Positioning method and communication device

Abstract

The invention relates to the technical field of positioning, and discloses a positioning method and a communication device, and the method comprises the steps: a first communication device obtains a first signal and a second signal, the first signal is composed of a signal from a third signal sent by the second communication device to the third communication device through the first transmission mode and a signal from the third signal to the third communication device through the second transmission mode; the second signal is composed of a signal from the third signal to the fourth communication device through the first transmission mode and a signal from the third signal to the fourth communication device through the second transmission mode; according to the first positioning auxiliary information, the first signal and the second signal, a first length and a first distance are determined, the first length is the distance between a first reference position, corresponding to the first transmission line, of the second communication device and the third communication device or the fourth communication device, and the first distance is the distance between the second communication device and the first reference position. Therefore, even if the terminal equipment only has the sending capability, the positioning of the terminal equipment can be realized.

Description

Technical Field

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

[0002] Leaky coaxial cable, also known as leaky cable, leaky cable or leaky cable, consists of an inner conductor, an insulating medium and an outer conductor. The outer conductor is provided with slots, and when electromagnetic waves propagate in the leaky cable, they propagate outward through the slots on the outer conductor. Since leaky cables have the characteristic of being able to propagate outward, they can provide wireless coverage similar to antennas and are widely used in environments such as subways and tunnels, and are also used in some indoor scenarios.

[0003] At present, the positioning technology based on leaky cables requires at least the terminal equipment to have sending and receiving capabilities, and the application scenarios are relatively limited. Summary of the invention

[0004] The embodiments of the present application provide a positioning method and a communication device, which can be used to locate the terminal device even if the terminal device only has a sending capability or the terminal device only has a receiving capability, and can be applicable to various application scenarios.

[0005] In a first aspect, the present application provides a first positioning method, which can be performed by a first communication device, and the method includes:

[0006] The first communication device acquires a first signal and a second signal, wherein the first signal is composed of a signal of a third signal sent by the second communication device reaching the third communication device through the first transmission mode, and a signal of the third signal reaching the third communication device through the second transmission mode, and the second signal is composed of a signal of the third signal reaching the fourth communication device through the first transmission mode, and a signal of the third signal reaching the fourth communication device through the second transmission mode; and, according to the first positioning auxiliary information, the first signal and the second signal, a first length and a first distance are determined, wherein the first length is the distance between the first reference position of the second communication device corresponding to the first transmission line and the third communication device or the fourth communication device, and the first distance is the distance from the second communication device to the first reference position. The first transmission mode may be a transmission mode of firstly reaching the first transmission line through wireless transmission and then being transmitted by the first transmission line, and the second transmission mode may be a transmission mode of firstly reaching the first transmission line through tunnel reflection and then being transmitted by the first transmission line, and the first transmission line is a transmission line between the third communication device and the fourth communication device.

[0007] The second communication device may be a terminal device or a component in the terminal device (e.g., a chip, or a chip system, or a circuit, etc.). The third communication device may be a first network device or a component in the first network device (e.g., a chip, or a chip system, or a circuit, etc.). The fourth communication device may be a second network device or a component in the second network device (e.g., a chip, or a chip system, or a circuit, etc.). The first communication device may be deployed in the terminal device as a subunit (or submodule, or component) in the terminal device; or, the first communication device may also be deployed in the first network device as a subunit (or submodule, or component) in the first network device; or, the first communication device may also be deployed in the second network device as a subunit (or submodule, or component) in the second network device; or, the first communication device may also be deployed independently as an independent entity.

[0008] Optionally, the first transmission line may be a leaky coaxial cable, or the first transmission line may also be a waveguide.

[0009] In the first positioning method mentioned above, the first communication device can locate the second communication device based on the first signal and the second signal corresponding to the third signal sent by the second communication device, which means that even if the communication device to be located only has the sending capability, the communication device to be located can be located through this method, thereby being applicable to a variety of application scenarios.

[0010] In a possible implementation manner, the first positioning assistance information may include map information of the tunnel.

[0011] The above implementation method inputs the tunnel map offline into the first communication device, so that the first communication device can locate the second communication device by receiving the first signal and the second signal corresponding to the third signal sent by the second communication device. The implementation method is simple and easy to implement.

[0012] In a possible implementation, a passive reflector is deployed in the tunnel, and the second transmission mode is a transmission mode in which the signal is first reflected through the tunnel to reach the first transmission line and then transmitted through the first transmission line. Specifically, the second transmission mode is a transmission mode in which the signal is first reflected through the passive reflector to reach the first transmission line and then transmitted through the first transmission line.

[0013] The above implementation method can enhance the signal to be reflected by the tunnel, which is beneficial to improving the positioning accuracy.

[0014] In a possible implementation, at least one fifth communication device is deployed in the tunnel, the first positioning assistance information includes the location information of the at least one fifth communication device, and the first communication device can also receive the location information of the at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length includes the distance between the second reference position of the fifth communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

[0015] In the above implementation, the second communication device can be positioned based on the first signal and the second signal in combination with the location information of at least one fifth communication device.

[0016] In a possible implementation, at least one location indication is deployed in the tunnel, the first positioning assistance information includes the location information of the at least one location indication, and the first communication device may also receive at least one fourth signal triggered by the at least one location indication; and the location information of the at least one location indication is determined according to the at least one fourth signal, wherein the location information of the location indication includes a third length and a third distance, the third length is the distance between the third reference position of the location indication corresponding to the first transmission line to the third communication device or the fourth communication device, and the third distance is the distance from the location indication to the third reference position.

[0017] In the above implementation, the second communication device can be positioned based on the first signal and the second signal in combination with the position information of at least one position indication.

[0018] In a possible implementation, the first positioning assistance information includes a fifth signal and a sixth signal, and the first communication device can also obtain the fifth signal and the sixth signal, wherein the fifth signal is composed of a signal of the seventh signal sent by the second communication device reaching the third communication device through the first transmission method, and a signal of the seventh signal reaching the third communication device through the second transmission method, and the sixth signal is composed of a signal of the seventh signal sent by the second communication device reaching the fourth communication device through the first transmission method, and a signal of the seventh signal reaching the fourth communication device through the second transmission method, and the sending time of the seventh signal is different from the sending time of the third signal.

[0019] In the above implementation, the second communication device can be positioned by using the signals sent by the second communication device at different time points, without the need for other additional information, and the implementation is simple.

[0020] In a possible implementation, the first communication device may also determine a fourth distance based on the first positioning assistance information, the first signal and the second signal; or the first communication device may also receive a fourth distance from the second communication device; wherein the fourth distance is a vertical distance from the second communication device to the ground.

[0021] In a possible implementation manner, the first signal includes the time when the third communication device receives the first signal, and the second signal includes the time when the fourth communication device receives the second signal.

[0022] In a possible implementation, the second signal further includes a first time difference, where the first time difference is a difference between a time when the fourth communication device receives the second signal and a time when the fourth communication device sends the second signal to the first communication device.

[0023] In a second aspect, the present application provides a second positioning method, which can be performed by a first communication device, and the method includes:

[0024] The first communication device acquires an eighth signal and a ninth signal, wherein the eighth signal is composed of a signal of the tenth signal sent by the third communication device reaching the second communication device through the third transmission mode, and a signal of the tenth signal reaching the second communication device through the fourth transmission mode, and the ninth signal is composed of a signal of the eleventh signal sent by the fourth communication device reaching the second communication device through the third transmission mode, and a signal of the eleventh signal reaching the second communication device through the fourth transmission mode; and determines a first length and a first distance according to the second positioning auxiliary information, the eighth signal and the ninth signal, wherein the first length is the distance between the first reference position of the second communication device corresponding to the first transmission line and the third communication device or the fourth communication device, and the first distance is the distance from the second communication device to the first reference position. The third transmission mode is a transmission mode of first transmitting by the first transmission line and then transmitting wirelessly, and the fourth transmission mode is a transmission mode of first transmitting by the first transmission line and then reflecting through a tunnel, and the first transmission line is the transmission line between the third communication device and the fourth communication device.

[0025] The second communication device may be a terminal device or a component in the terminal device (e.g., a chip, or a chip system, or a circuit, etc.). The third communication device may be a first network device or a component in the first network device (e.g., a chip, or a chip system, or a circuit, etc.). The fourth communication device may be a second network device or a component in the second network device (e.g., a chip, or a chip system, or a circuit, etc.). The first communication device may be deployed in the terminal device as a subunit (or submodule, or component) in the terminal device; or, the first communication device may also be deployed in the first network device as a subunit (or submodule, or component) in the first network device; or, the first communication device may also be deployed in the second network device as a subunit (or submodule, or component) in the second network device; or, the first communication device may also be deployed independently as an independent entity.

[0026] Optionally, the first transmission line may be a leaky coaxial cable, or the first transmission line may also be a waveguide.

[0027] In the above-mentioned second positioning method, the first communication device can locate the second communication device based on the eighth signal and the ninth signal received by the second communication device, which means that even if the communication device to be located only has a receiving capability, the communication device to be located can be located through this method, thereby being applicable to a variety of application scenarios.

[0028] In a possible implementation manner, the second positioning assistance information may include map information of the tunnel.

[0029] In a possible implementation, a passive reflector is deployed in the tunnel, and the fourth transmission mode is a transmission mode in which the first transmission line is first transmitted and then reflected through the tunnel. Specifically, the fourth transmission mode is a transmission mode in which the first transmission line is first transmitted and then reflected through the passive reflector.

[0030] In a possible implementation, at least one fifth communication device is deployed in the tunnel, the second positioning assistance information includes the location information of the at least one fifth communication device, and the first communication device can also receive the location information of the at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length includes the distance between the second reference position of the fifth communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

[0031] In a possible implementation, at least one location indication is deployed in the tunnel, the second positioning assistance information includes the location information of the at least one location indication, and the first communication device may also receive at least one fourth signal triggered by the at least one location indication; the location information of the at least one location indication is determined according to the at least one fourth signal, wherein the location information of the location indication includes a third length and a third distance, the third length is the distance between the third reference position of the location indication corresponding to the first transmission line to the third communication device or the fourth communication device, and the third distance is the distance from the location indication to the third reference position.

[0032] In a possible implementation, the second positioning assistance information includes a twelfth signal and a thirteenth signal, and the first communication device can also obtain the twelfth signal and the thirteenth signal, wherein the twelfth signal is composed of a signal in which a fourteenth signal sent by the third communication device reaches the second communication device through the third transmission method, and a signal in which the fourteenth signal reaches the second communication device through the fourth transmission method, and the thirteenth signal is composed of a signal in which a fifteenth signal sent by the second communication device reaches the second communication device through the third transmission method, and a signal in which the fifteenth signal reaches the second communication device through the fourth transmission method, and the sending time of the fourteenth signal is different from the sending time of the tenth signal, and the sending time of the fifteenth signal is different from the sending time of the eleventh signal.

[0033] In one possible implementation, the first communication device can also determine a fourth distance based on the second positioning assistance information, the eighth signal and the ninth signal; or the first communication device can also receive the fourth distance from the second communication device; wherein the fourth distance is the vertical distance from the second communication device to the ground.

[0034] In one possible implementation, the eighth signal carries the time when the third communication device sends the tenth signal, and the ninth signal carries the time when the fourth communication device sends the eleventh signal; or, the ninth signal carries a second time difference, and the second time difference is the difference between the time when the third communication device sends the tenth signal and the time when the fourth communication device sends the eleventh signal.

[0035] In another possible implementation manner, the ninth signal carries a third time difference, where the third time difference is a difference between a time when the fourth communication device receives the tenth signal and a time when the fourth communication device sends the eleventh signal.

[0036] For the technical effects that can be achieved by any possible implementation of the second aspect, please refer to the technical effects that can be achieved by any possible implementation of the first aspect, and no further details will be given.

[0037] In a third aspect, an embodiment of the present application provides a communication device. The communication device is used to execute the method described in the first aspect or the second aspect and any possible design thereof. The communication device is, for example, a first communication device.

[0038] In one possible design, the communication device includes a baseband device and a radio frequency device.

[0039] In another possible design, the communication device includes a processing module (sometimes also referred to as a processing unit) and a transceiver module (sometimes also referred to as a transceiver unit). The transceiver module can implement a sending function and a receiving function. When the transceiver module implements the sending function, it can be called a sending module (sometimes also referred to as a sending unit), and when the transceiver module implements the receiving function, it can be called a receiving module (sometimes also referred to as a receiving unit). The sending module and the receiving module can be the same functional module, which is called a transceiver module, and the functional module can implement a sending function and a receiving function; or, the sending module and the receiving module can be different functional modules, and the transceiver module is a general term for these functional modules.

[0040] In a fourth aspect, an embodiment of the present application further provides a communication device. The communication device may include one or more processors. Optionally, the communication device may also include a memory. The memory is used to store one or more computer programs or instructions. The one or more processors are used to execute the one or more computer programs or instructions stored in the memory, so that the communication device performs the method described in the first aspect and any possible design thereof, or performs the method described in the second aspect and any possible design thereof.

[0041] In a fifth aspect, an embodiment of the present application further provides a communication system. The communication system includes the communication device described in the third aspect. Optionally, the communication system may also include a second communication device, a third communication device, and a fourth communication device.

[0042] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, which is used to store computer programs or instructions. When the computer-readable storage medium is executed, the method described in the above-mentioned first aspect and any possible design thereof is implemented, or the method described in the above-mentioned second aspect and any possible design thereof is implemented.

[0043] In the seventh aspect, an embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the method described in the above-mentioned first aspect and any possible design thereof to be implemented, or enables the method described in the above-mentioned second aspect and any possible design thereof to be implemented.

[0044] In the eighth aspect, an embodiment of the present application also provides a chip, which is coupled to a memory and is used to read and execute program instructions in the memory, so that the device where the chip is located implements the method described in the above-mentioned first aspect and any possible design thereof, or implements the method described in the above-mentioned second aspect and any possible design thereof.

[0045] For the technical effects that can be achieved by the above-mentioned third to eighth aspects and any possible implementation methods thereof, please refer to the technical effects that can be achieved by the above-mentioned first or second aspect and any possible implementation methods thereof, and no repetition will be given. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 A schematic diagram of a positioning principle;

[0047] Figure 2 A schematic diagram of another positioning principle;

[0048] Figure 3 This is a schematic diagram of another positioning principle;

[0049] Figure 4 A schematic diagram of the structure of a communication system provided in an embodiment of the present application;

[0050] Figure 5 A schematic diagram of the process of the first positioning method provided in the embodiment of the present application;

[0051] Figure 6 A schematic diagram of a first transmission mode and a second transmission mode provided in an embodiment of the present application;

[0052] Figure 7 A schematic diagram of the structure of a communication system provided in an embodiment of the present application;

[0053] Figure 8 A schematic diagram of the structure of a communication system provided in an embodiment of the present application;

[0054] Fig. 9 A schematic diagram of the structure of a communication system provided in an embodiment of the present application;

[0055] Fig.10 A schematic diagram of the structure of another communication system provided in an embodiment of the present application;

[0056] Fig.11A schematic diagram of a second positioning method provided in an embodiment of the present application;

[0057] Fig.12 A schematic diagram of the third transmission mode and the fourth transmission mode provided in the embodiment of the present application;

[0058] Fig.13 A schematic diagram of the structure of another communication system provided in an embodiment of the present application;

[0059] Fig.14 A schematic diagram of the structure of another communication system provided in an embodiment of the present application;

[0060] Fig.15 A schematic diagram of the structure of another communication system provided in an embodiment of the present application;

[0061] Fig.16 A schematic diagram of the structure of a communication device provided in an embodiment of the present application;

[0062] Fig.17 A schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to facilitate understanding of the embodiments of the present application, the technical features involved in the embodiments of the present application are first introduced below.

[0064] The 3rd generation partnership project (3GPP) standard supports a variety of positioning technologies, including time of arrival (TOA)-based positioning technology and time difference of arrival (TDOA)-based positioning technology. TOA positioning determines the distance between the terminal device and the base station by measuring the time difference between the base station sending the signal and the terminal device receiving the signal. TDOA positioning determines the location of the terminal device by measuring the transmission delay difference between the terminal device and multiple base stations. Depending on the measurement object, TDOA positioning includes downlink time difference of arrival (DL-TDOA) positioning technology and uplink time difference of arrival (UL-TDOA) positioning technology.

[0065] See also Figure 1 , which is a schematic diagram of the principle of TDOA positioning. Figure 1 Take the example of two base stations as the multiple base stations. Figure 1As shown, based on the arrival time difference between the terminal device and base station 1 and base station 2, the distance difference (denoted as R21) between the distance between the terminal device and base station 1 (denoted as R1) and the distance between the terminal device and base station 2 (denoted as R2) can be calculated, that is, R21 = R2-R1. It can be understood that if the distance difference between the terminal device and the two base stations is known, then the terminal device is located on a hyperbola with the two base stations as the foci and the distance difference with the two foci is a constant value. It can be seen that this positioning method can only determine that the terminal device is located on the hyperbola, and cannot obtain more accurate location information of the terminal device.

[0066] See also Figure 2 , which is another principle schematic diagram based on TDOA positioning. Figure 2 and Figure 1 The difference is that Figure 2 Take the case where the multiple base stations are three base stations. Figure 2 As shown, based on the arrival time difference between the terminal device and base station 1 and base station 2, the distance difference R21=R2-R1 between the distance R1 between the terminal device and base station 1 and the distance R2 between the terminal device and base station 2 can be calculated. Similarly, based on the arrival time difference between the terminal device and base station 1 and base station 3, the distance difference (recorded as R31) between the distance R1 between the terminal device and base station 1 and the distance between the terminal device and base station 3 (recorded as R3) can be calculated, that is, R31=R3-R1. Then the terminal device is located on the hyperbola 1 with base station 1 and base station 2 as the focus and the distance difference between the two foci is constant R21, and is also located on the hyperbola 2 with base station 1 and base station 3 as the focus and the distance difference between the two foci is constant R31. That is, the terminal device is located at the intersection of hyperbola 1 and hyperbola 2. It can be seen that this positioning method requires at least three base stations to realize the positioning of the terminal device, and the application scenario is relatively limited.

[0067] Please refer to Figure 3 , is a schematic diagram of the principle of positioning based on leaky cable. Figure 3 In the example, base station 1 and base station 2 are connected via a leaky cable ( Figure 3The thick black line is used as an example in the figure) and the length of the leaky cable is denoted as L. Since the electromagnetic wave is transmitted along the leaky cable, two base stations can be used to locate the terminal device. Specifically, the TDOA positioning scheme can be used to obtain the distance from the reference position 1 of the terminal device corresponding to the leaky cable to the base station 1 (denoted as l1), and the distance from the reference position 1 to the base station 2 (denoted as l2). Furthermore, in order to obtain more location information of the terminal device, the distance from the terminal device to the reference position 1 (denoted as h) can be obtained based on TOA, thereby obtaining the distance of the terminal device on the straight line where it is located. In this scheme, the positioning of the terminal device is implemented based on the TDOA positioning scheme and the TOA positioning scheme. During this implementation process, the terminal device needs to receive signals from base station 1 and base station 2, and send signals to base station 1 and base station 2, that is, the terminal device is at least required to have sending and receiving capabilities, and the application scenarios are relatively limited.

[0068] In view of this, the embodiments of the present application provide a positioning method and a communication device, which are used to locate the terminal device even when the terminal device only has the sending capability or the terminal device only has the receiving capability, and can be applied to a variety of application scenarios, such as subways, tunnels, etc. Among them, the method and device described in the present application are based on the same technical concept. Since the principles of solving the problem by the method and the device are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0069] Before introducing the positioning method provided in the embodiment of the present application, the communication system to which the embodiment of the present application is applicable is first introduced below.

[0070] The technical solutions of the embodiments of the present application can be applied to various communication systems, for example, universal mobile telecommunications system (UMTS), wireless local area network (WLAN), enhanced mobile broadband (eMBB), ultra-reliable low-latency communications (URLLC) system, machine type communication (MTC) system, massive machine type communication (mMTC) system, enhanced machine type communication (eMTC) system, Internet of Things (IoT) communication system, narrowband Internet of Things (NB-IoT) system, short-range wireless communication system (such as sidelink, wireless fidelity (Wi-Fi), Bluetooth, etc.), wired network, vehicle to everything (V2X) communication system, device-to-device (D2D) communication system, augmented reality (AR) communication system, etc. The following types of communication systems are not restricted: (1) 4G mobile communication systems (such as long term evolution (LTE) systems), LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, worldwide interoperability for microwave access (WiMAX) communication systems, 5G mobile communication systems (such as new radio (NR) systems), future communication systems (such as 6G mobile communication systems), or other similar communication systems.In addition, the solution provided in the embodiment of the present application can also be applicable to future communication technologies. The system described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of network architecture, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0071] Figure 4 The structure diagram of a communication system provided by an embodiment of the present application is exemplarily shown. Figure 4 As shown, the communication system 400 (or positioning system) may include a first communication device, a second communication device, a third communication device and a fourth communication device. The first communication device may be connected to the second communication device, the third communication device and the fourth communication device in a wired or wireless manner. Figure 4 In the example, the first communication device is connected to the third communication device and the fourth communication device by wire, and is connected to the second communication device by wireless. The third communication device and the fourth communication device are connected via the first transmission line ( Figure 4 Optionally, the first transmission line may be a leaky cable, or the first transmission line may be a waveguide. The number of the first transmission lines may be one or more. Figure 4 A first transmission line is used as an example. The number of the second communication device can be one or more. Figure 4 A second communication device is used as an example. Figure 4 The example of a tunnel scene is used, but the present invention is not limited thereto.

[0072] The first communication device, which may also be referred to as a convergence unit, a convergence module, or a positioning module, is used to realize the positioning of the terminal device (e.g., the second communication device), that is, to determine (or obtain) the location information of the terminal device. The first communication device may be deployed independently, that is, as an independent entity; or, the first communication device may be deployed in the terminal device, as a subunit (or submodule, or component, etc.) in the terminal device; or, the first communication device may also be deployed in the first network device, as a subunit (or submodule, or component, etc.) in the first network device; or, the first communication device may also be deployed in the second network device, as a subunit (or submodule, or component, etc.) in the second network device. Figure 4 The independent deployment of the first communication device is taken as an example.

[0073] The second communication device is a communication device to be located. For example, the second communication device may be a terminal device or a component in the terminal device (eg, a chip, or a chip system, or a circuit, etc.).

[0074] The third communication device is used to assist the first communication device in locating the terminal device (e.g., the second communication device). For example, the third communication device can be the first network device or a component in the first network device (e.g., a chip, or a chip system, or a circuit, etc.).

[0075] The fourth communication device can be used to assist the first communication device in locating the terminal device (e.g., the second communication device). For example, the fourth communication device can be the second network device or a component in the second network device (e.g., a chip, or a chip system, or a circuit, etc.).

[0076] Among them, the terminal device in the embodiment of the present application can be a user-side device with wireless transceiver function, which can send signals to the network device and receive signals from the network device; or it can also be a low-power (or low-cost) user-side device with only receiving function, which can receive signals from the network device; or it can also be a low-power (or low-cost) user-side device with only sending function, which can send signals to the network device. Exemplarily, the terminal device may include user equipment (UE), sometimes also referred to as terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc. The terminal device can be used to connect people, objects, machines, etc., and can be widely used in various scenarios, such as but not limited to the following scenarios: cellular communication, D2D, V2X, machine-to-machine / machine-type communications (M2M / MTC), IoT, virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, drone, robot and other scenarios. For example, the terminal device can be a mobile phone, a tablet computer (Pad), a computer with wireless transceiver function, a VR terminal, an AR terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a smart speaker in an IoT network, a wireless terminal device in remote medical care, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, or a wireless terminal device in a smart home, etc.

[0077] As an example but not limitation, in the embodiments of the present application, the terminal device may also be a wearable device. Wearable devices may also be referred to as wearable smart devices or smart wearable devices, etc., which are general terms for the intelligent design and development of wearable devices for daily wear using wearable technology, such as glasses, gloves, watches, clothing and shoes, etc. The various terminal devices introduced above, if located on a vehicle (e.g., placed in a vehicle or installed in a vehicle), may be considered as vehicle-mounted terminal devices, and vehicle-mounted terminal devices may also be referred to as on-board units (OBU). The terminal device of the present application may also be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit built into a vehicle as one or more components or units, and the vehicle may implement the method of the present application through the built-in vehicle-mounted module, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit.

[0078] It should be pointed out that the embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal device.

[0079] Among them, the network device (for example, the first network device or the second network device) in the embodiment of the present application is a network side device with wireless transceiver function. Exemplarily, the network device can be a device in a radio access network (RAN) that provides wireless communication functions for terminal devices, referred to as a RAN device. RAN can be an access network in the third generation partnership project (3GPP), for example, 4G, 5G, or a future-oriented 6G network. RAN can also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (cloud radio access network, CRAN), or a communication network of two or more of the above networks. RAN equipment can also be a base station (base station), an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5G mobile communication system, a base station in a 6G mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, etc.

[0080] The RAN device can also be a module or unit that completes some functions of the base station, for example, it can be a centralized unit (CU), a distributed unit (DU), or a radio unit (RU). Among them, a CU can be connected to a DU, or a CU can be connected to multiple DUs, which can save costs and facilitate network expansion. In other words, the access network equipment can be composed of a CU and one or more DUs. The CU and DU are connected through the F1 interface, and the CU and the core network are connected through the next generation (NG) interface. Optionally, the CU can also be divided into a CU-control plane (CP) and a CU-user plane (UP).

[0081] In a possible implementation, the CU can complete the functions of the radio resource control protocol (RRC) layer and the PDCP layer of the base station, and can also complete the functions of the SDAP layer; the DU can complete the functions of the RLC layer and the MAC layer of the base station, and can also complete the functions of part of the PHY layer or all of the PHY layer. For the specific description of the above-mentioned various protocol layers, reference can be made to the relevant technical specifications of the third generation partnership project (3GPP). The CU and DU can be set separately, or can also be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH). In different systems, CU, DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an ORAN system, CU may also be called O-CU (open CU), DU may also be called O-DU (open DU), and RU may also be called O-RU (open RU). Any unit in the CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module. It is understandable that the base station may adopt a CU-DU separation architecture or not. The base station may adopt a CP-UP separation architecture or not.

[0082] It should be pointed out that the embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0083] The embodiments of the present application will be presented around a system including multiple devices, components, modules, etc. It should be understood that the communication system 400 may also include other devices, components, modules, etc. not mentioned, or may only include some of the devices, components, or modules, etc. mentioned in the embodiments.

[0084] In the embodiments of the present application, "multiple" may refer to two or more than two. In view of this, in the embodiments of the present application, "multiple" may also be understood as "at least two". "At least one" may be understood as one or more, for example, one, two or more. For example, "including at least one" means including one, two or more. For example, including at least one of A, B and C, then A, B, C, A and B, A and C, B and C, or A, B and C may be included. "And / or" describes the association relationship of associated objects. Specifically, there may be three relationships. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the previously associated objects are in an "or" relationship.

[0085] Unless otherwise specified, ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are generally used to distinguish different objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first communication device, the second communication device, the third communication device, the fourth communication device, and the fifth communication device in the embodiments of the present application are used to distinguish five communication devices, and do not limit the priority or importance of the five communication devices.

[0086] In addition, unless otherwise specified, the terms "system" and "network" in the embodiments of the present application may be used interchangeably, "according to" and "based on" may be used interchangeably, "if" and "if" may be replaced, and unless otherwise specified, "when..." and "in the case of..." may be replaced.

[0087] Next, the first positioning method provided by the embodiment of the present application is introduced. This method can be applied to Figure 4 The communication system 400 in the illustrated embodiment is not limited. The following description is made by taking the first positioning method applied to the communication system 400 as an example. Figure 4 The relevant description in the illustrated embodiment will not be repeated any more.

[0088] Figure 5The flowchart of the first positioning method provided by the embodiment of the present application is exemplarily shown. In this embodiment, the second communication device (or terminal device) at least has a sending function. Figure 5 As shown, the method may include the following contents.

[0089] S501: A first communication device obtains a first signal and a second signal.

[0090] In S501, the first communication device obtains the first signal and the second signal. In one implementation, the third communication device may send the first signal to the first communication device; accordingly, the first communication device receives the first signal from the third communication device. It is understandable that the first signal may be sent directly to the first communication device, or may be forwarded to the first communication device by the fourth communication device, without limitation. In one implementation, the fourth communication device may send the second signal to the first communication device; accordingly, the first communication device receives the second signal from the fourth communication device. It is understandable that the second signal may be sent directly to the first communication device, or may be forwarded to the first communication device by the third communication device, without limitation. Exemplarily, the second communication device may send a third signal, which is transmitted in combination by the first transmission mode and the second transmission mode; accordingly, the third communication device receives the first signal, and the fourth communication device receives the second signal.

[0091] The first signal may be composed of a signal of the third signal arriving at the third communication device through the first transmission mode, and a signal of the third signal arriving at the third communication device through the second transmission mode; or it may be expressed as: the first signal may be a superimposed signal of a signal of the third signal arriving at the third communication device through the first transmission mode, and a signal of the third signal arriving at the third communication device through the second transmission mode.

[0092] The second signal may be composed of a signal obtained by the third signal reaching the fourth communication device via the third transmission mode, and a signal obtained by the third signal reaching the fourth communication device via the second transmission mode; or it may be expressed as follows: the second signal may be a superimposed signal of a signal obtained by the third signal reaching the fourth communication device via the first transmission mode, and a signal obtained by the third signal reaching the fourth communication device via the second transmission mode.

[0093] The first transmission mode may be a transmission mode in which wireless transmission is first transmitted to the first transmission line and then transmitted via the first transmission line, such as Figure 6 The second transmission mode may be a transmission mode in which the transmission line is first transmitted through a tunnel reflection and then transmitted through the first transmission line, such as Figure 6 It should be pointed out that for ease of understanding, Figure 6 In the figure, the first transmission line is taken as an example as a thick hollow line.

[0094] The third communication device and the fourth communication device may be synchronized or asynchronous, without limitation. In one embodiment, the first signal includes the time (or timestamp) when the third communication device receives the first signal, and the second signal includes the time (or timestamp) when the fourth communication device receives the second signal.

[0095] Optionally, the second signal may also include a first time difference, which is the difference between the time (or timestamp) when the fourth communication device receives the second signal and the time (or timestamp) when the fourth communication device sends the second signal to the first communication device. For example, when the third communication device is not synchronized with the fourth communication device, the second signal may also include the first time difference. Optionally, the first time difference may not be carried in the second signal. For example, the fourth communication device may also send the first time difference to the first communication device; accordingly, the first communication device receives the first time difference. Among them, the first time difference may be sent directly to the first communication device, or may be forwarded to the first communication device by the third communication device, without limitation.

[0096] Optionally, the first signal may also include a fourth time difference, which is the difference between the time (or timestamp) when the third communication device receives the first signal and the time (or timestamp) when the third communication device sends the first signal to the first communication device. For example, when the third communication device is not synchronized with the fourth communication device, the first signal may also include a fourth time difference. Optionally, the fourth time difference may not be carried in the first signal. For example, the third communication device may also send the fourth time difference to the first communication device; accordingly, the first communication device receives the fourth time difference. Among them, the fourth time difference may be sent directly to the first communication device, or may be forwarded to the first communication device by the fourth communication device, without limitation.

[0097] In one implementation, the communication system 400 may further include a passive reflector, which is deployed in the tunnel. That is, a passive reflector is deployed in the tunnel. Figure 7 As shown. The number of passive reflectors can be one or more. Figure 7The example of 6 passive reflectors deployed on the side wall of the tunnel is shown. It should be understood that the embodiment of the present application does not limit the specific deployment method of one or more passive reflectors. The passive reflector may also be referred to as a passive reflection unit, a passive reflection module, or a corner reflector, etc. The passive reflector may be used to enhance the signal sent by the second communication device and reflect it to the first transmission line. Accordingly, the second transmission mode is a transmission mode in which the signal is first reflected through the tunnel to reach the first transmission line and then transmitted by the first transmission line. Specifically, the second transmission mode may be a transmission mode in which the signal is first reflected through the passive reflector to reach the first transmission line and then transmitted by the first transmission line. Through this embodiment, the passive reflector can enhance the signal sent by the second communication device and reflect it to the first transmission line, which is beneficial to improving the positioning accuracy.

[0098] S502: The first communication device determines a first length and a first distance according to the first positioning assistance information, the first signal and the second signal.

[0099] The first length can be the distance between the first reference position of the second communication device corresponding to the first transmission line and the third communication device, or the distance between the first reference position of the second communication device corresponding to the first transmission line and the fourth communication device. For the sake of simplicity, the distance between the first reference position of the second communication device corresponding to the first transmission line and the third communication device is recorded as l1, and the distance between the first reference position of the second communication device corresponding to the first transmission line and the fourth communication device is recorded as l2 for explanation. It can be understood that, assuming that the distance between the third communication device and the fourth communication device is recorded as L, the first length is l1, then l2 is (L-l1); or the first length is l2, then l1 is (L-l2). The first distance is the distance from the second communication device to the first reference position. For the sake of simplicity, the first distance is recorded as h for explanation.

[0100] Wherein, L may be pre-input into the first communication device, or may be determined by the first communication device, without limitation. Exemplarily, the first communication device may determine L in the following manner: Step A1, the third communication device sends a ranging signal X1 to the fourth communication device at time t11, and the fourth communication device receives the ranging signal X1 at time t12 accordingly; Step A2, the fourth communication device sends a ranging signal X2 to the third communication device at time t22, and the ranging signal X2 carries a time difference 1 (t22-t12), and the third communication device receives the ranging signal X2 at time t23 accordingly; Step A3, the third communication device determines L according to t23, t11 and (t22-t12), and the L satisfies [(t23-t11)-(t22-t12)]×v / 2, where v is the transmission speed of electromagnetic waves in the leaky cable or waveguide; Step A4, the third communication device sends L to the first communication device, and the first communication device receives the L accordingly. It is understandable that the embodiment of the present application does not limit the specific implementation process of the first communication device determining L. For example, in step A3, the third communication device may also send the time difference 1 (t22-t12) and the time difference 2 (t23-t11) to the first communication device, and the first communication device determines L according to the time difference 1 (t22-t12) and the time difference 2 (t23-t11).

[0101] The first reference position may be the intersection of the straight line where the second communication device is located and the first transmission line, that is, the first reference position may be any position on the first transmission line without limitation. The first reference position may be predefined, or may be set by the user, etc. without limitation. Optionally, the first reference position may be the intersection of the straight line where the second communication device is located and the first transmission line, and the straight line where the second communication device is located is perpendicular to the first transmission line, such as Figure 4 shown.

[0102] In a possible implementation, the first communication device may also determine a fourth distance, which may be the distance from the second communication device to the ground, such as the vertical distance from the second communication device to the ground. In one example, the first communication device may determine the fourth distance based on the first positioning auxiliary information, the first signal, and the second signal. In another example, the second communication device may send the fourth distance to the first communication device; accordingly, the first communication device receives the fourth distance from the second communication device. Optionally, the second communication device may also send inertial navigation distance and / or speed information to the first communication device; accordingly, the first communication device may receive inertial navigation distance and / or speed information from the second communication device to improve positioning accuracy. The embodiment of the present application does not limit the specific implementation process of the first communication device determining the fourth distance based on the first positioning auxiliary information, the first signal, and the second signal.

[0103] In S502, the first communication device determines the first length and the first distance according to the first positioning assistance information, the first signal and the second signal. Exemplarily, the first communication device may determine the first length according to the first signal and the second signal, and then determine the first distance according to the first length and the first positioning assistance information. Optionally, the first communication device may also determine a fourth distance according to the first length and the first positioning assistance information.

[0104] Exemplarily, the first communication device may determine the first length (l1 or l2) by the following formula (1).

[0105]

[0106] Wherein, the first length is l1 or l2. (l1-l2) and L are known parameters. h is the first distance. θ is the radiation inclination angle, which can be obtained by the frequency point and the shape of the first transmission line without limitation.

[0107] There are multiple implementations of the first positioning assistance information in the embodiment of the present application, which are introduced below.

[0108] Implementation method 1_1: The first positioning assistance information may include map information of the tunnel.

[0109] The map information of the tunnel may be stored offline in the first communication device without limitation. The map information of the tunnel may be modeling information of the tunnel, etc. without limitation. For example, the map information of the tunnel may include but is not limited to one or more of the following: the width of the tunnel, the length of the tunnel, the height of the tunnel, and the fourth distance, etc.

[0110] Accordingly, the first communication device can determine the first length and the first distance according to the map information of the tunnel, the first signal and the second signal. Optionally, the first communication device can also determine the fourth distance according to the map information of the tunnel, the first signal and the second signal.

[0111] In the above implementation 1_1, the map of the tunnel is input offline into the first communication device, so that the first communication device can locate the second communication device by receiving the first signal and the second signal corresponding to the third signal sent by the second communication device. The implementation is simple and easy to implement.

[0112] Implementation method 1_2: The first positioning assistance information may include location information of at least one fifth communication device.

[0113] In implementation manner 1_2, the communication system 400 may further include a fifth communication device, which is deployed in the tunnel, that is, the fifth communication device is deployed in the tunnel, such as Figure 8 The number of the fifth communication device may be one or more. Figure 8In the figure, four fifth communication devices are deployed on the side wall of the tunnel as an example. It should be understood that the embodiment of the present application does not limit the specific deployment method of one or more fifth communication devices. The fifth communication device may also be referred to as a transceiver unit, a transceiver module, a tag, a low-power transceiver module, or an active module. The fifth communication device has a transmitting function and a receiving function, and can send signals to the third communication device and receive signals from the third communication device, and send signals to the fourth communication device and receive signals from the fourth communication device.

[0114] Exemplarily, the first communication device can obtain the location information of at least one fifth communication device. For example, the first communication device can receive the location information of at least one fifth communication device from at least one fifth communication device. Taking a fifth communication device as an example, the fifth communication device can determine the distance between its second reference position corresponding to the first transmission line and the third communication device or the fourth communication device (such as denoted as d1) according to the TDOA technology; determine (d1+g×(1-sinθ) / cosθ) according to the TOA technology; determine its own location information according to d1 and (d1+g×(1-sinθ) / cosθ), and send its own location information to the first communication device. Among them, g is the distance from the fifth communication device to the second reference position. θ is the radiation inclination angle, which can be obtained by the frequency point and the shape of the first transmission line, without limitation. It should be understood that the embodiment of the present application does not limit the specific implementation process of the fifth communication device obtaining its own location information.

[0115] It should be pointed out that the fifth communication device can determine its own location information and then send the location information to the first communication device; alternatively, the fifth communication device can also send relevant parameters (such as d1, (d1+g×(1-sinθ) / cosθ) and other parameters) to the first communication device, and the first communication device determines the location information of the fifth communication device based on the relevant parameters; alternatively, the fifth communication device can also send the relevant parameters to other communication devices other than the first communication device (for example, the third communication device, or the fourth communication device), and the other devices determine the location information of the fifth communication device based on the relevant parameters, and then send the location information of the fifth communication device to the first communication device, without limitation.

[0116] Among them, the position information of the fifth communication device may include a second length and a second distance. The second length may be the distance between the second reference position of the fifth communication device corresponding to the first transmission line and the third communication device, or may be the distance between the second reference position of the fifth communication device corresponding to the first transmission line and the fourth communication device. The second distance may be the distance from the fifth communication device to the second reference position. The second reference position may be the intersection of the straight line where the fifth communication device is located and the first transmission line, that is, the second reference position may be any position on the first transmission line without limitation. The second reference position may be predefined, or may be set by the user, etc. without limitation. Optionally, the second reference position may be the intersection of the straight line where the fifth communication device is located and the first transmission line, and the straight line where the position indication is located is perpendicular to the first transmission line.

[0117] Accordingly, the first communication device can determine the first length and the first distance according to the location information of at least one fifth communication device, the first signal and the second signal. Optionally, the first communication device can also determine the fourth distance according to the location information of at least one fifth communication device, the first signal and the second signal.

[0118] In the above implementation manner 1_2, the second communication device can be positioned based on the first signal and the second signal in combination with the location information of at least one fifth communication device.

[0119] Implementation method 1_3: The first positioning assistance information may include location information of at least one location indication.

[0120] In implementation manner 1_3, the communication system 400 may further include a location indicator, which is deployed in the tunnel, that is, the location indicator is deployed in the tunnel, such as Fig. 9 The number of position indications can be one or more. Fig. 9 In the figure, six position indications are deployed in a tunnel as an example. Optionally, the position indication may also be deployed on the side wall of the tunnel, or may be deployed in other locations, such as rails, or pillars in the tunnel. It should be understood that the embodiments of the present application do not limit the specific deployment method of one or more position indications. The position indication may provide its own position information to the first communication device. The position indication may be, for example, a short-range communication device (such as a near field communication (NFC) device), or a QR code, etc. The embodiments of the present application do not limit the specific implementation form of the position indication.

[0121] Exemplarily, the first communication device may receive at least one fourth signal triggered by at least one location indication, and determine the location information of the at least one location indication according to the at least one fourth signal. For example, the location indication is a short-range communication device, and the user can trigger the short-range communication device to send its own location information to the first communication device by sensing the short-range communication device; accordingly, the first communication device receives the location information of the short-range communication device. For another example, the location indication is a QR code, and the user can trigger the QR code to send its own location information to the first communication device by scanning the QR code; accordingly, the first communication device receives the location information of the QR code.

[0122] Among them, one position indication triggers one fourth signal. In other words, one position indication corresponds to one fourth signal, and one fourth signal corresponds to one position indication. The fourth signal carries the position information of the corresponding position indication. The position information of the position indication may include a third length and a third distance. The third length may be the distance between the third reference position of the first transmission line corresponding to the position indication and the third communication device, or may be the distance between the third reference position of the first transmission line corresponding to the position indication and the fourth communication device. The third distance may be the distance from the position indication to the third reference position. The third reference position may be the intersection of the straight line where the position indication is located and the first transmission line, that is, the third reference position may be any position on the first transmission line without limitation. The third reference position may be predefined, or may be set by the user, etc. without limitation. Optionally, the third reference position may be the intersection of the straight line where the position indication is located and the first transmission line, and the straight line where the position indication is located is perpendicular to the first transmission line.

[0123] Accordingly, the first communication device can determine the first length and the first distance according to the location information of the at least one location indicator, the first signal and the second signal. Optionally, the first communication device can also determine the fourth distance according to the location information of the at least one location indicator, the first signal and the second signal.

[0124] In the above implementation manner 1_3, the second communication device can be positioned based on the first signal and the second signal in combination with the location information of at least one location indication.

[0125] Implementation method 1_4: the first positioning assistance information may include a fifth signal and a sixth signal.

[0126] The first communication device can obtain the fifth signal and the sixth signal. In one embodiment, the third communication device can send the fifth signal to the first communication device; accordingly, the first communication device receives the fifth signal from the third communication device. It is understandable that the fifth signal can be sent directly to the first communication device, or it can also be forwarded to the first communication device by the fourth communication device, without limitation. In one embodiment, the fourth communication device can send the sixth signal to the first communication device; accordingly, the first communication device receives the sixth signal from the fourth communication device. It is understandable that the sixth signal can be sent directly to the first communication device, or it can also be forwarded to the first communication device by the third communication device, without limitation. Exemplarily, the second communication device sends the seventh signal, which is transmitted in combination by the first transmission mode and the second transmission mode; accordingly, the third communication device receives the fifth signal, and the fourth communication device receives the sixth signal. Wherein, the sending time of the seventh signal is different from the sending time of the third signal.

[0127] The fifth signal may be composed of a signal obtained by the seventh signal arriving at the third communication device through the first transmission mode, and a signal obtained by the seventh signal arriving at the third communication device through the second transmission mode; or it may be expressed as follows: the fifth signal may be a superimposed signal of a signal obtained by the seventh signal arriving at the third communication device through the first transmission mode, and a signal obtained by the seventh signal arriving at the third communication device through the second transmission mode.

[0128] The sixth signal may be composed of a signal obtained by transmitting the seventh signal to the fourth communication device through the first transmission mode, and a signal obtained by transmitting the seventh signal to the fourth communication device through the second transmission mode; or it may be expressed as follows: the sixth signal may be a superimposed signal of a signal obtained by transmitting the seventh signal to the fourth communication device through the first transmission mode, and a signal obtained by transmitting the seventh signal to the fourth communication device through the second transmission mode.

[0129] Accordingly, the first communication device can determine the first length and the first distance according to the first signal, the second signal, the fifth signal, and the sixth signal. Optionally, the first communication device can also determine the fourth distance according to the first signal, the second signal, the fifth signal, and the sixth signal. For example, the first communication device can use a least squares algorithm or a positioning algorithm such as a simultaneous localization and mapping (SLAM) algorithm to determine the first length and the first distance or the first length, the first distance, and the fourth distance.

[0130] It can be understood that the first positioning assistance information includes a fifth signal and a sixth signal, and the fifth signal and the sixth signal correspond to the seventh signal sent by the second communication device. The sending time of the seventh signal is different from the sending time of the third signal. In other words, the second communication device can send signals at multiple time points (in this embodiment, sending the third signal and the seventh signal is taken as an example. It should be understood that the second communication device can also send more signals), so that the first communication device can obtain multiple groups of signals corresponding to the multiple time points (each group of signals can refer to the description of the first signal and the second signal, or refer to the fifth signal and the sixth signal), and determine the first length, the first distance and the fourth distance based on the multiple groups of signals.

[0131] In the above implementation manner 1_4, the second communication device can be located by the signals sent by the second communication device at different time points without any other additional information, and the implementation manner is simple.

[0132] It should be noted that the above four implementations can be used alone or in combination. For example, the first positioning assistance information may include the map information of the tunnel and the location information of at least one fifth communication device. Accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the location information of at least one fifth communication device, the first signal and the second signal. For another example, the first positioning assistance information may include the map information of the tunnel and the location information of at least one location indication. Accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the location information of at least one location indication, the first signal and the second signal. For another example, the first positioning assistance information may include the map information of the tunnel, the fifth signal and the sixth signal. Accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the fifth signal, the sixth signal, the first signal and the second signal. For another example, the first positioning assistance information may include the location information of at least one fifth communication device and the location information of at least one location indication. Accordingly, the first communication device may determine the first length and the first distance according to the location information of at least one fifth communication device, the location information of at least one location indication, the first signal and the second signal. For another example, the first communication device may include the location information, the fifth signal, and the sixth signal of at least one fifth communication device. Accordingly, the first communication device may determine the first length and the first distance according to the location information, the fifth signal, the sixth signal, the first signal, and the second signal of at least one fifth communication device. For another example, the first communication device may include the location information, the fifth signal, and the sixth signal of at least one location indication. Accordingly, the first communication device may determine the first length and the first distance according to the location information, the fifth signal, the sixth signal, the first signal, and the second signal of at least one location indication. For another example, the first communication device may include the map information of the tunnel, the location information, the fifth signal, and the sixth signal of at least one fifth communication device. Accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the location information, the fifth signal, the sixth signal, the first signal, and the second signal of at least one fifth communication device. The remaining situations are similar and are not listed one by one.

[0133] In the above-mentioned first positioning method, the first communication device can locate the second communication device based on the first signal and the second signal corresponding to the third signal sent by the second communication device, which means that even if the communication device to be located only has the sending capability, the positioning of the communication device to be located can be achieved through the above-mentioned first positioning method, thereby being applicable to a variety of application scenarios.

[0134] Next, the second positioning method provided by the embodiment of the present application is introduced. This method can be applied to Fig.10 The communication system 1000 in the illustrated embodiment is not limited. Fig.10 The structural diagram of another communication system provided by the embodiment of the present application is exemplarily shown. Fig.10 As shown, the difference between the communication system 1000 and the communication system 400 is that the first communication device in the communication system 1000 can be connected to the second communication device in a wireless or wired manner. Fig.10 In the example, the first communication device is connected to the second communication device by wire. The third communication device is connected to the fourth communication device by a first transmission line ( Fig.10 The first transmission line may be a leaky cable, or the first transmission line may be a waveguide. For the rest of the contents (such as the first communication device, the second communication device, the third communication device, and the fourth communication device), please refer to Figure 4 The contents in the illustrated embodiment will not be described in detail.

[0135] Fig.11 The flowchart of the second positioning method provided by the embodiment of the present application is exemplarily shown. In this embodiment, the second communication device (or terminal device) at least has a receiving function. Fig.11 As shown, the method may include the following contents.

[0136] S1101: The first communication device obtains the eighth signal and the ninth signal.

[0137] In S1101, the first communication device obtains the eighth signal and the ninth signal. In one implementation, the second communication device may send the eighth signal and the ninth signal to the first communication device; accordingly, the first communication device receives the eighth signal and the ninth signal from the second communication device. For example, the second communication device sends the eighth signal and the ninth signal to the first communication device via a wired connection with the first communication device. Exemplarily, the third communication device may send the tenth signal, which is transmitted in combination with the third transmission mode and the fourth transmission mode, and accordingly the second communication device receives the eighth signal; the fourth communication device may send the eleventh signal, which is transmitted in combination with the third transmission mode and the fourth transmission mode, and accordingly the second communication device receives the ninth signal.

[0138] The eighth signal may be composed of a signal in which the tenth signal sent by the third communication device reaches the second communication device via the third transmission mode, and a signal in which the tenth signal reaches the second communication device via the fourth transmission mode; or it may be expressed as follows: the eighth signal may be a superimposed signal of a signal in which the tenth signal reaches the second communication device via the third transmission mode, and a signal in which the tenth signal reaches the second communication device via the fourth transmission mode.

[0139] The ninth signal may be composed of a signal in which the eleventh signal sent by the fourth communication device reaches the second communication device via the third transmission mode, and a signal in which the eleventh signal reaches the second communication device via the fourth transmission mode; or it may be expressed as follows: the ninth signal may be a superimposed signal of a signal in which the eleventh signal reaches the second communication device via the third transmission mode, and a signal in which the eleventh signal reaches the second communication device via the fourth transmission mode.

[0140] The third transmission mode may be a transmission mode of first transmitting through the first transmission line and then transmitting wirelessly, such as Fig.12 As shown in (1) in FIG. 4 . The fourth transmission mode may be a transmission mode in which the first transmission line is first transmitted and then reflected through a tunnel, such as Fig.12 As shown in (2) in the figure. The first transmission line can be found in Figure 4 The relevant description of the embodiment shown will not be repeated. It should be pointed out that for ease of understanding, Fig.12 In the figure, the first transmission line is taken as an example as a thick hollow line.

[0141] The third communication device and the fourth communication device may be synchronized or not, without limitation. In one embodiment, if the third communication device and the fourth communication device are synchronized (that is, they share a common clock), the third communication device and the fourth communication device may send the tenth signal and the eleventh signal respectively according to the clock at the same time. In this case, the eighth signal and the ninth signal may not carry various sending times; or, if the third communication device and the fourth communication device are synchronized, the eighth signal may carry the time (or timestamp) at which the third communication device sends the tenth signal, and the ninth signal may carry the time (or timestamp) at which the fourth communication device sends the eleventh signal; or, if the third communication device and the fourth communication device are synchronized, the third communication device and the fourth communication device may not send the eighth signal and the ninth signal respectively at the same time. In this case, the ninth signal carries the second time difference, which is the difference between the time when the third communication device sends the tenth signal and the time when the fourth communication device sends the eleventh signal. For example, the sending time of the tenth signal is earlier than the sending time of the eleventh signal, and the ninth signal carries the second time difference. It can be understood that if the sending time of the tenth signal is later than the sending time of the eleventh signal, the eighth signal may carry the second time difference.

[0142] In another embodiment, if the third communication device and the fourth communication device are not synchronized (that is, the two do not share a clock), the ninth signal carries a third time difference, which is the difference between the time when the fourth communication device receives the tenth signal and the time when the fourth communication device sends the eleventh signal. For example, the sending time of the tenth signal is earlier than the sending time of the eleventh signal, and the ninth signal carries the third time difference. It is understandable that if the sending time of the tenth signal is later than the sending time of the eleventh signal, the eighth signal can carry the third time difference.

[0143] In one implementation, the communication system 1000 may further include a passive reflector, which is deployed in the tunnel. That is, a passive reflector is deployed in the tunnel. Fig.13 As shown. The number of passive reflectors can be one or more. Fig.13 In the example, four passive reflectors are deployed on the side wall of the tunnel. It should be understood that the embodiment of the present application does not limit the specific deployment method of one or more passive reflectors. The passive reflector may also be referred to as a passive reflection unit, a passive reflection module, or a corner reflector, etc. The passive reflector can be used to enhance the signal sent by the third communication device and the signal sent by the fourth communication device, and reflect it to the second communication device; in other words, the passive reflector can be used to enhance the signal transmitted (or leaked) by the first transmission line and reflect it to the second communication device. Accordingly, the fourth transmission mode is a transmission mode that is first transmitted by the first transmission line and then reflected through the tunnel. Specifically, the fourth transmission mode can be a transmission mode that is first transmitted by the first transmission line and then reflected by the passive reflector. Through this embodiment, the passive reflector can enhance the signal sent by the third communication device and the signal sent by the fourth communication device and reflect it to the second communication device, which is beneficial to improve the positioning accuracy.

[0144] S1102: The first communication device determines a first length and a first distance according to the second positioning assistance information, the eighth signal and the ninth signal.

[0145] The first length may be the distance between the first reference position of the second communication device corresponding to the first transmission line and the third communication device, i.e., l1; or the first length may be the distance between the first reference position of the second communication device corresponding to the first transmission line and the fourth communication device, i.e., l2. The first distance is the distance from the second communication device to the first reference position, i.e., h. It can be understood that, assuming that the distance between the third communication device and the fourth communication device is L, and the first length is l1, then l2 is (L-l1); or the first length is l2, then l1 is (L-l2). Among them, please refer to the content of S502 for L, l1, l2, and h, which will not be repeated here.

[0146] The first reference position may be the intersection of the straight line where the second communication device is located and the first transmission line, that is, the first reference position may be any position on the first transmission line without limitation. The first reference position may be predefined, or may be set by the user, etc. without limitation. Optionally, the first reference position may be the intersection of the straight line where the second communication device is located and the first transmission line, and the straight line where the second communication device is located is perpendicular to the first transmission line, such as Fig.10 shown.

[0147] In a possible implementation, the first communication device can also determine a fourth distance, which can be the distance from the second communication device to the ground, such as the vertical distance from the second communication device to the ground. In one example, the first communication device can determine the fourth distance based on the second positioning auxiliary information, the eighth signal and the ninth signal. In another example, the second communication device can send the fourth distance to the first communication device; accordingly, the first communication device receives the fourth distance from the second communication device. Optionally, the second communication device can also send inertial navigation distance and / or speed information to the first communication device; accordingly, the first communication device can receive inertial navigation distance and / or speed information from the second communication device to improve positioning accuracy. The embodiment of the present application does not limit the specific implementation process of the first communication device determining the fourth distance based on the second positioning auxiliary information, the eighth signal and the ninth signal.

[0148] In S1102, the first communication device determines the first length and the first distance according to the second positioning auxiliary information, the eighth signal and the ninth signal. Exemplarily, the first communication device may determine the first length according to the eighth signal and the ninth signal, and then determine the first distance according to the first length and the second positioning auxiliary information. Optionally, the first communication device may also determine the fourth distance according to the first length and the second positioning auxiliary information. Exemplarily, the first communication device may determine the first length (l1 or l2) according to the aforementioned formula (1). For the specific implementation process, please refer to the relevant content of S502, which will not be repeated here.

[0149] There are multiple implementations of the second positioning assistance information in the embodiment of the present application, which are introduced below.

[0150] Implementation method 2_1: The second positioning assistance information may include map information of the tunnel.

[0151] The map information of the tunnel may be stored offline in the first communication device without limitation. The map information of the tunnel may be modeling information of the tunnel, etc. without limitation. For example, the map information of the tunnel may include but is not limited to one or more of the following: the width of the tunnel, the length of the tunnel, the height of the tunnel, and the fourth distance, etc.

[0152] Accordingly, the first communication device can determine the first length and the first distance according to the map information of the tunnel, the eighth signal and the ninth signal. Optionally, the first communication device can also determine the fourth distance according to the map information of the tunnel, the eighth signal and the ninth signal.

[0153] In the above implementation 2_1, the map of the tunnel is input offline into the first communication device, so that the first communication device can locate the second communication device by acquiring the eighth signal and the ninth signal received by the second communication device. The implementation is simple and easy to implement.

[0154] Implementation method 2_2: The second positioning assistance information may include location information of at least one fifth communication device.

[0155] In implementation manner 2_2, the communication system 1000 may further include a fifth communication device, which is deployed in the tunnel. That is, the fifth communication device is deployed in the tunnel. Fig.14 The number of the fifth communication device may be one or more. Fig.14 The example of six fifth communication devices deployed on the side wall of the tunnel is shown, but it is not limited to this. It should be understood that the embodiment of the present application does not limit the specific deployment method of one or more fifth communication devices. The fifth communication device may also be referred to as a transceiver unit, a transceiver module, a tag, a low-power transceiver module, or an active module. The fifth communication device has a transmitting function and a receiving function, and can send signals to the third communication device and receive signals from the third communication device, and send signals to the fourth communication device and receive signals from the fourth communication device.

[0156] Exemplarily, the first communication device can obtain the location information of at least one fifth communication device. For example, the first communication device can receive the location information of at least one fifth communication device from at least one fifth communication device. Taking a fifth communication device as an example, the fifth communication device can determine the distance between its second reference position corresponding to the first transmission line and the third communication device or the fourth communication device (such as denoted as d1) according to the TDOA technology; determine (d1+g×(1-sinθ) / cosθ) according to the TOA technology; determine its own location information according to d1 and (d1+g×(1-sinθ) / cosθ), and send its own location information to the first communication device. Among them, g is the distance from the fifth communication device to the second reference position. θ is the radiation inclination angle, which can be obtained by the frequency point and the shape of the first transmission line, without limitation. It should be understood that the embodiment of the present application does not limit the specific implementation process of the fifth communication device obtaining its own location information.

[0157] It should be pointed out that the fifth communication device can determine its own location information and then send the location information to the first communication device; alternatively, the fifth communication device can also send relevant parameters (such as d1, (d1+g×(1-sinθ) / cosθ) and other parameters) to the first communication device, and the first communication device determines the location information of the fifth communication device based on the relevant parameters; alternatively, the fifth communication device can also send the relevant parameters to other communication devices other than the first communication device (for example, the third communication device, or the fourth communication device), and the other devices determine the location information of the fifth communication device based on the relevant parameters, and then send the location information of the fifth communication device to the first communication device, without limitation.

[0158] Among them, the position information of the fifth communication device may include a second length and a second distance. The second length may be the distance between the second reference position of the fifth communication device corresponding to the first transmission line and the third communication device, or may be the distance between the second reference position of the fifth communication device corresponding to the first transmission line and the fourth communication device. The second distance may be the distance from the fifth communication device to the second reference position. The second reference position may be the intersection of the straight line where the fifth communication device is located and the first transmission line, that is, the second reference position may be any position on the first transmission line without limitation. The second reference position may be predefined, or may be set by the user, etc. without limitation. Optionally, the second reference position may be the intersection of the straight line where the fifth communication device is located and the first transmission line, and the straight line where the position indication is located is perpendicular to the first transmission line.

[0159] Accordingly, the first communication device can determine the first length and the first distance according to the location information of at least one fifth communication device, the eighth signal and the ninth signal. Optionally, the first communication device can also determine the fourth distance according to the location information of at least one fifth communication device, the eighth signal and the ninth signal.

[0160] In the above implementation mode 2_2, the second communication device can be positioned based on the eighth signal and the ninth signal combined with the location information of at least one fifth communication device.

[0161] Implementation method 2_3: The second positioning assistance information may include location information of at least one location indication.

[0162] In implementation 2_3, the communication system 1000 may further include a location indicator, which is deployed in the tunnel, that is, a location indicator is deployed in the tunnel, such as Fig.15 The number of position indications can be one or more. Fig.15The example of four position indications deployed in a tunnel is shown. Optionally, the position indication may also be deployed on the side wall of the tunnel, or may be deployed at other locations, such as rails, or pillars in the tunnel. It should be understood that the embodiments of the present application do not limit the specific deployment method of one or more position indications. The position indication may provide its own position information to the first communication device. The position indication may be, for example, a short-range communication device (such as an NFC device, etc.), or a QR code, etc. The embodiments of the present application do not limit the specific implementation form of the position indication.

[0163] Exemplarily, the first communication device may receive at least one fourth signal triggered by at least one location indication, and determine the location information of the at least one location indication according to the at least one fourth signal. For example, the location indication is a short-range communication device, and the user can trigger the short-range communication device to send its own location information to the first communication device by sensing the short-range communication device; accordingly, the first communication device receives the location information of the short-range communication device. For another example, the location indication is a QR code, and the user can trigger the QR code to send its own location information to the first communication device by scanning the QR code; accordingly, the first communication device receives the location information of the QR code.

[0164] Among them, one position indication triggers one fourth signal. In other words, one position indication corresponds to one fourth signal, and one fourth signal corresponds to one position indication. The fourth signal carries the position information of the corresponding position indication. The position information of the position indication may include a third length and a third distance. The third length may be the distance between the third reference position of the first transmission line corresponding to the position indication and the third communication device, or may be the distance between the third reference position of the first transmission line corresponding to the position indication and the fourth communication device. The third distance may be the distance from the position indication to the third reference position. The third reference position may be the intersection of the straight line where the position indication is located and the first transmission line, that is, the third reference position may be any position on the first transmission line without limitation. The third reference position may be predefined, or may be set by the user, etc. without limitation. Optionally, the third reference position may be the intersection of the straight line where the position indication is located and the first transmission line, and the straight line where the position indication is located is perpendicular to the first transmission line.

[0165] Accordingly, the first communication device can determine the first length and the first distance according to the location information of the at least one location indicator, the eighth signal and the ninth signal. Optionally, the first communication device can also determine the fourth distance according to the location information of the at least one location indicator, the eighth signal and the ninth signal.

[0166] In the above implementation mode 2_3, the second communication device can be positioned based on the eighth signal and the ninth signal combined with the location information of at least one location indication.

[0167] Implementation method 2_4: The second positioning assistance information may include a twelfth signal and a thirteenth signal.

[0168] The first communication device may obtain the twelfth signal and the thirteenth signal. In one implementation, the second communication device may send the twelfth signal and the thirteenth signal to the first communication device; accordingly, the first communication device receives the twelfth signal and the thirteenth signal from the second communication device. For example, the second communication device sends the twelfth signal and the thirteenth signal to the first communication device via a wired connection with the first communication device. Exemplarily, the third communication device sends the fourteenth signal, which is combined and transmitted via the third transmission mode and the fourth transmission mode, and accordingly the second communication device receives the twelfth signal; the fourth communication device sends the fifteenth signal, which is combined and transmitted via the third transmission mode and the fourth transmission mode, and accordingly the second communication device receives the thirteenth signal.

[0169] The twelfth signal may be composed of a signal obtained by reaching the second communication device through the third transmission mode by the fourteenth signal, and a signal obtained by reaching the second communication device through the fourth transmission mode by the fourteenth signal; or it may be expressed as follows: the twelfth signal may be a superimposed signal of a signal obtained by reaching the second communication device through the third transmission mode by the fourteenth signal, and a signal obtained by reaching the second communication device through the fourth transmission mode by the fourteenth signal.

[0170] The thirteenth signal may be composed of a signal obtained by reaching the second communication device through the third transmission mode by the fifteenth signal, and a signal obtained by reaching the second communication device through the fourth transmission mode by the fifteenth signal; or it may be expressed as follows: the thirteenth signal may be a superimposed signal of a signal obtained by reaching the second communication device through the third transmission mode by the fifteenth signal, and a signal obtained by reaching the second communication device through the fourth transmission mode by the fifteenth signal.

[0171] Correspondingly, the first communication device can determine the first length and the first distance according to the eighth signal, the ninth signal, the twelfth signal and the thirteenth signal. Optionally, the first communication device can also determine the fourth distance according to the eighth signal, the ninth signal, the twelfth signal and the thirteenth signal. For example, the first communication device can use a least squares algorithm or a positioning algorithm such as a SLAM algorithm to determine the first length and the first distance or determine the first length, the first distance and the fourth distance.

[0172] It can be understood that the second positioning assistance information includes the twelfth signal and the thirteenth signal, the twelfth signal corresponds to the fourteenth signal sent by the third communication device, the thirteenth signal corresponds to the fifteenth signal sent by the fifth communication device, the sending time of the fourteenth signal is different from the sending time of the tenth signal, and the sending time of the fifteenth signal is different from the sending time of the eleventh signal. In other words, the third communication device can send signals at multiple time points (in this embodiment, the third communication device sends the tenth signal and the fourteenth signal as an example, it should be understood that the third communication device can also send more signals), and the fourth communication device can send signals at multiple time points (in this embodiment, the fourth communication device sends the eleventh signal and the fifteenth signal as an example, it should be understood that the fourth communication device can also send more signals), so that the first communication device can obtain multiple groups of signals corresponding to the multiple time points received by the second communication device (each group of signals can refer to the description of the eighth signal and the ninth signal, or refer to the twelfth signal and the thirteenth signal), and determine the first length, the first distance and the fourth distance according to the multiple groups of signals.

[0173] In the above implementation 2_4, the signals sent by the third communication device and the fourth communication device at different time points received by the second communication device can realize the positioning of the second communication device without other additional information, and the implementation method is simple.

[0174] It should be noted that the above four implementations can be used alone or in combination. For example, the second positioning assistance information may include the map information of the tunnel and the location information of at least one fifth communication device. Accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the location information of at least one fifth communication device, the eighth signal and the ninth signal. For another example, the second positioning assistance information may include the map information of the tunnel and the location information of at least one location indication. Accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the location information of at least one location indication, the eighth signal and the ninth signal. For another example, the second positioning assistance information may include the map information of the tunnel, the twelfth signal and the thirteenth signal. Accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the twelfth signal, the thirteenth signal, the eighth signal and the ninth signal. For another example, the second positioning assistance information may include the location information of at least one fifth communication device and the location information of at least one location indication. Accordingly, the first communication device may determine the first length and the first distance according to the location information of at least one fifth communication device, the location information of at least one location indication, the eighth signal and the ninth signal. For another example, the first communication device may include the location information, twelfth signal and thirteenth signal of at least one fifth communication device, and accordingly, the first communication device may determine the first length and the first distance according to the location information, twelfth signal, thirteenth signal, eighth signal and ninth signal of at least one fifth communication device. For another example, the first communication device may include the location information, twelfth signal and thirteenth signal of at least one location indication, and accordingly, the first communication device may determine the first length and the first distance according to the location information, twelfth signal, thirteenth signal, eighth signal and ninth signal of at least one location indication. For another example, the first communication device may include the map information of the tunnel, the location information, twelfth signal and thirteenth signal of at least one fifth communication device, and accordingly, the first communication device may determine the first length and the first distance according to the map information of the tunnel, the location information, twelfth signal, thirteenth signal, eighth signal and ninth signal of at least one location indication. The remaining situations are similar and will not be listed one by one.

[0175] In the above-mentioned second positioning method, the first communication device can locate the second communication device based on the eighth signal and the ninth signal received by the second communication device, which means that even if the communication device to be located only has a receiving capability, the communication device to be located can be located through the above-mentioned second positioning method, thereby being applicable to a variety of application scenarios.

[0176] In the embodiments provided in the present application, the method provided in the embodiments of the present application is introduced from the perspective of the first communication device. In order to implement the functions in the method provided in the above embodiments of the present application, the first communication device may include a hardware structure and / or a software module, and implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether a function of the above functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0177] The present application also provides a communication device. The following describes the communication device used to implement the above method in the present application embodiment in conjunction with the accompanying drawings. Therefore, the above content can be used in subsequent embodiments, and repeated content will not be repeated.

[0178] Fig.16 A schematic block diagram of a communication device 1600 provided in an embodiment of the present application. The communication device 1600 can implement the functions or steps implemented by the first communication device in the above-mentioned various method embodiments. Exemplarily, the communication device 1600 can be a network device or a component in a network device, or a terminal device or a component in a terminal device.

[0179] In one implementation, the communication device 1600 may include a processing module 1601 and a transceiver module 1602. The processing module 1601 may be used to perform data processing, such as executing the above-mentioned various method embodiments. The processing module 1601 may also be referred to as a processing unit, etc. The transceiver module 1602 may be used to implement corresponding communication functions, such as receiving or sending relevant data, information or messages. The transceiver module 1602 may also be referred to as a communication interface, or a communication module, or a transceiver unit, etc.

[0180] It should be noted that the communication device 1600 may include a processing module 1601 but not a transceiver module 1602. Alternatively, the communication device 1600 may include a transceiver module 1602 but not a processing module 1601. Specifically, it may depend on whether the above solution executed by the communication device 1600 includes a processing action and a transceiver action.

[0181] Optionally, the communication device 1600 may further include a storage module. Fig.16 The storage module may be used to store instructions and / or data, and the processing module 1601 may read the instructions and / or data in the storage module so that the communication device 1600 implements the aforementioned method embodiment.

[0182] Optionally, the transceiver module 1602 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiment. The receiving module is used to perform the receiving operation in the above method embodiment.

[0183] It should be noted that the communication device 1600 may include a sending module but not a receiving module. Alternatively, the communication device 1600 may include a receiving module but not a sending module. Specifically, it may depend on whether the above solution executed by the communication device 1600 includes a sending action and a receiving action.

[0184] Optionally, the communication device 1600 is a chip system, the transceiver module 1602 may be an input and output interface of a chip (eg, a baseband chip), and the processing unit may be a processor of the chip system.

[0185] In a first implementation manner, the communication device 1600 may be a first communication device, configured to execute the steps executed by the first communication device in each of the aforementioned method embodiments.

[0186] Exemplarily, the communication device 1600 can execute the following contents: a processing module 1601 can be used to obtain a first signal and a second signal, wherein the first signal is composed of a signal of a third signal sent by the second communication device reaching the third communication device through the first transmission mode, and a signal of the third signal reaching the third communication device through the second transmission mode, and the second signal is composed of a signal of the third signal reaching the fourth communication device through the first transmission mode, and a signal of the third signal reaching the fourth communication device through the second transmission mode; wherein the first transmission mode is a transmission mode of first reaching the first transmission line through wireless transmission and then being transmitted by the first transmission line, and the second transmission mode is a transmission mode of first reaching the first transmission line through tunnel reflection and then being transmitted by the first transmission line, and the first transmission line is a transmission line between the third communication device and the fourth communication device; and, according to the first positioning auxiliary information, the first signal and the second signal, determining a first length and a first distance, wherein the first length is a distance between the first reference position of the second communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the first distance is a distance from the second communication device to the first reference position.

[0187] Optionally, at least one fifth communication device is deployed in the tunnel, and the first positioning assistance information includes the location information of the at least one fifth communication device. The transceiver module 1602 can be used to: receive the location information of the at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length is the distance between the second reference position of the fifth communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

[0188] Optionally, at least one location indication is deployed in the tunnel, and the first positioning assistance information includes the location information of the at least one location indication. The transceiver module 1602 can be used to receive at least one fourth signal triggered by the at least one location indication; the processing module 1601 can also be used to determine the location information of the at least one location indication based on the at least one fourth signal, wherein the location information of the location indication includes a third length and a third distance, the third length is the distance between the third reference position of the location indication corresponding to the first transmission line to the third communication device or the fourth communication device, and the third distance is the distance from the location indication to the third reference position.

[0189] Optionally, the first positioning assistance information includes a fifth signal and a sixth signal, and the processing module 1601 can also be used to obtain the fifth signal and the sixth signal, wherein the fifth signal is composed of a signal of the seventh signal sent by the second communication device reaching the third communication device through the first transmission method, and a signal of the seventh signal reaching the third communication device through the second transmission method, and the sixth signal is composed of a signal of the seventh signal sent by the second communication device reaching the fourth communication device through the first transmission method, and a signal of the seventh signal reaching the fourth communication device through the second transmission method, and the sending time of the seventh signal is different from the sending time of the third signal.

[0190] Optionally, the processing module 1601 can also be used to determine a fourth distance based on the first positioning auxiliary information, the first signal and the second signal; or the transceiver module 1602 can be used to receive a fourth distance from the second communication device; wherein the fourth distance is the vertical distance from the second communication device to the ground.

[0191] In a second implementation manner, the communication device 1600 may be a first communication device, configured to execute the steps executed by the first communication device in each of the aforementioned method embodiments.

[0192] Exemplarily, the communication device 1600 may execute the following contents: a processing module 1601 may be used to obtain an eighth signal and a ninth signal, wherein the eighth signal is composed of a signal in which the tenth signal sent by the third communication device reaches the second communication device through the third transmission mode, and a signal in which the tenth signal reaches the second communication device through the fourth transmission mode, and the ninth signal is composed of a signal in which the eleventh signal sent by the fourth communication device reaches the second communication device through the third transmission mode, and a signal in which the eleventh signal reaches the second communication device through the fourth transmission mode; wherein the third transmission mode is a transmission mode in which transmission is first performed by a first transmission line and then by wireless transmission, and the fourth transmission mode is a transmission mode in which transmission is first performed by the first transmission line and then by tunnel reflection, and the first transmission line is a transmission line between the third communication device and the fourth communication device; and, according to the second positioning auxiliary information, the eighth signal and the ninth signal, determining a first length and a first distance, wherein the first length is a distance between a first reference position of the second communication device corresponding to the first transmission line and the third communication device or the fourth communication device, and the first distance is a distance from the second communication device to the first reference position.

[0193] Optionally, at least one fifth communication device is deployed in the tunnel, and the second positioning assistance information includes the location information of the at least one fifth communication device. The transceiver module 1602 can be used to: receive the location information of the at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length includes the distance between the second reference position of the fifth communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

[0194] Optionally, at least one location indication is deployed in the tunnel, and the second positioning assistance information includes the location information of the at least one location indication. The transceiver module 1602 can be used to receive at least one fourth signal triggered by the at least one location indication; the processing module 1601 can also be used to determine the location information of the at least one location indication based on the at least one fourth signal, wherein the location information of the location indication includes a third length and a third distance, the third length is the distance between the third reference position of the location indication corresponding to the first transmission line to the third communication device or the fourth communication device, and the third distance is the distance from the location indication to the third reference position.

[0195] Optionally, the second positioning assistance information includes a twelfth signal and a thirteenth signal, and the processing module 1601 can also be used to obtain the twelfth signal and the thirteenth signal, wherein the twelfth signal is composed of a signal from a fourteenth signal sent by the third communication device that reaches the second communication device through the third transmission method, and a signal from the fourteenth signal that reaches the second communication device through the fourth transmission method, and the thirteenth signal is composed of a signal from a fifteenth signal sent by the second communication device that reaches the second communication device through the third transmission method, and a signal from the fifteenth signal that reaches the second communication device through the fourth transmission method, and the sending time of the fourteenth signal is different from the sending time of the tenth signal, and the sending time of the fifteenth signal is different from the sending time of the eleventh signal.

[0196] Optionally, the processing module 1601 can also be used to determine a fourth distance based on the second positioning assistance information, the eighth signal and the ninth signal; or the transceiver module 1602 can be used to receive a fourth distance from the second communication device; wherein the fourth distance is the vertical distance from the second communication device to the ground.

[0197] It should be understood that a more detailed description of each module executing the corresponding process can be directly obtained by referring to the relevant description in the aforementioned method embodiments, and for the sake of brevity, it is not repeated here.

[0198] The processing module 1601 in the above embodiment may be implemented by at least one processor or processor-related circuits. The transceiver module 1602 may be implemented by a transceiver or a transceiver-related circuit. The storage module may be implemented by at least one memory.

[0199] Fig.17 A schematic block diagram of a communication device 1700 provided in an embodiment of the present application. The communication device 1700 can implement the functions or steps implemented by the first communication device in the above-mentioned various method embodiments. Exemplarily, the communication device 1700 can be a network device or a component in a network device, or a terminal device or a component in a terminal device. Among them, the communication device 1700 can be a chip system. In the embodiment of the present application, the chip system can be composed of a chip, and can also include a chip and other discrete devices. For specific functions, please refer to the description in the above-mentioned method embodiment.

[0200] The communication device 1700 includes one or more processors 1701, which can be used to implement or support the communication device 1700 to implement the function of the first communication device in the method provided in the embodiment of the present application. Please refer to the detailed description in the method example for details, which will not be repeated here.

[0201] Processor 1701 may also be referred to as a processing unit or a processing module, and may implement certain control functions. Processor 1701 may be a general-purpose processor or a dedicated processor, etc. For example, it may include: a central processing unit, an application processor, a modem processor, a graphics processor, an image signal processor, a digital signal processor, a video codec processor, a controller, a memory, and / or a neural network processor, etc. The central processing unit may be used to control the communication device 1700, execute software programs, and / or process data. Different processors may be independent devices, or they may be integrated into one or more processors, for example, integrated into one or more application-specific integrated circuits.

[0202] Optionally, the communication device 1700 includes one or more memories 1702 for storing instructions 1704, and the instructions can be executed on the processor 1701, so that the communication device 1700 executes the method described in the above method embodiment. The memory 1702 and the processor 1701 can be provided separately or integrated together, and the memory 1702 and the processor 1701 can also be considered to be coupled. The coupling in the embodiment of the present application is an indirect coupling or communication connection between devices, units or modules, which can be electrical, mechanical or other forms, and is used for information exchange between devices, units or modules. The processor 1701 may operate in conjunction with the memory 1702. At least one of the at least one memory may be included in the processor. It should be noted that the memory 1702 is not required, so in Fig.17 It is indicated by a dotted line.

[0203] Optionally, data may also be stored in the memory 1702. The processor and memory may be provided separately or integrated together. In an embodiment of the present application, the memory 1702 may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), such as a random access memory (RAM). The memory is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. The memory in the embodiment of the present application may also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0204] Optionally, the communication device 1700 may include instructions 1703 (sometimes also referred to as codes or programs), and the instructions 1703 may be executed on the processor so that the communication device 1700 performs the method described in the above embodiment. The processor 1701 may store data.

[0205] Optionally, the communication device 1700 may further include a transceiver 1705 and an antenna 1706. The transceiver 1705 may be referred to as a transceiver unit, a transceiver module, a transceiver, a transceiver circuit, a transceiver, an input / output interface, etc., and is used to implement the transceiver function of the communication device 1700 through the antenna 1706.

[0206] The processor 1701 and the transceiver 1705 described in the present application may be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFID), a mixed signal IC, an ASIC, a printed circuit board (PCB), or an electronic device, etc. The communication device described herein may be an independent device (e.g., an independent integrated circuit, a mobile phone, etc.), or may be a part of a larger device (e.g., a module that can be embedded in other devices). For details, please refer to the aforementioned description of the terminal device and the network device, which will not be repeated here.

[0207] Exemplarily, the communication device 1700 can implement the behaviors and functions of the first communication device in the above method embodiment. For example, the communication device 1700 can execute Figure 5 or Fig.11 The contents of the embodiment shown.

[0208] In a possible implementation, the communication device 1700 may acquire a first signal and a second signal, wherein the first signal is composed of a signal of a third signal sent by the second communication device reaching the third communication device through the first transmission mode, and a signal of the third signal reaching the third communication device through the second transmission mode, and the second signal is composed of a signal of the third signal reaching the fourth communication device through the first transmission mode, and a signal of the third signal reaching the fourth communication device through the second transmission mode; wherein the first transmission mode is a transmission mode of first reaching the first transmission line through wireless transmission and then being transmitted by the first transmission line, and the second transmission mode is a transmission mode of first reaching the first transmission line through tunnel reflection and then being transmitted by the first transmission line, and the first transmission line is a transmission line between the third communication device and the fourth communication device; and, according to the first positioning auxiliary information, the first signal and the second signal, a first length and a first distance are determined, wherein the first length is a distance from a first reference position of the second communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the first distance is a distance from the second communication device to the first reference position.

[0209] Optionally, at least one fifth communication device is deployed in the tunnel, and the first positioning assistance information includes the location information of the at least one fifth communication device. The communication device 1700 can also receive the location information of the at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length is the distance between the second reference position of the fifth communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

[0210] Optionally, at least one location indication is deployed in the tunnel, the first positioning assistance information includes the location information of the at least one location indication, and the communication device 1700 may also receive at least one fourth signal triggered by the at least one location indication; and determine the location information of the at least one location indication according to the at least one fourth signal, wherein the location information of the location indication includes a third length and a third distance, the third length is the distance between the third reference position of the location indication corresponding to the first transmission line to the third communication device or the fourth communication device, and the third distance is the distance from the location indication to the third reference position.

[0211] Optionally, the first positioning assistance information includes a fifth signal and a sixth signal, and the communication device 1700 can also obtain the fifth signal and the sixth signal, wherein the fifth signal is composed of a signal of the seventh signal sent by the second communication device reaching the third communication device through the first transmission method, and a signal of the seventh signal reaching the third communication device through the second transmission method, and the sixth signal is composed of a signal of the seventh signal sent by the second communication device reaching the fourth communication device through the first transmission method, and a signal of the seventh signal reaching the fourth communication device through the second transmission method, and the sending time of the seventh signal is different from the sending time of the third signal.

[0212] Optionally, the communication device 1700 can also determine a fourth distance based on the first positioning auxiliary information, the first signal and the second signal; or receive a fourth distance from the second communication device; wherein the fourth distance is a vertical distance from the second communication device to the ground.

[0213] In a possible implementation, the communication device 1700 may acquire an eighth signal and a ninth signal, wherein the eighth signal is composed of a signal in which the tenth signal sent by the third communication device reaches the second communication device through the third transmission mode, and a signal in which the tenth signal reaches the second communication device through the fourth transmission mode, and the ninth signal is composed of a signal in which the eleventh signal sent by the fourth communication device reaches the second communication device through the third transmission mode, and a signal in which the eleventh signal reaches the second communication device through the fourth transmission mode; wherein the third transmission mode is a transmission mode of first transmitting by a first transmission line and then transmitting wirelessly, and the fourth transmission mode is a transmission mode of first transmitting by the first transmission line and then reflecting through a tunnel, and the first transmission line is a transmission line between the third communication device and the fourth communication device; and, according to the second positioning auxiliary information, the eighth signal and the ninth signal, a first length and a first distance are determined, wherein the first length is a distance from a first reference position of the second communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the first distance is a distance from the second communication device to the first reference position.

[0214] Optionally, at least one fifth communication device is deployed in the tunnel, and the second positioning assistance information includes the location information of the at least one fifth communication device. The communication device 1700 can also receive the location information of the at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length includes the distance between the second reference position of the fifth communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

[0215] Optionally, at least one location indication is deployed in the tunnel, the second positioning assistance information includes the location information of the at least one location indication, and the communication device 1700 can also receive at least one fourth signal triggered by the at least one location indication; the processing module 1601 can also be used to determine the location information of the at least one location indication based on the at least one fourth signal, wherein the location information of the location indication includes a third length and a third distance, the third length is the distance between the third reference position of the location indication corresponding to the first transmission line to the third communication device or the fourth communication device, and the third distance is the distance from the location indication to the third reference position.

[0216] Optionally, the second positioning assistance information includes a twelfth signal and a thirteenth signal, and the communication device 1700 can also obtain the twelfth signal and the thirteenth signal, wherein the twelfth signal is composed of a signal from a fourteenth signal sent by the third communication device that reaches the second communication device through the third transmission method, and a signal from the fourteenth signal that reaches the second communication device through the fourth transmission method, and the thirteenth signal is composed of a signal from a fifteenth signal sent by the second communication device that reaches the second communication device through the third transmission method, and a signal from the fifteenth signal that reaches the second communication device through the fourth transmission method, and the sending time of the fourteenth signal is different from the sending time of the tenth signal, and the sending time of the fifteenth signal is different from the sending time of the eleventh signal.

[0217] Optionally, the communication device 1700 can also determine a fourth distance based on the second positioning assistance information, the eighth signal and the ninth signal; or, receive the fourth distance from the second communication device; wherein the fourth distance is the vertical distance from the second communication device to the ground.

[0218] For details, please refer to the above Figure 5 or Fig.11 The relevant contents of any embodiment will not be repeated here.

[0219] Optionally, the communication device 1700 may also include one or more of the following components: a wireless communication module, an audio module, an external memory interface, an internal memory, a universal serial bus (USB) interface, a power management module, an antenna, a speaker, a microphone, an input / output module, a sensor module, a motor, a camera, or a display screen, etc. It is understood that in some embodiments, the communication device 1700 may include more or fewer components, or some components may be integrated, or some components may be separated. These components may be implemented in hardware, software, or a combination of software and hardware.

[0220] It should be noted that the communication device in the above embodiments may be a terminal device (or network device) or a circuit, or a chip applied to a terminal device (or network device) or other combination devices, components, etc. having the above terminal functions (or network devices). When the communication device is a terminal device (or network device), the transceiver module may be a transceiver, which may include an antenna and a radio frequency circuit, etc., and the processing module may be a processor, such as a central processing unit (CPU). When the communication device is a component having the above terminal device (or network device) function, the transceiver module may be a radio frequency unit, and the processing module may be a processor. When the communication device is a chip system, the communication device may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a CPU, a network processor (NP), a digital signal processor (DSP), a micro controller unit (MCU), a programmable logic device (PLD) or other integrated chips. The processing module may be a processor of a chip system. The transceiver module or the communication interface may be an input / output interface or an interface circuit of a chip system. For example, the interface circuit may be a code / data read / write interface circuit. The interface circuit may be used to receive code instructions (code instructions are stored in a memory, may be read directly from the memory, or may be read from the memory through other devices) and transmit them to the processor; the processor may be used to run the code instructions to execute the method in the above method embodiment. For another example, the interface circuit may also be a signal transmission interface circuit between a communication processor and a transceiver.

[0221] When the communication device is a chip-type device or circuit, the device may include a transceiver unit and a processing unit, wherein the transceiver unit may be an input / output circuit and / or a communication interface; and the processing unit may be an integrated processor or microprocessor or integrated circuit.

[0222] The embodiment of the present application also provides a communication system, specifically, the communication system includes a first communication device. Optionally, the communication device may also include one or more of the following: a second communication device, a third communication device, or a fourth communication device. For details, please refer to the relevant description in the above method embodiment, which will not be repeated here.

[0223] An embodiment of the present application also provides a computer-readable storage medium, including program instructions, which, when executed on a computer, enables the computer to execute the method or steps of the first communication device in each of the above embodiments.

[0224] A computer program product is also provided in an embodiment of the present application, including program instructions, which, when executed on a computer, enable the computer to execute the method or steps of the first communication device in each of the above embodiments.

[0225] The embodiment of the present application provides a chip system, which includes a processor for implementing the function of the first communication device in the above method (for example, executing the corresponding method or step). The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0226] Optionally, the chip system also includes a memory, which is used to store program instructions so that the above-mentioned processor can read and execute them to implement the corresponding method.

[0227] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. 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 embodiments of the present application.

[0228] Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0229] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0230] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the 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.

[0231] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0232] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the part of the technical solution of the present application that contributes essentially or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), RAM, magnetic disks or optical disks.

Claims

1. A positioning method, applied to a first communication device, characterized in that: The method comprises: Acquire a first signal and a second signal, wherein the first signal is composed of a signal in which a third signal sent by a second communication device reaches a third communication device via a first transmission mode, and a signal in which the third signal reaches the third communication device via a second transmission mode, and the second signal is composed of a signal in which the third signal reaches a fourth communication device via the first transmission mode, and a signal in which the third signal reaches the fourth communication device via the second transmission mode; wherein the first transmission mode is a transmission mode in which wireless transmission is first used to reach a first transmission line and then transmitted via the first transmission line, and the second transmission mode is a transmission mode in which tunnel reflection is first used to reach the first transmission line and then transmitted via the first transmission line, and the first transmission line is a transmission line between the third communication device and the fourth communication device; A first length and a first distance are determined based on the first positioning auxiliary information, the first signal and the second signal, wherein the first length is the distance between the first reference position of the second communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the first distance is the distance from the second communication device to the first reference position.

2. The method according to claim 1, characterized in that The first positioning assistance information includes map information of the tunnel.

3. The method according to claim 1 or 2, characterized in that: A passive reflector is deployed in the tunnel, and the second transmission mode is a transmission mode in which the transmission is first reflected through the tunnel to reach the first transmission line and then transmitted through the first transmission line, including: The second transmission mode is a transmission mode in which the light is first reflected by the passive reflector to reach the first transmission line and then transmitted by the first transmission line.

4. The method according to any one of claims 1 to 3, characterized in that At least one fifth communication device is deployed in the tunnel, the first positioning assistance information includes location information of the at least one fifth communication device, and the method further includes: Receive location information of at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length is the distance between the second reference position of the fifth communication device corresponding to the first transmission line and the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

5. The method according to any one of claims 1 to 4, characterized in that At least one location indicator is deployed in the tunnel, the first positioning assistance information includes location information of the at least one location indicator, and the method further includes: receiving at least one fourth signal triggered by the at least one position indication; The position information of the at least one position indication is determined according to the at least one fourth signal, wherein the position information of the position indication includes a third length and a third distance, the third length is the distance between the third reference position of the position indication corresponding to the first transmission line and the third communication device or the fourth communication device, and the third distance is the distance from the position indication to the third reference position.

6. The method according to any one of claims 1 to 5, characterized in that The first positioning assistance information includes a fifth signal and a sixth signal, and the method further includes: Acquire the fifth signal and the sixth signal, wherein the fifth signal is composed of a signal of the seventh signal sent by the second communication device reaching the third communication device via the first transmission mode, and a signal of the seventh signal reaching the third communication device via the second transmission mode, and the sixth signal is composed of a signal of the seventh signal reaching the fourth communication device via the first transmission mode, and a signal of the seventh signal reaching the fourth communication device via the second transmission mode, and the sending time of the seventh signal is different from the sending time of the third signal.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: determining a fourth distance according to the first positioning assistance information, the first signal, and the second signal; or receiving a fourth distance from the second communication device; The fourth distance is the vertical distance from the second communication device to the ground.

8. The method according to any one of claims 1 to 7, characterized in that The first signal includes the time when the third communication device receives the first signal, and the second signal includes the time when the fourth communication device receives the second signal.

9. The method according to claim 8, characterized in that The second signal further includes a first time difference, where the first time difference is a difference between a time when the fourth communication device receives the second signal and a time when the fourth communication device sends the second signal to the first communication device.

10. The method according to any one of claims 1 to 9, characterized in that The first transmission line is a leaky coaxial cable, or the first transmission line is a waveguide.

11. A positioning method, applied to a first communication device, characterized in that: The method comprises: Acquire an eighth signal and a ninth signal, wherein the eighth signal is composed of a signal in which a tenth signal sent by a third communication device reaches a second communication device through a third transmission mode, and a signal in which the tenth signal reaches the second communication device through a fourth transmission mode, and the ninth signal is composed of a signal in which an eleventh signal sent by a fourth communication device reaches the second communication device through the third transmission mode, and a signal in which the eleventh signal reaches the second communication device through the fourth transmission mode; wherein the third transmission mode is a transmission mode of first transmitting by a first transmission line and then by wireless transmission, and the fourth transmission mode is a transmission mode of first transmitting by the first transmission line and then by tunnel reflection, and the first transmission line is a transmission line between the third communication device and the fourth communication device; A first length and a first distance are determined based on the second positioning auxiliary information, the eighth signal and the ninth signal, wherein the first length is the distance between the first reference position of the second communication device corresponding to the first transmission line to the third communication device or the fourth communication device, and the first distance is the distance from the second communication device to the first reference position.

12. The method according to claim 11, characterized in that The second positioning assistance information includes map information of the tunnel.

13. The method according to claim 11 or 12, characterized in that: A passive reflector is deployed in the tunnel, and the fourth transmission mode is a transmission mode of first transmitting through the first transmission line and then reflecting through the tunnel, including: The fourth transmission mode is a transmission mode in which the first transmission line is used for transmission and then the passive reflector is used for reflection.

14. The method according to any one of claims 11 to 13, characterized in that At least one fifth communication device is deployed in the tunnel, the second positioning assistance information includes location information of the at least one fifth communication device, and the method further includes: Receive location information of at least one fifth communication device from the at least one fifth communication device, wherein the location information of the fifth communication device includes a second length and a second distance, the second length includes the distance between the second reference position of the fifth communication device corresponding to the first transmission line and the third communication device or the fourth communication device, and the second distance is the distance from the fifth communication device to the second reference position.

15. The method according to any one of claims 11 to 14, characterized in that At least one location indicator is deployed in the tunnel, the second positioning assistance information includes location information of the at least one location indicator, and the method further includes: receiving at least one fourth signal triggered by the at least one position indication; The position information of the at least one position indication is determined according to the at least one fourth signal, wherein the position information of the position indication includes a third length and a third distance, the third length is the distance between the third reference position of the position indication corresponding to the first transmission line and the third communication device or the fourth communication device, and the third distance is the distance from the position indication to the third reference position.

16. The method according to any one of claims 11 to 15, characterized in that The second positioning assistance information includes a twelfth signal and a thirteenth signal, and the method further includes: The twelfth signal and the thirteenth signal are obtained, wherein the twelfth signal is composed of a signal in which a fourteenth signal sent by the third communication device reaches the second communication device through the third transmission mode, and a signal in which the fourteenth signal reaches the second communication device through the fourth transmission mode, and the thirteenth signal is composed of a signal in which a fifteenth signal sent by the second communication device reaches the second communication device through the third transmission mode, and a signal in which the fifteenth signal reaches the second communication device through the fourth transmission mode, and the sending time of the fourteenth signal is different from the sending time of the tenth signal, and the sending time of the fifteenth signal is different from the sending time of the eleventh signal.

17. The method according to any one of claims 11 to 16, characterized in that The method further comprises: determining a fourth distance according to the second positioning assistance information, the eighth signal and the ninth signal; or receiving a fourth distance from the second communication device; The fourth distance is the vertical distance from the second communication device to the ground.

18. The method according to any one of claims 11 to 17, characterized in that The eighth signal carries the time when the third communication device sends the tenth signal, and the ninth signal carries the time when the fourth communication device sends the eleventh signal; or, The ninth signal carries a second time difference, where the second time difference is a difference between a time when the third communication device sends the tenth signal and a time when the fourth communication device sends the eleventh signal.

19. The method according to any one of claims 11 to 17, characterized in that The ninth signal carries a third time difference, where the third time difference is a difference between a time when the fourth communication device receives the tenth signal and a time when the fourth communication device sends the eleventh signal.

20. The method according to any one of claims 11 to 19, characterized in that The first transmission line is a leaky coaxial cable, or the first transmission line is a waveguide.

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

22. A communication system, characterized in that: The method comprises a first communication device and / or a second communication device, wherein the first communication device is used to execute the method according to any one of claims 1 to 10, and the second communication device is used to execute the method according to any one of claims 11 to 20.

23. A computer-readable storage medium, characterized in that: A computer program or instruction is stored, wherein the computer program or instruction is used to implement the method according to any one of claims 1 to 10, or to implement the method according to any one of claims 11 to 20.

24. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a computer, the computer is caused to perform the method according to any one of claims 1 to 10, or the method according to any one of claims 11 to 20.

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