Positioning method and device

Abstract

The embodiment of the invention provides a positioning method and device. The method comprises the steps that a first device obtains path measurement information of at least one target channel; the at least one target channel is a channel for transmitting signals between the first device and at least one second device; determining measurement information of a first path corresponding to the at least one target channel based on the path measurement information of the at least one target channel; the first path is a direct connection path between the first device and the second device; sending the measurement information of the first path corresponding to the at least one target channel to a positioning device for positioning calculation; through the method, accurate measurement information or data (such as arrival time) of the channel path between the first device and the second device can be obtained for positioning calculation, so that the overall positioning precision can be effectively improved.

Description

Technical Field

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

[0002] With the rapid development of communication technology, high-precision positioning has gradually been identified as an important research project in the 5th generation mobile networks or 5th generation wireless systems (5G) of the 3rd Generation Partnership Project (3GPP). In the 3GPP standard, a variety of positioning technologies are supported, such as carrier phase positioning technology, time of arrival (TOA), angle of departure (AOD), time difference of arrival (TDOA), angle of arrival (AOA), round trip time (RTT), etc.

[0003] In order to achieve high-precision positioning, accurate measurement values ​​are required. Whether it is a positioning technology based on time, angle or carrier phase, it is necessary to measure the accurate first path delay, angle or carrier phase. However, for channels with multipath interference, due to the large number of reflection paths, there are many multipaths near the first path, which are difficult to separate in time, resulting in deviations in the arrival time or angle estimation of the first path, thus affecting the positioning accuracy. Therefore, how to accurately obtain the positioning measurement data of the first path is one of the problems that need to be solved urgently. Summary of the invention

[0004] The present application proposes a positioning method and device, which can accurately obtain the positioning measurement data of the first path to improve the positioning accuracy.

[0005] The solutions provided in the first and second aspects described below can be applied to the current downlink positioning process to effectively determine the location information of the first device (such as a terminal device).

[0006] In the first aspect, the present application implements a positioning method, which can be executed by a first device, or by a chip or chip system corresponding to the first device, without limitation. Taking the first device as an example, the method may include: the first device obtains path measurement information of at least one target channel; the at least one target channel is a channel for transmitting signals between the first device and at least one second device; the first device determines the measurement information of the first path corresponding to the at least one target channel based on the path measurement information of the at least one target channel; the first path is a direct connection path between the first device and the second device; and then the first device sends the measurement information of the first path corresponding to the at least one target channel to the positioning device.

[0007] In an embodiment of the present application, the first device may be a terminal device to be located, the second device may be an access network device (eg, a base station), and the positioning device may be a location management function (LMF) or a location management device.

[0008] In an embodiment of the present application, when a signal is transmitted between a first device and a second device through a target channel, there may be multiple transmission paths due to reflection and / or scattering. The first path in the present application may refer to the actual path in which the first device and the second device transmit signals through the target channel, that is, the signal is directly transmitted to the receiving end without reflection and / or scattering. The transmission distance and time corresponding to the first path are the shortest. Compared with other paths in the target channel, the signal transmitted by the first path arrives at the receiving end first. In the present application, the first path may be referred to as a direct path, and may also be referred to as a line-of-sight path (LOS path) or a first-reaching path (or first-reaching path), without specific limitation.

[0009] In addition, in the embodiment of the present application, a channel (called the target channel) for transmitting signals between the first device and the second device is used as an example to introduce the solution. In actual applications, there may be multiple channels for transmitting signals between the first device and the second device, and each channel can refer to the method of the target channel to obtain the measurement information of the first path therein. Similarly, for a channel (called the target channel) between the first device and the second device, the number of first paths may be one or more; in the case of multiple first paths, the processing method corresponding to one first path may also be referred to for execution.

[0010] In the present application scheme, the first device first obtains the measurement information of the target channel for transmitting signals between itself and the second device. Since there may be multi-path transmission when the signal is transmitted through the channel, the first device then obtains the measurement information of the first path based on the measurement information of the target channel. The first path is the direct path between the first device and the second device. Similarly, for other second devices, the first device performs the same processing to obtain the measurement information of the first path in the corresponding target channel. Finally, the first device sends the measurement information of these first paths to the positioning device for subsequent positioning calculations of the positioning device. Therefore, through this method, accurate measurement information of the path between the first device and the second device can be obtained, thereby effectively improving the accuracy of the overall positioning.

[0011] In a possible implementation, the first device obtains the path measurement information of at least one target channel, which may include: the first device receives a reference signal sent by at least one second device through the at least one target channel, and measures to obtain information of the corresponding target channel; and then obtains the path measurement information of the at least one target channel based on the information of the at least one target channel.

[0012] Through this implementation, the first device can effectively obtain measurement information of the channels between the first device and each second device.

[0013] In one possible implementation, the target channel information is the frequency domain information of the target channel, and the path measurement information of the target channel is the impulse response (CIR) information of the target channel; then the first device obtains the path measurement information of the at least one target channel based on the information of the at least one target channel, which may include: first performing inverse fast Fourier transform IFFT processing on the frequency domain information of the at least one target channel to obtain the CIR information of the at least one target channel. Through this implementation, the first device can effectively measure the CIR information of the channel for transmitting signals between the first device and each second device.

[0014] In one possible implementation, the path measurement information of the target channel is the impulse response CIR information of the target channel; then the first device determines the measurement information of the first path corresponding to the at least one target channel based on the path measurement information of the at least one target channel, which may include: first obtaining the CIR information of at least one path corresponding to the at least one target channel based on the CIR information of the at least one target channel; and then determining the measurement information of the first path based on the CIR information of at least one path corresponding to each target channel.

[0015] Through the above implementation, the first device can effectively determine the more accurate measurement information of the first path through the CIR information of at least one path corresponding to each target channel.

[0016] In one possible implementation, the first device obtains CIR information of at least one path corresponding to the at least one target channel based on the CIR information of the at least one target channel, which may include: performing angle rotation processing on the CIR information of each target channel to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle is used to characterize the CIR information corresponding to a path.

[0017] In an embodiment of the present application, the first device performs angle rotation processing on the CIR information of each target channel to obtain CIR information corresponding to at least one rotation angle, which may specifically include: after multiplying the CIR information of each target channel by at least one rotation vector, performing real part projection to obtain CIR information corresponding to at least one rotation angle.

[0018] Through this implementation, the first device can effectively obtain the CIR information of each path in each target channel based on the CIR information of each target channel, so as to subsequently determine the measurement information corresponding to the first path (such as the arrival time corresponding to the first path).

[0019] In a possible implementation, the measurement information of the first path is the arrival time corresponding to the first path; then the first device determines the measurement information of the first path based on the CIR information of at least one path corresponding to each target channel, which may include: obtaining preset single-path CIR information; performing sliding correlation processing on the CIR information of the at least one path and the preset single-path CIR information, and obtaining first relationship information corresponding to the at least one path; the first relationship information is used to characterize the correspondence between the rotation angle and delay corresponding to the path and the correlation coefficient value; the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information; then based on the first relationship information corresponding to the at least one path, determine the target delay; and use the target delay as the arrival time corresponding to the first path.

[0020] In the embodiment of the present application, the first relationship information can also be used to characterize: the corresponding relationship between the time delay and the correlation coefficient value, and / or the corresponding relationship between the rotation angle and the time delay.

[0021] Through this implementation, the first device can effectively obtain the arrival time corresponding to the first path based on the CIR information of at least one path corresponding to each target channel; in this way, the arrival time corresponding to the first path in each target channel is used in the calculation of the positioning device, which can improve the accuracy of the positioning calculation.

[0022] In a possible implementation, the first device determines the target delay based on the first relationship information corresponding to the at least one path, which may include: determining one or more delays based on the first relationship information corresponding to the at least one path, through at least one discrimination algorithm with a preset correlation coefficient threshold; if one delay is determined, the delay is used as the target delay; if multiple delays are determined, the average value or cluster value of the multiple delays is used as the target delay. Through this implementation, the first device can effectively determine the target delay (i.e., the arrival time between the first device and the second device).

[0023] In a possible implementation manner, the method further includes: the first device sending information of a first path corresponding to the at least one second device to the positioning device; the information of the first path may include but is not limited to any one or more of a rotation angle corresponding to the arrival time, relevant information corresponding to the arrival time, and second relationship information corresponding to the arrival time; wherein the relevant information may be used to represent one or more of the following:

[0024] The matching degree between the target channel and the single-path channel, the likelihood ratio between the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; wherein the second relationship information can also be used to characterize any one or more of the correspondence between the arrival time and the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

[0025] In the embodiment of the present application, a single-path channel may refer to a channel with only one single path (i.e., LOS path) in the channel and no other multipaths, or there are other multipaths, but the distance from the multipath to the LOS path is greater than a certain threshold, which will not affect the parameter estimation (delay, phase, etc.) of the LOS path. The single-path arrival time may refer to the arrival delay of the LOS path, that is, the time corresponding to the straight-line distance from the transmitter to the receiver.

[0026] In the above, the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than the preset threshold, etc. can be determined by the first device itself and reported to the positioning device. The correlation coefficient value corresponding to the above arrival time and each information in the second relationship information can be determined through the above-mentioned first relationship information.

[0027] Through this implementation, the positioning device can also use the information of the first path (such as the above-mentioned related information, relationship information, etc.) to perform positioning calculations, which can further improve the accuracy of positioning.

[0028] In the second aspect, the present application implements a positioning method, which can be executed by a positioning device, or by a chip or chip system corresponding to the positioning device, without limitation. Taking a positioning device as an example, the method may include: the positioning device receives measurement information of a first path corresponding to at least one target channel of a first device; the at least one target channel is a channel for transmitting signals between the first device and at least one second device; the first path is a direct connection path between the first device and the second device; the positioning device determines the location information of the first device based on the measurement information of the first path corresponding to the at least one target channel.

[0029] In an embodiment of the present application, the first device may be a terminal device to be located, the second device may be an access network device (eg, a base station), and the positioning device may be a positioning management function LMF or a positioning management device.

[0030] In an embodiment of the present application, when a signal is transmitted between a first device and a second device through a target channel, there may be multiple transmission paths due to reflection and / or scattering. In the present application, the first path may refer to the actual path in which the first device and the second device transmit signals through the target channel, that is, the signal is directly transmitted to the receiving end without reflection and / or scattering. The transmission distance and time corresponding to the first path are the shortest. Compared with other paths in the target channel, the signal transmitted by the first path arrives at the receiving end first. The present application may refer to the first path as a direct path, and may also refer to it as a line-of-sight path (LOS path) or a first-reaching path (or first-reaching path), without specific limitation.

[0031] In the embodiment of the present application, a channel (called the target channel) for transmitting signals between the first device and the second device is used as an example to introduce the solution. In actual applications, there may be multiple channels for transmitting signals between the first device and the second device, and each channel can refer to the method of the target channel to obtain the measurement information of the first path therein. Similarly, for a channel (called the target channel) between the first device and the second device, the number of first paths may be one or more; in the case of multiple first paths, the processing method corresponding to one first path may also be referred to for execution.

[0032] In the present application scheme, the positioning device receives measurement information of a first path of at least one target channel sent from a first device; each target channel corresponds to a channel of a transmission channel between the first device and a second device; the first path refers to a direct connection path between the first device and the second device. The positioning device performs positioning calculations based on the measurement information of the first paths of these target channels, and can obtain more accurate location information of the first device, thereby improving the overall positioning accuracy.

[0033] In an embodiment of the present application, the positioning device may also obtain corresponding location information (such as geographic location coordinate information) from the at least one second device, or may store or record the location information (such as geographic location coordinate information) of each second device itself.

[0034] In a possible implementation, when the measurement information of the first path is the arrival time of the first path; the positioning device determines the location information of the first device according to the measurement information of the first path corresponding to the at least one target channel, which may include: the positioning device determines the location information of the first device according to the arrival time of the first path corresponding to the at least one target channel and the location coordinate information of the at least one second device. Through this implementation, the positioning device can effectively obtain the location information (such as geographic coordinates) of the first device.

[0035] In a possible implementation, the positioning device also receives relevant information about the arrival time corresponding to the at least one target channel from the first device; wherein the relevant information can be used to characterize one or more of the following: the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; further, the positioning device can determine the weight value corresponding to the arrival time based on the relevant information corresponding to the at least one target channel.

[0036] Through this implementation, the positioning device can also determine the weight value of the arrival time of the first path in each target channel for use in subsequent positioning calculations, thereby obtaining a more accurate positioning calculation result.

[0037] In a possible implementation, the positioning device determines the location information of the first device according to the measurement information of the first path respectively corresponding to the at least one target channel, which may include: the positioning device determines the location coordinate information of the first device according to the arrival time and the weight value of the arrival time respectively corresponding to the at least one target channel, and the location coordinate information of the at least one second device. Through this implementation, the positioning device can determine more accurate location coordinate information of the first device.

[0038] It should be noted that in the embodiments of the present application, the steps or contents described in the second aspect above can be used as subordinate steps or contents in the scheme described in the first aspect above.

[0039] The present application also provides another solution, as detailed in the third and fourth aspects below. The solutions provided in the third and fourth aspects can be applied in the current uplink positioning process to effectively determine the location information of the first device (such as a terminal device).

[0040] In the third aspect, the present application implements a positioning method, which can be executed by a second device, or by a chip or chip system corresponding to the second device, without limitation. Taking the second device as an example, the method may include: the second device obtains path measurement information of a target channel; the target channel is a channel for transmitting signals between the first device and the second device; the second device determines measurement information of a first path in the target channel based on the path measurement information of the target channel; the first path is a direct path between the first device and the second device; the second device sends the measurement information of the first path to the positioning device.

[0041] In an embodiment of the present application, the first device may be a terminal device to be located, the second device may be an access network device (eg, a base station), and the positioning device may be a positioning management function LMF or a positioning management device.

[0042] In an embodiment of the present application, when a signal is transmitted between a first device and a second device through a target channel, there may be multiple transmission paths due to reflection and / or scattering. In the present application, the first path may refer to the actual path in which the first device and the second device transmit signals through the target channel, that is, the signal is directly transmitted to the receiving end without reflection and / or scattering. The transmission distance and time corresponding to the first path are the shortest. Compared with other paths in the target channel, the signal transmitted by the first path arrives at the receiving end first. The present application may refer to the first path as a direct path, and may also refer to it as a line-of-sight path (LOS path) or a first-reaching path (or first-reaching path), without specific limitation.

[0043] In addition, in the embodiment of the present application, a channel (called the target channel) for transmitting signals between the first device and the second device is used as an example to introduce the solution. In actual applications, there may be multiple channels for transmitting signals between the first device and the second device, and each channel can refer to the method of the target channel to obtain the measurement information of the first path therein. Similarly, for a channel (called the target channel) between the first device and the second device, the number of first paths may be one or more; in the case of multiple first paths, the processing method corresponding to one first path may also be referred to for execution.

[0044] In the present application scheme, the second device first obtains the measurement information of the target channel for transmitting signals between itself and the first device. Since there may be multi-path transmission when the signal is transmitted through the channel, the second device then obtains the measurement information of the first path based on the measurement information of the target channel. The first path is the direct path between the first device and the second device. Finally, the second device sends the measurement information of the first path to the positioning device for subsequent positioning calculations by the positioning device. Similarly, for other second devices, the above method can also be used. Therefore, through this method, the positioning device can obtain accurate measurement information of the path between the first device and the second device for subsequent positioning calculations, so as to obtain more accurate positioning results, thereby improving the overall positioning accuracy.

[0045] In a possible implementation, the second device obtains the path measurement information of the target channel, which may include: receiving a reference signal sent by the second device through the target channel, and measuring and obtaining information of the target channel; and then obtaining the path measurement information of the target channel based on the information of the target channel. Through this implementation, the second device can effectively obtain the measurement information of the channel between the first device and the second device.

[0046] In a possible implementation, the information of the target channel is the frequency domain information of the target channel, and the path measurement information of the target channel is the impulse response CIR information of the target channel; the second device obtains the path measurement information of the target channel based on the information of the target channel, which may include: first performing an inverse fast Fourier transform IFFT process on the frequency domain information of the target channel to obtain the CIR information of the target channel. Through this implementation, the second device can effectively measure the CIR information of the channel for transmitting signals between the first device and the second device.

[0047] In a possible implementation, the path measurement information of the target channel is the impulse response CIR information of the target channel; the second device determines the measurement information of the first path in the target channel based on the path measurement information of the target channel, which may include: obtaining the CIR information of at least one path in the target channel based on the CIR information of the target channel; and then determining the measurement information of the first path based on the CIR information of the at least one path. Through the above implementation, the second device can effectively determine the more accurate measurement information of the first path through the CIR information of at least one path in each target channel.

[0048] In one possible implementation, the second device obtains the CIR information of at least one path in the target channel based on the CIR information of the target channel, which may include: performing angle rotation processing on the impulse response CIR information of the target channel to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle is used to characterize the CIR information corresponding to a path.

[0049] In an embodiment of the present application, the second device performs angle rotation processing on the impulse response CIR information of the target channel to obtain CIR information corresponding to at least one rotation angle, which may specifically include: after the impulse response CIR information of the target channel is multiplied by at least one rotation vector, a real part is projected to obtain the CIR information corresponding to the at least one rotation angle. Through this implementation, the second device can effectively obtain the CIR information of each path in each target channel based on the CIR information of each target channel, so as to subsequently determine the measurement information corresponding to the first path (such as the arrival time corresponding to the first path).

[0050] In one possible implementation, the measurement information of the first path is the arrival time corresponding to the first path; then the second device determines the measurement information of the first path based on the CIR information of the at least one path, which may specifically include: obtaining preset single-path CIR information; performing sliding correlation processing on the CIR information of the at least one path and the preset single-path CIR information, and obtaining first relationship information corresponding to the at least one path; the first relationship information is used to characterize the correspondence between the rotation angle and delay corresponding to the path and the correlation coefficient value; the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information; then based on the first relationship information corresponding to the at least one path, determine the target delay; and use the target delay as the arrival time corresponding to the first path.

[0051] In the embodiment of the present application, the first relationship information can also be used to characterize any one or more of the following: the corresponding relationship between the time delay and the correlation coefficient value, and / or the corresponding relationship between the rotation angle and the time delay.

[0052] Through this implementation, the second device can effectively obtain the arrival time corresponding to the first path based on the CIR information of at least one path corresponding to the target channel; in this way, the arrival time corresponding to the first path in the target channel is used in the calculation of the positioning device, which can improve the accuracy of the positioning calculation.

[0053] In a possible implementation, the second device determines the target delay based on the first relationship information corresponding to the at least one path, which may include: determining one or more delays based on the first relationship information corresponding to the at least one path, through at least one discrimination algorithm with a preset correlation coefficient threshold; if one delay is determined, the delay is used as the target delay; if multiple delays are determined, the average value or cluster value of the multiple delays is used as the target delay. Through this implementation, the first device can effectively determine the target delay (i.e., the arrival time between the first device and the second device).

[0054] In a possible implementation, the method further includes: a second device sends information about the first path to the positioning device; the information about the first path includes one or more of the following: a rotation angle corresponding to the arrival time of the first path, relevant information corresponding to the arrival time of the first path, and second relationship information corresponding to the arrival time of the first path; wherein the relevant information is used to characterize one or more of the following: a matching degree between a target channel and a single-path channel, a likelihood ratio between the arrival time and the single-path arrival time, a probability that a correlation coefficient value is greater than a preset threshold, and a correlation coefficient value corresponding to the arrival time; the second relationship information is used to characterize any one of the following: a correspondence between the arrival time and the corresponding rotation angle and the correlation coefficient value, a correspondence between the arrival time and the corresponding rotation angle, and a correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

[0055] In the embodiment of the present application, a single-path channel may refer to a channel with only one single path (i.e., LOS path) in the channel and no other multipaths, or there are other multipaths, but the distance from the multipath to the LOS path is greater than a certain threshold, which will not affect the parameter estimation (delay, phase, etc.) of the LOS path. The single-path arrival time may refer to the arrival delay of the LOS path, that is, the time corresponding to the straight-line distance from the transmitter to the receiver.

[0056] In the above, the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than the preset threshold, etc. can be determined by the second device itself and reported to the positioning device; the correlation coefficient value corresponding to the above arrival time and each information in the second relationship information can be determined through the above-mentioned first relationship information.

[0057] Through this implementation, the positioning device can also use the information of the first path (such as the above-mentioned related information, relationship information, etc.) to perform positioning calculations, which can further improve the accuracy of positioning.

[0058] The third aspect above is introduced by taking a second device as an example. In the actual positioning process, one or more second devices may be included. In the case of including multiple second devices, the other second devices can all refer to the method of the third aspect for execution. Accordingly, the positioning device receives the measurement information of the first path of at least one second device.

[0059] In a fourth aspect, the present application provides a positioning method, which can be executed by a positioning device, or by a chip or chip system corresponding to the positioning device, without limitation. Taking a positioning device as an example, the method may include: the positioning device receives measurement information of a first path of at least one second device; the first path is a direct connection path between the first device and the second device; and then based on the measurement information of the first path of the at least one second device, determines the location information of the first device.

[0060] In an embodiment of the present application, the first device may be a terminal device to be located, the second device may be an access network device (eg, a base station), and the positioning device may be a positioning management function LMF or a positioning management device.

[0061] In an embodiment of the present application, when a signal is transmitted between a first device and a second device through a target channel, there may be multiple transmission paths due to reflection and / or scattering. In an embodiment of the present application, the first path may refer to the actual path when the first device and the second device transmit signals through the target channel, that is, the signal is directly transmitted to the receiving end without reflection and / or scattering. The transmission distance and time corresponding to the first path are the shortest, and the signal transmitted by the first path arrives at the receiving end first compared to other paths in the target channel. In the present application, the first path may be referred to as a direct path, and may also be referred to as a line-of-sight path (LOS path) or a first-reaching path (or first-reaching path), without specific limitation.

[0062] In the embodiment of the present application, a channel (called the target channel) for transmitting signals between the first device and the second device is used as an example to introduce the solution. In actual applications, there may be multiple channels for transmitting signals between the first device and the second device, and each channel can refer to the method of the target channel to obtain the measurement information of the first path therein. Similarly, for a channel (called the target channel) between the first device and the second device, the number of first paths may be one or more; in the case of multiple first paths, the processing method corresponding to one first path may also be referred to for execution.

[0063] In the present application, the positioning device receives measurement information of a first path of a target channel sent from at least one second device; the target channel corresponds to a channel of a transmission channel between the first device and a second device; the first path refers to a direct path between the first device and the second device. The positioning device performs positioning calculations based on the measurement information of the first paths of these target channels, and can obtain more accurate location information of the first device, thereby improving the overall positioning accuracy.

[0064] In the embodiment of the present application, the positioning device may also obtain corresponding location information (such as geographic location coordinate information) from the second device, or may store or record the location information (such as geographic location coordinate information) of the second device itself.

[0065] In a possible implementation, when the measurement information of the first path is the arrival time of the first path; the positioning device determines the location information of the first device based on the measurement information of the first path of the at least one second device, which may include: determining the location information of the first device according to the arrival time of the first path corresponding to the at least one second device and the location coordinate information of the at least one second device. Through this implementation, the positioning device can effectively obtain the location information (such as geographic coordinates) of the first device.

[0066] In a possible implementation, the method further includes: the positioning device receives the relevant information corresponding to the arrival time sent by the at least one second device; wherein the relevant information is used to characterize one or more of the following: the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; further, the positioning device determines the weight value corresponding to the arrival time according to the relevant information corresponding to each of the second devices. Through this implementation, the positioning device can also determine the weight value corresponding to the arrival time of the first path in the target channel for subsequent positioning calculations, and can obtain more accurate positioning calculation results.

[0067] In a possible implementation, the positioning device determines the location information of the first device according to the arrival time of the first path corresponding to the at least one second device and the location coordinate information of the at least one second device, which may include: calculating the location coordinate information of the first device according to the arrival time corresponding to the at least one second device and the corresponding weight value, and the location coordinate information of the at least one second device. Through this implementation, the positioning device can determine more accurate location coordinate information of the first device.

[0068] In an embodiment of the present application, the positioning device may also receive the rotation angle corresponding to the arrival time of the at least one second device, and / or the second relationship information corresponding to the arrival time; the second relationship information is used to characterize any of the following: the correspondence between the arrival time of the first path and the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time of the first path and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time of the first path and the correlation coefficient value; wherein the correlation coefficient value is used to characterize the similarity between the CIR information corresponding to the rotation angle and the preset single-path CIR information. The positioning device may also use the aforementioned information to perform positioning calculations, which may further improve the accuracy of the positioning calculation results.

[0069] It should be noted that in the embodiments of the present application, the steps or contents described in the fourth aspect above can be used as subordinate steps or contents in the scheme described in the third aspect above.

[0070] In the fifth aspect, an embodiment of the present application also provides a communication device, which can be used to execute the method of the first aspect. The device can be a first device (terminal device), or the device can be a component in the first device (terminal device) (for example, a chip, or a chip system, or a circuit), or it can be a device that can be used in combination with the first device (terminal device).

[0071] In one possible implementation, the device may include a module or unit corresponding to the method / operation / step / action described in the first aspect, and the module or unit may be a hardware circuit, or software, or a combination of a hardware circuit and software. In one possible implementation, the device may include a processing unit (also referred to as a processing module) and a communication unit (also referred to as a communication module), wherein the communication unit is used to obtain path measurement information of at least one target channel; the at least one target channel is a channel for transmitting signals between the first device and at least one second device; the processing unit is used to determine the measurement information of the first path corresponding to the at least one target channel based on the path measurement information of the at least one target channel; the first path is a direct connection path between the first device and the second device; the communication unit is also used to send the measurement information of the first path corresponding to the at least one target channel to the positioning device.

[0072] In one possible implementation, when acquiring the path measurement information of at least one target channel, the communication unit is specifically used to: receive a reference signal sent by the at least one second device through the at least one target channel, and measure and obtain the corresponding information of the target channel; and obtain the path measurement information of the at least one target channel based on the information of the at least one target channel.

[0073] In one possible implementation, the information of the target channel is the frequency domain information of the target channel, and the path measurement information of the target channel is the impulse response CIR information of the target channel; when the processing unit obtains the path measurement information of the at least one target channel based on the information of the at least one target channel, it is specifically used to: perform inverse fast Fourier transform IFFT processing on the frequency domain information of the at least one target channel to obtain the CIR information of the at least one target channel.

[0074] In one possible implementation, the path measurement information of the target channel is the impulse response CIR information of the target channel; when the processing unit determines the measurement information of the first path corresponding to the at least one target channel based on the path measurement information of the at least one target channel, it is specifically used to: obtain the CIR information of at least one path corresponding to the at least one target channel based on the CIR information of the at least one target channel; and determine the measurement information of the first path based on the CIR information of the at least one path corresponding to each of the target channels.

[0075] In one possible implementation, the processing unit, when obtaining the CIR information of at least one path corresponding to the at least one target channel based on the CIR information of the at least one target channel, is specifically used to: perform angle rotation processing on the CIR information of each target channel to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle is used to characterize the CIR information corresponding to a path.

[0076] In one possible implementation, the processing unit, when performing angle rotation processing on the CIR information of each of the target channels to obtain CIR information corresponding to at least one rotation angle, is specifically used to: after multiplying the CIR information of each of the target channels by at least one rotation vector, perform real part projection to obtain the CIR information corresponding to the at least one rotation angle.

[0077] In a possible implementation, the measurement information of the first path is the arrival time corresponding to the first path; the processing unit, when determining the measurement information of the first path based on the CIR information of the at least one path corresponding to each of the target channels, is specifically used to: obtain preset single-path CIR information through the communication unit; perform sliding correlation processing on the CIR information of the at least one path and the preset single-path CIR information, and obtain first relationship information corresponding to the at least one path; the first relationship information is used to characterize the correspondence between the rotation angle and delay corresponding to the path and the correlation coefficient value; the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information; determine the target delay based on the first relationship information corresponding to the at least one path; and use the target delay as the arrival time corresponding to the first path.

[0078] In a possible implementation manner, the first relationship information is further used to characterize any one or more of the following: a corresponding relationship between the time delay and the correlation coefficient value, and a corresponding relationship between the rotation angle and the time delay.

[0079] In one possible implementation, the processing unit determines the target delay based on the first relationship information corresponding to the at least one path, and is specifically used to: determine one or more delays based on the first relationship information corresponding to the at least one path, through a discrimination algorithm with at least one preset correlation coefficient threshold; if one delay is determined, use the delay as the target delay; if multiple delays are determined, use an average value or cluster value of the multiple delays as the target delay.

[0080] In one possible implementation, the communication unit is further used to: send information of the first path corresponding to the at least one second device to the positioning device; the information of the first path includes one or more of the following: the rotation angle corresponding to the arrival time, the related information corresponding to the arrival time, and the second relationship information corresponding to the arrival time; wherein the related information is used to characterize one or more of the following: the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; the second relationship information is used to characterize any one of the following: the correspondence between the arrival time and the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

[0081] In a possible implementation, the first device is a terminal device, and the second device is an access network device.

[0082] In the sixth aspect, an embodiment of the present application also provides a communication device, which can be used to execute the method of the second aspect. The device can be a positioning device, or the device can be a component in the positioning device (for example, a chip, or a chip system, or a circuit), or it can be a device that can be used in combination with the positioning device.

[0083] In one possible implementation, the device may include a module or unit corresponding to the method / operation / step / action described in the second aspect, and the module or unit may be a hardware circuit, or software, or a combination of a hardware circuit and software. In one possible implementation, the device may include a processing unit (also referred to as a processing module) and a communication unit (also referred to as a communication module), wherein the communication unit is used to: receive measurement information of a first path corresponding to at least one target channel of a first device; the at least one target channel is a channel for transmitting signals between the first device and at least one second device; the first path is a direct connection path between the first device and the second device; the processing unit is used to determine the location information of the first device based on the measurement information of the first path corresponding to the at least one target channel.

[0084] In a possible implementation, the first device may be a terminal device to be located, the second device may be an access network device (eg, a base station), and the positioning device may be a positioning management function LMF or a positioning management device.

[0085] In a possible implementation, the communication unit is further configured to obtain location information (such as geographic location coordinate information) corresponding to the at least one second device.

[0086] In a possible implementation, when the measurement information of the first path is the arrival time of the first path, the processing unit, when determining the location information of the first device based on the measurement information of the first path corresponding to the at least one target channel, is specifically used to: determine the location information of the first device based on the arrival time of the first path corresponding to the at least one target channel and the location coordinate information of the at least one second device.

[0087] In one possible implementation, the communication unit is also used to receive relevant information about the arrival time corresponding to the at least one target channel sent from the first device; wherein the relevant information can be used to characterize one or more of the following: the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; further, the processing unit is also used to determine the weight value of the arrival time based on the relevant information corresponding to each second device.

[0088] In a possible implementation, when the processing unit determines the location information of the first device based on the measurement information of the first path corresponding to the at least one target channel, it is specifically used to: determine the location coordinate information of the first device based on the arrival time corresponding to the at least one target channel and the weight value of the arrival time, and the location coordinate information of the at least one second device.

[0089] In the seventh aspect, an embodiment of the present application also provides a communication device, which can be used to execute the method of the third aspect. The device can be a second device (access network device), or the device can be a component in the second device (access network device) (for example, a chip, or a chip system, or a circuit), or it can be a device that can be used in combination with the second device (access network device).

[0090] In one possible implementation, the device may include a module or unit corresponding to the method / operation / step / action described in the third aspect, and the module or unit may be a hardware circuit, or software, or a combination of a hardware circuit and software. In one possible implementation, the device may include a processing unit (also referred to as a processing module) and a communication unit (also referred to as a communication module), wherein the communication unit is used to obtain path measurement information of a target channel; the target channel is a channel for transmitting signals between a first device and a second device; the processing unit is used to determine measurement information of a first path in the target channel based on the path measurement information of the target channel; the first path is a direct path between the first device and the second device; the communication unit is also used to send measurement information of the first path to a positioning device.

[0091] In a possible implementation, when the communication unit obtains the path measurement information of the target channel, it is specifically used to: receive the reference signal sent by the second device through the target channel, and measure and obtain the information of the target channel; and obtain the path measurement information of the target channel based on the information of the target channel.

[0092] In a possible implementation manner, the information of the target channel is frequency domain information of the target channel, and the path measurement information of the target channel is impulse response CIR information of the target channel;

[0093] When obtaining the path measurement information of the target channel based on the information of the target channel, the processing unit is specifically used to: perform inverse fast Fourier transform IFFT processing on the frequency domain information of the target channel to obtain the CIR information of the target channel.

[0094] In one possible implementation, the path measurement information of the target channel is the impulse response CIR information of the target channel; when the processing unit determines the measurement information of the first path in the target channel based on the path measurement information of the target channel, it is specifically used to: obtain the CIR information of at least one path in the target channel based on the CIR information of the target channel; and determine the measurement information of the first path based on the CIR information of the at least one path.

[0095] In one possible implementation, the processing unit, when obtaining the CIR information of at least one path in the target channel based on the CIR information of the target channel, is specifically used to: perform angle rotation processing on the impulse response CIR information of the target channel to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle is used to characterize the CIR information corresponding to a path.

[0096] In one possible implementation, the processing unit, when performing angle rotation processing on the impulse response CIR information of the target channel to obtain CIR information corresponding to at least one rotation angle, is specifically used to: after multiplying the impulse response CIR information of the target channel by at least one rotation vector, perform real part projection to obtain CIR information corresponding to the at least one rotation angle.

[0097] In a possible implementation, the measurement information of the first path is the arrival time corresponding to the first path; when the processing unit determines the measurement information of the first path based on the CIR information of the at least one path, it is specifically used to: obtain preset single-path CIR information through the communication unit; perform sliding correlation processing on the CIR information of the at least one path and the preset single-path CIR information, and obtain first relationship information corresponding to the at least one path; the first relationship information is used to characterize the correspondence between the rotation angle and delay corresponding to the path and the correlation coefficient value; the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information; based on the first relationship information of the at least one path, determine the target delay; and use the target delay as the arrival time corresponding to the first path.

[0098] In a possible implementation manner, the first relationship information is further used to characterize any one or more of the following: a corresponding relationship between the time delay and the correlation coefficient value, and a corresponding relationship between the rotation angle and the time delay.

[0099] In one possible implementation, the processing unit determines the target delay based on the first relationship information corresponding to the at least one path, and is specifically used to: determine one or more delays based on the first relationship information corresponding to the at least one path, through a discrimination algorithm with at least one preset correlation coefficient threshold; if one delay is determined, use the delay as the target delay; if multiple delays are determined, use an average value or cluster value of the multiple delays as the target delay.

[0100] In a possible implementation, the communication unit is also used to: send information of the first path to the positioning device; the information of the first path includes one or more of the following: the rotation angle corresponding to the arrival time of the first path, the related information corresponding to the arrival time of the first path, and the second relationship information corresponding to the arrival time of the first path; wherein the related information is used to characterize one or more of the following: the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; the second relationship information is used to characterize any one of the following: the correspondence between the arrival time and the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

[0101] In a possible implementation, the first device is a terminal device, and the second device is an access network device.

[0102] In the eighth aspect, an embodiment of the present application also provides a communication device, which can be used to execute the method of the fourth aspect. The device can be a positioning device, or the device can be a component in the positioning device (for example, a chip, or a chip system, or a circuit), or it can be a device that can be used in combination with the positioning device.

[0103] In one possible implementation, the device may include a module or unit corresponding to the method / operation / step / action described in the fourth aspect, and the module or unit may be a hardware circuit, or software, or a combination of a hardware circuit and software. In one possible implementation, the device may include a processing unit (also referred to as a processing module) and a communication unit (also referred to as a communication module); wherein the communication unit is used to receive measurement information of a first path of at least one second device; the first path is a direct connection path between the first device and the second device; the processing unit is used to determine the location information of the first device based on the measurement information of the first path of the at least one second device.

[0104] In one possible implementation, the measurement information of the first path is the arrival time of the first path; when the processing unit determines the location information of the first device based on the measurement information of the first path of the at least one second device, it is specifically used to: determine the location information of the first device according to the arrival time of the first path corresponding to the at least one second device and the location coordinate information of the at least one second device.

[0105] In one possible implementation, the communication unit is further used to: receive relevant information corresponding to the arrival time sent by at least one second device; wherein the relevant information is used to characterize one or more of the following: the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; the processing unit is further used to determine the weight value corresponding to the arrival time based on the relevant information corresponding to each of the second devices.

[0106] In a possible implementation, when the processing unit determines the location information of the first device based on the arrival time of the first path corresponding to the at least one second device and the location coordinate information of the at least one second device, it is specifically used to: calculate the location coordinate information of the first device based on the arrival time and the corresponding weight value corresponding to the at least one second device, and the location coordinate information of the at least one second device.

[0107] In one possible implementation, the communication unit is also used to: receive the rotation angle corresponding to the arrival time of the at least one second device, and / or second relationship information corresponding to the arrival time; the second relationship information is used to characterize any one of the following items: the correspondence between the arrival time and the corresponding rotation angle of the first path and the correlation coefficient value, the correspondence between the arrival time and the corresponding rotation angle of the first path, and the correspondence between the rotation angle corresponding to the arrival time of the first path and the correlation coefficient value; wherein the correlation coefficient value is used to characterize the similarity between the CIR information corresponding to the rotation angle and the preset single-path CIR information.

[0108] In a possible implementation, the first device is a terminal device, and the second device is an access network device.

[0109] In the ninth aspect, an embodiment of the present application provides a device, which includes: at least one processor and a communication interface; wherein the communication interface is used to communicate with other devices; the processor is used to run a set of programs so that the device implements the method provided in the first aspect or any possible implementation thereof, or the method provided in the second aspect or any possible implementation thereof, or the method provided in the third aspect or any possible implementation thereof, or the method provided in the fourth aspect or any possible implementation thereof. Optionally, the device also includes a memory, which is used to store a set of computer programs or instructions.

[0110] In the tenth aspect, an apparatus is provided in an embodiment of the present application, the apparatus comprising a processor; wherein the processor is used to run a set of programs in a memory, so that the apparatus implements the method provided in the first aspect or any possible implementation thereof, or enables the apparatus to implement the method provided in the second aspect or any possible implementation thereof, or enables the apparatus to implement the method provided in the third aspect or any possible implementation thereof, or enables the apparatus to implement the method provided in the fourth aspect or any possible implementation thereof. Optionally, the apparatus also includes a memory, the memory being used to store a set of computer programs or instructions.

[0111] In the eleventh aspect, an embodiment of the present application also provides a computer storage medium, which stores a software program. When the software program is read and executed by one or more processors, it can implement the method provided by the first aspect or any possible implementation method thereof, or implement the method provided by the second aspect or any possible implementation method thereof, or implement the method provided by the third aspect or any possible implementation method thereof, or implement the method provided by the fourth aspect or any possible implementation method thereof.

[0112] In the twelfth aspect, an embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the method provided by the first aspect or any possible implementation thereof to be executed, or enables the method provided by the second aspect or any possible implementation thereof to be executed, or enables the method provided by the third aspect or any possible implementation thereof to be executed, or enables the method provided by the fourth aspect or any possible implementation thereof to be executed.

[0113] In a thirteenth aspect, an embodiment of the present application provides a communication system, comprising a first device capable of implementing the method provided in the first aspect, and a positioning device capable of implementing the method provided in the second aspect. Optionally, a second device is also included.

[0114] In a fourteenth aspect, an embodiment of the present application provides a communication system, including a second device capable of implementing the method provided in the third aspect, and a positioning device capable of implementing the method provided in the fourth aspect. Optionally, it also includes a first device.

[0115] In a fifteenth aspect, an embodiment of the present application further provides a chip system, which includes a processor for supporting a first device to implement the functions involved in the above-mentioned first aspect; or for supporting a positioning device to implement the functions involved in the above-mentioned second aspect.

[0116] In a possible design, the chip system further includes a memory, which is used to store necessary program instructions and data executed by the device. The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0117] In the sixteenth aspect, an embodiment of the present application further provides a chip system, which includes a processor for supporting a second device to implement the functions involved in the third aspect; or for supporting a positioning device to implement the functions involved in the fourth aspect.

[0118] In a possible design, the chip system further includes a memory, which is used to store necessary program instructions and data executed by the device. The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0119] It should be noted that the technical effects that can be achieved by any possible implementation method of the above-mentioned fifth to sixteenth aspects or the fifth to sixteenth aspects can be correspondingly referred to the technical effects that can be achieved by any possible implementation method of the above-mentioned first to fourth aspects or the first to fourth aspects; they will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0120] Figure 1A A schematic diagram of a downlink positioning measurement process applicable to an embodiment of the present application;

[0121] Figure 1B A schematic diagram of an uplink positioning measurement process applicable to an embodiment of the present application;

[0122] Figure 2 A schematic diagram of the uplink time difference of arrival UL-TDOA positioning technology;

[0123] Figure 3A A schematic diagram of a communication system to which the embodiments of the present application are applicable;

[0124] Figure 3B A schematic diagram of a communication system to which the embodiments of the present application are applicable;

[0125] Figure 3C A schematic diagram of a communication system to which the embodiments of the present application are applicable;

[0126] Figure 3D A schematic diagram of a communication system to which the embodiments of the present application are applicable;

[0127] Figure 3E A schematic diagram of a communication system to which the embodiments of the present application are applicable;

[0128] Figure 3F A schematic diagram of a communication system to which the embodiments of the present application are applicable;

[0129] Figure 4 A flowchart of a positioning method provided in an embodiment of the present application;

[0130] Figure 5 A schematic diagram of a flow chart of another positioning method provided in an embodiment of the present application;

[0131] Fig. 6A A schematic diagram of a rotation angle corresponding to CIR and a single-path basis corresponding to CIR provided in an embodiment of the present application;

[0132] Figure 6B A schematic diagram of a relationship diagram between a rotation angle, a time delay, and a correlation coefficient provided in an embodiment of the present application;

[0133] Figure 7 A schematic diagram of a communication device provided in an embodiment of the present application;

[0134] Figure 8 A schematic diagram of another communication device provided in an embodiment of the present application;

[0135] Fig. 9 A schematic diagram of another chip device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0136] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to be used as limitations on the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the embodiments of the present application, "one or more" refers to one, two or more; "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0137] References to "one embodiment" or "some embodiments" described in this specification mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Thus, the statements "in one embodiment", "in some embodiments", "in other embodiments", etc. that appear in different places in this specification are not necessarily all referenced to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways, and the "implementation method" in this specification is the same as the above. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. Words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations, and any embodiment or design described as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or design. The use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding. In addition, in the accompanying drawings of the embodiments of the present application, the steps in the dotted or dotted boxes are optional steps.

[0138] The multiple involved in the embodiments of the present application refers to greater than or equal to two. It should be noted that in the description of the embodiments of the present application, words such as "first" and "second", or specific numbers "1", "2", "3", etc., are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order. In addition, the term "used to indicate" mentioned in the description of the embodiments of the present application can include being used for direct indication and being used for indirect indication. When describing that a certain indication information is used to indicate A, it can include that the indication information directly indicates A or indirectly indicates A, and it does not mean that the indication information must carry A.

[0139] The present application provides a positioning method. In order to better understand the embodiments of the present application, the names and related technical features involved in the embodiments of the present application are explained below. It should be noted that these explanations are intended to make the embodiments of the present application easier to understand and should not be regarded as limiting the scope of protection claimed by the present application.

[0140] 1. Multipath channel:

[0141] Multipath channels refer to the fact that during the propagation of wireless signals, due to obstacles, reflections, refractions, etc., there will be multiple paths from the transmitter to the receiver, and the signals on these paths will arrive at the receiver at different times and phases. These signals with different times and phases are superimposed together to form a complex signal waveform, which is called a multipath channel. Multipath channels can cause problems such as signal attenuation, delay spread, and phase mismatch, thereby affecting the transmission quality and reliability of wireless signals. In order to overcome the influence of multipath channels, a variety of technologies are usually used, such as equalization, diversity, and coding, to improve the transmission quality and reliability of signals.

[0142] 2. Channel Impulse Response (CIR):

[0143] In a communication system, a channel refers to the medium for signal transmission. CIR represents the energy value of a signal that reaches the receiver after different propagation times (different propagation paths result in different propagation times). Wireless channels generally use the channel impulse response CIR to describe the multipath effect of the channel. Under the assumption of linear time invariance, the channel impulse response can be expressed as follows:

[0144]

[0145] Among them, a i represents the amplitude attenuation of the i-th path, θ i represents the phase offset of the i-th path, τ i represents the time delay of the i-th path, N represents the total number of transmission paths, and δ(τ) is the Dirichlet impulse function.

[0146] The multipath propagation of signals manifests itself as delay spread in the time domain, and causes selective fading of signals in the frequency domain. Therefore, the frequency response (CFR) of the wireless channel can also be used to describe the multipath propagation of signals from the amplitude-frequency characteristics and phase-frequency characteristics. That is, CFR can represent the response of signal characteristics in different frequency ranges, generally including amplitude / frequency and phase / frequency responses. Under the condition of infinite bandwidth, CFR and CIR are Fourier transforms of each other.

[0147] 3. Reference signal:

[0148] A reference signal (SR) is a "pilot" signal, which is a known signal provided by a transmitter to a receiver for channel estimation or channel detection.

[0149] In an embodiment of the present application, the reference signal may be, for example, a dual-subband reference signal (DS-RS), a synchronization signal-physical sidelink broadcast channel block (SSB), a positioning reference signal (PRS) (such as a sidelink (SL)-PRS), a sounding reference signal (SRS), a channel state information reference signal (CSI-RS), a demodulation reference signal (DMRS), or at least one of a phase tracking reference signal (PTRS).

[0150] The sidelink in the embodiment of the present application may also be referred to as a sidelink, a sidelink, a direct link, an edge link or an auxiliary link, etc. In the embodiment of the present application, the above terms all refer to links established between devices of the same type, and have the same meaning. The so-called devices of the same type may be links between terminals, etc. For links between terminals, there are device-to-device (D2D) links defined in version (Rel)-12 / 13 of the 3rd Generation Partnership Project (3GPP), and there are also vehicle-to-vehicle, vehicle-to-mobile phone, or vehicle-to-any entity's vehicle-to-everything (V2X) links defined by 3GPP for the Internet of Vehicles, including Rel-14 / 15. It also includes V2X links based on NR systems in Rel-16 and subsequent versions currently being studied by 3GPP.

[0151] The embodiment of the present application involves the concept of a reference signal, for example, a first reference signal and a second reference signal may be the same reference signal. When two reference signals are the same reference signal, it can be understood that the resource identifiers (identity, ID) and resource set IDs corresponding to the two reference signals are the same. It can also be understood that the transmitter of the reference signal sends a reference signal, which can be called a first reference signal or a second reference signal.

[0152] 4. Positioning technology:

[0153] Positioning is an important function in mobile communication systems, requiring the system to provide users' location information in real time. 5G communication systems require high-precision positioning, requiring outdoor positioning errors to be less than 10 meters and indoor positioning errors to be less than 1 meter.

[0154] Positioning technology may include uplink positioning, downlink positioning and uplink and downlink positioning. In uplink positioning, the base station measures the SRS signal sent by the terminal, and in downlink positioning, the terminal measures the PRS signal sent by the base station. In uplink and downlink positioning, the terminal is required to measure both the PRS signal sent by the base station and the SRS signal sent by the terminal.

[0155] The relevant technical solutions support multiple positioning technologies such as downlink-time difference of arrival (DL-TDOA) positioning technology, downlink-angle of departure (DL-AOD) positioning technology, uplink-time difference of arrival UL-TDOA positioning technology, uplink-angle of arrival (UL-AOA) positioning technology, and multi-round trip time (multi-RTT) positioning technology. Among them, DL-TDOA, UL-TDOA and multi-RTT 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. DL-AOD and UL-AOA are positioning technologies based on angles, that is, the receiving end measures the arrival angle of the reference signal sent by the sending end, and then infers the position of the receiving end based on the angle information between the receiving end and multiple senders with known positions.

[0156] The following uses the arrival time difference TDOA as an example to introduce the uplink positioning and downlink positioning processes applicable to the embodiments of the present application.

[0157] Figure 1A The following is a downlink DL-TDOA positioning measurement process applicable to the embodiment of the present application, taking three base stations assisting in determining the location information of the UE to be located as an example, where base station 1 is the serving base station of the UE to be located, and base stations 2 and 3 are adjacent base stations. Figure 1A As shown, the downlink positioning process includes the following:

[0158] S101A: LMF obtains capability information of the UE to be located.

[0159] Exemplarily, the LMF may obtain capability information of the UE to be located (such as the capability of the UE to receive signals, the computing capability, etc.) through a Capability Transfer process of the LTE positioning protocol (LTE positioning protocol, LPP).

[0160] S102A: LMF sends base station information requests to the serving base station 1 and the neighboring base stations (base station 2 and base station 3) respectively to request to obtain the base station information.

[0161] Base station information may include cell information, coordinates, ID, PRS configuration, etc.

[0162] S103A: Serving base station 1 and adjacent base stations (base station 2 and base station 3) send base station information responses to LMF respectively.

[0163] The base station information response returned by each base station includes cell information, coordinates, ID, PRS configuration, etc.

[0164] S104A: The LMF sends auxiliary information to the UE to be located, where the auxiliary information includes PRS configuration, gNB / TRP coordinates, etc. Correspondingly, the UE receives the auxiliary information.

[0165] S105A: The LMF sends a positioning request message to the UE to be located, where the positioning request message is used to request the UE to measure the PRS. Correspondingly, the UE receives the positioning request message.

[0166] S106A: The UE to be located performs downlink PRS measurement to obtain a reference signal time difference (RSTD) measurement result.

[0167] That is, the UE receives the PRS signal sent from base station 1 and measures to obtain PRS measurement result 1; the UE receives the PRS signal sent from base station 2 and measures to obtain PRS measurement result 2; the UE receives the PRS signal sent from base station 3 and measures to obtain PRS measurement result 3. The RSTD measurement result includes the PRS measurement result of base station 1, the PRS measurement report of base station 2, and the PRS measurement report of base station 3.

[0168] S107A: The UE to be located reports the RSTD measurement result to the LMF.

[0169] S108A: LMF performs positioning calculation based on the RSTD measurement results and the location coordinates of base stations 1, 2, and 3 to determine the location coordinates of the UE.

[0170] Figure 1BThe following is a flowchart of an uplink UL-TDOA positioning measurement process applicable to the embodiment of the present application, taking three base stations assisting in determining the location information of the UE to be located as an example, wherein base station 1 is the serving base station of the UE to be located, and base stations 2 and 3 are adjacent base stations (adjacent base stations). Figure 1B As shown, the uplink positioning process includes the following:

[0171] S101B: LMF sends a positioning information request to serving base station 1, where the positioning information request is used to request configuration of SRS for the UE to be located.

[0172] That is, LMF can request Serving gNB 1 to configure SRS for the UE to be located through NR positioning protocol annex (NR positioning protocol annex, NRPPa). Correspondingly, Serving gNB 1 receives the positioning information request.

[0173] S102B: Serving base station 1 determines available SRS resources and obtains SRS configuration information.

[0174] S103B: Serving base station 1 sends SRS configuration information to the UE to be located.

[0175] S104B: Serving base station 1 reports the SRS configuration information to the LMF.

[0176] That is, the serving base station 1 can report the SRS configuration information to the LMF through NRPPa.

[0177] The above S103B and S104B may be performed synchronously or asynchronously, and the execution order is not specifically limited.

[0178] S105B: LMF sends SRS configuration information to base station 2 and base station 3 respectively.

[0179] That is, LMF can send SRS configuration information to base station 2 and base station 3 respectively through NR positioning protocol annex (NR positioning protocol annex, NRPPa).

[0180] The embodiment of the present application does not specifically limit the order in which LMF sends SRS configuration information to base station 2 and base station 3.

[0181] S106B: LMF sends measurement requests to base station 1, base station 2, and base station 3 respectively.

[0182] In a possible implementation, the LMF may also carry the SRS configuration information in two measurement requests respectively, and send them to base station 2 and base station 3 accordingly.

[0183] LMF can send SRS configuration information to each base station involved in positioning through NRPPa and request measurement.

[0184] S107B: Serving base station 1 and each of the neighboring base stations (base station 2 and base station 3) perform uplink SRS measurement based on the SRS configuration information.

[0185] After receiving the measurement request from the LMF, the serving base station 1 and the neighboring base stations (base station 2 and base station 3) respectively receive the SRS sent by the UE to be located, and respectively measure the arrival time of the SRS.

[0186] That is, the SRS measurement report obtained by each base station includes the arrival time of the SRS.

[0187] S108B: Serving base station 1 and each of the neighboring base stations (base station 2 and base station 3) send an SRS measurement report to the LMF.

[0188] That is, base station 1 sends SRS measurement report 1 obtained by base station 1 to LMF, base station 2 sends SRS measurement report 2 obtained by base station 2 to LMF, and base station 3 sends SRS measurement report 3 obtained by base station 3 to LMF.

[0189] S109B: LMF performs positioning solution based on the SRS measurement reports of serving base station 1, base station 2 and base station 3 to determine the location information of the UE to be located.

[0190] That is, LMF uses the arrival times in the SRS measurement reports of the three base stations to estimate the position and determine the location information of the UE to be located.

[0191] In the above, service base station 1 is a base station located in the cell where the UE to be located is located, and service base station 1 can provide communication connection services for the UE to be located. There are at least two adjacent base stations (such as base station 2 and base station 3 mentioned above), and the adjacent base station can be the base station of the cell where the UE to be located is located, or the base station of other cells, or part of the base station is the base station of the cell where the UE to be located is located, and part of the base station is the base station of other cells. LMF can calculate the position of the UE to be located based on the measurement information of the service base station and the measurement information of the adjacent base stations. The positioning principle and calculation process are introduced below.

[0192] The positioning principle of UL-TDOA is to locate the source of the radio signal by measuring the time difference between the SRS arriving at different base stations. Specifically, LMF calculates the time difference between the SRS arriving at two base stations, obtains the distance difference based on the time difference, and thus obtains a hyperbola; LMF can obtain two or more hyperbolas through the time difference measured by three or more base stations, and then, LMF realizes the positioning of the transmitting source based on the intersection of the two or more hyperbolas.

[0193] Figure 2 Schematic diagram of UL-TDOA positioning technology. Figure 2 The UE to be located in can send SRS, Figure 2 The base stations 1, 2 and 3 in the figure correspond to the serving base station and the neighboring base station for measuring SRS in the above UL-TDOA positioning technology. Among them, one of the base stations 1, 2 and 3 is the serving base station of the terminal device, and the other two base stations are the neighboring base stations of the terminal device. Figure 2 , the UE to be located sends an SRS, and base station 1, base station 2 and base station 3 respectively measure the SRS sent by the UE to be located.

[0194] The following is a brief introduction on how to calculate the position of the target to be located based on the measurement results of LMF UL-TDOA technology. That is, how to estimate the position of the target by calculating the intersection of the hyperbola. Assuming that the positions of the three base stations are known, the coordinates of the i-th base station are defined as (x i ,y i ), the coordinates of the target to be located are (x UE ,y UE ), and the first base station is used as the reference base station, and the arrival time of the SRS measured by the other two base stations is t i , then the arrival time difference between base station 2 and base station 3 and reference base station 1 is Δt i1 According to the definition of a hyperbola (the distance from two fixed points is a constant), the UE to be located is located on the hyperbola with base stations 2 and 3 as foci, and the following set of equations can be listed:

[0195]

[0196]

[0197] In the above two equations, c is the speed of light, because there are only two unknowns (x UE ,y UE ), the position coordinates of the UE to be located can be obtained by solving equations (1) and (2). In fact, due to the existence of measurement errors, the above equations generally have no analytical solutions. In engineering, classical optimization algorithms such as the least squares algorithm or the particle swarm filter algorithm are used to estimate the solutions of the above equations.

[0198] To describe it from another perspective, the arrival time difference between the SRS sent by the UE to be located and the arrival time of base station 1 and base station 2 is Δt 21 The arrival time difference between the SRS sent by the UE to be located and the base station 1 and base station 3 is Δt 31 . The arrival time difference Δt 21 Multiply by the speed of light to get the distance difference L1, and convert the arrival time difference Δt 21Multiply by the speed of light to get the distance difference L2. LMF can be obtained based on the functional relationship between the position of base station 1, the position of base station 2 and the distance difference L1. Figure 2 The hyperbola MN shown in FIG. 1 is obtained according to the functional relationship between the position of base station 1, the position of base station 3 and the distance difference L2. Figure 2 The hyperbola RS shown in . Further, the LMF can realize the positioning of the UE to be positioned according to the intersection point of the hyperbola MN and the hyperbola RS.

[0199] It should be noted that in Figure 2 In the present invention, three base stations are used to realize the positioning of the terminal device, but the present application does not limit this. In actual applications, more than three base stations can also be used to realize the positioning of the terminal device.

[0200] Based on the above positioning technology introduction, it can be known that to achieve high-precision positioning, accurate measurement values ​​are required. Whether it is a measurement method based on time, angle or carrier phase, it is necessary to measure accurate measurement information or data of the first path (such as delay or angle or carrier phase). For channels with multipath interference, due to the large number of reflection paths, there are many multipaths near the first path, which are difficult to separate in time, resulting in deviations in the estimation of the measurement information or data (such as delay or angle) of the first path, thereby affecting the accuracy of the overall positioning.

[0201] Therefore, the present application proposes a positioning method, which can obtain accurate measurement information of the first path during positioning measurement, thereby improving the accuracy of the overall positioning.

[0202] The technical solution provided in this application can be applied to various communication systems, such as: the fifth generation (5th generation, 5G) or new radio (new radio, NR) system, long term evolution (long term evolution, LTE) system, LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (time division duplex, TDD) system, etc. The technical solution provided in this application can also be applied to future communication systems, such as the sixth generation (6th Generation, 6G) mobile communication system. The technical solution provided in this application can also be applied to device to device (device to device, D2D) communication, vehicle to everything (vehicle-to-everything, V2X) communication, machine to machine (machine to machine, M2M) communication, machine type communication (machine type communication, MTC), and Internet of things (internet of things, IoT) communication system. Of course, the technical solution of the embodiment of the present application can also be applied to other communication systems, as long as the communication system has a positioning demand for the terminal. In addition, the communication system can also be applied to future-oriented communication technologies. The system described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of network architecture, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0203] Figure 3A The following is a schematic diagram of the architecture of a communication system applicable to the embodiments of the present application. Figure 3A As shown, the communication system 3000 includes a wireless access network 100 and a core network 200. Optionally, the communication system 3000 may also include the Internet 300. The wireless access network 100 may include at least one wireless access network device (such as Figure 3A 110a and 110b), and may further include at least one terminal (such as Figure 3A120a-120j in the figure). The terminal is connected to the wireless access network device by wireless means, and the wireless access network device is connected to the core network by wireless or wired means. The core network device and the wireless access network device can be independent and different physical devices, or the functions of the core network device and the logical functions of the wireless access network device can be integrated on the same physical device, or part of the functions of the core network device and part of the functions of the wireless access network device can be integrated on one physical device. Terminals and wireless access network devices can be connected to each other by wired or wireless means. Figure 3A This is just a schematic diagram. The communication system 3000 may also include other network devices, such as wireless relay devices and wireless backhaul devices. Figure 3A Not drawn in.

[0204] The network devices involved in the embodiments of the present application include, for example, radio access network (RAN) devices. The radio access network devices may be base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs), transmission nodes (TPs), next generation NodeBs (gNBs) in 5G mobile communication systems, next generation NodeBs in 6G mobile communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems.

[0205] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, and different RAN nodes implement part of the functions of the base station. For example, the RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU).

[0206] CU and DU can be set separately, or can also be included in the same network element, such as a baseband unit (BBU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP); DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete the functions of part of the physical layer or all of the physical layer. For the specific description of the above-mentioned various protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH).

[0207] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be called an open CU (open-CU, O-CU), DU may also be called an open DU (open-DU, O-DU), CU-CP may also be called an open CU-CP (open-CU-CP, O-CU-CP), CU-UP may also be called O-CU-UP, and RU may also be called an open RU (open-RU, O-RU). For the convenience of description, this application takes CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0208] In the embodiment of the present application, when the second device is a network device or a chip system inside the network device, the steps performed by the second device (such as the following Figure 5 One of S501, S502, S503, etc. in the scheme described in the specification can be executed by a module inside the network device, for example, it can be executed by one or more of CU, DU, O-RU, O-DU, O-CU-UP or O-CU-CP.

[0209] The wireless access network device may be a macro base station (such as Figure 3A 110a), or a micro base station or an indoor station (such as Figure 3A 110b), may also be a relay node or a donor node, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the wireless access network device. For ease of description, the following description takes a base station as an example of a wireless access network device.

[0210] The terminal device may also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, for example, device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal may be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, a sensor, a road side unit (RSU), etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.

[0211] The above-mentioned terminal can establish a connection with the operator network through the interface (such as N1, etc.) provided by the operator network, and use the data and / or voice services provided by the operator network. The terminal can also access the domain name system (DNS) through the operator network, use the operator services deployed on the DNS, and / or services provided by a third party. Among them, the above-mentioned third party can be a service provider other than the operator network and the terminal, and can provide other data and / or voice services to the terminal. Among them, the specific form of expression of the above-mentioned third party can be determined according to the actual application scenario, and is not limited here.

[0212] Base stations and terminals can be fixed or movable. Base stations and terminals can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on the water surface; they can also be deployed on aircraft, balloons, and artificial satellites in the air. The embodiments of this application do not limit the application scenarios of base stations and terminals.

[0213] The roles of the base station and the terminal can be relative, for example, Figure 3AThe helicopter or drone 120i in the figure can be configured as a mobile base station. For the terminal 120j that accesses the wireless access network 100 through 120i, the terminal 120i is a base station; but for the base station 110a, 120i is a terminal, that is, 110a and 120i communicate through the wireless air interface protocol. Of course, 110a and 120i can also communicate through the interface protocol between base stations. In this case, relative to 110a, 120i is also a base station. Therefore, base stations and terminals can be collectively referred to as communication devices. Figure 3A 110a and 110b in the figure may be referred to as communication devices having base station functions. Figure 3A 120a-120j in the figure can be called communication devices with terminal functions.

[0214] Base stations and terminals, base stations and base stations, and terminals and terminals can communicate through authorized spectrum, unauthorized spectrum, or both; they can communicate through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communication.

[0215] In the embodiments of the present application, the functions of the base station may also be performed by a module (such as a chip) in the base station, or by a control subsystem including the base station function. The control subsystem including the base station function here may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal may also be performed by a module (such as a chip or a modem) in the terminal, or by a device including the terminal function.

[0216] In this application, the base station sends a downlink signal or downlink information to the terminal, and the downlink information is carried on the downlink channel; the terminal sends an uplink signal or uplink information to the base station, and the uplink information is carried on the uplink channel. In order to communicate with the base station, the terminal needs to establish a wireless connection with the cell controlled by the base station. The cell that has established a wireless connection with the terminal is called the service cell of the terminal.

[0217] The core network involved in the embodiments of the present application may include network equipment that processes and forwards user signaling and data. For example, it includes access and mobility management function (AMF), session management function (SMF), user plane gateway, positioning management equipment and other core network equipment. Among them, the user plane gateway can be a server with functions such as mobility management, routing, and forwarding of user plane data, which is generally located on the network side, such as a serving gateway (SGW) or a packet data network gateway (PGW) or a user plane network element function entity (UPF). AMF and SMF are equivalent to the mobility management entity (MME) in the long term evolution (LTE) system. AMF is mainly responsible for access, and SMF is mainly responsible for session management. Of course, other network elements can also be included in the core network, which are not listed here one by one.

[0218] The positioning management device has a positioning function. The positioning management device involved in the embodiments of the present application may include a positioning management function (LMF) or a positioning management component (LMC), or may be a local location management function (LLMF) located in a network device, or a positioning server, which is not limited in the embodiments of the present application. For the convenience of description, the following embodiments are all introduced by taking the positioning device as LMF as an example.

[0219] based on Figure 3A The content shown, Figure 3B The following is a schematic diagram of a communication system architecture applicable to the embodiments of the present application, and the communication system is illustrated by taking the positioning architecture in LTE and NR Rel-16 as an example. Figure 3B As shown in FIG. 1 , the network elements / modules involved mainly include the next generation radio access network (NG-RAN), the terminal and the core network. Among them, NG is the abbreviation of next generation (NG).

[0220] The core network includes location management function (LMF), access and mobility management function (AMF), service location protocol (SLP), and evolved serving mobile location center (E-SMLC). LMF is connected to AMF, and LMF and AMF are connected through NLs ​​interface. The terminal device communicates with the serving base station through Uu link; Ng-eNB is the base station of LTE, gNB is the base station of NR, and the base stations communicate through Xn interface; the base station and AMF communicate through NG control plane (NG-C) interface, and AMF is equivalent to the router for communication between gNB and LMF; LMF realizes the location estimation of the terminal device, and AMF and LMF communicate through network layer signaling (NLs) interface. LMF is responsible for supporting different types of location services for the terminal, including positioning the terminal and delivering auxiliary data to the terminal. LMF can calculate the location of the terminal based on the measurement results of other network elements. AMF can receive location service requests related to the terminal from the 5th generation core network location services (5GC LCS) entity, or AMF itself can start some location services on behalf of a specific terminal and forward the location service request to LMF. After obtaining the location information returned by the terminal, the relevant location information is returned to the 5GC LCS entity.

[0221] NG RAN may include next generation node B (gNB), next generation evolved node B (ng-eNB), etc. gNB and ng-eNB are connected through the Xn interface, and LMF is connected to ng-eNB / gNB through the NG-C interface.

[0222] One or more network devices on the NG RAN side configure resources for sending reference signals and send reference signals to the terminal. The terminal measures downlink signals such as the reference signal and feeds back the measurement results to the LMF to support positioning. It should be understood that the reference signal is used for positioning and can also be called a positioning reference signal. Therefore, the positioning reference signal can be a PRS, a common reference signal (CRS), a channel state information (CSI)-RS, etc.

[0223] Figure 3C The network architecture of another communication system applicable to the embodiment of the present application is shown, and the communication system includes a core network, NG-RAN and a terminal. The core network includes LMF, AMF, secure user plane location (SUPL) location platform (SUPL location platform, SLP) and enhanced serving mobile location center (E-SMLC) and other network elements / modules, and NG RAN includes gNB, ng-eNB and other network elements / modules. The specific functions of LMF, AMF, SLP, E-SMLC, gNB and ng-eNB and other network elements / modules, and the connection relationship between each network element / module can be found in the above text. Figure 3B The introduction of the relevant parts will not be repeated here.

[0224] and Figure 3B The difference is, Figure 3C In the network architecture shown, LMC is added to NG-RAN. The specific deployment method of LMC is to set it inside the base station, such as in gNB or ng-ENB. In this network architecture, LMC is a function inside the base station, so there is no need to introduce a new interface. LMC can assume part of the functions of LMF. Under this architecture, gNB can not report the measurement results of the signal used for positioning to the LMF of the core network, thereby saving signaling overhead and reducing positioning delay.

[0225] Figure 3D FIG. 4 shows another network architecture of a communication system to which the embodiment of the present application is applicable. Figure 3D As shown in Figure 1, the communication system also includes a core network, NG-RAN and terminals. Figure 3C The difference is, Figure 3D The LMC in the network architecture shown is an independent logical node in NG-RAN and is connected to the base station through a new interface, e.g. Figure 3DIn the , LMC is connected to the gNB-CU through the Itf interface. Figure 3D The gNB-DU can be connected to the gNB-CU through the F1 interface.

[0226] Figure 3E FIG. 4 shows another network architecture of a communication system to which the embodiment of the present application is applicable. Figure 3E As shown in Figure 1, the communication system also includes the core network, NG-RAN and terminals. LMC is an independent logical node in NG-RAN. Figure 3D The difference is that LMC can Figure 3E Connect to multiple base stations simultaneously via new interfaces. Figure 3E Taking the example that the LMC is connected to two base stations at the same time, in specific implementation, the LMC can also be connected to more base stations.

[0227] Figure 3F FIG. 4 shows another network architecture of a communication system to which the embodiment of the present application is applicable. Figure 3F As shown, the communication system includes (R)AN, AMF and LMF, and multiple terminals. Multiple terminals can be connected through PC5, and reference signals can be transmitted between two terminals, one of which can be regarded as a transmitter of the reference signal, and one or more terminals can be regarded as a receiver of the reference signal. The receiver of the reference signal can measure the received reference signal to obtain measurement information, which can be used for positioning. In another possible implementation, LMC can be integrated in the terminal.

[0228] It should be understood that the above Figure 3B , Figure 3C , Figure 3D , Figure 3E and Figure 3F These are several exemplary descriptions of communication systems to which the embodiments of the present application are applicable, and do not specifically limit the types, quantities, connection methods, etc. of network elements included in the communication systems to which the present application is applicable. Figure 3B , Figure 3C , Figure 3D , Figure 3E and Figure 3F The network elements / modules indicated by the dotted lines are not indispensable but optional, for example, E-SMLC or SLP are not indispensable; or, the network elements / modules indicated by the dotted lines are in another form of existence, for example, gNB or ng-eNB are also called transmission reception point (TRP) in some embodiments, and the terminal is called a SUPL enabled terminal (SET) in some embodiments, where SUPL is the abbreviation of secure user plane location (SUPL).

[0229] For ease of understanding, Figure 4-Figure 5 In this paper, we introduce it from the perspective of interaction. Figure 4-Figure 5 The first device in can be Figure 3A , Figure 3B , Figure 3C , Figure 3D , Figure 3E or Figure 3F The terminal, the chip system of the terminal, the network device or the chip system corresponding to the network device. Figure 4 and Figure 5 The second device in can be Figure 3A , Figure 3B , Figure 3C , Figure 3D , Figure 3E or Figure 3F A base station, a chip system of a base station, a network device or a chip system of a network device. Figure 4-Figure 5 The positioning device in can be Figure 3A , Figure 3B , Figure 3C , Figure 3D , Figure 3E or Figure 3F The first device (or the second device) reports the measurement information to the positioning device so that the positioning device can locate the first device.

[0230] based on Figure 3A , Figure 3B , Figure 3C , Figure 3D , Figure 3E and Figure 3F The embodiments shown and the other contents described above, Figure 4 The flowchart of a downlink positioning method provided by an embodiment of the present application is exemplarily shown. Figure 4 As shown, the method includes:

[0231] S401: A first device obtains path measurement information of at least one target channel; the at least one target channel is a channel for transmitting signals between the first device and at least one second device.

[0232] Exemplarily, the first device is a terminal device to be located, and the second device is a base station.

[0233] In an embodiment of the present application, the measurement information includes time measurement information and / or carrier phase measurement information. The time measurement information may include at least one of the following: TOA, RTOA, RSTD, or transmit / receive time difference, etc. The scheme described in the embodiment of the present application is introduced by taking arrival time TOA as an example. For other measurement information measured in other scenarios, this scheme can also be implemented, which will not be described in detail here.

[0234] In one possible implementation, the first device obtains the path measurement information of at least one target channel, which may include: the first device receives a reference signal sent by at least one second device through at least one target channel, and measures to obtain information of the corresponding target channel; and then obtains the path measurement information of the at least one target channel based on the information of the at least one target channel.

[0235] In a possible implementation, when the information of the target channel is the frequency domain information of the target channel, and the path measurement information of the target channel is the impulse response CIR information of the target channel; the first device obtains the path measurement information of the at least one target channel based on the information of the at least one target channel, which may include: first performing inverse fast Fourier transform (IFFT) processing on the frequency domain information of the at least one target channel to obtain the CIR information of the at least one target channel.

[0236] For example, three second devices, namely base station 1, base station 2, and base station 3; base station 1 sends PRS signal 1 to UE, base station 2 sends PRS signal 2 to UE, and base station 3 sends PRS signal 3 to UE; UE measures and obtains frequency domain information of channel 1 between UE and base station 1 based on PRS signal 1; UE measures and obtains frequency domain information of channel 2 between UE and base station 2 based on PRS signal 2, and UE measures and obtains frequency domain information of channel 3 between UE and base station 3 based on PRS signal 3. Further, UE performs IFFT processing on the frequency domain information of channel 1 to obtain the CIR of channel 1; UE performs IFFT processing on the frequency domain information of channel 2 to obtain the CIR of channel 2; UE performs IFFT processing on the frequency domain information of channel 3 to obtain the CIR of channel 3.

[0237] In the embodiment of the present application, the channel impulse response (CIR) may represent a collection of attenuation, delay, and phase response in the transmission path of a signal from a transmitting end to a receiving end.

[0238] S402: The first device determines measurement information of a first path respectively corresponding to the at least one target channel based on the path measurement information of the at least one target channel; the first path is a direct connection path between the first device and the second device.

[0239] In an embodiment of the present application, when a signal is transmitted between a first device and a second device through a target channel, there may be multiple transmission paths due to reflection or scattering. The first path in the present application may refer to the actual path when the first device and the second device transmit signals through the target channel, that is, the signal is directly transmitted to the receiving end without reflection or scattering. The transmission distance and time corresponding to the first path are the shortest. Compared with other paths in the target channel, the signal transmitted by the first path arrives at the receiving end first. The first path may be referred to as a direct path in the present application, and may also be referred to as a line of sight LOS path or a first-reaching path (or first-reaching path), without specific limitation.

[0240] In a possible implementation, the path measurement information of the target channel is impulse response CIR information of the target channel; then when the first device executes S402, the following steps may be included:

[0241] Step 1: The first device obtains CIR information of at least one path corresponding to the at least one target channel based on the CIR information of the at least one target channel. Step 2: The first device determines measurement information of the first path based on the CIR information of at least one path corresponding to each target channel.

[0242] For step 1, in a possible implementation, it can include: the first device performs angle rotation processing on the CIR information of each target channel to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle can be used to characterize the CIR information corresponding to a path.

[0243] In one possible implementation, the first device performs angle rotation processing on the CIR information of each target channel to obtain CIR information corresponding to at least one rotation angle, which may specifically include: after multiplying the CIR information of each target channel by at least one rotation vector, performing real part projection to obtain CIR information corresponding to at least one rotation angle.

[0244] For example, through the example method in S401 above, the UE obtains the CIR of channel 1 corresponding to base station 1, the CIR of channel 2 corresponding to base station 2, and the CIR of channel 3 corresponding to base station 3. The UE multiplies the CIR of channel 1 by the vector of the rotation angle traversed from (0, 2π) (that is, the CIR of channel 1 is multiplied by the rotation vector corresponding to 0 to 360 degrees in sequence), and then performs real part projection respectively to obtain the real CIR corresponding to multiple angles, and the real CIR corresponding to these multiple angles is the CIR of multiple paths in channel 1. Similarly, the CIR of channel 2 and the CIR of channel 3 also perform the same processing as above to obtain the CIR information corresponding to at least one corresponding angle.

[0245] If channel 1, channel 2, and channel 3 are single-path channels, then the CIR of channel 1, the CIR of channel 2, and the CIR of channel 3 correspond to the CIR of the path of channel 1, the CIR of the path of channel 2, and the CIR of the path of channel 3.

[0246] For step 2, in a possible implementation, when the measurement information of the first path is the arrival time corresponding to the first path: the first device determines the measurement information of the first path corresponding to each target channel (or any target channel) (that is, the arrival time corresponding to the first path), which may include the following steps:

[0247] a. The first device obtains preset single-path CIR information.

[0248] In the embodiment of the present application, the above-mentioned preset single-path CIR information may also be referred to as single-path base CIR information. The preset single-path CIR information may be obtained through simulation experiments.

[0249] For example, see Fig. 6A As shown in (a), it shows the CIR of a target channel projected on the real part after the CIR is rotated 10 degrees. Fig. 6A (b) shows a single-path basis CIR, where the horizontal axis represents the time delay and the vertical axis represents the energy value.

[0250] b. The first device performs sliding correlation processing on the CIR information of at least one path of the target channel and the preset single-path CIR information, and obtains the first relationship information corresponding to the at least one path; the first relationship information of each path is used to characterize the correspondence between the rotation angle and delay corresponding to the path and the correlation coefficient value; wherein the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information.

[0251] In the embodiment of the present application, the first relationship information of each path may also be used for, but not limited to, characterizing: the correspondence between the time delay and the correlation coefficient value, and / or the correspondence between the rotation angle and the time delay.

[0252] c. The first device determines a target delay based on the first relationship information of the at least one path; and uses the target delay as the arrival time corresponding to the first path.

[0253] In one possible implementation, the first device determines the target delay based on the first relationship information corresponding to the at least one path, which may include: first determining one or more delays based on the first relationship information corresponding to the at least one path, through a discrimination algorithm with at least one preset correlation coefficient threshold; if one delay is determined, using the delay as the target delay; if multiple delays are determined, using the average value or cluster value of the multiple delays as the target delay.

[0254] Exemplarily, the first device determines one or more time delays based on the first relationship information respectively corresponding to the at least one path through at least one discrimination algorithm with a preset correlation coefficient threshold, which may include but is not limited to the following implementations:

[0255] Method 1: According to the first relationship information corresponding to the at least one path, the number of delays corresponding to the correlation coefficient value greater than a certain threshold is determined; if the number of delays is greater than another set threshold, one or more delays are determined by averaging, clustering, or taking the maximum value of these delays.

[0256] Method 2: Determine the number of delays corresponding to correlation coefficient values ​​greater than a certain threshold value based on the first relationship information corresponding to the at least one path; if the number of delays is less than another set threshold value, one or more delays can be determined based on a traditional algorithm.

[0257] Method three: Determine the number of time delays corresponding to the correlation coefficient value greater than a certain threshold value based on the first relationship information corresponding to the at least one path; if the number of time delays is greater than another set threshold value, one or more time delays can be determined based on the characteristics of these time delays, such as the standard deviation of these time delays is greater than a preset threshold value, based on clustering and other methods.

[0258] For example, see Figure 6B As shown in (a), it shows a relationship diagram of multiple rotation angles, and each continuous curve corresponds to a relationship diagram corresponding to a rotation angle (which can be equivalent to the first relationship information corresponding to each path mentioned above). The horizontal axis represents the delay, and the vertical axis represents the correlation coefficient value. Assuming that the threshold value of the correlation coefficient is 1, a delay, namely T0, can be determined based on the relationship diagram of multiple rotation angles, and T0 is used as the target delay, namely the arrival time TOA of the first path.

[0259] See also Figure 6B As shown in (b), assuming that the threshold of the correlation coefficient is 1, two delays, namely T1 and T2, can be determined based on the relationship diagram of multiple rotation angles. Then the average value or cluster value of T1 and T2 can be used as the target delay, namely the arrival time TOA of the first path. Alternatively, both T1 and T2 can be used as the target delay, namely the arrival time TOA of the first path.

[0260] In the embodiment of the present application, through the above method, one TOA or multiple TOAs of a first-reaching path (i.e., the first path) may be determined, and TOAs of multiple first-reaching paths (i.e., multiple first paths) may also be determined. In the case where there are multiple TOAs of the first-reaching paths, in the following S403, the first device may report the TOAs of the multiple first-reaching paths and the corresponding relationship information (i.e., the first relationship information) to the positioning management device LMF.

[0261] S403: The first device sends measurement information of the first path respectively corresponding to at least one target channel to the positioning device. Correspondingly, the positioning device receives the measurement information of the first path respectively corresponding to the at least one target channel.

[0262] In the embodiment of the present application, the positioning device may be a positioning management device LMF, or a chip corresponding to the positioning management device LMF, without limitation. In addition, the actual location of the positioning device may be on the core network side, or may be located on the terminal or base station side, without specific limitation.

[0263] In a possible implementation manner, the first device further sends information of a first path corresponding to at least one second device to the positioning device; the information of the first path includes but is not limited to any one or more of a rotation angle corresponding to the arrival time, relevant information corresponding to the arrival time, and second relationship information corresponding to the arrival time;

[0264] Among them, the relevant information can be used to characterize but is not limited to any one or more of the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time.

[0265] The second relationship information can be used to characterize but is not limited to any one or more of the correspondence between the arrival time and the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

[0266] In the embodiment of the present application, a single-path channel may refer to a channel with only one single path (i.e., LOS path) in the channel, without other multipaths or with other multipaths, but the distance of the multipath from the LOS path is greater than a certain threshold, which will not affect the parameter estimation (delay, phase, etc.) of the LOS path. The single-path arrival time may refer to the arrival delay of the LOS path, that is, the time corresponding to the straight-line distance from the transmitter to the receiver.

[0267] In the above, the matching degree between the target channel and the single-path channel, the likelihood ratio between the arrival time and the single-path arrival time, and the probability that the correlation coefficient value is greater than the preset threshold value can be determined by the first device. The rotation angle corresponding to the arrival time and the content included in the second relationship information can be obtained by referring to the first relationship information.

[0268] S404: The positioning device determines the location information of the first device according to the measurement information of the first path respectively corresponding to the at least one target channel.

[0269] In a possible implementation, the positioning device also obtains the location information of the at least one second device, such as the geographic coordinates of a base station.

[0270] In a possible implementation, when the positioning device executes S404, it includes: the positioning device determines the location information of the first device according to the arrival time of the first path corresponding to the at least one target channel and the location coordinate information of the at least one second device.

[0271] In a possible implementation, the positioning device also receives relevant information of the arrival time corresponding to the at least one target channel sent from the first device; wherein the relevant information can be used to characterize one or more of the following: the matching degree between the target channel and the single-path channel, the likelihood ratio of the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; the method may also include: the positioning device determines the weight value of the arrival time based on the relevant information of each arrival time.

[0272] Therefore, when the positioning device executes S404, it may specifically include: the positioning device determines the position coordinate information of the first device according to the arrival time and the weight value of the arrival time respectively corresponding to the at least one target channel, and the position coordinate information of the at least one second device.

[0273] In the embodiment of the present application, the specific solution formula of the positioning device can refer to the existing positioning solution formula, but the measurement amount of the arrival time TOA in the embodiment of the present application is different (that is, the arrival time corresponding to the first path can also be multiplied by the corresponding weight value). The embodiment of the present application improves the accuracy of the time measurement amount, thereby effectively improving the accuracy of the positioning calculation result. For other measurement quantities (such as angle, carrier phase, etc.) in the positioning process, the same can be implemented with reference to the embodiment of the present application, which will not be described in detail here.

[0274] For example, the positioning device receives TOA1 of the first arrival path in channel 1 corresponding to base station 1, TOA2 of the first arrival path in channel 2 corresponding to base station 2, and TOA3 of the first arrival path in channel 3 corresponding to base station 3, which are sent from the UE; the positioning device also receives relevant information 1 corresponding to TOA1, relevant information 2 corresponding to TOA2, and relevant information 3 corresponding to TOA3, which are sent from the UE; the UE determines a weight value 1 of TOA1 based on the relevant information 1 corresponding to TOA1, determines a weight value 2 of TOA2 based on the relevant information 2 corresponding to TOA2, and determines a weight value 3 of TOA3 based on the relevant information 3 corresponding to TOA3.

[0275] The positioning device can calculate the location coordinates of the UE according to TOA1, TOA2, TOA3, weight value 1, weight value 2, weight value 3, and the location coordinates of base station 1, base station 2, and base station 3.

[0276] Exemplarily, the location of the UE may satisfy the following formula:

[0277]

[0278] in, represents the distance corresponding to the two arrival times TOA of base station n (such as base station 1 or base station 2 or base station 3), Indicates the weight values ​​corresponding to the two arrival times TOA. x may represent the longitude or latitude of the UE's geographical location (or the horizontal coordinate value or the vertical coordinate value of the UE's location).

[0279] In the embodiments of the present application, Figure 4 The described scheme can be applied to the above Figure 1A In the downlink positioning measurement process shown in FIG. Figure 4 The steps of the solution correspond to S106A-S107A and S108A; that is, S501-S502 can be applied in S106A, S503 can be applied in S107A, and S504 can be applied in S108A.

[0280] Exemplarily, the first device is Figure 1A The terminal device UE in the second device is Figure 1ABase station 1, or base station 2, or base station 3; when UE performs measurement, the TOA measurement result of the first path between the terminal device and each base station (base station 1, base station 2, or base station 3) and the corresponding correlation coefficient can be obtained through the implementation methods in S501-S502 above. Through the implementation method in S503, the UE reports the TOA measurement result of the first path corresponding to base station 1 and the corresponding related information, the TOA measurement result of the first path corresponding to base station 2 and the corresponding related information, and the TOA measurement result of the first path corresponding to base station 3 and the corresponding related information to the LMF. The LMF performs positioning calculation (solution) through the implementation method in S504 above to determine the location information of the UE.

[0281] In summary, the present application provides a downlink positioning method, which includes: a first device first obtains path measurement information of at least one target channel; the at least one target channel is a channel for transmitting signals between the first device and at least one second device; then based on the path measurement information of the at least one target channel, the measurement information of the first path corresponding to the at least one target channel is determined; the first path is a direct path between the first device and the second device; finally, the measurement information of the first path corresponding to the at least one target channel is sent to the positioning device for positioning calculation; through this method, more accurate channel measurement information or data (such as arrival time) between the first device and the second device can be obtained for positioning calculation, which can effectively improve the overall positioning accuracy.

[0282] based on Figure 3A , Figure 3B , Figure 3C , Figure 3D , Figure 3E and Figure 3F The embodiments shown and the other contents described above, Figure 5 The flowchart of an uplink positioning method provided by an embodiment of the present application is exemplarily shown. Figure 5 As shown, the method includes:

[0283] S501: The second device obtains path measurement information of a target channel; the target channel is a channel for transmitting signals between the first device and the second device.

[0284] In an embodiment of the present application, the first device is a terminal device or a chip system of a terminal device, and the second device is an access network device (such as a base station) or a chip system of an access network device.

[0285] In one possible implementation, the second device obtains the path measurement information of the target channel, which may include: first receiving a reference signal (e.g., SRS) sent by the second device through the target channel, and measuring and obtaining information of the target channel; and then obtaining the path measurement information of the target channel based on the information of the target channel.

[0286] In one possible implementation, the information of the target channel is the frequency domain information of the target channel, and the path measurement information of the target channel is the impulse response CIR information of the target channel; then the second device obtains the path measurement information of the target channel based on the information of the target channel, which may include: performing inverse fast Fourier transform IFFT processing on the frequency domain information of the target channel to obtain the CIR information of the target channel.

[0287] The specific implementation of S501 can refer to the specific implementation of S401 mentioned above, which will not be described in detail here.

[0288] S502: The second device determines measurement information of a first path in the target channel based on the path measurement information of the target channel; the first path is a direct path between the first device and the second device.

[0289] In an embodiment of the present application, when a signal is transmitted between a first device and a second device through a target channel, there may be multiple transmission paths due to reflection and / or scattering. In an embodiment of the present application, the first path may refer to the actual path when the first device and the second device transmit signals through the target channel, that is, the signal is directly transmitted to the receiving end without reflection and / or scattering. The transmission distance and time corresponding to the first path are the shortest, and the signal transmitted by the first path arrives at the receiving end first compared to other paths in the target channel. In the present application, the first path may be referred to as a direct path, and may also be referred to as a line-of-sight path (LOS path) or a first-reaching path (or first-reaching path), without specific limitation.

[0290] In a possible implementation, the path measurement information of the target channel is impulse response CIR information of the target channel; then the second device executing S502 may include the following steps:

[0291] Step 1: The second device obtains CIR information of at least one path in the target channel based on the CIR information of the target channel;

[0292] Step 2: The second device determines the measurement information of the first path based on the CIR information of at least one path.

[0293] For the above step one, in a possible implementation method, the second device performs angle rotation processing on the impulse response CIR information of the target channel to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle is used to characterize the CIR information corresponding to a path.

[0294] Exemplarily, the second device multiplies the impulse response CIR information of the target channel by at least one rotation vector, and then projects the real part to obtain CIR information corresponding to the at least one rotation angle.

[0295] For the above-mentioned step 2, in a possible implementation method, the measurement information of the first path is the arrival time corresponding to the first path; then the second device determines the measurement information of the first path based on the CIR information of the at least one path, including: first obtaining the preset single-path CIR information; then sliding correlation processing is performed on the CIR information of the at least one path and the preset single-path CIR information, and the first relationship information corresponding to the at least one path is obtained; the first relationship information is used to characterize the correspondence between the rotation angle and delay corresponding to the path and the correlation coefficient value; the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information; then based on the first relationship information of the at least one path, the target delay is determined; and the target delay is used as the arrival time corresponding to the first path.

[0296] In the embodiment of the present application, the first relationship information may also be used to characterize but is not limited to: the corresponding relationship between the time delay and the correlation coefficient value, and / or the corresponding relationship between the rotation angle and the time delay.

[0297] In one possible implementation, the second device determines the target delay based on the first relationship information corresponding to at least one path, which may include: based on the first relationship information corresponding to at least one path, determining one or more delays through a discrimination algorithm with at least one preset correlation coefficient threshold; if one delay is determined, using the delay as the target delay; if multiple delays are determined, using the average value or cluster value of the multiple delays as the target delay.

[0298] The specific implementation of S502 may refer to the specific implementation of S402 described above, and will not be described in detail here.

[0299] S503: The second device sends measurement information of the first path to the positioning device.

[0300] In a possible implementation, the second device also sends information about the first path to the positioning device; the information about the first path includes but is not limited to one or more of the rotation angle corresponding to the arrival time of the first path, the relevant information corresponding to the arrival time of the first path, and the second relationship information corresponding to the arrival time of the first path; wherein the relevant information can be used to characterize but is not limited to: one or more of the matching degree between the target channel and the single-path channel, the likelihood ratio between the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time. The second relationship information can be used to characterize but is not limited to one or more of the following:

[0301] (1) The correspondence between the arrival time, the corresponding rotation angle and the correlation coefficient value; (2) The correspondence between the arrival time and the corresponding rotation angle; (3) The correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

[0302] The specific implementation of S503 may refer to the specific implementation of S403 described above, which will not be described in detail here.

[0303] The above S501 to S503 are introduced by taking one second device as an example. In actual positioning, one or more second devices may be used to assist in positioning calculation. If there are multiple second devices, each second device can refer to the above S501-S503 and will not be described one by one here.

[0304] Correspondingly, the positioning device receives measurement information of a first path of at least one second device; the first path is a direct connection path between the first device and the second device.

[0305] S504: The positioning device determines the location information of the first device based on the measurement information of the first path of at least one second device.

[0306] In a possible implementation, the measurement information of the first path is the arrival time of the first path; the positioning device executes S504, which may include: determining the location information of the first device according to the arrival time of the first path corresponding to at least one second device and the location coordinate information of at least one second device.

[0307] In a possible implementation, the positioning device may also determine a weight value corresponding to the arrival time according to the relevant information corresponding to each second device. Then, the positioning device may calculate the location coordinate information of the first device according to the arrival time and the corresponding weight value corresponding to the at least one second device, and the location coordinate information of the at least one second device.

[0308] The specific implementation of S504 may refer to the specific implementation of S404 described above, which will not be described in detail here.

[0309] Figure 5 The scheme can be applied to the above Figure 1B In the uplink positioning measurement process shown in FIG. Figure 5 The steps of the solution can be applied in S107B-S108B and S109B accordingly; that is, S501-S502 can be applied in S107B, S503 can be applied in S108B, and S504 can be applied in S109B.

[0310] Exemplarily, the first device is Figure 1A The terminal device UE in the second device is Figure 1B Base station 1, or base station 2, base station 3; when any base station (i.e., the second device) performs measurement, it can obtain the TOA measurement result of the first path between itself and the terminal device UE to be located and the corresponding correlation coefficient through the implementation in S501-S502 above. Through the implementation in S503, each base station can report the TOA measurement result of the corresponding first path and the corresponding related information to LMF. LMF performs positioning calculation (solution) through the implementation in S504 above to determine the location information of the UE.

[0311] In summary, an embodiment of the present application provides an uplink positioning method, which includes: the second device first obtains path measurement information of a target channel; the target channel is a channel for transmitting signals between the first device and the second device; then based on the path measurement information of the target channel, the measurement information of the first path in the target channel is determined; the first path is a direct path between the first device and the second device; finally, the measurement information of the first path in the target channel is sent to the positioning device for positioning calculation; through this method, more accurate measurement information or data (such as arrival time) of the channel between the first device and the second device can be obtained for positioning calculation, which can effectively improve the overall positioning accuracy.

[0312] In the embodiments provided by the present application, the methods provided by the embodiments of the present application are introduced from the perspective of interaction between various devices. In order to realize the functions in the methods provided by the embodiments of the present application, the first device or the positioning device or the second device may include a hardware structure and / or a software module, and the functions are realized in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0313] The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0314] Same as above idea, Figure 7 As shown, the embodiment of the present application also provides a communication device 700 for implementing the functions of the first device or the positioning device or the second device in the above method. For example, the communication device 700 can be a software module or a chip system. In the embodiment of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices. The communication device 700 may include: a communication unit 701 and a processing unit 702.

[0315] In the embodiment of the present application, the communication unit 701 may also be referred to as a transceiver unit, and may include a sending unit and / or a receiving unit, which are respectively used to execute the steps of sending and receiving by the first device or the positioning device or the second device in the above method embodiment or implementation. The processing unit 702 may be used to read instructions and / or data in the storage module so that the communication device 700 implements the above method embodiment.

[0316] Optionally, the communication device 700 may further include a storage unit 703, which is equivalent to a storage module and can be used to store instructions and / or data.

[0317] The following, combined Figures 7 and 8 The communication device provided in the embodiment of the present application is described in detail. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so the contents not described in detail can be referred to above. Figure 4 and Figure 5 For the sake of brevity, the implementation method of the method will not be described in detail here.

[0318] The communication unit 701 may also be referred to as a transceiver, a transceiver, a transceiver device, etc. The processing unit may also be referred to as a processor, a processing board, a processing module, a processing device, etc. Optionally, the device used to implement the receiving function in the communication unit 701 may be regarded as a receiving unit, and the device used to implement the sending function in the communication unit 701 may be regarded as a sending unit, that is, the communication unit 701 includes a receiving unit and a sending unit. The communication unit may also be sometimes referred to as a transceiver, a transceiver, or a transceiver circuit, etc. The receiving unit may also be sometimes referred to as a receiver, a receiver, or a receiving circuit, etc. The sending unit may also be sometimes referred to as a transmitter, a transmitter, or a transmitting circuit, etc.

[0319] When the communication device 700 executes the above embodiment Figure 4 When it is the first device in the process shown: the communication unit 701 is used to obtain path measurement information of at least one target channel; the at least one target channel is a channel for transmitting signals between the first device and at least one second device; the processing unit 702 is used to determine the measurement information of the first path corresponding to the at least one target channel based on the path measurement information of the at least one target channel; the first path is a direct connection path between the first device and the second device; the communication unit 701 is also used to send the measurement information of the first path corresponding to the at least one target channel to the positioning device.

[0320] When the communication device 700 executes the above embodiment Figure 5 When the second device (base station) in the process shown is: the communication unit 701 and the processing unit 702 are both located in the second device; or the communication unit 701 is located in the DU of the second device, and the processing unit 702 is located in the CU of the second device; or in the ORAN architecture, the communication unit 701 is located in the O-DU and / or O-RU of the second device, and the processing unit 702 is located in the O-CU and / or O-DU of the second device.

[0321] Among them, the communication unit 701 is used to obtain path measurement information of the target channel; the target channel is a channel for transmitting signals between the first device and the second device; the processing unit 702 is used to determine the measurement information of the first path in the target channel based on the path measurement information of the target channel; the first path is a direct path between the first device and the second device; the communication unit 701 is also used to send the measurement information of the first path to the positioning device.

[0322] When the communication device 700 executes the above embodiment Figure 5 In the positioning device shown in the figure: the communication unit 701 is used to receive measurement information of a first path of at least one second device; the first path is a direct path between the first device and the second device; the processing unit 702 is used to determine the location information of the first device based on the measurement information of the first path of the at least one second device.

[0323] The above is just an example. The processing unit 702 and the communication unit 701 can also perform other functions. For more detailed description, please refer to Figure 4-Figure 5 The relevant description in the method embodiment shown is not repeated here.

[0324] like Figure 8 The figure shows a communication device 800 provided in an embodiment of the present application. Figure 8The communication device shown can be Figure 7 The communication device 800 is a hardware circuit implementation of the communication device shown in the figure. The communication device 800 can be applied to the flowchart shown above to perform the functions of the first device or the positioning device or the second device in the above method embodiment or implementation. For the convenience of description, Figure 8 Only the main components of the communication device are shown.

[0325] like Figure 8 As shown, the communication device 800 includes a communication interface 801 and a processor 802. The communication interface 801 and the processor 802 are coupled to each other. It can be understood that the communication interface 801 can be a transceiver or an input-output interface, or an interface circuit such as a transceiver circuit. Optionally, the communication device 800 can also include a memory 803 for storing instructions executed by the processor 802 or storing input data required by the processor 802 to run the instructions or storing data generated after the processor 802 runs the instructions.

[0326] When the communication device 800 is used to implement Figure 4 and Figure 5 In the method shown, the communication interface 801 is used to implement the functions of the above-mentioned communication unit 701, and the processor 802 is used to implement the functions of the above-mentioned processing unit 702.

[0327] The specific connection medium between the communication interface 801, the processor 802 and the memory 803 is not limited in the embodiment of the present application. Figure 8 In the embodiment, the memory 803, the processor 802 and the communication interface 801 are connected via a communication bus 804. Figure 8 The communication bus 804 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0328] When the communication device is a chip, Fig. 9 A simplified schematic diagram of a chip device structure is shown, wherein the chip 900 includes an interface circuit 901 and one or more processors 902. Optionally, the chip 900 may also include a bus.

[0329] The processor 902 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above positioning method can be completed by the hardware integrated logic circuit or software instructions in the processor 902. The above processor 902 can be a general processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The various methods and steps disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0330] The interface circuit 901 can be used to send or receive data, instructions or information. The processor 902 can use the data, instructions or other information received by the interface circuit 901 to process, and can send the processing completion information through the interface circuit 901.

[0331] Optionally, the chip further includes a memory 903, which may include a read-only memory and a random access memory, and provides operation instructions and data to the processor. A portion of the memory 903 may also include a non-volatile random access memory (NVRAM).

[0332] Optionally, the memory stores executable software modules or data structures, and the processor can perform corresponding operations by calling operation instructions stored in the memory (the operation instructions can be stored in the operating system).

[0333] Optionally, the chip can be used in the first device or the positioning device or the second device involved in the embodiment or embodiment mode of the present application. Optionally, the interface circuit 901 can be used to output the execution result of the processor 902. The positioning method provided by one or more embodiments of the present application can refer to the aforementioned embodiments, which will not be repeated here.

[0334] It should be noted that the functions corresponding to the interface circuit 901 and the processor 902 can be implemented through hardware design, software design, or a combination of hardware and software, which is not limited here.

[0335] An embodiment of the present application further provides a computer-readable storage medium on which are stored computer instructions for implementing the method executed by the first device or the positioning device or the second device in the above method embodiment or implementation.

[0336] For example, when the computer program is executed by a computer, the computer can implement the method performed by the first device or the positioning device or the second device in the above method embodiment or implementation.

[0337] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed by a computer, enables the computer to implement the method performed by the first device or the positioning device or the second device in the above method embodiment or implementation.

[0338] The embodiment of the present application also provides a chip, including a processor, which is used to call the computer program or computer instruction stored in the memory so that the processor executes the above Figure 4 and Figure 5 The positioning method of the embodiment shown.

[0339] In a possible implementation, the chip input corresponds to the above Figure 4 and Figure 5 In the receiving operation of the embodiment shown in the figure, the output of the chip corresponds to the above Figure 4 and Figure 5 The sending operation in the embodiment shown.

[0340] Optionally, the processor is coupled to the memory via an interface.

[0341] Optionally, the chip also includes a memory in which computer programs or computer instructions are stored.

[0342] The processor mentioned in any of the above places can be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more processors for controlling the above Figure 4 and Figure 5 The integrated circuit for executing the program of the embodiment shown. The memory mentioned in any of the above places can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM), etc.

[0343] It should be noted that, for the convenience and brevity of description, the explanation and beneficial effects of the relevant contents in any of the communication devices provided above can refer to the corresponding positioning method embodiments provided above, and will not be repeated here.

[0344] In the present application, the communication devices may also include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. Among them, the hardware layer may include hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory (also called main memory). The operating system of the operating system layer may be any one or more computer operating systems that implement business processing through processes, such as Linux operating system, Unix operating system, Android operating system, iOS operating system, or Windows operating system. The application layer may include applications such as browsers, address books, word processing software, and instant messaging software.

[0345] The division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0346] Through the description of the above implementation mode, it can be clearly understood by those skilled in the art that the embodiments of the present application can be implemented by hardware, firmware, or a combination thereof. When software is used for implementation, the above functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any medium that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a computer can access. Taking this as an example but not limited to: a computer-readable medium can include RAM, ROM, electrically erasable programmable read only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer. In addition. Any connection can be appropriately a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, wireless, and microwave are included in the fixation of the medium. As used in the embodiments of the present application, disk and disc include compact disc (CD), laser disc, optical disc, digital video disc (DVD), floppy disk, and Blu-ray disc, where disks usually copy data magnetically and discs use lasers to copy data optically. The above combinations should also be included in the scope of protection of computer-readable media.

[0347] In short, the above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made according to the disclosure of the present application shall be included in the protection scope of the present application.

Claims

1. A positioning method, characterized in that: The method is applied to a first device or a chip of the first device, and includes: Acquire path measurement information of at least one target channel; the at least one target channel is a channel for transmitting signals between the first device and at least one second device respectively; Determine, based on the path measurement information of the at least one target channel, measurement information of a first path respectively corresponding to the at least one target channel; the first path is a direct connection path between the first device and the second device; The measurement information of the first paths respectively corresponding to the at least one target channel is sent to the positioning device.

2. The method according to claim 1, characterized in that The acquiring path measurement information of at least one target channel includes: receiving a reference signal sent by the at least one second device through the at least one target channel, and measuring and obtaining corresponding information of the target channel; Based on the information of the at least one target channel, path measurement information of the at least one target channel is obtained.

3. The method according to claim 2, characterized in that The information of the target channel is frequency domain information of the target channel, and the path measurement information of the target channel is impulse response CIR information of the target channel; Obtaining path measurement information of the at least one target channel based on the information of the at least one target channel includes: The frequency domain information of the at least one target channel is respectively subjected to inverse fast Fourier transform (IFFT) processing to obtain CIR information of the at least one target channel.

4. The method according to any one of claims 1 to 3, characterized in that The path measurement information of the target channel is impulse response CIR information of the target channel; Determining measurement information of first paths respectively corresponding to the at least one target channel based on the path measurement information of the at least one target channel includes: Based on the CIR information of the at least one target channel, obtaining CIR information of at least one path corresponding to the at least one target channel; Based on the CIR information of the at least one path corresponding to each of the target channels, the measurement information of the first path is determined.

5. The method according to claim 4, characterized in that The obtaining, based on the CIR information of the at least one target channel, CIR information of at least one path respectively corresponding to the at least one target channel includes: The CIR information of each target channel is subjected to angle rotation processing to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle is used to characterize the CIR information corresponding to a path.

6. The method according to claim 5, characterized in that The step of performing angle rotation processing on the CIR information of each target channel to obtain CIR information corresponding to at least one corresponding rotation angle includes: After the CIR information of each target channel is multiplied by at least one rotation vector, a real part projection is performed to obtain CIR information corresponding to the at least one rotation angle.

7. The method according to claim 4, characterized in that The measurement information of the first path is the arrival time corresponding to the first path; The determining, based on the CIR information of the at least one path corresponding to each of the target channels, the measurement information of the first path includes: Get the preset single-path CIR information; The CIR information of the at least one path is respectively subjected to sliding correlation processing with the preset single-path CIR information, and first relationship information corresponding to the at least one path is obtained; the first relationship information is used to characterize the corresponding relationship between the rotation angle and the delay corresponding to the path and the correlation coefficient value; the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information; Based on the first relationship information respectively corresponding to the at least one path, a target delay is determined; and the target delay is used as the arrival time corresponding to the first path.

8. The method according to claim 7, characterized in that The first relationship information is further used to represent any one or more of the following: The correspondence between the time delay and the correlation coefficient value, and the correspondence between the rotation angle and the time delay.

9. The method according to claim 7, characterized in that: The determining the target delay based on the first relationship information respectively corresponding to the at least one path includes: Based on the first relationship information respectively corresponding to the at least one path, determine one or more time delays through at least one discrimination algorithm with a preset correlation coefficient threshold; If a delay is determined, the delay is used as the target delay; If multiple time delays are determined, an average value or a cluster value of the multiple time delays is used as the target time delay.

10. The method according to claim 7, characterized in that The method further comprises: Sending information of the first path respectively corresponding to the at least one second device to the positioning device; The information of the first path includes one or more of the following: The rotation angle corresponding to the arrival time, the relevant information corresponding to the arrival time, and the second relationship information corresponding to the arrival time; The relevant information is used to represent one or more of the following: The matching degree between the target channel and the single-path channel, the likelihood ratio between the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; The second relationship information is used to represent any of the following: The correspondence between the arrival time, the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

11. A positioning method, characterized in that: The method is applied to a second device or a chip of the second device, and includes: Acquire path measurement information of a target channel; the target channel is a channel for transmitting signals between the first device and the second device; Determine measurement information of a first path in the target channel based on the path measurement information of the target channel; the first path is a direct connection path between the first device and the second device; The measurement information of the first path is sent to a positioning device.

12. The method according to claim 11, characterized in that The acquiring the path measurement information of the target channel includes: receiving a reference signal sent by the second device through the target channel, and obtaining information of the target channel by measurement; Based on the information of the target channel, path measurement information of the target channel is obtained.

13. The method according to claim 12, characterized in that The information of the target channel is frequency domain information of the target channel, and the path measurement information of the target channel is impulse response CIR information of the target channel; The obtaining, based on the information of the target channel, path measurement information of the target channel includes: The frequency domain information of the target channel is processed by inverse fast Fourier transform (IFFT) to obtain CIR information of the target channel.

14. The method according to any one of claims 11 to 13, characterized in that The path measurement information of the target channel is impulse response CIR information of the target channel; The determining, based on the path measurement information of the target channel, measurement information of a first path in the target channel includes: Based on the CIR information of the target channel, obtaining CIR information of at least one path in the target channel; Based on the CIR information of the at least one path, measurement information of the first path is determined.

15. The method according to claim 14, characterized in that The obtaining, based on the CIR information of the target channel, CIR information of at least one path in the target channel includes: The impulse response CIR information of the target channel is subjected to angle rotation processing to obtain CIR information corresponding to at least one rotation angle; the CIR information corresponding to each rotation angle is used to characterize the CIR information corresponding to a path.

16. The method according to claim 15, characterized in that The step of performing angle rotation processing on the impulse response CIR information of the target channel to obtain CIR information corresponding to at least one rotation angle includes: After the impulse response CIR information of the target channel is multiplied by at least one rotation vector, a real part projection is performed to obtain CIR information corresponding to the at least one rotation angle.

17. The method according to claim 14, characterized in that The measurement information of the first path is the arrival time corresponding to the first path; The determining, based on the CIR information of the at least one path, the measurement information of the first path includes: Get the preset single-path CIR information; The CIR information of the at least one path is respectively subjected to sliding correlation processing with the preset single-path CIR information, and first relationship information corresponding to the at least one path is obtained; the first relationship information is used to characterize the corresponding relationship between the rotation angle and the delay corresponding to the path and the correlation coefficient value; the correlation coefficient value is used to characterize the similarity between the CIR information of the path and the preset single-path CIR information; Based on the first relationship information respectively corresponding to the at least one path, a target delay is determined; and the target delay is used as the arrival time corresponding to the first path.

18. The method according to claim 17, characterized in that The first relationship information is further used to represent any one or more of the following: The correspondence between the time delay and the correlation coefficient value, and the correspondence between the rotation angle and the time delay.

19. The method according to claim 17, characterized in that The determining the target delay based on the first relationship information respectively corresponding to the at least one path includes: Based on the first relationship information respectively corresponding to the at least one path, determine one or more time delays through at least one discrimination algorithm with a preset correlation coefficient threshold; If a delay is determined, the delay is used as the target delay; If multiple time delays are determined, an average value or a cluster value of the multiple time delays is used as the target time delay.

20. The method according to claim 17, characterized in that The method further comprises: Sending information of the first path to the positioning device; The information of the first path includes one or more of the following: The rotation angle corresponding to the arrival time of the first path, the related information corresponding to the arrival time of the first path, and the second relationship information corresponding to the arrival time of the first path; The relevant information is used to represent one or more of the following: The matching degree between the target channel and the single-path channel, the likelihood ratio between the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; The second relationship information is used to represent any of the following: The correspondence between the arrival time, the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time and the correlation coefficient value.

21. A positioning method, characterized in that: The method is applied to a positioning device or a chip of the positioning device, and comprises: receiving measurement information of a first path respectively corresponding to at least one second device; the first path is a direct connection path between the first device and the second device; The location information of the first device is determined based on the measurement information of the first path respectively corresponding to the at least one second device.

22. The method according to claim 21, characterized in that The measurement information of the first path is the arrival time of the first path; and determining the location information of the first device based on the measurement information of the first path respectively corresponding to the at least one second device includes: The location information of the first device is determined according to the arrival time of the first path respectively corresponding to the at least one second device and the location coordinate information of the at least one second device.

23. The method according to claim 22, characterized in that The method further comprises: Receiving relevant information corresponding to the arrival time sent by the at least one second device; wherein the relevant information is used to represent one or more of the following: The matching degree between the target channel and the single-path channel, the likelihood ratio between the arrival time and the single-path arrival time, the probability that the correlation coefficient value is greater than a preset threshold, and the correlation coefficient value corresponding to the arrival time; A weight value of the arrival time is determined according to the relevant information corresponding to each of the second devices.

24. The method according to claim 23, characterized in that The determining the location information of the first device according to the arrival time of the first path respectively corresponding to the at least one second device and the location coordinate information of the at least one second device includes: The location coordinate information of the first device is determined according to the arrival time and the weight value of the arrival time respectively corresponding to the at least one second device, and the location coordinate information of the at least one second device.

25. The method according to any one of claims 21 to 24, characterized in that The method further comprises: receiving a rotation angle corresponding to the arrival time and / or second relationship information corresponding to the arrival time sent by each of the at least one second device; The second relationship information is used to represent any of the following: the correspondence between the arrival time of the first path and the corresponding rotation angle and the correlation coefficient value, the correspondence between the arrival time of the first path and the corresponding rotation angle, and the correspondence between the rotation angle corresponding to the arrival time of the first path and the correlation coefficient value; The correlation coefficient value is used to represent the similarity between the CIR information corresponding to the rotation angle and the preset single-path CIR information.

26. The method according to any one of claims 1 to 25, characterized in that The first device is a terminal device, and the second device is an access network device.

27. A communication device, characterized in that: A module comprising executing the method according to any one of claims 1 to 10, or a module comprising executing the method according to any one of claims 11 to 20, or a module comprising executing the method according to any one of claims 21 to 26.

28. A communication device, characterized in that: Comprising a processor; the processor is used to execute one or more computer programs or instructions stored in the memory, so that the communication device performs the method as described in any one of claims 1 to 10, or performs the method as described in any one of claims 11 to 20, or performs the method as described in any one of claims 21 to 26.

29. A communication system, characterized in that: It comprises a first device and a positioning device and at least one second device; the first device is used to execute the method as described in any one of claims 1 to 10, the second device is used to indicate the method as described in any one of claims 11 to 20, and the positioning device is used to execute the method as described in any one of claims 21 to 26.

30. A computer-readable storage medium, characterized in that: A computer program or instructions are stored, wherein the computer program or instructions are used to implement the method according to any one of claims 1 to 26.

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