Communication method and device

Abstract

The invention discloses a communication method and device which can be applied to a sensing system or a sensing and communication integrated system and can improve the sensing performance. In addition, the privacy leakage risk of the reference unit can be reduced. The method comprises the following steps: a second node receives first information respectively corresponding to at least one first node; and determining a reference unit according to the first information corresponding to the at least one first node, and sending second information to the at least one first node. Wherein the first information comprises information of the first node and sensing information corresponding to the sensing link, the sensing information comprises information of N scatterers and / or information of M scatterer groups, N and M are positive integers, and the first node is a receiving node of a sensing signal on the sensing link. The second information indicates a position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communications, and in particular, to communication methods and devices. Background Art

[0002] Wireless sensing technology can be understood as a technology that transmits electromagnetic energy into space and calculates information about an object by using the electromagnetic waves reflected by an object in the space. For example, the information about an object may include location, direction, height, speed, size, path, etc.

[0003] Communication and perception integration can be understood as a new information processing technology that realizes the coordination of perception and communication functions based on software and hardware resource sharing or information sharing, which can effectively improve the system spectrum efficiency, hardware efficiency and information processing efficiency. Having communication and perception functions will be the capability trend of advanced wireless base stations and terminal equipment.

[0004] In the perception based on a single node (such as terminal equipment, base station), the installation of communication base stations and terminal equipment is very different from traditional radar / lidar, which leads to the fact that the performance of single-station perception (such as perception range and perception accuracy) is greatly limited. In order to improve the perception performance, multi-node perception data can be fused.

[0005] However, there are certain differences between the same object perceived by different sensing nodes. For example, the perceived position of the same object may present different rotations, parallel shifts, and stretch shifts around the actual position. Summary of the invention

[0006] The present application provides a communication method and device, which can improve perception performance and reduce the risk of privacy leakage of reference units.

[0007] In a first aspect, a communication method is provided, which can be executed by a second node, or by a component of the second node, such as a processor, a chip, or a chip system of the second node, or by a logic module or software that can realize all or part of the functions of the second node. The method includes: receiving first information corresponding to at least one first node. The first information includes information of the first node and perception information corresponding to a perception link, and the perception information includes information of N scatterers and / or information of M scatterer groups, where N and M are positive integers, and the first node is a receiving node of the perception signal on the perception link. According to the first information corresponding to at least one first node, a reference unit is determined, and second information is sent to at least one first node. The second information indicates a position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

[0008] Based on this scheme, the second node can determine the reference unit based on the perception information of at least one node. For example, the reference unit can be a passive object that can be perceived by multiple first nodes, and then indicate to each first node the position calibration amount of the scatterer or scatterer group determined by it relative to the reference unit, so that the first node can perform subsequent perception / positioning calibration based on the position calibration amount to improve perception performance. In addition, since the true position of the reference unit is not directly indicated, the risk of privacy leakage of the reference unit can be reduced. In the case where the reference unit is a passive object, the emergence of privacy issues can be avoided.

[0009] In the second aspect, a communication method is provided, which can be executed by a first node, or by a component of the first node, such as a processor, chip, or chip system of the first node, or by a logic module or software that can realize all or part of the functions of the first node. The method includes: sending first information to a second node, and receiving second information from the second node. The first information includes information of the first node and perception information corresponding to a perception link, the perception information includes information of N scatterers and / or information of M scatterer groups, N and M are positive integers, the first node is a receiving node of a perception signal on the perception link, and the first information is used to determine a reference unit. The second information indicates a position calibration amount of the scatterer and / or the scatterer group relative to the reference unit. The technical effects brought about by the second aspect can refer to the technical effects brought about by the first aspect, and will not be repeated here.

[0010] In combination with the first aspect or the second aspect, in one possible design, the position calibration amount includes a distance registration amount and / or an angle registration amount, and the distance registration amount and / or the angle registration amount indicates a coordinate error of a scatterer or a scatterer group.

[0011] In combination with the first aspect or the second aspect, in a possible design, the information of the first node includes at least one of the following: an identifier of a perception link, an identifier of the first node, an identifier of a sending node of a perception signal on the perception link, acquisition time information of the perception information, or configuration information of the first node.

[0012] In combination with the first aspect or the second aspect, in one possible design, the information of the scatterer includes at least one of the following: the index of the scatterer, the position coordinates of the scatterer, the speed of the scatterer, the arrival angle or emission angle of the perception signal corresponding to the scatterer, the reliability of the scatterer or the received power of the perception signal corresponding to the scatterer.

[0013] In combination with the first aspect or the second aspect, in a possible design, the correlation between the properties of any two scatterers in the scatterer group is greater than or equal to a preset threshold.

[0014] In combination with the first aspect or the second aspect, in a possible design, the attribute of the scatterer includes at least one of the following: position coordinates, speed or direction; and / or the correlation is represented by at least one of the following: deviation, covariance or Euclidean distance.

[0015] In combination with the first aspect or the second aspect, in one possible design, the information of the scatterer group includes at least one of the following: an index of the scatterer group, a position of the scatterer group, a profile of the scatterer group, a speed of the scatterer group, a category of the scatterer group, or an attribute of the scatterer group.

[0016] In combination with the first aspect or the second aspect, in one possible design, the outline of the scatterer group is indicated by at least one of the following: the coordinates of the center position of the scatterer group, the size of the scatterer group, and the normal direction; or, the outline of the scatterer group is indicated by the following information: the position coordinates of multiple scatterers located at the vertices in the scatterer group.

[0017] In combination with the first aspect or the second aspect, in a possible design, the second information includes information of a reference unit, and the information of the reference unit includes the position coordinates of the reference unit.

[0018] Based on this possible design, the second node sends the information of the reference unit to the first node, so that the first node can know the position calibration amount of the scatterer or scatterer group relative to the reference unit, which is used for subsequent perception calibration to improve perception performance. In addition, the computational complexity of the second node can be reduced.

[0019] In combination with the first aspect or the second aspect, in a possible design, the information of the reference unit also includes at least one of the following: an identification of the reference unit, a speed of the reference unit, an arrival angle or a transmission angle of a perception signal corresponding to the reference unit, the reliability of the reference unit, or the received power of the perception signal corresponding to the reference unit.

[0020] In combination with the first aspect or the second aspect, in one possible design, the second information includes a position calibration value.

[0021] Based on this possible design, the second information includes a position calibration amount of the scatterer or the scatterer group relative to the reference unit, which can reduce signaling overhead and the computational complexity of the first node.

[0022] In combination with the first aspect or the second aspect, in a possible design, the position calibration amount includes a distance registration amount, a yaw angle, a pitch angle, and a roll angle. The position coordinates of the scatterer n in the sensing link and the position coordinates of the reference unit satisfy the following relationship:

[0023]

[0024] in, represents the position coordinates of scatterer n, which is the position coordinates perceived by the first node. represents the position coordinates of the reference unit, is determined based on the yaw angle. It is determined by the pitch angle. is determined by the roll angle. represents the distance registration amount, and i is the identifier of the sensing link.

[0025] In combination with the first aspect or the second aspect, in a possible design, the yaw angle and satisfy:

[0026]

[0027] Or, the pitch angle and satisfy:

[0028]

[0029] Or, the roll angle and satisfy:

[0030]

[0031] In a third aspect, a communication method is provided, which can be executed by a sensing node, or by a component of a sensing node, such as a processor, a chip, or a chip system of the sensing node, or can be implemented by a logic module or software that can implement all or part of the functions of the sensing node. The method includes: sending a first request message to a mobile management network element. The first request message is used to request to associate or disassociate a reference unit for a first location management network element, and the location information of the reference unit is used to compensate for positioning errors. A first response message is received from the mobile management network element, and the first response message indicates whether to accept the association or disassociation of the reference unit.

[0032] Based on this solution, a reference unit can be associated with the location management network element. Since the location information of the reference unit can be used to compensate for the positioning error, the location management network element can use the location information of the reference unit to compensate for the positioning error when performing positioning in the subsequent process, thereby improving the positioning accuracy. Alternatively, the reference unit associated with the location management network element can be released, thereby avoiding the situation where the location management network element still uses the location information of the reference unit to compensate for the positioning error when the reference unit is unavailable, thereby causing a decrease in positioning performance.

[0033] In a possible design, when the first request information is used to request to associate a reference unit with a first location management network element, the first request information includes a first identifier, and the first identifier is used to identify an association process of the reference unit.

[0034] In a possible design, when the first request information is used to request to associate a reference unit for a first location management network element, the first request information also includes at least one of the following: an identifier of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, location information of the reference unit, or a status of the reference unit. The reason for associating the reference unit includes an initial association or an association update, and the status of the reference unit includes an ON state or an OFF state.

[0035] In a possible design, when the first response information indicates acceptance of an associated reference unit, the first response information includes a second identifier, and the second identifier is used for updating the reference unit association of the first location management network element.

[0036] In one possible design, when the first response information indicates a rejection of the associated reference unit, the first response information includes a routing identifier of the second location management network element.

[0037] In one possible design, when the first request information is used to request to de-associate a reference unit for a first location management network element, the first request information includes a second identifier, which is an identifier for updating the reference unit association for the first location management network element returned during the association process of the reference unit.

[0038] In a possible design, when the first response information indicates acceptance of de-associating the reference unit, the first response information includes a fourth identifier, and the fourth identifier is a routing identifier that is the same as the association identifier returned during the association process of the reference unit.

[0039] In a fourth aspect, a communication method is provided, which can be executed by a mobile management network element, or by a component of the mobile management network element, such as a processor, chip, or chip system of the mobile management network element, or can be implemented by a logic module or software that can implement all or part of the functions of the mobile management network element. The method includes: receiving a first request message from a perception node, the first request message is used to request to associate or disassociate a reference unit for a first location management network element, and the location information of the reference unit is used to compensate for positioning errors. If the perception node is legitimate, a second request message is sent to the first location management network element, and the second request message is used to request to associate or disassociate a reference unit for the first location management network element.

[0040] Based on this solution, a reference unit can be associated with the location management network element. Since the location information of the reference unit can be used to compensate for the positioning error, the location management network element can use the location information of the reference unit to compensate for the positioning error when performing positioning in the subsequent process, thereby improving the positioning accuracy. Alternatively, the reference unit associated with the location management network element can be released, thereby avoiding the situation where the location management network element still uses the location information of the reference unit to compensate for the positioning error when the reference unit is unavailable, thereby causing a decrease in positioning performance.

[0041] In one possible design, the method also includes: receiving a second response message from the first location management network element, the second response message indicating whether to accept the association or disassociation of the reference unit; sending a first response message to the perception node, the first response message indicating whether to accept the association or disassociation of the reference unit.

[0042] In a possible design, when the first request information is used to request to associate a reference unit with a first location management network element, the first request information includes a first identifier, and the first identifier is used to identify an association process of the reference unit.

[0043] In a possible design, when the first request information is used to request to associate a reference unit for a first location management network element, the first request information also includes at least one of the following: an identifier of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, location information of the reference unit, or a status of the reference unit. The reason for associating the reference unit includes an initial association or an association update, and the status of the reference unit includes an ON state or an OFF state.

[0044] In one possible design, when the second response information indicates acceptance of the associated reference unit, the second response information includes a second identifier, and the second identifier is used for updating the reference unit association of the first location management network element.

[0045] In one possible design, when the second response information indicates a rejection of the associated reference unit, the second response information includes a routing identifier of the second location management network element.

[0046] In one possible design, when the first request information is used to request to de-associate a reference unit for a first location management network element, the first request information includes a second identifier, which is an identifier for updating the reference unit association for the first location management network element returned during the association process of the reference unit.

[0047] In a possible design, when the second response information indicates acceptance of the de-association of the reference unit, the second response information includes a third identifier, where the third identifier is an association identifier returned during the association process of the reference unit.

[0048] In a possible design, the sensing node is legitimate, including: the sensing node has the authority to associate or disassociate with the reference unit.

[0049] In a fifth aspect, a communication method is provided, which can be executed by a location management network element / perception management function network element, or by a component of the location management network element / perception management function network element, such as a processor, chip, or chip system of the location management network element / perception management function network element, or can be implemented by a logic module or software that can implement all or part of the functions of the location management network element / perception management function network element. The method includes: receiving a second request message from a mobile management network element, the second request message is used to request to associate or disassociate a reference unit for a first location management network element, and the location information of the reference unit is used to compensate for positioning errors. Sending a second response message to the mobile management network element, the second response message indicates whether to accept the association or disassociation of the reference unit.

[0050] Based on this solution, a reference unit can be associated with the location management network element. Since the location information of the reference unit can be used to compensate for the positioning error, the location management network element can use the location information of the reference unit to compensate for the positioning error when performing positioning in the subsequent process, thereby improving the positioning accuracy. Alternatively, the reference unit associated with the location management network element can be released, thereby avoiding the situation where the location management network element still uses the location information of the reference unit to compensate for the positioning error when the reference unit is unavailable, thereby causing a decrease in positioning performance.

[0051] In a possible design, when the second request information is used to request to associate a reference unit with a first location management network element, the second request information includes a first identifier, and the first identifier is used to identify an association process of the reference unit.

[0052] In a possible design, when the second request information is used to request to associate a reference unit for a first location management network element, the second request information also includes at least one of the following: an identifier of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, location information of the reference unit, or a status of the reference unit. The reason for associating the reference unit includes an initial association or an association update, and the status of the reference unit includes an ON state or an OFF state.

[0053] In one possible design, when the second response information indicates acceptance of the associated reference unit, the second response information includes a second identifier, and the second identifier is used for updating the reference unit association of the first location management network element.

[0054] In one possible design, when the second response information indicates a rejection of the associated reference unit, the second response information includes a routing identifier of the second location management network element.

[0055] In one possible design, the second request information is used to request to de-associate the reference unit for the first location management network element. The second request information includes a second identifier, which is an identifier for updating the reference unit association for the first location management network element returned during the association process of the reference unit.

[0056] In a possible design, when the second response information indicates acceptance of the de-associated reference unit, the second response information includes a third identifier, where the third identifier is an association identifier returned during the association process of the reference unit.

[0057] In one possible design, when the second request information is used to request to associate a reference unit with a first location management network element, the method further includes: sending a third request information to the network storage network element, the third request information being used to request to add information of the reference unit to information of the first location management network element.

[0058] In a sixth aspect, a communication method is provided, which can be executed by a location management network element / perception management function network element, or by a component of the location management network element / perception management function network element, such as a processor, chip, or chip system of the location management network element / perception management function network element, or can be implemented by a logic module or software that can implement all or part of the functions of the location management network element / perception management function network element. The method includes: sending a fifth request message to a mobile management network element, the fifth request message is used to request to disassociate a reference unit associated with the first location management network element, the location information of the reference unit is used to compensate for positioning errors; receiving a fifth response message from the mobile management network element, the fifth response message indicating acceptance of disassociation of the reference unit.

[0059] Based on this solution, the location management network element can initiate the disassociation of the reference unit. Therefore, when the location management network element is about to become unavailable, the reference unit previously associated with the location management network element can be disassociated, so that the sensing node can associate the reference unit with other location management network elements to assist other location management network elements in positioning and improve positioning accuracy.

[0060] In one possible design, the fifth request information includes a second identifier, where the second identifier is an identifier for updating the reference unit association of the first location management network element returned during the reference unit association process.

[0061] In a possible design, the reference unit is a passive object, and / or the position information of the reference unit is obtained based on sensing.

[0062] In the seventh aspect, a communication method is provided, which can be executed by a location management network element / perception management function network element, or by a component of the location management network element / perception management function network element, such as a processor, chip, or chip system of the location management network element / perception management function network element, or can be implemented by a logic module or software that can implement all or part of the functions of the location management network element / perception management function network element. The method includes: receiving positioning request information for requesting positioning of a target terminal device; obtaining the location information of at least one reference unit, the location information of the reference unit is used to compensate for positioning errors; determining the location of the target terminal device according to the initial positioning position of the target terminal device, the location information of at least one reference unit, and the location information of at least one wireless access network device; at least one wireless access network device is used to determine the initial positioning position.

[0063] Based on this solution, the location management network element can obtain the location information of at least one reference unit. Since the location information of the reference unit is used to supplement the positioning error, the location management network element can use the location information of at least one reference unit and combine it with the location information of at least one wireless access network device to calibrate the initial positioning position of the target terminal device, thereby improving the positioning accuracy.

[0064] In one possible design, at least one reference unit includes a first reference unit, and the first reference unit is a reference unit associated with a first location management network element. The first reference unit is located in a service cell of a target terminal device, and / or the first reference unit is a reference unit closest to an initial positioning position among at least one reference unit associated with the first location management network element.

[0065] In one possible design, at least one reference unit includes a second reference unit, and the second reference unit is a reference unit associated with a second location management network element. Obtaining location information of at least one reference unit includes: sending an eighth request message for requesting location information of the reference unit to the second location management network element; and receiving an eighth response message including location information of the second reference unit from the second location management network element.

[0066] In one possible design, the method also includes: sending seventh request information to the network storage network element for requesting to discover the reference unit; and receiving seventh response information from the network storage network element indicating the address of the second location management network element.

[0067] In one possible design, the second reference unit is located in a service cell of the target terminal device, and / or the second reference unit is a reference unit that is closest to the initial positioning position among at least one reference unit associated with the second location management network element.

[0068] In combination with the third aspect or the fourth aspect or the fifth aspect or the sixth aspect or the seventh aspect, in one possible design, the reference unit is a passive object, and / or the position information of the reference unit is obtained based on perception.

[0069] In an eighth aspect, a communication device is provided for implementing various methods. The communication device includes a module, unit, or means corresponding to the implementation method, wherein the module, unit, or means can be implemented by hardware, software, or by hardware executing the corresponding software implementation. The hardware or software includes one or more modules or units corresponding to the function.

[0070] In some possible designs, the communication device may include a processing module and a transceiver module. The processing module may be used to implement the processing function in any of the above aspects and any possible implementations thereof. The transceiver module may include a receiving module and a sending module, respectively used to implement the receiving function and the sending function in any of the above aspects and any possible implementations thereof.

[0071] In some possible designs, the transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0072] In one possible design, when the communication device is used to implement the method described in the first aspect and any possible design thereof:

[0073] The transceiver module is used to receive first information corresponding to at least one first node. The first information includes information of the first node and perception information corresponding to the perception link, and the perception information includes information of N scatterers and / or information of M scatterer groups, where N and M are positive integers, and the first node is a receiving node of the perception signal on the perception link. The processing module is used to determine a reference unit according to the first information corresponding to at least one first node. The transceiver module is also used to send second information to at least one first node. The second information indicates a position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

[0074] In one possible design, when the communication device is used to implement the method described in the second aspect and any possible design thereof:

[0075] The transceiver module is used to send the first information to the second node; the transceiver module is also used to receive the second information from the second node. The first information includes the information of the first node and the perception information corresponding to the perception link, the perception information includes the information of N scatterers and / or the information of M scatterer groups, N and M are positive integers, the first node is a receiving node of the perception signal on the perception link, and the first information is used to determine the reference unit. The second information indicates the position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

[0076] Optionally, the position calibration quantity includes a distance registration quantity and / or an angle registration quantity, and the distance registration quantity and / or the angle registration quantity indicate a coordinate error of a scatterer or a scatterer group.

[0077] Optionally, the information of the first node includes at least one of the following: an identifier of a perception link, an identifier of the first node, an identifier of a sending node of a perception signal on the perception link, acquisition time information of the perception information, or configuration information of the first node.

[0078] Optionally, the information of the scatterer includes at least one of the following: an index of the scatterer, a position coordinate of the scatterer, a speed of the scatterer, an arrival angle or an emission angle of a perception signal corresponding to the scatterer, a reliability of the scatterer, or a received power of a perception signal corresponding to the scatterer.

[0079] Optionally, the correlation between the properties of any two scatterers in the scatterer group is greater than or equal to a preset threshold.

[0080] Optionally, the attributes of the scatterer include at least one of the following: position coordinates, speed or direction; and / or the correlation is represented by at least one of the following: deviation, covariance or Euclidean distance.

[0081] Optionally, the information of the scatterer group includes at least one of the following: an index of the scatterer group, a position of the scatterer group, a profile of the scatterer group, a speed of the scatterer group, a category of the scatterer group, or an attribute of the scatterer group.

[0082] Optionally, the contour of the scatterer group is indicated by at least one of the following: the coordinates of the center position of the scatterer group, the size of the scatterer group, and the normal direction; or, the contour of the scatterer group is indicated by the following information: the position coordinates of multiple scatterers located at the vertices in the scatterer group.

[0083] Optionally, the second information includes information of the reference unit, and the information of the reference unit includes the position coordinates of the reference unit.

[0084] Optionally, the information of the reference unit also includes at least one of the following: the identification of the reference unit, the speed of the reference unit, the arrival angle or transmission angle of the perception signal corresponding to the reference unit, the reliability of the reference unit, or the receiving power of the perception signal corresponding to the reference unit.

[0085] Optionally, the second information includes a position calibration amount.

[0086] Optionally, the position calibration quantity includes a distance registration quantity, a yaw angle, a pitch angle, and a roll angle. The position coordinates of the scatterer n in the sensing link and the position coordinates of the reference unit satisfy the following relationship:

[0087]

[0088] in, represents the position coordinates of scatterer n, which is the position coordinates perceived by the first node. represents the position coordinates of the reference unit, is determined based on the yaw angle. It is determined by the pitch angle. is determined by the roll angle. represents the distance registration amount, and i is the identifier of the sensing link.

[0089] Optional, yaw angle and satisfy:

[0090]

[0091] Or, the pitch angle and satisfy:

[0092]

[0093] Or, the roll angle and satisfy:

[0094]

[0095] In one possible design, when the communication device is used to implement the method described in the third aspect and any possible design thereof:

[0096] The transceiver module is used to send a first request message to a mobility management network element. The first request message is used to request to associate or disassociate a reference unit for a first location management network element, and the location information of the reference unit is used to compensate for positioning errors. The transceiver module is also used to receive a first response message from the mobility management network element, and the first response message indicates whether to accept the association or disassociation of the reference unit.

[0097] Optionally, when the first request information is used to request association of a reference unit for a first location management network element, the first request information includes a first identifier, and the first identifier is used to identify an association process of the reference unit.

[0098] Optionally, when the first request information is used to request to associate a reference unit for a first location management network element, the first request information also includes at least one of the following: an identifier of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, location information of the reference unit, or a status of the reference unit. The reason for associating the reference unit includes an initial association or an association update, and the status of the reference unit includes an ON state or an OFF state.

[0099] Optionally, when the first response information indicates acceptance of the associated reference unit, the first response information includes a second identifier, and the second identifier is used for reference unit association update of the first location management network element.

[0100] Optionally, when the first response information indicates rejection of the association reference unit, the first response information includes a routing identifier of the second location management network element.

[0101] Optionally, when the first request information is used to request to de-associate the reference unit for the first location management network element, the first request information includes a second identifier, and the second identifier is an identifier for updating the reference unit association for the first location management network element returned during the reference unit association process.

[0102] Optionally, when the first response information indicates acceptance of de-association of the reference unit, the first response information includes a fourth identifier, and the fourth identifier is a routing identifier that is the same as the association identifier returned during the association process of the reference unit.

[0103] In one possible design, when the communication device is used to implement the method described in the fourth aspect and any possible design thereof:

[0104] The transceiver module is used to receive a first request message from a sensing node, wherein the first request message is used to request to associate or disassociate a reference unit for a first location management network element, and the location information of the reference unit is used to compensate for positioning errors. If the sensing node is legitimate, the transceiver module is also used to send a second request message to the first location management network element, wherein the second request message is used to request to associate or disassociate a reference unit for the first location management network element.

[0105] Optionally, the transceiver module is also used to receive a second response message from the first location management network element, and the second response message indicates whether to accept the association or disassociation reference unit; the transceiver module is also used to send a first response message to the perception node, and the first response message indicates whether to accept the association or disassociation reference unit.

[0106] Optionally, when the first request information is used to request association of a reference unit for a first location management network element, the first request information includes a first identifier, and the first identifier is used to identify an association process of the reference unit.

[0107] Optionally, when the first request information is used to request to associate a reference unit for a first location management network element, the first request information also includes at least one of the following: an identifier of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, location information of the reference unit, or a status of the reference unit. The reason for associating the reference unit includes an initial association or an association update, and the status of the reference unit includes an ON state or an OFF state.

[0108] Optionally, when the second response information indicates acceptance of the associated reference unit, the second response information includes a second identifier, and the second identifier is used for reference unit association update of the first location management network element.

[0109] Optionally, when the second response information indicates rejection of the association reference unit, the second response information includes a routing identifier of the second location management network element.

[0110] Optionally, when the first request information is used to request to de-associate the reference unit for the first location management network element, the first request information includes a second identifier, and the second identifier is an identifier for updating the reference unit association for the first location management network element returned during the reference unit association process.

[0111] Optionally, when the second response information indicates acceptance of de-association of the reference unit, the second response information includes a third identifier, and the third identifier is an association identifier returned during the association process of the reference unit.

[0112] Optionally, the sensing node is legal, including: the sensing node has the authority to associate or disassociate with the reference unit.

[0113] In one possible design, when the communication device is used to implement the method described in the fifth aspect and any possible design thereof:

[0114] The transceiver module is used to receive a second request message from a mobility management network element, the second request message is used to request to associate or disassociate a reference unit for a first location management network element, and the location information of the reference unit is used to compensate for positioning errors. The transceiver module is also used to send a second response message to the mobility management network element, the second response message indicates whether to accept the association or disassociation of the reference unit.

[0115] Optionally, when the second request information is used to request to associate a reference unit with the first location management network element, the second request information includes a first identifier, and the first identifier is used to identify an association process of the reference unit.

[0116] Optionally, when the second request information is used to request to associate a reference unit for the first location management network element, the second request information also includes at least one of the following: an identifier of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, location information of the reference unit, or a status of the reference unit. The reason for associating the reference unit includes an initial association or an association update, and the status of the reference unit includes an ON state or an OFF state.

[0117] Optionally, when the second response information indicates acceptance of the associated reference unit, the second response information includes a second identifier, and the second identifier is used for reference unit association update of the first location management network element.

[0118] Optionally, when the second response information indicates rejection of the association reference unit, the second response information includes a routing identifier of the second location management network element.

[0119] Optionally, when the second request information is used to request to de-associate the reference unit for the first location management network element, the second request information includes a second identifier, which is an identifier for updating the reference unit association for the first location management network element returned during the reference unit association process.

[0120] Optionally, when the second response information indicates acceptance of the de-association of the reference unit, the second response information includes a third identifier, and the third identifier is an association identifier returned during the association process of the reference unit.

[0121] Optionally, when the second request information is used to request to associate a reference unit with the first location management network element, the transceiver module is also used to send a third request information to the network storage network element, and the third request information is used to request to add the information of the reference unit to the information of the first location management network element.

[0122] In one possible design, when the communication device is used to implement the method described in the sixth aspect and any possible design thereof:

[0123] The transceiver module is used to send a fifth request message to the mobile management network element, where the fifth request message is used to request to disassociate the reference unit associated with the first location management network element, and the location information of the reference unit is used to compensate for the positioning error; the transceiver module is also used to receive a fifth response message from the mobile management network element, where the fifth response message indicates acceptance of the disassociation of the reference unit.

[0124] Optionally, the fifth request information includes a second identifier, where the second identifier is an identifier returned during the reference unit association process and used for updating the reference unit association of the first location management network element.

[0125] Optionally, the reference unit is a passive object, and / or the position information of the reference unit is obtained based on perception.

[0126] In one possible design, when the communication device is used to implement the method described in the seventh aspect and any possible design thereof:

[0127] The transceiver module is used to receive positioning request information for requesting the positioning of a target terminal device; the processing module is used to obtain the position information of at least one reference unit, and the position information of the reference unit is used to compensate for the positioning error; the processing module is also used to determine the position of the target terminal device based on the initial positioning position of the target terminal device, the position information of at least one reference unit and the position information of at least one wireless access network device; at least one wireless access network device is used to determine the initial positioning position.

[0128] Optionally, at least one reference unit includes a first reference unit, and the first reference unit is a reference unit associated with a first location management network element. The first reference unit is located in a service cell of the target terminal device, and / or the first reference unit is a reference unit closest to the initial positioning position among at least one reference unit associated with the first location management network element.

[0129] Optionally, at least one reference unit includes a second reference unit, and the second reference unit is a reference unit associated with a second location management network element. A processing module, used to obtain location information of at least one reference unit, includes: a processing module, used to send eighth request information for requesting location information of the reference unit to the second location management network element through a transceiver module; and a processing module, further used to receive eighth response information including location information of the second reference unit from the second location management network element through the transceiver module.

[0130] Optionally, the transceiver module is further used to send seventh request information for requesting to discover the reference unit to the network storage network element; and receive seventh response information indicating the address of the second location management network element from the network storage network element.

[0131] Optionally, the second reference unit is located in a service cell of the target terminal device, and / or the second reference unit is a reference unit that is closest to the initial positioning position among at least one reference unit associated with the second location management network element.

[0132] In a possible design, the reference unit is a passive object, and / or the position information of the reference unit is obtained based on perception.

[0133] In a ninth aspect, a communication device is provided, comprising: a processor and a memory; the memory is used to store computer instructions, and when the processor executes the instructions, the communication device executes the method described in any one of the aspects.

[0134] In the tenth aspect, a communication device is provided, comprising: a processor and a communication interface; the communication interface is used to communicate with a module outside the communication device; the processor is used to execute a computer program or instruction so that the communication device executes the method described in any aspect.

[0135] In an eleventh aspect, a communication device is provided, comprising: at least one processor; the processor is used to execute a computer program or instruction stored in a memory, so that the communication device performs the method described in any aspect. The memory may be coupled to the processor, or may be independent of the processor.

[0136] In the twelfth aspect, a communication device (for example, the communication device may be a chip or a chip system) is provided, wherein the communication device includes a processor for implementing the functions involved in any one of the first to seventh aspects.

[0137] In some possible designs, the communication device includes a memory for storing necessary program instructions and data.

[0138] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0139] In one possible design, the communication device described in aspects 8 to 12 may be the second node in the first aspect, or a device included in the second node, such as a chip or a chip system; or, the communication device may be the first node in the second aspect, or a device included in the first node, such as a chip or a chip system; or, the communication device may be the perception node in the third aspect, or a device included in the perception node, such as a chip or a chip system; or, the communication device may be the mobile management network element in the fourth aspect, or a device included in the mobile management network element, such as a chip or a chip system; or, the communication device may be the location management network element / perception management function network element in the fifth aspect, the sixth aspect, or the seventh aspect, or a device included in the location management network element / perception management function network element, such as a chip or a chip system.

[0140] In a thirteenth aspect, a communication device is provided, which may be a second node, or a module or unit (for example, a chip, or a chip system, or a circuit) in the second node that corresponds to the method / operation / step / action described in the first aspect, or a module or unit that can be used in combination with the second node; or, the communication device may be a first node, or a module or unit (for example, a chip, or a chip system, or a circuit) in the first node that corresponds to the method / operation / step / action described in the second aspect, or a module or unit that can be used in combination with the first node; or, the communication device may be a sensing node, or a sensing node. The communication device may be a module or unit (for example, a chip, or a chip system, or a circuit) in a mobile management network element that executes the method / operation / step / action described in the third aspect; or, the communication device may be a mobile management network element, or a module or unit (for example, a chip, or a chip system, or a circuit) in a mobile management network element that executes the method / operation / step / action described in the fourth aspect; or, the communication device may be a location management network element, or a module or unit (for example, a chip, or a chip system, or a circuit) in a location management network element that executes the method / operation / step / action described in the fifth aspect, the sixth aspect, or the seventh aspect.

[0141] It can be understood that when the communication device provided in any one of the eighth to thirteenth aspects is a chip, the sending action / function of the communication device can be understood as output information, and the receiving action / function of the communication device can be understood as input information.

[0142] In a fourteenth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer-readable storage medium is run on a communication device, the communication device can execute the method described in any one of the first to seventh aspects.

[0143] In a fifteenth aspect, a computer program product comprising instructions is provided, which, when executed on a communication device, enables the communication device to execute the method described in any one of the first to seventh aspects.

[0144] In the sixteenth aspect, a communication method is provided, the communication method comprising: at least one first node sends first information to a second node, and correspondingly, the second node receives first information corresponding to at least one first node. The first information includes information of the first node and perception information corresponding to a perception link, the perception information includes information of N scatterers and / or information of M scatterer groups, N and M are positive integers, and the first node is a receiving node of the perception signal on the perception link. The second node determines a reference unit based on the first information corresponding to at least one first node, and sends second information to at least one first node. Correspondingly, at least one first node receives second information from the second node.

[0145] In one possible design, the second node may also implement the method described in any possible design of the first aspect; the first node may also implement the method described in any possible design of the second aspect.

[0146] In the seventeenth aspect, a communication method is provided, which includes: a perception node sends a first request message to a mobile management network element, and correspondingly, the mobile management network element receives the first request message from the perception node. The mobile management network element sends a second request message to a first location management network element, and correspondingly, the first location management network element receives the second request message from the mobile management network element. The first request message and the second request message are used to request to associate or disassociate a reference unit for the first location management network element, and the location information of the reference unit is used to compensate for positioning errors. The first location management network element sends a second response message to the mobile management network element, and correspondingly, the mobile management network element receives the second response message from the first location management network element and sends a first response message to the perception node. The first response message and the second response message indicate whether to accept the association or disassociation of the reference unit.

[0147] In one possible design, the perception node can also implement the method described in any possible design of the third aspect; the mobile management network element can also implement the method described in any possible design of the fourth aspect; the first location management network element can also implement the method described in any possible design of the fifth aspect.

[0148] In aspect 18, a communication method is provided, the communication method comprising: a mobile management network element sends a positioning request message to a first location management network element, and correspondingly, the first location management network element receives the request message from the mobile management network element. The positioning request message is used to request the positioning of a target terminal device. The first location management network element obtains the location information of at least one reference unit, and determines the location of the target terminal device based on the initial positioning position of the target terminal device, the location information of at least one reference unit, and the location information of at least one wireless access network device. The location information of the reference unit is used to compensate for the positioning error; and at least one wireless access network device is used to determine the initial positioning position.

[0149] In a possible design, the first location management network element may also implement the method described in any possible design of the seventh aspect.

[0150] In a nineteenth aspect, a communication system is provided, which may include at least one first node and a second node. The second node is used to implement the method described in the first aspect and any one of its designs, and the first node is used to implement the method described in the second aspect and any one of its designs.

[0151] In a twentieth aspect, a communication system is provided, the communication system comprising at least one of a sensing node, a mobility management network element, and a location management network element. The sensing node is used to implement the method described in the third aspect and any one of its designs; the mobility management network element is used to implement the method described in the fourth aspect and any one of its designs; the location management network element is used to implement the method described in the fifth aspect, the sixth aspect, or the seventh aspect and any one of its designs.

[0152] Among them, the technical effects brought about by any design method in the eighth to twentieth aspects can refer to the technical effects brought about by different design methods in the first to seventh aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0153] Figure 1 A schematic diagram of an application scenario of the wireless sensing technology provided in this application;

[0154] Figure 2 A schematic diagram of the relationship between perception performance and parameters provided in this application;

[0155] Figure 3A schematic diagram of a single-base perception scenario provided for this application;

[0156] Figure 4 A schematic diagram of a dual-base sensing scenario provided in this application;

[0157] Figure 5 A schematic diagram of a PRU-based positioning scenario provided for this application;

[0158] Figure 6 A schematic diagram of the structure of a communication system provided for this application;

[0159] Figure 7 A flow chart of a communication method provided by the present application;

[0160] Figure 8 A schematic diagram of positioning deviation provided for this application;

[0161] Figure 9-13 A flow chart of the communication method provided by this application;

[0162] Fig.14 A schematic diagram of the structure of a communication device provided by the present application;

[0163] Fig.15 A schematic diagram of the structure of another communication device provided by the present application;

[0164] Fig.16 A schematic diagram of the structure of another communication device provided in the present application. DETAILED DESCRIPTION

[0165] In the description of this application, unless otherwise specified, " / " indicates that the objects associated with each other are in an "or" relationship, for example, A / B can represent A or B; "and / or" in this application is merely a description of the association relationship between 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.

[0166] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0167] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0168] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0169] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0170] It can be understood that in the present application, "if" and "under the circumstances" both mean that corresponding processing will be carried out under certain objective circumstances, and do not limit the time, nor do they require any judgment actions when implementing them, nor do they mean that there are other limitations.

[0171] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0172] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In each implementation mode of this application, if there is no special description and logical conflict, the terms and / or descriptions between different implementation modes are consistent and can be referenced to each other, and the technical features in different implementation modes can be combined to form a new implementation mode according to their inherent logical relationships. The implementation modes of this application described below do not constitute a limitation on the scope of protection of this application.

[0173] Wireless sensing technology can be understood as a technology that transmits electromagnetic energy into space and calculates information about an object through the electromagnetic waves reflected by the object in the space. In addition, sensing can be used to detect the internal and external shapes and structures of an object, and the transmission, echo, reflection and scattering of radio waves can be used to perceive and better understand the physical world.

[0174] Wireless sensing technology is one of the electromagnetic wave sensing technologies. Due to its penetrability and safety, such as Figure 1 As shown, it can be used as an important alternative technology in security inspection, hidden object detection, environmental reconstruction and monitoring.

[0175] Generally, the sensing targets are mainly active devices that can emit electromagnetic waves, such as mobile phones, vehicles, IoT devices, etc. The sensing targets in the environment reconstruction scenario further include passive objects, such as buildings, urban facilities (billboards, bridges), traffic conditions (vehicles, bicycles, people), etc. By receiving electromagnetic signals propagated through the space environment, the composition of the space environment can be solved and the environment can be reconstructed. The detection and reconstruction of the space environment can assist in positioning or improve communication performance.

[0176] As user demands increase, the integration of communication and perception is called the mainstream trend. Communication and perception integration can be understood as a new information processing technology that realizes the coordination of perception and communication functions based on software and hardware resource sharing or information sharing, which can effectively improve the system spectrum efficiency, hardware efficiency and information processing efficiency. Communication and perception integration can also be called integrated sensing and communication (ISAC) and joint communications and sensing (JCAS). Having communication and perception functions will be the capability trend of advanced wireless base stations and terminal equipment.

[0177] For example, perceived performance is usually related to Figure 2 The parameters shown are related. Figure 2 ,The overhead of interaceptive resources affects the perception performance. For example, spatial resources (such as the number of beams) can affect the perception ,angle range, time resources (such as the perception symbol length) can affect the perception ,precision, frequency band resources (such as the perception bandwidth) can affect the perception range, the number of perception nodes determines the ,communication perception capacity, thus affecting the perception fusion accuracy.

[0178] In addition, according to the co-station / different station of the sensing signal receiving and transmitting end, it can be divided into monostatic, bi-static and multi-static sensing. Figure 3 As shown, in single-base sensing, the transmitting and receiving ends of the sensing signal are at the same location, and the two can be the same, such as both are terminal devices or both are base stations. Figure 4 As shown, in dual-base sensing, the transceiver of the sensing signal is at different locations, and the two can be different, such as the transceiver is the base station and the terminal device, or the terminal device and the base station. Multi-base sensing can be understood as a hybrid sensing system composed of single-base and dual-base.

[0179] In single-base sensing, the sensing signal can use data payload, so in the sensing and communication integrated system, the sensing signal does not consume communication resources. At the same time, since the transmission and reception are from the same source, there is no synchronization and other non-ideal factors, so the complexity of the sensing algorithm is low and the estimation accuracy is high.

[0180] In dual-base sensing, the sensing signal needs to use a dedicated pilot or a known signal. Therefore, in the sensing and communication integrated system, the sensing signal needs to consume communication resources. At the same time, due to the different sources of transmission and reception, there are non-ideal factors such as synchronization and phase noise, so the sensing algorithm is more complex and the estimation accuracy is poor.

[0181] Furthermore, perception can be divided into single-station perception and multi-station perception. Single-station perception means that only one device perceives the surrounding environment, and multi-station perception means that multiple devices perceive the surrounding environment at the same time.

[0182] In the perception based on a single site (such as terminal equipment, base station), the installation of communication base stations and terminal equipment is very different from traditional radar / lidar, resulting in a significant limitation on the performance of single-site perception. For example, the perception distance may be limited due to low power, the incident angle and accuracy may be limited due to medium wavelength, and the observed targets may be limited due to a small radar cross section (RCS).

[0183] In multi-site sensing, the fusion of multi-site sensing data can improve the sensing range and sensing accuracy. However, in actual networks, there are certain differences in the same object perceived by different sensing nodes. For example, the position of the same object perceived will show different rotations, parallel shifts, and stretch shifts around the actual position. The reasons for these differences may be: network synchronization or hardware delay errors between multiple nodes, sensing node position errors, sensing node antenna panel (pannel) orientation errors, delay and angle estimation errors, etc.

[0184] Currently, the industry has proposed a positioning reference unit (PRU) to improve positioning accuracy. Figure 5As shown, multiple network devices can send a downlink positioning reference signal (DL-PRS) to the PRU, the PRU measures the DL-PRS, and reports the measurement result to the location management function (LMF) through the base station, and the measurement result may include the positioning measurement amount and the actual position of the PRU. Among them, the positioning measurement amount is used to determine the position of the PRU measured by the base station, for example, it may include the angle of arrival (angle-of-arrival, AOA), the time of arrival (time of arrival, TOA), etc.

[0185] After receiving the measurement results, LMF can determine the measurement position of PRU according to the positioning measurement quantity, and then determine the synchronization error of each station based on the measurement position and true position of PRU, which is used for the subsequent multi-station positioning optimization of the target terminal equipment.

[0186] However, the PRU is an active device, and privacy issues are very important for the PRU. Always including the real location of the PRU in the measurement results may cause the privacy of the PRU to be leaked, causing trouble for users.

[0187] Based on this, the present application provides a communication method, in which a sensing node can determine a reference unit based on the sensing information of multiple sensing nodes. For example, the reference unit can be a passive object that can be sensed by multiple sensing nodes, and then indicate to each sensing node the position calibration amount of the scatterer or scatterer group sensed by it relative to the reference unit, so that the sensing node can perform subsequent perception / positioning calibration based on the position calibration amount to improve the perception and positioning performance. In addition, since the true position of the reference unit is not directly indicated, the privacy leakage of the reference unit can be reduced. In the case where the reference unit is a passive object, the occurrence of privacy issues can be avoided.

[0188] The technical solution of the embodiment of the present application can be used for various communication systems, and the communication system can be a third generation partnership project (3GPP) communication system, for example, a fifth generation (5th generation, 5G) system such as a long term evolution (LTE) system, a NR system, a vehicle to everything (V2X) system, or a system of LTE and 5G hybrid networking, or a device to device (D2D) communication system, a machine to machine (M2M) communication system, an Internet of Things (IoT), and other next generation communication systems. The communication system may also be a non-3GPP communication system without limitation.

[0189] Among them, the above-mentioned communication system applicable to the present application is only an example, and the communication system and communication scenario applicable to the present application are not limited to this. The communication system and communication scenario provided by the present application do not impose any limitation on the scheme of the present application. They are uniformly explained here and will not be repeated below.

[0190] See also Figure 6 , is a communication system provided in an embodiment of the present application. The communication system includes multiple nodes (or referred to as perception nodes). Among them, the node may refer to an entity with a perception function and / or a perception fusion function, such as a terminal device, a wireless access network device, or a sensing management function (SMF) network element.

[0191] In a possible implementation, the multiple nodes may include a second node and at least one first node. The functions implemented by the first node and the second node refer to the description in the subsequent method embodiments, which will not be repeated here.

[0192] Optionally, the communication system may further include at least one of a mobility management network element, a location management network element, or a network storage network element ( Figure 6 not shown).

[0193] Optionally, the terminal device in the embodiment of the present application may refer to a device with wireless transceiver function. The terminal device may also be referred to as user equipment (UE), terminal, access terminal, user unit, user station, mobile station (MS), remote station, remote terminal, mobile terminal (MT), user terminal, wireless communication device, user agent or user device, etc. The terminal device may be, for example, a terminal device in IoT, V2X, D2D, M2M, 5G network, the sixth generation (6G) or future evolved public land mobile network (PLMN). The terminal can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on the water (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons and satellites, etc.).

[0194] Exemplarily, the terminal device may be an IoT device (e.g., a sensor, an electric meter, a water meter, etc.), a roadside unit (RSU), a V2X device, a station (STA) in a wireless local area network (WLAN), a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA) device, a handheld device with a wireless communication function, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device (also referred to as a wearable smart device), a tablet computer or a computer with a wireless transceiver function, a virtual reality (VR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a smart home, or a wireless terminal in a smart city. The terminal may be a wireless terminal in a home, a vehicle-mounted terminal, a vehicle with V2V communication capability, an intelligent connected vehicle, a drone with UAV to UAV (U2U) communication capability, etc. The terminal may be mobile or fixed, and this application does not make specific restrictions on this.

[0195] Optionally, the wireless access network device may be a network-side device with wireless transceiver functions, or may be a chip or chip system arranged in the device, located in the radio access network (RAN) of the mobile communication system, and used to provide access services for terminal devices. The wireless access network device may be an evolutionary Node B (eNB or eNodeB) in an LTE or evolved LTE system (LTE-Advanced, LTE-A), such as a traditional macro base station eNB and a micro base station eNB in ​​a heterogeneous network scenario; or it may be a next generation node B (gNodeB or gNB) in a 5G system or a node in a future communication system such as 6G; or it may be a transmission reception point (TRP); or it may be a base station in a future evolved PLMN; or it may be a broadband network service gateway (BNG), an aggregation switch or a non-3GPP access device; or it may be a wireless controller in a cloud radio access network (CRAN); or it may be an access point (AP) in a WiFi system; or it may be a wireless relay node or a wireless backhaul node; or it may be a device that implements a base station function in IoT, V2X, D2D, or M2M, and the embodiments of the present application do not specifically limit this. Exemplarily, the base stations in the embodiments of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, etc., and the embodiments of the present application do not specifically limit this.

[0196] In some scenarios, the radio access network device may also be a module or unit that can implement some or all of the functions of a base station. For example, the radio access network device may be a centralized unit (CU), a distributed unit (DU), a CU and a DU, a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and the DU may be separately configured or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0197] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, the radio access network device may be a radio access network device or a module of a radio access network device in an open radio access network (open RAN, ORAN) system. In the ORAN system, CU may also be referred to as open (open, O)-CU, DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. Any of the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0198] In some scenarios, the wireless access network device may also be referred to as a RAN node or a RAN device or an access network device, or the wireless access network device may also have other naming methods, which is not specifically limited in this application.

[0199] Optionally, the mobility management network element is mainly responsible for mobility management in the mobile network, such as user location update, user registration network, user switching, etc. In the 5G system, the mobility management network element may be an access and mobility management function (AMF) network element. In future mobile communication systems, the mobility management network element may still be an AMF network element, or may have other names without limitation.

[0200] Optionally, the location management network element is used to perform location management, such as determining the location of a target. In a 5G system, the location management network element may be a LMF network element. In future mobile communication systems, the location management network element may still be a LMF network element, or may have other names without limitation.

[0201] Optionally, the network storage network element supports service discovery, can receive NF discovery requests from network functions (NFs), and return information about discovered NF instances. In 5G systems, the network storage network element can be a network repository function (NRF) network element. In future mobile communication systems, the network storage network element can still be an NRF network element, or can have other names without limitation.

[0202] The communication method provided by the embodiment of the present application will be described in detail below in conjunction with the accompanying drawings. It is understandable that in the embodiment of the present application, each node or network element can perform some or all of the steps in the embodiment of the present application, and these steps or operations are only examples. The embodiment of the present application can also perform other operations or variations of various operations. In addition, each step can be performed in a different order presented in the embodiment of the present application, and it is possible that not all operations in the embodiment of the present application need to be performed.

[0203] It should be noted that the message names between the devices or the names of the parameters in the messages in the following embodiments of the present application are only examples, and other names may be used in the specific implementation, and the embodiments of the present application do not specifically limit this.

[0204] like Figure 7 FIG. 1 is a flow chart of a communication method provided in an embodiment of the present application, and the communication method includes the following steps:

[0205] S701: A first node sends first information to a second node. Correspondingly, the second node receives the first information from the first node.

[0206] It should be noted that, in the embodiment of the present application, there may be multiple first nodes, each of which can sense the surrounding environment and send the first information to the second node. Figure 7 Two first nodes are used as an example for illustration. The parameter types or fields included in the first information sent by different first nodes are the same, and the values ​​of the same parameter type or field may be different. The implementation of the first node provided in the embodiment of the present application is applicable to each first node.

[0207] The first information includes information of the first node and perception information corresponding to the perception link. The perception information includes information of N scatterers (scatter information) and / or information of M scatterer groups (scatter group information), where N and M are positive integers. The first node is a receiving node of the perception signal on the perception link.

[0208] Exemplarily, a sensing link may refer to a link between a sending node and a receiving node of a sensing signal. The same node may serve as a receiving node or a sending node on different sensing links. There may be multiple scatterers or scatterer groups on a sensing link. The sensing information corresponding to the sensing link includes information of N scatterers and / or information of M scatterer groups on the sensing link.

[0209] In a possible implementation, the scatterer in the embodiment of the present application can also be understood or replaced by scattering points in the scatterer. For example, the scatterer can be the outer wall of a building, and the scattering points in the scatterer can be scattering points in the wall; or the scatterer can be a car door, and the scattering points can be scattering points in the car door.

[0210] In a possible implementation, the scatterer group includes a plurality of scatterers, or the scatterer group may refer to a plurality of scatterers that are combined into a scatterer group that can be represented by a set of parameters due to similar parameters or based on a certain specific standard.

[0211] The correlation of the attributes of any two scatterers in the scatterer group is greater than or equal to a preset threshold. Exemplarily, the attributes of the scatterers include at least one of the following: position coordinates (such as three-dimensional coordinates), speed or direction. The correlation of the attributes can be represented by deviation, covariance or Euclidean distance.

[0212] For example, when multiple scatterers, due to the small variance values ​​of parameters such as three-dimensional coordinates, speed, and direction, can be considered as multiple observation results on a target (such as multiple scatterers can be different doors, front and rear of the same car, etc.), they can be combined into a scatterer group, or the scatterer group can be understood as a polyhedron or polygon composed of multiple scatterers therein. The information of the scatterers in the scatterer group can be represented by a set of three-dimensional coordinates, speed, and direction.

[0213] Exemplarily, the properties of scatterers in the same scatterer group are relatively correlated, such as being similar, while the properties of scatterers in different scatterer groups are relatively correlated, such as being relatively different.

[0214] In a possible implementation, the information of the first node includes at least one of the following: an identifier of a perception link (the first node is a receiving node of a perception signal on the perception link), an identifier of the first node, an identifier of a sending node of a perception signal on the perception link, acquisition time information of the perception information, or configuration information of the first node.

[0215] Exemplarily, the perception information refers to the perception information corresponding to the perception link. The acquisition time information of the perception information may be a timestamp, which may indicate that the first node perceives N scatterers and / or M scatterer groups at the timestamp.

[0216] Exemplarily, the configuration information of the first node may include the sensing capability, communication capability, computing capability or antenna orientation of the first node, etc. The sensing capability of the first node may include the coverage of the first node, etc.; the communication capability of the first node may include the communication capacity of the first node, etc.

[0217] In a possible implementation manner, the information of the scatterer includes at least one of the following: an index of the scatterer, a position coordinate of the scatterer, a speed, an angle, reliability, and a power of the scatterer.

[0218] Exemplarily, the position coordinates of the scatterer may be three-dimensional coordinates, including but not limited to Cartesian coordinates (x, y, z), polar coordinates (r, Q, ψ), etc., and other coordinate systems that can represent position information are also applicable. Angle may refer to the angle of arrival or the angle of emission of the perception signal corresponding to the scatterer. Power may refer to the received power of the perception signal corresponding to the scatterer. Since the first node is the receiver of the perception signal on the perception link, the first node may determine the information of the above-mentioned scatterer based on the echo signal of the perception signal.

[0219] Exemplarily, when the first node senses N scatterers, the information or parameters included in the first information may be as shown in the following Table 1:

[0220] Table 1

[0221]

[0222] Optionally, when there are multiple first nodes, each first node may send the information shown in Table 1 to the second node. However, it should be noted that for the same scatterer, the position coordinates sensed by different first nodes may deviate.

[0223] For example, Figure 8 As shown, taking the case where there are three first nodes (node ​​1, node 2, node 3) for perception as an example, Figure 8The cross pattern in the middle indicates the actual position of the scatterer, and the position of the scatterer perceived by nodes 1, 2, and 3 may be the position shown in the circle. That is, for different first nodes, the position coordinates perceived by different first nodes may be different.

[0224] In a possible implementation, the information of the scatterer group includes at least one of the following: an index of the scatterer group, a position of the scatterer group, a profile of the scatterer group, a speed of the scatterer group, a category of the scatterer group, or an attribute of the scatterer group.

[0225] Exemplarily, the position of the scatterer group can be represented by the position coordinates of the center of the scatterer group, and the position coordinates can be three-dimensional coordinates, including but not limited to Cartesian coordinates (x, y, z), polar coordinates (r, Q, ψ), etc. The outline of the scatterer group can be indicated by at least one of the following: the position coordinates of the center of the scatterer group, the size of the scatterer group, and the normal direction; or, the outline of the scatterer group can be represented by the position coordinates of multiple scatterers located at the vertices of the scatterer group.

[0226] Exemplarily, the category of the scatterer group may indicate the type of the scatterer group, such as category information of a car, a bicycle, etc. The attributes of the scatterer group include texture, color, polarization, or material, etc.

[0227] Exemplarily, when the first node senses M scatterer groups, the information or reference included in the first information may be as shown in Table 2 below:

[0228] Table 2

[0229]

[0230] S702: The second node determines at least one reference unit and / or at least one reference unit group according to first information corresponding to at least one first node.

[0231] In a possible implementation, the reference unit is a passive object, for example, a passive object that can be sensed by multiple nodes. A passive object may refer to an object that does not have the ability to emit electromagnetic waves. The reference unit may be one of the scatterers sensed by the first node. The reference unit group includes multiple reference units, and the definition of the reference unit group may refer to the definition of the scatterer group, which will not be repeated here.

[0232] Exemplarily, in S702, the number of reference units determined by the second node is less than or equal to the number of scatterers sensed by at least one first node, and the number of reference unit groups is less than or equal to the number of scatterer groups sensed by at least one first node.

[0233] Exemplarily, the reference unit may also be referred to as a sensing reference unit (SRU) or a passive anchor, and the three may be interchangeable or have other names, which are not limited in this application; the reference unit group may also be referred to as an SRU group or a passive anchor group, and the three may be interchangeable or have other names, which are not limited in this application.

[0234] In a possible implementation, the second node may perform multi-station fusion processing on the first information corresponding to at least one first node to obtain information of at least one reference unit and / or information of at least one reference unit group. Figure 8 In the example shown, the second node can determine the actual position coordinates of scatterer 1 based on the position coordinates of scatterer 1 sensed by nodes 1, 2, and 3, and use scatterer 1 as reference unit 1; or, determine the actual position coordinates of scatterer 2 based on the position coordinates of scatterer 2 sensed by nodes 1 and 2, and use scatterer 2 as reference unit 2; or, determine the actual position coordinates of scatterer 3 and scatterer 4 based on the position coordinates of scatterer 3 and scatterer 4 sensed by nodes 1 and 3, respectively, and use scatterer 3 and scatterer 4 as reference units 3 and reference unit 4.

[0235] The information of the reference unit includes the position coordinates of the reference unit. Furthermore, it may also include at least one of the following: the identification of the reference unit, the speed of the reference unit, the arrival angle or the emission angle of the perception signal corresponding to the reference unit, the reliability of the reference unit, or the received power of the perception signal corresponding to the reference unit. The information of the reference unit group can refer to the description of the scatterer group information above, which will not be repeated here.

[0236] S703: The second node sends second information to at least one first node respectively. Correspondingly, the first node receives the second information from the second node.

[0237] The second information indicates a position calibration amount of the scatterer relative to the reference unit, and / or a position calibration amount of the scatterer group relative to the reference unit group.

[0238] Taking the second information indicating the position calibration amount of the scatterer relative to the reference unit as an example, illustratively, taking the perception information sent by a first node in step S701 including information of N scatterers, and in step S702, the second node determines K reference units as an example, the second information can indicate the position calibration amount of the scatterer n relative to the reference unit k, n = 1, 2, ..., N, k = 1, 2, ..., K; or, the second information can indicate the position calibration amount of the scatterer n relative to a specific reference unit, n = 1, 2, ..., N, the information of the specific reference unit is determined based on the information of the scatterer n perceived by multiple first nodes, for example, based on Figure 8 In the example shown, the second information may indicate a position calibration amount of scatterer 1 relative to reference unit 1 , a position calibration amount of scatterer 2 relative to reference unit 2 , and so on.

[0239] The second information indicates the implementation of the position calibration amount of the scatterer group relative to the reference unit group. You can refer to the second information indicating the implementation of the position calibration amount of the scatterer relative to the scatterer group, which will not be repeated here.

[0240] It is understandable that the parameter type or field included in the second information sent by the second node to different first nodes is the same, and the values ​​of the same parameter type or field may be different. Figure 8 In the example shown, the second information sent by the second node to node 1 indicates the position calibration amount of the scatterer 1 relative to the reference unit 1 perceived by node 1, and the second information sent to node 2 indicates the position calibration amount of the scatterer 1 relative to the reference unit 1 perceived by node 2, and these two position calibration amounts may be different.

[0241] In a possible implementation, the position calibration amount may include a distance registration amount and / or an angle registration amount. The distance registration amount and / or the angle registration amount indicates a coordinate error of a scatterer or a scatterer group. That is, the position calibration amount may indicate a coordinate error of a scatterer or a scatterer group. Exemplarily, the distance registration amount may be represented by a time delay; the angle registration amount may include at least one of a yaw angle, a pitch angle, or a roll angle.

[0242] Exemplarily, the position calibration amount may also be referred to as position deviation, position error, etc., and the three may be interchangeable. Of course, the position calibration amount may also have other names, which are not specifically limited in this application.

[0243] As a possible implementation, the second information includes the information of the at least one reference unit and / or the information of the at least one reference unit group. The information of the reference unit and / or the reference unit group can refer to the relevant description in step S702, which will not be repeated here.

[0244] Optionally, in this possible implementation, after receiving the second information, the first node can determine the position calibration amount of the scatterer relative to the reference unit, and / or the position calibration amount of the scatterer group relative to the reference unit group based on the information of the reference unit and / or the reference unit group and the perception information obtained by the first node.

[0245] Furthermore, the first node may also indicate to the second node the position calibration amount of the scatterer relative to the reference unit and / or the position calibration amount of the scatterer group relative to the reference unit group.

[0246] As another possible implementation, the second information may include a position calibration amount of the scatterer relative to the reference unit, and / or a position calibration amount of the scatterer group relative to the reference unit group.

[0247] In a possible implementation, when the position calibration amount includes the distance registration amount, the yaw angle, the pitch angle, and the roll angle, the position coordinates of the scatterer n in the sensing link and the position coordinates of the reference unit satisfy the following relationship:

[0248]

[0249] in, represents the position coordinates of scatterer n, which are the position coordinates perceived by the first node. represents the position coordinates of the reference unit, is determined based on the yaw angle. It is determined by the pitch angle. is determined by the roll angle, ΔP n represents the distance registration amount. For example, They can be collectively referred to as coordinate change matrices.

[0250] For example, the yaw angle and Satisfies the following relationship:

[0251]

[0252] For example, the pitch angle and Satisfies the following relationship:

[0253]

[0254] Exemplarily, the roll angle With the Satisfies the following relationship:

[0255]

[0256] In a possible implementation, after receiving the second information, the first node may acquire a position calibration value according to the second information, and use the position calibration value to calibrate subsequent perception results.

[0257] For example, the coordinates of scatterer n sensed by the first node at sensing link i are For example, the first node can be calibrated using the position calibration value to obtain the new coordinates of the scatterer n. in,

[0258] Furthermore, the coordinate set of the scatterer n on I sensing links can be expressed as:

[0259]

[0260] The coordinate set of all scatterers on I sensing links can be expressed as:

[0261]

[0262] When the angle changes of each scatterer in the i-th sensing link are consistent, that is, The above P all Can be transformed into:

[0263]

[0264] in,

[0265] Based on the above scheme, the second node can determine the reference unit based on the perception information of at least one node. For example, the reference unit can be a passive object that can be perceived by multiple first nodes, and then indicate to each first node the position calibration amount of the scatterer or scatterer group determined by it relative to the reference unit, so that the first node can perform subsequent perception / positioning calibration based on the position calibration amount to improve perception performance. In addition, since the true position of the reference unit is not directly indicated, the privacy leakage of the reference unit can be reduced. In the case where the reference unit is a passive object, the emergence of privacy issues can be avoided.

[0266] The determination of the reference unit is described above. The application of the reference unit in the perception / positioning scenario is introduced below. Exemplarily, the application of the reference unit in the perception / positioning scenario may include reference unit association, reference unit disassociation, and reference unit assisted positioning. The following are described respectively.

[0267] like Fig. 9As shown, a communication method provided by the present application can be used to realize the association of a reference unit with a location management network element or a perception management function network element. The communication method can be executed when the reference unit is initially associated or when the reference unit is updated. For example, the location management network element is LMF, the mobility management network element is AMF, and the network storage network element is NRF. Fig. 9 , the communication method comprises the following steps:

[0268] S901. A sensing node sends a first request message a to an AMF network element. Correspondingly, the AMF network element receives the first request message a from the sensing node.

[0269] The first request information a is used to request to associate a reference unit for the first LMF network element, and the location information of the reference unit is used to compensate for the positioning error. Exemplarily, the first request information a can be used for initial reference unit association, or for reference unit association update.

[0270] Optionally, the position information of the reference unit is used to supplement the positioning error, which can also be understood as the position information of the reference unit is used to calibrate the positioning error, or the position information of the reference unit is used to eliminate the positioning error. The three can be replaced with each other.

[0271] Exemplarily, the reference unit is a passive object. The position information of the reference unit is obtained based on perception, which can be referred to above. Figure 7 The sensing node may be the first node or the second node mentioned above. Figure 7 The relevant descriptions in the method shown will not be repeated here.

[0272] Exemplarily, the first request information a may also be referred to as reference unit association request information (such as SRUassociation request), and the two may be interchangeable, and the present application does not impose any specific limitation on this.

[0273] Optionally, the first request information a includes a first identifier (ID), which is used to identify the association process of the reference unit. Exemplarily, the first identifier can be any preconfigured identifier, or the first identifier can be an identifier returned by the LMF / SMF network element in the previous reference unit association process.

[0274] Exemplarily, the first identifier may be a routing identifier, or the first identifier may be called a sensing reference unit link identifier (SRU ID) or a sensing link identifier (sensing link ID).

[0275] Optionally, the first request information a also includes at least one of the following: an identifier of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, a perceived capability of the reference unit, location information of the reference unit, or a state of the reference unit. The reason for associating the reference unit includes an initial association or an association update; the state of the reference unit includes an ON state or an OFF state. Exemplarily, in the ON state, the location information of the reference unit is available, and in the OFF state, the location information of the reference unit is not available.

[0276] Optionally, the first request information a may be carried in an uplink (UL) NAS transmission message at a non-access-stratum (NAS) level.

[0277] S902. The AMF network element verifies whether the sensing node is legal.

[0278] In a possible implementation manner, the legality of the sensing node can be understood as: the sensing node has the authority to associate with the reference unit. In the case where the sensing node is legal, the following step S903 is performed.

[0279] Exemplarily, the AMF network element can store the correspondence between the identifier and the perception node. After receiving the first request information a, the AMF network element can search for the perception node corresponding to the first identifier and verify whether the sender of the first request information a is the perception node corresponding to the first identifier.

[0280] S903, the AMF network element sends a second request message a to the first LMF network element. Correspondingly, the first LMF network element receives the second request message a from the AMF network element.

[0281] The second request information a is used to request the reference unit associated with the first LMF network element. Exemplarily, the content included in the second request information a is the same as the first request information a, so it can also be considered that the AMF network element forwards the first request information a to the first LMF network element.

[0282] Exemplarily, the second request information a may also be referred to as reference unit association request information, and the two may be interchangeable, and the present application does not impose any specific limitation on this.

[0283] In a possible implementation, if the first LMF network element accepts the associated reference unit, the following steps S904a and S905a are executed; if the first LMF network element does not accept the associated reference unit, the following steps S904b and S905b are executed.

[0284] S904a, the first LMF network element sends a second response message a to the AMF network element. Correspondingly, the AMF network element receives the second response message a from the first LMF network element.

[0285] The second response information a indicates acceptance of the association reference unit. Exemplarily, in step S904a, the second response information a may also be referred to as reference unit association acceptance information (eg, SRU associationaccept).

[0286] Optionally, the second response information a includes a second identifier, and the second identifier can be used to update the reference unit association of the first LMF network element. Further, the second identifier can also be used to identify the first LMF network element and / or the associated reference unit. The second identifier can be allocated by the first LMF network element.

[0287] Optionally, in step S904a, the second identifier may also be referred to as a correlation ID. The second identifier may be the same as or different from the first identifier, which is not specifically limited in the present application.

[0288] Optionally, when the first LMF network element accepts the associated reference unit, it can save the information carried in the second request information a, such as the first identifier, the location information of the reference unit, etc.

[0289] S905a, the AMF network element sends the first response information a to the perception node. Correspondingly, the perception node receives the first response information a from the AMF network element.

[0290] The first response information a indicates acceptance of the associated reference unit. It can be understood that the first response information a is determined according to the second response information a.

[0291] Optionally, the first response information a includes a second identifier, or in other words, the first response information a includes a routing identifier that is the same as the above-mentioned association identifier, that is, in step S95a, the second identifier can also be called a routing identifier. After receiving the second identifier, the sensing node can save the second identifier, and can subsequently use the second identifier to update the reference unit association of the first LMF network element.

[0292] Exemplarily, the first response information a may also be referred to as reference unit association acceptance information, and the two may be interchangeable, and the present application does not impose any specific limitation on this.

[0293] S904b, the first LMF network element sends a second response message b to the AMF network element. Correspondingly, the AMF network element receives the second response message b from the first LMF network element.

[0294] The second response information b indicates the rejection of the associated reference unit. Exemplarily, the reason why the first LMF network element rejects the associated reference unit may be: the first LMF network element is not the service LMF network element of the reference unit, or the number of reference units associated with the first LMF network element is greater than or equal to a certain threshold.

[0295] Optionally, the second response information b may include a routing identifier of the second LMF network element. The second LMF network element may be a service LMF network element of the reference unit, and the routing identifier of the second LMF network element may be used to associate the reference unit with the second LMF network element.

[0296] Exemplarily, the second response information b may also be referred to as reference unit association rejection information (such as SRUassociation reject), and the two may be interchangeable, and the present application does not impose any specific limitation on this.

[0297] S905b, the AMF network element sends a first response message b to the perception node. Correspondingly, the perception node receives the first response message b from the AMF network element.

[0298] The first response information b indicates the rejection of the associated reference unit. Exemplarily, the first response information b and the second response information b may carry the same content, so it can be considered that the AMF network element forwards the second response information b to the perception node.

[0299] Exemplarily, the first response information b may also be referred to as reference unit association rejection information, and the two may be interchangeable, and the present application does not impose any specific limitation on this.

[0300] In a possible implementation, the second response information a and the second response information b may be collectively referred to as second response information, and the second response information is used to indicate whether to receive the associated reference unit. The first response information a and the first response information b may be collectively referred to as first response information, and the first response information is used to indicate whether to receive the associated reference unit.

[0301] In a possible implementation, if the first LMF network element accepts the associated reference unit, the first LMF may verify the location information of the reference unit provided by the AMF network element in step S903, or may be based on Figure 7 The method shown obtains or updates the position information of the reference unit.

[0302] In a possible implementation, if the first LMF network element accepts the associated reference unit, the first LMF network element may send a third request message to the NRF network element, where the third request message is used to request that the information of the reference unit be added to the information of the first LMF network element.

[0303] Optionally, if the first request information a is used for initial reference unit association, or for reference unit association update, and the information of the reference unit changes, the first LMF network element sends a third request information to the NRF network element.

[0304] Exemplarily, in the initial reference unit association scenario, the third request information may include a reference unit existence indication and reference unit information. The reference unit information may include at least one of the reference unit identification, the reference unit perceived reliability, the reference unit perceived capability, the reference unit location information, or the reference unit status. After receiving the third request information, the NRF network element adds the reference unit information to the information of the first LMF network element stored in the NRF network element.

[0305] In the reference unit association update scenario, the third request information includes the information of the updated reference unit. For example, if the location of the reference unit changes, the third request information includes the changed location information. At this time, if the information of the first LMF network element stored in the NRF network element already includes the identifier of the reference unit, the NRF uses the new reference unit information to overwrite the old reference unit information.

[0306] Optionally, after receiving the third request information, the NRF network element may also send a third response information to the first LMF network element. The third response information may be understood as a confirmation response to the third request information.

[0307] Optionally, the third request information may also be referred to as NRF reference unit update request information (such as NRF SRU updaterequest). The third response information may be referred to as NRF reference unit update response information (such as NRF SRU updateresponse).

[0308] In a possible implementation, the sensing node may trigger a reference unit association service request before step S901. For example, the sensing node may send information to the AMF network element to indicate that a reference unit association process will be initiated.

[0309] In a possible implementation, the LMF network element in the above method may also be replaced by a perception management function network element (such as an SMF network element), that is, the function of the LMF network element may also be implemented by the SMF network element.

[0310] In a possible implementation manner, the above-mentioned reference unit association process can also be appropriately modified to be applicable to the association of reference unit groups. For example, the reference unit can be replaced by the reference unit group. Fig. 9 The description of the method shown will not be repeated here.

[0311] Based on the above solution, the reference unit can be associated with the LMF network element. Since the position information of the reference unit can be used to compensate for the positioning error, the position information of the reference unit can be used to compensate for the positioning error when the LMF network element is subsequently positioned, thereby improving the positioning accuracy.

[0312] like Fig.10As shown, another communication method provided by the present application can be used to realize the disassociation of the reference unit from the location management network element or the perception management function network element. The communication method can be used in the scenario where the perception node triggers the disassociation of the reference unit. The method can be executed after the location management network element is associated with the reference unit and before the reference unit is unavailable (such as because the reference unit moves or the quality deteriorates) or when the reference unit is transferred to another location management network element. Taking the location management network element as LMF, the mobility management network element as AMF, and the network storage network element as NRF as an example, see Fig.10 , the communication method comprises the following steps:

[0313] S1001. A perception node sends a first request message b to an AMF network element. Correspondingly, the AMF network element receives the first request message b from the perception node.

[0314] Among them, the first request information b is used to request to de-associate the reference unit for the first LMF network element, and the position information of the reference unit is used to compensate for the positioning error.

[0315] Exemplarily, the reference unit is a passive object. The position information of the reference unit is obtained based on perception, and the perception node may be the first node or the second node mentioned above. Figure 7 The relevant descriptions in the method shown will not be repeated here.

[0316] Exemplarily, the first request information b may also be referred to as reference unit disassociation request information or reference unit disassociation request information (such as SRU disassociation request), and the three may be interchangeable, and the present application does not impose any specific limitation on this.

[0317] Optionally, the first request information b includes a second identifier. Further, the first request information b also includes an identifier of a reference unit. The second identifier is an identifier for updating the reference unit association of the first location management network element returned during the association process of the reference unit. For example, it is the second identifier returned by the AMF network element in the above step S905a. For the perception node, the second identifier can also be called a routing identifier.

[0318] S1002. The AMF network element verifies whether the sensing node is legitimate.

[0319] In a possible implementation, the legality of the sensing node can be understood as: the sensing node has the authority to disassociate the reference unit. The verification method of whether the sensing node is legal can refer to the relevant description in step S902, which will not be repeated here. If the sensing node is legal, the following step S1003 is executed.

[0320] S1003, the AMF network element sends a second request message b to the first LMF network element. Correspondingly, the first LMF network element receives the second request message b from the AMF network element.

[0321] The second request message b is used to request to de-associate the reference unit for the first LMF network element. Exemplarily, the content included in the second request message b is the same as the first request message b, so it can also be considered that the AMF network element forwards the first request message b to the first LMF network element.

[0322] Exemplarily, the second request information b may also be referred to as reference unit de-association request information or reference unit disassociation request information, and the three may be interchangeable, and the present application does not impose any specific limitation on this.

[0323] S1004. The first LMF network element sends a second response message c to the AMF network element. Correspondingly, the AMF network element receives the second response message c from the first LMF network element.

[0324] The second response information c indicates acceptance of reference unit disassociation. Exemplarily, in step S1004, the second response information c may also be referred to as reference unit disassociation acceptance information (eg, SRU disassociation accept).

[0325] Optionally, the second response information c includes a third identifier, where the third identifier is an association identifier returned during the association process of the reference unit. For example, the third identifier is the second identifier returned by the first LMF network element in the above step S904a.

[0326] S1005. The AMF network element sends a first response message c to the perception node. Correspondingly, the perception node receives the first response message c from the AMF network element.

[0327] The first response information c indicates acceptance of reference unit de-association. Exemplarily, in step S1004, the second response information c may also be referred to as reference unit de-association acceptance information. It can be understood that the first response information c is determined based on the second response information c.

[0328] Optionally, the first response information c includes a fourth identifier, and the fourth identifier is a routing identifier that is the same as the third identifier, or in other words, the first response information c includes a routing identifier that is the same as the above-mentioned association identifier (i.e., the third identifier), or in other words, the first response information c includes the third identifier. In the case where the third identifier is the second identifier returned by the first LMF network element in step S904a, the second identifier, the third identifier, and the fourth identifier are the same.

[0329] Optionally, before step S1004 or after step S1005, the first LMF network element may verify whether the reference unit is currently associated in the first LMF network element (i.e., whether the current reference unit is associated with the first LMF network element). If the reference unit is currently associated in the first LMF network element, the following steps S1006-S1007 are executed; if the reference unit is not currently associated in the first LMF network element, the following steps S1006-S1007 are not executed.

[0330] S1006: The first LMF network element sends a fourth request message to the NRF network element. Correspondingly, the NRF network element receives the fourth request message from the first LMF network element.

[0331] The fourth request information is used to request to delete the information of the reference unit from the information of the first LMF network element. Exemplarily, the fourth request information may include the identifier of the reference unit and / or the second identifier.

[0332] S1007: The NRF network element sends fourth response information to the first LMF network element. Correspondingly, the first LMF network element receives the fourth response information from the NRF network element.

[0333] Optionally, after receiving the fourth request information, the NRF network element may delete the information of the reference unit from the information of the first LMF network element stored in the NRF network element. The fourth response information may be understood as a confirmation response to the fourth request information.

[0334] Optionally, the fourth request information may also be referred to as NRF reference unit update request information (such as NRF SRU updaterequest). The fourth response information may be referred to as NRF reference unit update response information (such as NRF SRU updateresponse).

[0335] In a possible implementation, the first LMF network element may not accept the de-associated reference unit. At this time, steps S1004-S1007 may not be performed at will, the first LMF network element may send a second response message d to the AMF network element, and the AMF network element may send a first response message d to the sensing node. The second response message d and the first response message d indicate that the de-associated reference unit is not accepted.

[0336] In one possible implementation, Fig. 9 The first request information a and Fig.10 The first request information b in the method shown may be collectively referred to as first request information, and the first request information is used to request to associate or disassociate a reference unit for the first location management network element. Fig. 9 The second request information a and Fig.10The second request information b in the method shown may be collectively referred to as second request information, and the second request information is used to request to associate or disassociate a reference unit for the first location management network element.

[0337] In a possible implementation, the sensing node may trigger a reference unit disassociation service request before step S1001. For example, the sensing node may send information to the AMF network element to indicate that a reference unit disassociation process will be initiated.

[0338] In a possible implementation, the LMF network element in the above method may also be replaced by a perception management function network element (such as an SMF network element), that is, the function of the LMF network element may also be implemented by the SMF network element.

[0339] In a possible implementation manner, the above-mentioned de-correlation process of the reference unit can also be appropriately modified to be applicable to the de-correlation of the reference unit group. For example, the reference unit can be replaced by the reference unit group. Fig.10 The description of the method shown will not be repeated here.

[0340] Based on the above solution, the reference unit associated with the LMF network element can be released, thereby avoiding the situation where the LMF network element still uses the location information of the reference unit to compensate for positioning errors when the reference unit is unavailable, thereby causing a decrease in positioning performance.

[0341] like Fig.11 As shown, another communication method provided by the present application can be used to realize the disassociation of the reference unit from the location management network element or the perception management function network element. The communication method can be used in the scenario where the location management network element or the perception management function network element triggers the disassociation of the reference unit.

[0342] This method can be executed after the location management network element or the perception management function network element is associated with the reference unit and before the location management network element or the perception management function network element is unavailable (for example, for maintenance, removal or replacement), or it can be triggered for other reasons after the location management network element or the perception management function network element is associated with the reference unit. Take the location management network element as LMF, the mobility management network element as AMF, and the network storage network element as NRF as an example, see Fig.11 , the communication method comprises the following steps:

[0343] S1101. The first LMF network element sends a fifth request message to the AMF network element. Correspondingly, the AMF network element receives the fifth request message from the first LMF network element.

[0344] Among them, the fifth request information is used to request to disassociate the reference unit associated with the first LMF network element, and the position information of the reference unit is used to compensate for the positioning error.

[0345] Exemplarily, the reference unit is a passive object. The position information of the reference unit is obtained based on perception. Figure 7 The relevant descriptions in the method shown will not be repeated here.

[0346] Exemplarily, the fifth request information may also be referred to as reference unit disassociation request information (such as SRU disassociation request), and the two may be interchangeable, and the present application does not impose any specific limitation on this.

[0347] Optionally, the fifth request information includes a second identifier and / or a routing identifier of the second LMF network element. The second identifier is an identifier for updating the reference unit association of the first LMF network element returned during the reference unit association process, for example, the second identifier returned by the first LMF network element in the above step S904a. The routing identifier of the second LMF network element can be used to associate a reference unit with the second LMF network element.

[0348] S1102, the AMF network element sends a sixth request message to the perception node. Correspondingly, the perception node receives the sixth request message from the AMF network element.

[0349] The sixth request information is used to request to disassociate the reference unit associated with the first LMF network element. It can be understood that the sixth request information is determined based on the fifth request information.

[0350] Optionally, the sixth request information includes a routing identifier that is the same as the second identifier and / or a routing identifier of the second LMF network element. Please refer to the relevant description in the above step S1101, which will not be repeated here.

[0351] S1103, the perception node sends the sixth response information to the AMF network element. Correspondingly, the AMF network element receives the sixth response information from the perception node.

[0352] The sixth response information indicates acceptance of reference unit disassociation. Exemplarily, the sixth response information may also be referred to as reference unit disassociation acceptance information (eg, SRU disassociation accept).

[0353] Optionally, the sixth response information includes the second identifier (or called routing identifier) ​​received in S1002.

[0354] S1104, the AMF network element sends the fifth response information to the first LMF network element. Correspondingly, the first LMF network element receives the fifth response information from the AMF network element.

[0355] The fifth response information indicates acceptance of the de-associated reference unit. Exemplarily, the fifth response information includes an association identifier that is the same as the routing identifier (ie, the second identifier) ​​received in S1003.

[0356] Optionally, after step S1104, the first LMF network element may also send information to the NRF network element to request that the information of the reference unit be deleted from the information of the first LMF network element. Please refer to the relevant instructions of the above steps S1006-S1007, which will not be repeated here.

[0357] In a possible implementation, before step S1102, if the sensing node is in a state where it can provide services, the AMF network element can execute a network-triggered service request to place the sensing node in a connected state.

[0358] In a possible implementation manner, if the fifth request information and the sixth request information include the identifier of the second LMF network element, the sensing node may associate the reference unit with the second LMF network element. The association process may refer to the above Fig. 9 The process shown will not be repeated here.

[0359] In a possible implementation, the LMF network element in the above method may also be replaced by a perception management function network element (such as an SMF network element), that is, the function of the LMF network element may also be implemented by the SMF network element.

[0360] In a possible implementation manner, the above-mentioned de-correlation process of the reference unit can also be appropriately modified to be applicable to the de-correlation of the reference unit group. For example, the reference unit can be replaced by the reference unit group. Fig.11 The description of the method shown will not be repeated here.

[0361] Based on this solution, when an LMF network element is about to become unavailable, the reference unit previously associated with the LMF network element can be de-associated, so that the perception node can associate the reference unit with other LMF network elements to assist other LMF network elements in positioning and improve positioning accuracy.

[0362] The above describes the association and disassociation process of the reference unit. The following describes the method of using the reference unit for positioning / sensing by the location management network element or the perception management function network element. Take the location management network element as LMF, the mobility management network element as AMF, and the network storage network element as NRF as an example. Fig.12 As shown, the method comprises the following steps:

[0363] S1201, the AMF network element sends a positioning request message to the first LMF network element. Correspondingly, the first LMF network element receives the positioning request message from the AMF network element.

[0364] The positioning request information is used to request the positioning of the target terminal device. Exemplarily, the AMF network element is a service AMF network element of the target terminal device, and the first LMF network element is a service LMF network element of the target terminal device.

[0365] S1202: The first LMF network element obtains location information of at least one reference unit. The location information of the reference unit is used to compensate for positioning errors.

[0366] Exemplarily, the reference unit is a passive object. The position information of the reference unit is obtained based on perception. Figure 7 The relevant descriptions in the method shown will not be repeated here.

[0367] Optionally, at least one reference unit includes a first reference unit associated with the first LMF network element. Exemplarily, the first reference unit is located in a service cell of the target terminal device, and / or the first reference unit is a reference unit closest to the initial positioning position of the target terminal device among at least one reference unit associated with the first LMF network element.

[0368] Optionally, at least one reference unit further includes a second reference unit associated with a second LMF network element. Exemplarily, the second reference unit is located in a service cell of the target terminal device, and / or the second reference unit is a reference unit closest to the initial positioning position of the target terminal device among at least one reference unit associated with the second LMF network element.

[0369] S1203. The first LMF network element determines the location of the target terminal device according to the initial positioning position of the target terminal device, the location information of at least one reference unit, and the location information of at least one wireless access network device.

[0370] The at least one radio access network device is used to determine the initial positioning position of the target terminal device. That is, the initial positioning position of the target terminal device is determined based on positioning measurements from the target terminal device and / or at least one radio access network device. Exemplarily, the positioning measurements may include uplink-time difference of arrival (UL-TDOA), downlink-time difference of arrival (DL-TDOA), AOA, multi-round trip time (Multi-RTT), etc.

[0371] Based on this solution, the first LMF network element can obtain the location information of at least one reference unit. Since the location information of the reference unit is used to supplement the positioning error, the first LMF network element can use the location information of at least one reference unit and combine the location information of at least one wireless access network device to calibrate the initial positioning position of the target terminal device, thereby improving the positioning accuracy.

[0372] The above describes the overall process of reference unit assisted positioning. The following describes the application of this process in detail. Fig.13 As shown, a communication method provided by an embodiment of the present application can be understood as follows: Fig.12 A specific application of the method shown. Take the location management network element as LMF, the mobility management network element as AMF, and the network storage network element as NRF as an example, see Fig.13 , the method comprises the following steps:

[0373] S1301, the AMF network element sends a positioning request message to the first LMF network element. Correspondingly, the first LMF network element receives the positioning request message from the AMF network element. See the description of the above step S1201, which will not be repeated here.

[0374] S1302: Positioning process.

[0375] Exemplarily, in step S1302, the first LMF network element may receive a positioning measurement amount from the target terminal device and / or at least one wireless access network device, and determine the initial positioning position of the target terminal device according to the positioning measurement amount. The positioning measurement amount may refer to the relevant description in the above step S1203. The specific implementation of step S1302 may refer to the positioning process description in the existing protocol, which will not be repeated here.

[0376] S1303. The first LMF network element selects a reference unit from the reference units associated with the first LMF network element.

[0377] Optionally, the first LMF network element may select a reference unit from its associated reference units based on relevant information of the target terminal device (such as the service cell, initial positioning position), the status of the reference unit and other information.

[0378] Optionally, after executing step S1303, the first LMF network element may select at least one reference unit, or may not select any reference unit.

[0379] Exemplarily, taking the example that the at least one reference unit selected by the first LMF network element may include the first reference unit, the first reference unit may be located in the service cell of the target terminal device, and / or the first reference unit may be the reference unit closest to the initial positioning position of the target terminal device among the at least one reference unit associated with the first LMF network element. Please refer to the relevant description in step S1202.

[0380] Exemplarily, the reason why the first LMF network element does not select any reference unit may be that there is no reference unit that meets the selection condition among the reference units associated with the first LMF network element. The selection condition may be, for example, being located in the service cell of the target terminal device, and the distance between the target terminal device and the initial positioning position is less than or equal to a threshold, etc.

[0381] As a possible implementation, since in step S1303, the first LMF network element selects its associated reference unit, the first LMF network element may store the location information of the reference unit during the reference unit association process. Therefore, after the reference unit is determined, the first LMF network element can obtain the location information of the reference unit.

[0382] It should be noted that step S1303 is an optional step. For example, if the first LMF network element is not associated with any reference unit, step S1303 may not be performed.

[0383] In a possible implementation manner, if step S1303 is not performed, or the first LMF network element does not select any reference unit in step S1303, or the number of reference units selected in step S1303 is less than or equal to the threshold, the following steps S1304-S1307 may also be performed:

[0384] S1304: The first LMF network element sends the seventh request information to the NRF network element. Correspondingly, the NRF network element receives the seventh request information from the first LMF network element.

[0385] The seventh request information is used to request the discovery of a reference unit. Exemplarily, the seventh request information may also be referred to as a reference unit discovery request (eg, SRU discovery request).

[0386] Optionally, the seventh request information may include information of a reference unit indication and / or an area. The reference unit indication may be used to indicate a request to discover a reference unit. The area may be a tracking area (TA) determined by the first LMF based on a serving cell of the target terminal device.

[0387] S1305: The NRF network element sends the seventh response information to the first LMF network element. Correspondingly, the first LMF network element receives the seventh response information from the NRF network element.

[0388] The seventh response information includes the address of at least one second LMF network element, and the second LMF network element is associated with a reference unit. Exemplarily, the seventh response information may include a configuration file of at least one second LMF network element, and the configuration file includes the address of the second LMF network element. The seventh response information may also be called a reference unit discovery response (such as an SRU discoveryresponse).

[0389] Optionally, after receiving the seventh request information, the NRF network element may select an LMF network element associated with a reference unit located in the above-mentioned TA as the second LMF network element.

[0390] S1306: The first LMF network element sends the eighth request information to the second LMF network element. Correspondingly, the second LMF network element receives the eighth request information from the first LMF network element.

[0391] The eighth request information is used to request the location information of the reference unit. Exemplarily, the eighth request information may include the identifier of the serving cell of the target terminal device and / or the initial positioning position of the target terminal device.

[0392] Exemplarily, the eighth request information may also be referred to as a reference unit location request (such as SRU localization request) or a reference unit location measurement data request (such as SRU localization measurement data request).

[0393] S1307: The second LMF network element sends the eighth response information to the first LMF network element. Correspondingly, the first LMF network element receives the eighth response information from the second LMF network element.

[0394] The eighth response information includes location information of the second reference unit. The second reference unit is a reference unit associated with the second LMF network element.

[0395] Exemplarily, the second reference unit may be determined by the second LMF network element according to the identifier of the service cell of the target terminal device and / or the initial positioning position of the target terminal device. For example, the second reference unit is located in the service cell of the target terminal device, and / or the second reference unit is the reference unit closest to the initial positioning position of the target terminal device among at least one reference unit associated with the second LMF network element.

[0396] It can be understood that the above steps S1301-S1307 can be understood as the specific implementation of the first LMF network element obtaining the location information of at least one reference unit.

[0397] S1308. The first LMF network element determines the location of the target terminal device according to the initial positioning position of the target terminal device, the location information of at least one reference unit, and the location information of at least one wireless access network device.

[0398] Among them, the initial positioning position of the target terminal device and at least one wireless access network device can refer to the relevant instructions in the above steps S1203 and S1302, which will not be repeated here.

[0399] Optionally, the first LMF network element may determine a position calibration amount of the wireless access network device relative to the reference unit based on the position information of the reference unit and the position information of the wireless access network device, and then determine the position of the target terminal device based on the position calibration amount and the initial positioning position of the target terminal device.

[0400] The above scheme is explained by taking the example of the first LMF network element obtaining the location information of the reference unit. In addition, the first LMF network element can also obtain the position calibration amount of at least one wireless access network device relative to the reference unit. In this scenario, in step S1307, the eighth response information can carry the position calibration amount of the wireless access network device relative to the second reference unit. Before step S1307, the second LMF network element can obtain the position calibration amount. Similarly, after step S1301, the first LMF network element can obtain the position calibration amount of at least one wireless access network device relative to the first reference unit.

[0401] S1309, the first LMF network element sends the location information of the target terminal device to the AMF network element. Correspondingly, the AMF network element receives the location information of the target terminal device from the first LMF network element.

[0402] In a possible implementation, the LMF network element in the above method may also be replaced by a perception management function network element (such as an SMF network element), that is, the function of the LMF network element may also be implemented by the SMF network element.

[0403] In a possible implementation manner, the above-mentioned reference unit auxiliary positioning process can also be appropriately modified to be applicable to the reference unit group auxiliary positioning process. For example, the reference unit can be replaced by the reference unit group. Fig.12 or Fig.13 The description of the method shown will not be repeated here.

[0404] It should be noted that the above Figures 9 to 13In the method, only the location management network element is LMF, the mobility management network element is AMF, and the network storage network element is NRF. In practical applications, the function of the LMF network element in the above method can be implemented by a location management network element of any form or name, the function of the AMF network element can be implemented by a mobility management network element of any form or name, and the function of the NRF network element can be implemented by a network storage network element of any form or name.

[0405] It is understandable that in each of the above embodiments, the methods and / or steps implemented by each node may also be implemented by a component (such as a processor, chip, chip system, circuit, logic module, or software) that can be used for the node; the methods and / or steps implemented by each network element may also be implemented by a component (such as a processor, chip, chip system, circuit, logic module, or software) that can be used for the network element. Among them, the chip system may be composed of chips, or the chip system may include chips and other discrete devices.

[0406] It is understandable that, in order to realize the above functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0407] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0408] communication device Fig.14 A schematic diagram of the structure of a communication device 140 is shown. The communication device 140 includes a processing module 1401 and a transceiver module 1402. The communication device 140 can be used to implement the functions of the first node, the second node, the perception node, the mobility management network element, the location management network element / perception management function network element.

[0409] In some embodiments, the communication device 140 may further include a storage module ( Fig.14 ), for storing program instructions and data.

[0410] In some embodiments, the transceiver module 1402 may also be referred to as a transceiver unit for implementing a sending and / or receiving function. The transceiver module 1402 may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0411] In some embodiments, the transceiver module 1402 may include a receiving module and a sending module, which are respectively used to execute the receiving and sending steps performed by the first node, the second node, the perception node, the mobility management network element, the location management network element / the perception management function network element in the above-mentioned method embodiments, and / or other processes for supporting the technology described herein; the processing module 1401 may be used to execute the processing steps (such as determination, etc.) performed by the first node, the second node, the perception node, the mobility management network element, the location management network element / the perception management function network element in the above-mentioned method embodiments, and / or other processes for supporting the technology described herein.

[0412] When the communication device 140 is used to implement the function of the second node:

[0413] The transceiver module 1402 is used to receive first information corresponding to at least one first node. The first information includes information of the first node and perception information corresponding to the perception link, and the perception information includes information of N scatterers and / or information of M scatterer groups, where N and M are positive integers, and the first node is a receiving node of the perception signal on the perception link. The processing module 1401 is used to determine a reference unit according to the first information corresponding to at least one first node; the transceiver module 1402 is also used to send second information to at least one first node. The second information indicates a position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

[0414] When the communication device 140 is used to implement the function of the first node:

[0415] The transceiver module 1402 is used to send the first information to the second node; the transceiver module 1402 is also used to receive the second information from the second node. The first information includes the information of the first node and the perception information corresponding to the perception link, the perception information includes the information of N scatterers and / or the information of M scatterer groups, N and M are positive integers, the first node is a receiving node of the perception signal on the perception link, and the first information is used to determine the reference unit. The second information indicates the position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

[0416] When the communication device 140 is used to implement the function of a sensing node:

[0417] The transceiver module 1402 is configured to send a first request message to the mobility management network element. The first request message is used to request to associate or disassociate a reference unit for the first location management network element, and the location information of the reference unit is used to compensate for the positioning error. The transceiver module 1402 is also configured to receive a first response message from the mobility management network element, and the first response message indicates whether to accept the association or disassociation of the reference unit.

[0418] When the communication device 140 is used to implement the function of the mobility management network element:

[0419] The transceiver module 1402 is used to receive a first request message from a sensing node, where the first request message is used to request to associate or disassociate a reference unit for a first location management network element, and the location information of the reference unit is used to compensate for positioning errors. The processing module 1401 is used to determine whether the sensing node is legal. If the sensing node is legal, the transceiver module 1402 is also used to send a second request message to the first location management network element, where the second request message is used to request to associate or disassociate a reference unit for the first location management network element.

[0420] Optionally, the transceiver module 1402 is also used to receive a second response message from the first location management network element, and the second response message indicates whether to accept the association or de-association reference unit; the transceiver module 1402 is also used to send a first response message to the perception node, and the first response message indicates whether to accept the association or de-association reference unit.

[0421] When the communication device 140 is used to implement the function of the location management network element:

[0422] The transceiver module 1402 is used to receive a second request message from the mobility management network element, the second request message is used to request to associate or disassociate the reference unit for the first location management network element, and the location information of the reference unit is used to compensate for the positioning error. The transceiver module 1402 is also used to send a second response message to the mobility management network element, and the second response message indicates whether to accept the association or disassociation of the reference unit.

[0423] Optionally, when the second request information is used to request to associate a reference unit with the first location management network element, the transceiver module 1402 is also used to send a third request information to the network storage network element, and the third request information is used to request to add the information of the reference unit to the information of the first location management network element.

[0424] When the communication device 140 is used to implement the function of the location management network element:

[0425] The transceiver module 1402 is used to send a fifth request message to the mobile management network element, where the fifth request message is used to request to disassociate the reference unit associated with the first location management network element, and the location information of the reference unit is used to compensate for the positioning error; the transceiver module 1402 is also used to receive a fifth response message from the mobile management network element, and the fifth response message indicates acceptance of the disassociation of the reference unit.

[0426] When the communication device 140 is used to implement the function of the location management network element:

[0427] The transceiver module 1402 is used to receive positioning request information for requesting the positioning of a target terminal device; the processing module 1401 is used to obtain the position information of at least one reference unit, and the position information of the reference unit is used to compensate for the positioning error; the processing module 1401 is also used to determine the position of the target terminal device based on the initial positioning position of the target terminal device, the position information of at least one reference unit and the position information of at least one wireless access network device; at least one wireless access network device is used to determine the initial positioning position.

[0428] Optionally, the transceiver module 1402 is further used to send an eighth request message for requesting the location information of the reference unit to the second location management network element; the transceiver module 1402 is further used to receive an eighth response message including the location information of the second reference unit from the second location management network element.

[0429] Optionally, the transceiver module 1402 is further used to send a seventh request message for requesting to discover a reference unit to the network storage network element; the transceiver module 1402 is further used to receive a seventh response message indicating the address of the second location management network element from the network storage network element.

[0430] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0431] In the present application, the communication device 140 may be presented in the form of dividing various functional modules in an integrated manner. The "module" here may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0432] In some embodiments, when Fig.14When the communication device 140 is a chip or a chip system, the function / implementation process of the transceiver module 1402 can be implemented through the input and output interface (or communication interface) of the chip or the chip system, and the function / implementation process of the processing module 1401 can be implemented through the processor (or processing circuit) of the chip or the chip system.

[0433] Since the communication device 140 provided in this embodiment can execute the above method, the technical effects that can be obtained can refer to the above method embodiments and will not be repeated here.

[0434] As a possible product form, the first node, the second node, the perception node, the mobile management network element, the location management network element / perception management function network element described in the embodiments of the present application can also be implemented using the following: one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits that can perform the various functions described throughout the present application.

[0435] As another possible product form, the first node, the second node, the perception node, the mobility management network element, the location management network element / perception management function network element described in the embodiment of the present application can be implemented by a general bus architecture. Fig.15 , Fig.15 1 is a schematic diagram of the structure of a communication device 1500 provided in an embodiment of the present application, and the communication device 1500 includes a processor 1501 and a transceiver 1502. The communication device 1500 may be a first node, a second node, a perception node, a mobility management network element, a location management network element / perception management function network element, or a chip or chip system therein. Fig.15 Only the main components of the communication device 1500 are shown. In addition to the processor 1501 and the transceiver 1502, the communication device may further include a memory 1503 and an input and output device (not shown in the figure).

[0436] Optionally, the processor 1501 is mainly used to process the communication protocol and communication data, and to control the entire communication device, execute the software program, and process the data of the software program, so as to implement the method provided in the above method embodiment. The memory 1503 is mainly used to store software programs and data. The transceiver 1502 may include a radio frequency circuit and an antenna. The radio frequency circuit is mainly used for converting baseband signals and radio frequency signals and processing radio frequency signals. The antenna is mainly used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as touch screens, display screens, keyboards, etc., are mainly used to receive data input by users and output data to users.

[0437] Optionally, the processor 1501, the transceiver 1502, and the memory 1503 may be connected via a communication bus.

[0438] When the communication device is turned on, the processor 1501 can read the software program in the memory 1503, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 1501 performs baseband processing on the data to be sent, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then sends the radio frequency signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1501. The processor 1501 converts the baseband signal into data and processes the data.

[0439] In another implementation, the RF circuit and antenna may be arranged independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna may be arranged remotely from the communication device.

[0440] In some embodiments, in terms of hardware implementation, those skilled in the art may imagine that the communication device 140 may be implemented as Fig.15 The form of the communication device 1500 is shown.

[0441] As an example, Fig.14 The function / implementation process of the processing module 1401 in Fig.15 The processor 1501 in the communication device 1500 shown calls the computer execution instructions stored in the memory 1503 to implement. Fig.14 The function / implementation process of the transceiver module 1402 can be Fig.15 The transceiver 1502 in the communication device 1500 is shown to be implemented.

[0442] As another possible product form, the first node, the second node, the perception node, the mobility management network element, the location management network element / perception management function network element in this application can adopt Fig.16 The structure shown, or including Fig.16 Parts shown. Fig.16 A schematic diagram of the composition of a communication device 1600 provided in the present application, wherein the communication device 1600 may be a chip or a system on a chip in a first node, a second node, a perception node, a mobility management network element, a location management network element / a perception management function network element.

[0443] like Fig.16 As shown, the communication device 1600 includes at least one processor 1601 and at least one communication interface ( Fig.16 The communication device 1600 is merely exemplary and is described by taking a communication interface 1604 and a processor 1601 as an example. Optionally, the communication device 1600 may further include a communication bus 1602 and a memory 1603.

[0444] The processor 1601 may be a general-purpose central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a PLD, or any combination thereof. The processor 1601 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0445] The communication bus 1602 is used to connect different components in the communication device 1600 so that the different components can communicate. The communication bus 1602 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.16 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.

[0446] The communication interface 1604 is used to communicate with other devices or communication networks. Exemplarily, the communication interface 1604 can be a module, a circuit, a transceiver, or any device capable of implementing communication. Optionally, the communication interface 1604 can also be an input / output interface located in the processor 1601 to implement signal input and signal output of the processor.

[0447] The memory 1603 may be a device with a storage function, used to store instructions and / or data, wherein the instructions may be computer programs.

[0448] Exemplarily, the memory 1603 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0449] It should be noted that the memory 1603 may exist independently of the processor 1601 or may be integrated with the processor 1601. The memory 1603 may be located inside the communication device 1600 or outside the communication device 1600, without limitation. The processor 1601 may be used to execute instructions stored in the memory 1603 to implement the methods provided in the following embodiments of the present application.

[0450] As an optional implementation, the communication device 1600 may further include an output device 1605 and an input device 1606. The output device 1605 communicates with the processor 1601 and may display information in a variety of ways. For example, the output device 1605 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 1606 communicates with the processor 1601 and may receive user input in a variety of ways. For example, the input device 1606 may be a mouse, a keyboard, a touch screen device, or a sensor device.

[0451] In some embodiments, in terms of hardware implementation, those skilled in the art may think of the above Fig.14 The communication device 140 shown may be implemented using Fig.16 The form of the communication device 1600 is shown.

[0452] As an example, Fig.14The function / implementation process of the processing module 1401 in Fig.16 The processor 1601 in the communication device 1600 shown calls the computer execution instructions stored in the memory 1603 to implement. Fig.14 The function / implementation process of the transceiver module 1402 can be Fig.16 The communication interface 1604 in the communication device 1600 is shown to be implemented.

[0453] It should be noted that Fig.16 The structure shown does not constitute a specific limitation on the first node, the second node, the perception node, the mobility management network element, the location management network element / perception management function network element. For example, in other embodiments of the present application, the first node, the second node, the perception node, the mobility management network element, the location management network element / perception management function network element may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0454] In some embodiments, an embodiment of the present application further provides a communication device, which includes a processor for implementing a method in any of the above method embodiments.

[0455] As a possible implementation, the communication device further includes a memory. The memory is used to store necessary computer programs and data. The computer program may include instructions, and the processor may call the instructions in the computer program stored in the memory to instruct the communication device to execute the method in any of the above method embodiments. Of course, the memory may not be in the communication device.

[0456] As another possible implementation, the communication device also includes an interface circuit, which is a code / data read / write interface circuit, which is used to receive computer execution instructions (computer execution instructions are stored in a memory, may be read directly from the memory, or may pass through other devices) and transmit them to the processor.

[0457] As another possible implementation manner, the communication device further includes a communication interface, and the communication interface is used to communicate with a module outside the communication device.

[0458] It can be understood that the communication device can be a chip or a chip system. When the communication device is a chip system, it can be composed of chips, or it can include chips and other discrete devices. The embodiments of the present application do not specifically limit this.

[0459] The present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed by a computer, the functions of any of the above method embodiments are implemented.

[0460] The present application also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.

[0461] Those skilled in the art will appreciate that, for the sake of convenience and brevity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0462] It is understood that the systems, devices and methods described in the present application can also be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0463] The units described as separate components may or may not be physically separated, i.e., they may be located in one place, or they may be distributed over multiple network units. The components shown as units may or may not be physical units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0464] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0465] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or may contain one or more servers, data centers and other data storage devices that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state drive (SSD)), etc. In the embodiment of the present application, the computer may include the aforementioned device.

[0466] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in a claim. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0467] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A communication method, characterized in that: The method comprises: receiving first information respectively corresponding to at least one first node, wherein the first information includes information of the first node and perception information corresponding to a perception link, the perception information includes information of N scatterers and / or information of M scatterer groups, where N and M are positive integers, and the first node is a receiving node of a perception signal on the perception link; Determine a reference unit according to the first information respectively corresponding to the at least one first node; Second information is sent to the at least one first node respectively, where the second information indicates a position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

2. A communication method, characterized in that: The method comprises: Sending first information to a second node, where the first information includes information of the first node and perception information corresponding to a perception link, where the perception information includes information of N scatterers and / or information of M scatterer groups, where N and M are positive integers, and the first node is a receiving node of a perception signal on the perception link; and the first information is used to determine a reference unit; Second information is received from the second node, the second information indicating a position calibration amount of the scatterer and / or the scatterer group relative to the reference unit.

3. The method according to claim 1 or 2, characterized in that: The position calibration quantity comprises a distance registration quantity and / or an angle registration quantity, wherein the distance registration quantity and / or the angle registration quantity indicates a coordinate error of the scatterer or the scatterer group.

4. The method according to any one of claims 1 to 3, characterized in that: The information of the first node includes at least one of the following: an identifier of the perception link, an identifier of the first node, an identifier of a sending node of a perception signal on the perception link, acquisition time information of the perception information, or configuration information of the first node.

5. The method according to any one of claims 1 to 4, characterized in that: The information of the scatterer includes at least one of the following: the index of the scatterer, the position coordinates of the scatterer, the speed of the scatterer, the arrival angle or emission angle of the perception signal corresponding to the scatterer, the reliability of the scatterer or the receiving power of the perception signal corresponding to the scatterer.

6. The method according to any one of claims 1 to 5, characterized in that: The correlation degree of the properties of any two scatterers in the scatterer group is greater than or equal to a preset threshold.

7. The method according to claim 6, characterized in that The properties of the scatterer include at least one of the following: position coordinates, speed or direction; and / or, The correlation is represented by at least one of the following: deviation, covariance or Euclidean distance.

8. The method according to any one of claims 1 to 7, characterized in that: The information of the scatterer group includes at least one of the following: an index of the scatterer group, a position of the scatterer group, a profile of the scatterer group, a speed of the scatterer group, a category of the scatterer group, or an attribute of the scatterer group.

9. The method according to claim 8, characterized in that The profile of the scatterer group is indicated by at least one of the following: the coordinates of the center position of the scatterer group, the size of the scatterer group, and the normal direction; or, The profile of the scatterer group is indicated by the following information: position coordinates of a plurality of scatterers located at vertices in the scatterer group.

10. The method according to any one of claims 1 to 9, characterized in that: The second information includes information of the reference unit, and the information of the reference unit includes position coordinates of the reference unit.

11. The method according to claim 10, characterized in that The information of the reference unit also includes at least one of the following: the identification of the reference unit, the speed of the reference unit, the arrival angle or emission angle of the perception signal corresponding to the reference unit, the reliability of the reference unit, or the received power of the perception signal corresponding to the reference unit.

12. The method according to any one of claims 1 to 9, characterized in that: The second information includes the position calibration amount.

13. A communication method, characterized in that: The method comprises: Sending first request information to a mobility management network element, where the first request information is used to request association or disassociation of a reference unit for a first location management network element, where the location information of the reference unit is used to compensate for a positioning error; A first response message is received from the mobility management network element, where the first response message indicates whether to accept association or disassociation with the reference unit.

14. The method according to claim 13, characterized in that When the first request information is used to request to associate a first location management network element with a reference unit, the first request information includes a first identifier, and the first identifier is used to identify an association process of the reference unit.

15. The method according to claim 14, characterized in that The first request information further includes at least one of the following: an identification of the reference unit, a reason for associating the reference unit, a perceived reliability of the reference unit, location information of the reference unit, or a status of the reference unit; The reason for associating the reference unit includes initial association or association update, and the state of the reference unit includes an ON state or an OFF state.

16. The method according to any one of claims 13 to 15, characterized in that: When the first response information indicates acceptance of associating the reference unit, the first response information includes a second identifier, and the second identifier is used for updating the reference unit association of the first location management network element.

17. The method according to any one of claims 13 to 16, characterized in that: When the first response information indicates a rejection of associating with the reference unit, the first response information includes a routing identifier of the second location management network element.

18. The method according to claim 13, characterized in that When the first request information is used to request to de-associate a reference unit for a first location management network element, the first request information includes a second identifier, which is an identifier for updating the reference unit association of the first location management network element returned during the association process of the reference unit.

19. The method according to claim 13 or 18, characterized in that When the first response information indicates acceptance of disassociation with the reference unit, the first response information includes a fourth identifier, and the fourth identifier is a routing identifier that is the same as the association identifier returned during the association process of the reference unit.

20. The method according to any one of claims 13 to 19, characterized in that: The reference unit is a passive object, and / or the position information of the reference unit is obtained based on perception.

21. A communication method, characterized in that: The method comprises: receiving first request information from a sensing node, wherein the first request information is used to request association or disassociation of a reference unit for a first location management network element, wherein location information of the reference unit is used to compensate for a positioning error; In the case that the sensing node is legal, second request information is sent to the first location management network element, where the second request information is used to request association or disassociation of a reference unit for the first location management network element.

22. The method according to claim 21, characterized in that The method further comprises: receiving a second response message from the first location management network element, wherein the second response message indicates whether to accept association or disassociation with the reference unit; A first response message is sent to the sensing node, where the first response message indicates whether to accept association or disassociation with the reference unit.

23. The method according to claim 21 or 22, characterized in that When the second response information indicates acceptance of de-association with the reference unit, the second response information includes a third identifier, and the third identifier is an association identifier returned during the association process of the reference unit.

24. The method according to any one of claims 21 to 23, characterized in that: The legality of the sensing node includes: the sensing node has the authority to associate or disassociate with the reference unit.

25. A communication method, characterized in that: The method comprises: receiving second request information from a mobility management network element, wherein the second request information is used to request association or disassociation of a reference unit for the first location management network element, wherein location information of the reference unit is used to compensate for positioning errors; A second response message is sent to the mobility management network element, where the second response message indicates whether to accept association or disassociation with the reference unit.

26. The method according to claim 25, characterized in that When the second request information is used to request to associate a reference unit with the first location management network element, the method further includes: Sending third request information to the network storage network element, where the third request information is used to request adding the information of the reference unit to the information of the first location management network element.

27. A communication method, characterized in that: The method comprises: Receiving positioning request information, where the positioning request information is used to request positioning of a target terminal device; Acquire position information of at least one reference unit, where the position information of the reference unit is used to compensate for positioning errors; The position of the target terminal device is determined according to the initial positioning position of the target terminal device, the position information of the at least one reference unit and the position information of at least one wireless access network device; the at least one wireless access network device is used to determine the initial positioning position.

28. The method according to claim 27, characterized in that The at least one reference unit includes a first reference unit, wherein the first reference unit is a reference unit associated with the first location management network element; The first reference unit is located in a service cell of the target terminal device, and / or the first reference unit is a reference unit closest to the initial positioning position among at least one reference unit associated with the first location management network element.

29. The method according to claim 27 or 28, characterized in that The at least one reference unit includes a second reference unit, the second reference unit being a reference unit associated with a second location management network element; The second reference unit is located in a service cell of the target terminal device, and / or the second reference unit is a reference unit closest to the initial positioning position among at least one reference unit associated with the second location management network element.

30. A communication device, characterized in that: The communication device includes a module for executing the method as described in any one of claims 1-12, or includes a module for executing the method as described in any one of claims 13-20, or includes a module for executing the method as described in any one of claims 21-24, or includes a module for executing the method as described in claim 25 or 26, or includes a module for executing the method as described in any one of claims 27-29.

31. A communication device, characterized in that: The communication device includes a processor; the processor is used to run a computer program or instructions so that the communication device performs the method as described in any one of claims 1 to 12, or so that the communication device performs the method as described in any one of claims 13 to 20, or so that the communication device performs the method as described in any one of claims 21 to 24, or so that the communication device performs the method as described in claims 25 or 26, or so that the communication device performs the method as described in any one of claims 27 to 29.

32. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions or programs, which, when executed on a computer, cause the method described in any one of claims 1 to 12 to be executed, or the method described in any one of claims 13 to 20 to be executed, or the method described in any one of claims 21 to 24 to be executed, or the method described in any one of claims 25 or 26 to be executed, or the method described in any one of claims 27 to 29 to be executed.

33. A computer program product, characterized in that The computer program product includes computer instructions; when part or all of the computer instructions are executed on a computer, the method according to any one of claims 1 to 12 is executed, or the method according to any one of claims 13 to 20 is executed, or the method according to any one of claims 21 to 24 is executed, or the method according to claims 25 or 26 is executed, or the method according to any one of claims 27 to 29 is executed.

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