the low-orbit satellite, c is the speed of light, R e is the radius of the earth, h is the height of the low-orbit satellite relative to the ground, E is the elevation angle, and f c is the carrier center frequency.

7. The method according to claim 4, characterized in that The number of the ground reference stations is multiple; Determining a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the positioning assistance information includes: For each ground reference station, based on the elevation angle of the ground reference station and the ephemeris information, determine the Doppler frequency offset of the terminal device relative to the low-orbit satellite to obtain multiple Doppler frequency offsets; The target Doppler frequency shift is determined based on the multiple Doppler frequency shifts.

8. The method according to any one of claims 1 to 3, characterized in that: The determining, based on the positioning assistance information, a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite includes: The Doppler frequency offset is used as the target Doppler frequency offset.

9. The method according to claim 8, characterized in that The number of the ground reference stations is multiple; Determining a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the positioning assistance information includes: The target Doppler frequency shift is determined based on the multiple Doppler frequency shifts.

10. A positioning method, characterized in that: Applied to the first network element, including: Receiving first request information from a terminal device, where the first request information is used to request positioning assistance information, where the positioning assistance information includes an elevation angle and / or a Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, where the ground reference station is a ground reference station whose distance from the terminal device is less than a threshold; Acquire positioning assistance information, and send the positioning assistance information to the terminal device.

11. The method according to claim 10, characterized in that The first network element includes any one of a positioning server, the ground reference station, and a service base station of the terminal device.

12. The method according to claim 10 or 11, characterized in that: The first network element includes a positioning server or a serving base station of the terminal device; The obtaining of positioning assistance information includes: Sending a second request message to the ground reference station, where the second request message is used to request the positioning assistance information; Receive positioning assistance information sent from the ground reference station.

13. The method according to claim 10 or 11, characterized in that: The first network element includes the ground reference station; the method further includes: Obtaining ephemeris information of the low-orbit satellite; The obtaining of positioning assistance information includes: Based on the ephemeris information, the positioning assistance information is determined.

14. A positioning device, characterized in that: Applied to a terminal device, the device comprises: an acquisition unit and a processing unit; The acquisition unit is used to acquire positioning assistance information, where the positioning assistance information includes an elevation angle and / or a Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, and the ground reference station is a ground reference station whose distance from the terminal device is less than a threshold; The processing unit is used to determine a target Doppler frequency deviation of the terminal device relative to the low-orbit satellite based on the positioning assistance information; The processing unit is also used for positioning based on the target Doppler frequency deviation.

15. A positioning device, characterized in that: Applied to a first network element, the device comprises: a transceiver unit and an acquisition unit; The transceiver unit is configured to receive first request information from a terminal device, where the first request information is used to request positioning assistance information, where the positioning assistance information includes an elevation angle and / or a Doppler frequency deviation of a ground reference station relative to a low-orbit satellite, and the ground reference station is a ground reference station whose distance from the terminal device is less than a threshold; The acquisition unit is used to acquire positioning auxiliary information; The transceiver unit is further used to send the positioning assistance information to the terminal device.

16. A communication device, characterized in that: The communication device comprises: a processor and a communication interface; The communication interface is used to communicate with modules outside the communication device; The processor is used to execute computer-executable instructions so that the communication device executes the method according to any one of claims 1 to 9, or so that the communication device executes the method according to any one of claims 10 to 13.

17. A computer-readable storage medium, characterized in that: The method comprises instructions, which, when executed on a communication device, enable the communication device to execute the method according to any one of claims 1 to 9, or enable the communication device to execute the method according to any one of claims 10 to 13.

18. A communication system, characterized in that: It includes the terminal device, the first network element, and the low-orbit satellite described in claims 1-9 or claims 10-13.

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