Synchronous positioning method, device and equipment

Abstract

Disclosed are a synchronous positioning method, apparatus and device, which relate to the technical field of communications, the method being applied to a first node device, the method comprising: receiving a positioning reference signal (PRS) periodically sent by at least one second node device; an air interface synchronization message periodically sent by the at least one second node device is received, the sending period of the PRS is smaller than the sending period of the air interface synchronization message, the air interface synchronization message comprises first information, and the first information is related to a PRS identifier; and performing synchronization and / or positioning according to the received air interface synchronization message and the PRS. Therefore, synchronization and / or positioning can be realized according to a plurality of PRSs and air interface synchronization messages in one air interface synchronization period, the synchronization and / or positioning time is shortened, and the positioning algorithm precision is improved.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a synchronization and positioning method, apparatus, and device. Background Art

[0002] In existing air interface synchronization algorithms, synchronization and positioning are achieved based on the detection and measurement of periodically transmitted air interface synchronization messages. This method has the following problems: First, because the measurement frequency is limited (the measurement period is relatively long), it takes a long time to enter the synchronization state, and the long synchronization entry time may affect the normal reception of service data; second, due to the long measurement period, the positioning algorithm has low accuracy. Summary of the Invention

[0003] The purpose of this application is to provide a synchronization and positioning method, apparatus, and device, thereby solving the problem of long synchronization and positioning periods and low positioning accuracy in current synchronization and positioning based on the detection and measurement of air interface synchronization messages.

[0004] In a first aspect, to achieve the above object, an embodiment of this application provides a synchronization and positioning method, which is applied to a first node device and includes:

[0005] Receiving positioning reference signals (PRSs) periodically sent by at least one second node device;

[0006] Receiving air interface synchronization messages periodically sent by the at least one second node device, where the transmission period of the PRS is less than the transmission period of the air interface synchronization message, the air interface synchronization message includes first information, and the first information is related to the PRS identifier;

[0007] Performing synchronization and / or positioning according to the received air interface synchronization message and the PRS.

[0008] Optionally, the performing synchronization and / or positioning according to the received air interface synchronization message and the PRS includes:

[0009] Obtaining a target PRS subset from a PRS set according to the first information and the synchronization level of the second node device, where the PRS set includes detected and received PRSs, and the target PRS in the target PRS subset is at least one PRS in the PRS set, and the synchronization level of the second node device that sends the target PRS is higher than or equal to the reference synchronization level of the first node device;

[0010] Measuring and detecting each of the target PRSs to obtain deviation information corresponding to each of the target PRSs, where the deviation information includes at least one of time deviation, frequency deviation, and phase deviation;

[0011] Synchronize according to the deviation information corresponding to the target PRS and the radio interface synchronization message sent by the second node device that sends the target PRS;

[0012] Locate according to the deviation information corresponding to the target PRS.

[0013] Optionally, the obtaining of the target PRS subset from the PRS set according to the first information and the synchronization level of the second node device includes:

[0014] Obtain a target radio interface synchronization message from the received radio interface synchronization messages; wherein, the synchronization level of the second node device that sends the target radio interface synchronization message is higher than or equal to the reference synchronization level of the first node device;

[0015] Obtain the target PRS subset from the PRS set according to the first information in the target radio interface synchronization message.

[0016] Optionally, the synchronizing and / or locating according to the received radio interface synchronization message and the PRS includes:

[0017] For each of the second node devices, obtain the deviation information corresponding to the PRS sent by the corresponding second node device, where the deviation information includes at least one of: time deviation, frequency deviation, and phase deviation;

[0018] According to the received radio interface synchronization message, obtain the deviation information corresponding to the target PRS from the deviation information corresponding to the PRS; wherein, the synchronization level of the second node device that sends the target PRS is higher than or equal to the reference synchronization level of the first node device;

[0019] Synchronize according to the deviation information corresponding to the target PRS and the radio interface synchronization message sent by the second node device that sends the target PRS;

[0020] Locate according to the deviation information corresponding to the target PRS.

[0021] Optionally, the synchronizing according to the deviation information corresponding to the target PRS and the radio interface synchronization message sent by the second node device that sends the target PRS includes:

[0022] According to the radio interface synchronization message, obtain at least one third node device with the highest synchronization level among the second node devices that send each target PRS;

[0023] For each of the third node devices, determine a first time deviation and a first frequency deviation between the first node device and the corresponding third node device according to the deviation information corresponding to the target PRS sent by the corresponding third node device;

[0024] Determine a time adjustment amount between the first node device and Coordinated Universal Time (UTC) according to the first time deviation and the radio interface synchronization messages sent by each of the third node devices;

[0025] Determine a frequency adjustment amount between the first node device and a reference frequency according to the first frequency deviation and the radio interface synchronization messages sent by each of the third node devices;

[0026] Perform synchronization according to the time adjustment amount and the frequency adjustment amount.

[0027] Optionally, determining a first time deviation and a first frequency deviation between the first node device and the corresponding third node device according to the deviation information corresponding to the target PRS sent by the corresponding third node device includes:

[0028] Determine the first time deviation as the time deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device;

[0029] In the case where the deviation information does not include the frequency deviation, determine the first frequency deviation according to the change amount of the time deviation in the deviation information corresponding to multiple target PRSs sent by the corresponding third node device;

[0030] In the case where the deviation information includes the frequency deviation, determine the first frequency deviation as the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device.

[0031] Optionally, determining a time adjustment amount between the first node device and Coordinated Universal Time (UTC) according to the first time deviation and the radio interface synchronization messages sent by each of the third node devices includes:

[0032] For each of the third node devices, determine a first time offset of the first node device with the corresponding third node device as a reference synchronization source according to the timing offset and the timing adjustment amount in the last radio interface synchronization message sent by the corresponding third node device, and the first time deviation related to the corresponding third node device;

[0033] Determine a second time offset between the first node device and the UTC according to multiple first time offsets;

[0034] Determine the time adjustment amount according to the second time offset and the radio frequency capability of the first node device.

[0035] Optionally, determine the frequency adjustment amount of the first node device with respect to the reference frequency according to the first frequency deviation and the air interface synchronization messages sent by each of the third node devices, including:

[0036] For each of the third node devices, determine the second frequency offset of the first node device with respect to the corresponding third node device as the reference synchronization source according to the first frequency offset and the second frequency adjustment amount in the last air interface synchronization message sent by the corresponding third node device, and the first frequency deviation associated with the corresponding third node device;

[0037] Determine the third frequency offset of the first node device with respect to the reference frequency according to the multiple second frequency offsets;

[0038] Determine the frequency adjustment amount according to the third frequency offset and the radio frequency capability of the first node device.

[0039] Optionally, perform positioning according to the deviation information corresponding to the target PRS, including:

[0040] For each of the second node devices that send the target PRS, determine the fractional part of the second time deviation and the phase deviation between the first node device and the corresponding second node device according to the deviation information corresponding to the last target PRS sent by the corresponding second node device;

[0041] For each of the second node devices that send the target PRS, determine the integer multiple part of the phase deviation between the first node device and the corresponding second node device according to the phase deviation of the deviation information corresponding to the multiple target PRS sent by the corresponding second node device;

[0042] Determine the pseudorange between the first node device and the corresponding second node device according to the second time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation;

[0043] Perform positioning according to the pseudorange between the first node device and the second node devices that send each of the target PRS.

[0044] Optionally, the air interface synchronization message further includes synchronization-related information, where the synchronization-related information includes at least one of phase deviation, timing offset, and timing adjustment amount.

[0045] Second aspect, to achieve the above object, an embodiment of the present application provides a synchronization and positioning method, which is applied to a second node device and includes:

[0046] Periodically send PRS;

[0047] Periodically send an air interface synchronization message, where the transmission period of the PRS is less than the transmission period of the air interface synchronization message, and the air interface synchronization message includes first information, and the first information is related to the PRS identifier.

[0048] Optionally, the air interface synchronization message further includes synchronization-related information, where the synchronization-related information includes at least one of phase deviation, timing offset, and timing adjustment amount.

[0049] Optionally, the method further includes any one of the following:

[0050] In the case of separately scheduling the air interface synchronization message, determine the transmission resource according to the size of the air interface synchronization message;

[0051] In the case of multiplexing the air interface synchronization message with the high-layer service packet logical channel, determine the transmission resource according to the size of the air interface synchronization message and the multiplexed packet corresponding to the high-layer service packet.

[0052] Optionally, the periodically sending PRS includes:

[0053] In the case where the synchronization level of the second node device is higher than the synchronization level threshold, periodically send the PRS.

[0054] Third aspect, to achieve the above object, an embodiment of the present application provides a synchronization and positioning device, which is applied to a first node device and includes:

[0055] A first receiving module, configured to receive PRS periodically sent by at least one second node device;

[0056] A second receiving module, configured to receive the air interface synchronization message periodically sent by the at least one second node device, where the transmission period of the PRS is less than the transmission period of the air interface synchronization message, and the air interface synchronization message includes first information, and the first information is related to the PRS identifier;

[0057] A processing module, configured to perform synchronization and / or positioning according to the received air interface synchronization message and the PRS.

[0058] Fourth aspect, to achieve the above object, an embodiment of the present application provides a synchronization and positioning device, which is applied to a second node device and includes:

[0059] A first sending module, configured to periodically send PRS;

[0060] A second transmission module, configured to periodically transmit an air interface synchronization message, where a transmission period of the PRS is less than a transmission period of the air interface synchronization message, and the air interface synchronization message includes first information related to a PRS identifier.

[0061] In a fifth aspect, to achieve the above object, an embodiment of the present application provides a node device, including a transceiver, a memory, a processor, and a computer program stored on the memory and running on the processor. When the processor executes the computer program, the synchronization and positioning method described in the first aspect is implemented, or the synchronization and positioning method described in the second aspect is implemented.

[0062] In a sixth aspect, to achieve the above object, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the synchronization and positioning method described in the first aspect is implemented, or the synchronization and positioning method described in the second aspect is implemented.

[0063] The above technical solution of the present application has at least the following beneficial effects:

[0064] In the synchronization and positioning method of the embodiment of the present application, a first node device receives positioning reference signals (PRSs) periodically sent by at least one second node device; and receives the air interface synchronization messages periodically sent by the at least one second node device, where a transmission period of the PRS is less than a transmission period of the air interface synchronization message, and the air interface synchronization message includes first information related to a PRS identifier; and then performs synchronization and / or positioning according to the received air interface synchronization message and the PRS. In this way, it is possible to implement synchronization and / or positioning according to multiple PRSs and air interface synchronization messages within one air interface synchronization period, shortening the synchronization and / or positioning time and improving the accuracy of the positioning algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of a typical deployment of an RSU in a tunnel;

[0066] Figure 2 It is a schematic diagram of the format definition of a MAC PDU;

[0067] Figure 3 It is one of the schematic flowcharts of the synchronization and positioning method of the embodiment of the present application;

[0068] Figure 4 It is the second of the schematic flowcharts of the synchronization and positioning method of the embodiment of the present application;

[0069] Figure 5 It is one of the schematic structural diagrams of the synchronization and positioning device of the embodiment of the present application;

[0070] Figure 6 This is the second structural schematic diagram of the synchronization positioning device according to the embodiment of the present application;

[0071] Figure 7 This is the structural schematic diagram of the node device according to the embodiment of the present application. Detailed implementation manners

[0072] To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of the embodiments of the present application. Therefore, those skilled in the art should clearly understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and configurations are omitted for clarity and conciseness.

[0073] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that a specific feature, structure or characteristic related to the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in any suitable manner in one or more embodiments.

[0074] In various embodiments of the present application, it should be understood that the order numbers of the following processes do not mean the order of execution is prior or posterior, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0075] In the embodiments provided by the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0076] When explaining the embodiments of the present application, first, the prior art related to the embodiments of the present application is explained.

[0077] 1. The air interface synchronization algorithm performs synchronization based on the time difference of arrival principle of the beacon message sent by the sending end (such as a road side unit (RSU)) received by the receiving end (such as an on-board unit (OBU), a road side unit (RSU)), and the overview is as follows:

[0078] The RSU periodically broadcasts beacon messages, which carry information such as its own location.

[0079] The RSU performs timing measurements on adjacent RSU beacons and carries the measurement results in the beacon of the next cycle.

[0080] The OBU receives beacon messages from multiple RSUs and performs timing estimation, deducts errors such as propagation delay and timing deviation between RSUs, and calculates its own real-time position based on the geometric positioning principle.

[0081] Among them, taking the tunnel scenario as an example to illustrate the solution, and the same applies to other scenarios. Specifically, the typical deployment of the Long Term Evolution (LTE) Vehicle to Everything (V2X) PC5 RSU in the tunnel scenario is as Figure 1 shown. Among them, RSU#1 and RSU#n are located at the tunnel entrance and directly receive Global Navigation Satellite System (GNSS) satellite signals (R1 interface) to obtain Universal Time Coordinated (UTC) synchronization; starting from the tunnel entrance, the RSUs are continuously deployed and their precise positions are pre-calibrated. The RSUs are connected through the air interface level by level and obtain global UTC synchronization; the RSUs provide positioning and synchronization services for the OBU. Specifically, the deployment of the RSUs should meet the spacing requirements (it is recommended to ensure that 3 RSUs are visible in line of sight at any position in the tunnel) and synchronization requirements.

[0082] Second, during the air interface synchronization process, the RSU operates as follows:

[0083] Each RSU periodically broadcasts a synchronization positioning beacon signal, following the format of the Physical Sidelink Control Channel (PSCCH) and / or Physical Sidelink Shared Channel (PSSCH) of the R14 LTE-V2X PC5 physical layer. The synchronization positioning beacon information is placed in the Medium Access Control (MAC) Service Data Unit (SDU). Among them, the Logical Channel Identity (LCID) field of the MAC sub-header is filled with 0x10101 (a reserved value in the R14 standard), and the MAC Protocol Data Unit (PDU) format is as Figure 2 shown.

[0084] Among them, the synchronous positioning MAC SDU can be multiplexed with the R14 high-layer service MAC SDU in the same MAC PDU, or can be sent separately. The PSSCH carrying the above-mentioned synchronous positioning MAC SDU (whether sent separately or multiplexed) shall occupy all sub-channels of the RSU transmission resource pool. In the associated PSCCH sidelink control information (SCI) format 1, the first 4 reserved bits of the reserved bits defined by R14 (see Section 5.4.3.1.2 of 3GPP TS 36.212 v15) are used to indicate the last digit (0-9) of the logical sub-frame number of the sub-frame where the PSSCH is located, where 0x0001 represents the value 0, 0x0010 represents the value 1, and so on.

[0085] Based on the above content, below, in conjunction with the accompanying drawings, the specific implementation process of the synchronous positioning method, device and equipment provided by the embodiments of the present application will be described in detail.

[0086] The embodiments of the present application provide a synchronous positioning method, which is applied to a first node device. For example, the first node device is an OBU or an RSU, etc. As Figure 3 shown, the method includes:

[0087] Step 301, receiving positioning reference signals (PRS) periodically sent by at least one second node device; here, the second node device is, for example, a fixed node such as an RSU;

[0088] Step 302, receiving the radio interface synchronization messages periodically sent by the at least one second node device. Among them, one is that the transmission period of the PRS is less than the transmission period of the radio interface synchronization message. Here, for example, the transmission period of the PRS is 1 ms, and the transmission period of the radio interface synchronization message is 100 ms (logical sub-frame). That is to say, 100 PRSs can be sent within one radio interface synchronization period (between two adjacent radio interface synchronizations). The other is that the radio interface synchronization message includes first information, and the first information is related to the PRS identifier; here, the first information is, for example, the PRS group number and sequence number (i, m). Here, the group number i is the number of the sub-carrier group carrying the PRS, and the sequence number m is the sequence number of the PRS sequence to which the PRS related to the radio interface synchronization message belongs in the sub-carrier group; thus, based on the first information and the correspondence between the PRS sequence and the PRS ID, the PRS related to the radio interface synchronization message can be determined. The third is that since the radio interface synchronization message only carries the first information for synchronous positioning, the first node device does not need to perform timing measurement on the radio interface synchronization message.

[0089] Step 303: Synchronize and / or perform positioning based on the received radio interface synchronization message and the PRS.

[0090] In the synchronization and positioning method of the embodiments of the present application, a first node device receives positioning reference signals (PRSs) periodically sent by at least one second node device; and receives radio interface synchronization messages periodically sent by the at least one second node device, where the transmission period of the PRS is less than the transmission period of the radio interface synchronization message, and the radio interface synchronization message includes first information related to a PRS identifier; and then synchronizes and / or performs positioning based on the received radio interface synchronization message and the PRS. In this way, synchronization and / or positioning can be achieved based on multiple PRSs and radio interface synchronization messages within one radio interface synchronization period. Compared with the existing synchronization and positioning based on multiple radio interface synchronization messages, the time for synchronization and / or positioning is shortened and the accuracy of the positioning algorithm is improved.

[0091] As a first optional implementation manner, step 303 includes:

[0092] 1) Obtain a target PRS subset from a PRS set according to the first information and the synchronization level of the second node device, where the PRS set includes the received PRSs, and the target PRSs in the target PRS subset are at least some of the PRSs in the PRS set, and the synchronization level of the second node device that sends the target PRS is higher than or equal to the reference synchronization level of the first node device; here, the synchronization level of the second node device can be determined according to the radio interface synchronization message sent by the second device. For example, the radio interface synchronization message carries the synchronization level or indication information for indicating the synchronization level; the reference synchronization level of the first node device is the synchronization level of the synchronization source selected by the first node device in the previous synchronization process; for example, the synchronization level of node A is 1, and node B selects node A as the synchronization source in the previous synchronization process, then the reference synchronization level of node B is 1, and the synchronization level of node B is 2. That is, after a node is synchronized, its own synchronization level is one level lower than the synchronization level of the selected synchronization source. Based on this, when node B (at this time, the synchronization level of B is 2 and the reference synchronization level is 1) receives again, it selects a node with a synchronization level equal to 1 or less than 1 as the synchronization source. That is, it selects a node with a synchronization level of 1 or a synchronization level of 0 as the synchronization source. That is, for the receiving node, it follows its own reference synchronization source and looks at the synchronization level of the sending node.

[0093] That is to say, as a specific implementation manner, the specific implementation process of this step includes:

[0094] (1) In the received air interface synchronization message, obtain the target air interface synchronization message; wherein, the synchronization level of the second node device that sends the target air interface synchronization message is higher than or equal to the reference synchronization level of the first node device; specifically, this step may be: after receiving the air interface synchronization message, determine whether the synchronization level in the air interface synchronization message is higher than or equal to its own (the first node device) reference synchronization level, if so, determine that the air interface synchronization message is the target air interface synchronization message;

[0095] (2) According to the first information in the target air interface synchronization message, obtain the target PRS subset from the PRS set; specifically, this step is: according to the first information and the predefined corresponding relationship, determine the PRS ID corresponding to the first information, so as to obtain the PRS (target PRS) corresponding to this PRS ID from the received PRSs;

[0096] 2) Measure and detect each of the target PRSs, and obtain the deviation information corresponding to each of the target PRSs, where the deviation information includes at least one of time deviation, frequency deviation, and phase deviation; as a specific example, the deviation information includes time deviation and phase deviation, or the deviation information includes time deviation, frequency deviation, and phase deviation;

[0097] 3) Synchronize according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node device that sends the target PRS;

[0098] 4) Locate according to the deviation information corresponding to the target PRS.

[0099] That is to say, in the embodiment of the present application, when the first node device performs synchronization, it needs to consider the synchronization level of the synchronization source to avoid synchronizing with a node device in an out-of-sync state. In this way, the synchronization accuracy can be improved; and when the first node device performs positioning, since positioning is not related to time, it can not consider the synchronization status of other node devices.

[0100] As a specific implementation manner, the obtaining the target PRS subset from the PRS set according to the first information and the synchronization level of the second node device includes:

[0101] As a second optional implementation manner, step 303 includes:

[0102] For each of the second node devices, obtain the deviation information corresponding to the PRS sent by the corresponding second node device, where the deviation information includes at least one of time deviation, frequency deviation, and phase deviation; similarly, this step is to measure and detect the corresponding second node device to obtain the deviation information;

[0103] According to the received air interface synchronization message, obtain the deviation information corresponding to the target PRS from the deviation information corresponding to the PRS, where the synchronization level of the second node device that sends the target PRS is higher than or equal to the reference synchronization level of the first node device; that is, when receiving the air interface synchronization message and determining that the synchronization level in the air interface synchronization message is higher than or equal to its own (the first node device) reference synchronization level, obtain the deviation information corresponding to the target PRS related to the air interface synchronization message.

[0104] Perform synchronization according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node device that sends the target PRS.

[0105] Perform positioning according to the deviation information corresponding to the target PRS.

[0106] Here, it should be noted that the above two optional implementation methods are two implementation methods for synchronization and positioning in different scenarios. Among them, the first optional implementation method is applicable to the scenario where the first node device has received the air interface synchronization message related to the PRS. In this case, the first node device can determine whether the PRS related to the air interface synchronization message is the target PRS based on the synchronization level in the air interface synchronization message. If so, extract the PRS, and then perform synchronization and / or positioning according to the deviation information obtained from the extracted PRS; that is: in this scenario, first filter / screen the PRS to obtain the PRS that meets the synchronization level condition, and then process the filtered PRS to achieve synchronization and / or positioning; the second optional implementation method is applicable to the scenario where the first node device has not received the air interface synchronization message related to the PRS when receiving the PRS. In this case, the first node device can first process (detect and measure) the received PRS to obtain the deviation information related to the PRS; then, after receiving the air interface synchronization message related to the PRS, determine whether the PRS is the PRS that meets the synchronization level based on the synchronization priority in the air interface synchronization message. If so, obtain the deviation information corresponding to the PRS, if not, discard the deviation information corresponding to the PRS, and finally perform synchronization and / or positioning based on the remaining deviation information.

[0107] Here, an example is given to illustrate the process of obtaining deviation information in the above two optional implementation methods:

[0108] The anchor node (the first node device A1) can obtain two measurement quantities by receiving the PRS of another anchor node (such as the second node device A0) through a single subframe each time: and where:

[0109] The time difference / time deviation of the PRS sent by the anchor node A0 measured by A1;

[0110] The fractional part of the phase deviation of the PRS sent by the anchor node A0 measured by A1, that is, the phase deviation obtained by each measurement can only be the fractional part. The integer-cycle deviation cannot be obtained through a single measurement and requires multiple consecutive (or with a very small measurement interval) measurements. According to the changes in the fractional parts of the phase deviations obtained multiple times, the integer multiple part of the phase deviation between the two nodes is determined.

[0111] As a specific implementation manner, synchronization is performed according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node device that sends the target PRS, including:

[0112] A) According to the air interface synchronization message (the air interface synchronization message sent by the second node device that sends each target PRS), obtain at least one third node device with the highest synchronization level; specifically, in this step, the synchronization level of the second node device is determined based on the received air interface synchronization message, and then all the node devices (third node devices) with the highest synchronization level among these second node devices are obtained, where the node device with the highest synchronization level includes one or more;

[0113] B) For each of the third node devices, determine the first time deviation and the first frequency deviation between the first node device and the corresponding third node device according to the deviation information corresponding to the target PRS sent by the corresponding third node device;

[0114] C) Determine the time adjustment amount between the first node device and Coordinated Universal Time (UTC) according to the first time deviation and the air interface synchronization messages sent by each of the third node devices;

[0115] D) Determine the frequency adjustment amount between the first node device and the reference frequency according to the first frequency deviation and the air interface synchronization messages sent by each of the third node devices;

[0116] E) Perform synchronization according to the time adjustment amount and the frequency adjustment amount.

[0117] As a more specific implementation manner, determining the first time deviation and the first frequency deviation between the first node device and the corresponding third node device according to the deviation information corresponding to the target PRS sent by the corresponding third node device includes:

[0118] Determine the first time deviation as: the time deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device;

[0119] In the case that the deviation information does not include the frequency deviation, determine the first frequency deviation according to the change amount of the time deviation in the deviation information corresponding to multiple target PRSs sent by the corresponding third node device.

[0120] In the case that the deviation information includes the frequency deviation, determine the first frequency deviation as the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device.

[0121] That is to say, in the case that the deviation information does not include the frequency deviation, determine the first frequency deviation according to the time deviation in multiple deviation information related to the same third node device; in the case that the deviation information includes the frequency deviation, determine the first frequency deviation as the frequency deviation in the deviation information corresponding to the last target PRS.

[0122] Here, an example is given to illustrate the implementation process of determining the first time deviation and the first frequency deviation in the foregoing implementation manner:

[0123] Within an air interface synchronization period, the first node device obtains the time deviation (the first time deviation) and the frequency deviation (the first frequency deviation) of the node pair (the first node device and the second node device that sends the PRS) within the air interface synchronization period according to the PRS measurement amount (time deviation) of a second node device measured in multiple subframes. The basic idea of this process is: obtain the time / frequency deviation between two anchor nodes through the measurement amounts obtained from PRSs at multiple different time points within an air interface synchronization period (for example, the frequency deviation can be determined according to the time deviation). Specifically:

[0124] Assume that the air interface synchronization period is set to 100 ms, and here node A0 is used as the receiving observation object (the first node device). Within the air interface synchronization period, through PRS measurement, multiple time deviations and phase deviations of node A1 (PRS ID1), node A2 (PRS ID2), and node A3 (PRS ID3) are received. Among them, A1, A2, and A3 are different second node devices. Here, taking A1 as an example: assume that the measurement of node A1 is successfully detected 4 times within the air interface synchronization period, and multiple timing deviation measurement amounts are obtained: (Ta A0,A1 (t 0 ), Ta A0,A1 (t 1 ), Ta A0,A1 (t 2 ), and Ta A0,A1 (t 3 ).

[0125] Based on the above, first obtain the first time deviation and the first frequency deviation between A0 and A1, A2, and A3; where:

[0126] The determination of the time deviation of the user pair (A0 and A1, or A0 and A2, or A0 and A3) is: the most recently measured time deviation. Taking the user pair of A0 and A1 as an example, the first time deviation between this user pair is: Ta A0,A1 = Ta A0,A1 (t 3 )

[0127] The determination of the frequency deviation of the user pair: Determine the frequency deviation between two nodes according to the change amount of the time deviation between the two nodes; for example, when specifically calculating, the frequency deviation can be calculated based on the measurements at any two time points, and then the first frequency deviation is obtained by weighting the frequency deviation.

[0128] Among them, the above method for calculating the first frequency deviation is only an example, but the calculation method of the first frequency deviation is not limited to this. Taking the user pair of A0 and A1 as an example, an example of calculating the first frequency deviation is as follows:

[0129]

[0130]

[0131]

[0132]

[0133]

[0134] Here, T A0,A1 (t i ) represents the time deviation between A0 and A1 at time point t i , F A0,A1 (i) represents the frequency deviation between A0 and A1 at time point t i , and F 0 represents the reference frequency.

[0135] Accordingly, the first frequency deviations between A0 and A2, A0 and A3, and other multiple nodes can also be obtained.

[0136] As a specific implementation method, determine the time adjustment amount between the first node device and UTC according to the first time deviation and the radio interface synchronization messages sent by each of the third node devices, including:

[0137] For each of the third node devices, determine the first time offset of the first node device with the corresponding third node device as the reference synchronization source according to the timing offset and timing adjustment amount in the last radio interface synchronization message sent by the corresponding third node device, and the first time deviation associated with the corresponding third node device;

[0138] Determine the second time offset of the first node device from the UTC according to multiple first time offsets; here, the specific determination method can be: taking the average, weighted summation, selecting one of the first time offsets according to a preset rule (such as the largest first time offset, the smallest first time offset, and the median of multiple first time offsets), etc.;

[0139] Determine the time adjustment amount according to the second time offset and the radio frequency capability of the first node device.

[0140] Continuing from the previous example, an example of this specific implementation method is: according to the radio interface synchronization messages of A1 / A2 / A3 / A4, combined with the first time deviation, determine the time adjustment amount with A1 / A2 / A3 / A4 as the reference synchronization source. Among them, the time adjustment amount needs to consider obtaining the timing offset (TimeOffset) and timing adjustment amount (TaAdjest) in the last radio interface synchronization message sent by the corresponding second node device from the latest radio interface synchronization message sent by A1 / A2 / A3 / A4, and according to the TimeOffset and the TaAdjest, determine the offset of A0 from the UTC time with A1 / A2 / A3 / A4 as the reference synchronization source:

[0141] That is, the offset TAdet of A0 from the UTC time with A1 as the reference synchronization source A1 (i);

[0142] That is, the offset TAdet of A0 from the UTC time with A2 as the reference synchronization source A2 (i);

[0143] That is, the offset TAdet of A0 from the UTC time with A3 as the reference synchronization source A3 (i);

[0144] That is, the offset TAdet of A0 from the UTC time with A4 as the reference synchronization source A4 (i);

[0145] Then obtain the offset of A0 from the UTC time:

[0146] (TAdet A1 (i)+TAdet A2 (i)+TAdetA3 (i)+TAdet A4 (i)) / 4;

[0147] Further, determine the time adjustment amount this time in combination with radio frequency capabilities, etc.; that is:

[0148] TA = f((TAdet A1 (i)+TAdet A2 (i)+TAdet A3 (i)+TAdet A4 (i)) / 4), where factors such as RF adjustment accuracy and RF adjustment threshold need to be considered.

[0149] To consider factors such as RF adjustment accuracy and RF adjustment threshold.

[0150] As another specific implementation manner, according to the first frequency deviation and the air interface synchronization messages sent by each of the third node devices, determine the frequency adjustment amount of the first node device with respect to the reference frequency, including:

[0151] For each of the third node devices, according to the first frequency offset and the second frequency adjustment amount in the last air interface synchronization message sent by the corresponding third node device, and the first frequency deviation related to the corresponding third node device, determine the second frequency offset of the first node device with the corresponding third node device as the reference synchronization source;

[0152] According to the multiple second frequency offsets, determine the third frequency offset of the first node device with respect to the reference frequency; here, the specific determination method can be: taking the average, weighted summation, selecting one of the second frequency offsets according to a preset rule (such as the largest second frequency offset, the smallest second frequency offset, and the median of multiple second frequency offsets), etc.;

[0153] According to the third frequency offset and the radio frequency capabilities of the first node device, determine the frequency adjustment amount.

[0154] Continuing from the previous example, an example of this specific implementation manner is: in the latest air interface synchronization messages of A1 / A2 / A3 / A4, combine the first frequency deviation to determine the frequency of A0 with respect to the reference frequency F with A1 / A2 / A3 / A4 as the reference synchronization source for A0 0The frequency adjustment amount of the offset. Among them, for the frequency adjustment amount, it is necessary to consider obtaining the frequency offset (frequentOffset) and the frequency adjustment amount (freAdjest) in the last air interface synchronization message sent by the corresponding second node device from the latest air interface synchronization messages sent from A1 / A2 / A3 / A4. According to the frequency offset amount, the frequency adjustment amount, the frequentOffset, and the freAdjest, determine the offset between A0 and the reference frequency F with A1 / A2 / A3 / A4 as the reference synchronization source 0 The frequency adjustment amount of the offset:

[0155] That is, the frequency offset FAdet between A0 and the reference frequency F0 with A1 as the reference synchronization source A1 (i);

[0156] That is, the offset FAdet between A0 and the reference frequency F0 with A2 as the reference synchronization source A2 (i);

[0157] That is, the offset FAdet between A0 and the reference frequency F0 with A3 as the reference synchronization source A3 (i);

[0158] That is, the offset FAdet between A0 and the reference frequency F0 with A4 as the reference synchronization source A14 (i);

[0159] Then obtain the offset between A0 and the reference frequency:

[0160] (FAdet A1 (i) + FAdet A2 (i) + FAdet A3 (i) + FAdet A4 (i)) / 4;

[0161] Furthermore, combine with the radio frequency capabilities, etc. to determine the frequency adjustment amount for this time;

[0162] TA = f((FAdet A1 (i) + FAdet A2 (i) + FAdet A3 (i) + FAdet A4 (i)) / 4), where it is necessary to

[0163] take into account factors such as RF adjustment accuracy and RF adjustment threshold.

[0164] As another specific implementation method, perform positioning according to the deviation information corresponding to the target PRS, including:

[0165] For each second node device that sends the target PRS, determine the fractional part of the second time deviation and the phase deviation between the first node device and the corresponding second node device according to the deviation information corresponding to the last target PRS sent by the corresponding second node device; that is: the phase deviation in the deviation information corresponding to the last target PRS sent by each second node device is the fractional part of the phase deviation between the first node device and the second node device.

[0166] For the second node device that sends each of the target PRSs, determine the integer multiple part of the phase deviation between the first node device and the corresponding second node device according to the phase deviation of the deviation information corresponding to the multiple target PRSs sent by the corresponding second node device; that is: determine the integer multiple part of the phase deviation between the first node device and the second node device according to the change in the phase deviation in the multiple deviation information; wherein, this determination process can be implemented according to the existing mechanism and will not be described in detail here.

[0167] Determine the pseudorange between the first node device and the corresponding second node device according to the second time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation.

[0168] Perform positioning according to the pseudorange between the first node device and the second node device that sends each of the target PRSs.

[0169] Here, the process of positioning using the phase deviation measured each time in this optional implementation manner is described:

[0170] First, the system pre-configures or pre-configures the position information X of the anchor node (non-reference node device) and the reference node association in advance by means of an electronic fence or the like. A With X R ;

[0171] Secondly, the mobile node (anchor node / non-reference node) obtains the timing and phase deviation (the phase deviation here includes the integer cycle multiple and the fractional deviation) between the mobile node and the RSU (fixed node) through multiple measurements.

[0172] Thirdly, calculate the pseudorange between the mobile node and the fixed node according to the following formula:

[0173]

[0174] Here, T A0 -T A1 : represents the arrival time difference of the PRS signal sent by the anchor node A0 (fixed node) measured by A1 (mobile node); wherein, T A0is the actual deviation value of A0 from the reference time; T A1 is the actual deviation value of A1 from the reference time;

[0175] represents the fractional part of the phase deviation of the PRS signal sent by the anchor node A0 measured by A1, that is, the phase deviation obtained by each measurement can only be the fractional part;

[0176] represents the integer ambiguity. Among them, the integer cycle deviation cannot be obtained by a single measurement and requires continuous (or with a very small interval) multiple times. According to the change of the fractional part of the phase deviation obtained multiple times, the integer multiple part of the phase deviation between two nodes is determined;

[0177] λ represents the wavelength;

[0178] represents the pseudorange between A1 and A0, that is, the distance between the mobile node and the anchor node measured;

[0179] Finally, the mobile node detects the pseudoranges of at least 4 fixed nodes in the vicinity, and then corresponding positioning can be performed. Specifically, existing multi-point positioning algorithms can be used for positioning.

[0180] As an optional implementation, the air interface synchronization message further includes synchronization-related information. Among them, the synchronization-related information includes at least one of phase deviation, timing offset, and timing adjustment amount. Among them, the timing offset includes the offset of the second node device sending the air interface synchronization message from the reference frequency and the offset of the second node device from the reference time The timing adjustment amount is the adjustment amount of the second node device with respect to the clock timing and the clock frequency

[0181] Generally speaking, based on the existing air interface synchronization messages (synchronization level, phase deviation, timing offset, timing adjustment amount), the air interface synchronization message of the embodiment of the present application further includes the PRS group number and sequence number (the first information). Among them, the synchronization level can be divided into levels 0 to 127.

[0182] Here, it should be noted that since the air interface synchronization message carries synchronization-related information, the first receiving node does not need to measure the air interface synchronization message.

[0183] In addition, it should also be noted that the air interface synchronization message in the embodiment of the present application can be scheduled independently or multiplexed with the high-layer service packet logical channel. Therefore, it is not necessary to reserve a subframe for each user equipment in the resource multiplexing domain to send the air interface synchronization message periodically, which can reduce system overhead.

[0184] The embodiment of the present application also provides a synchronization and positioning method, which is applied to a second node device. For example, the second node device is a fixed node such as an RSU, as Figure 4 shown, the method includes:

[0185] Step 401, periodically send PRS;

[0186] Step 402, periodically send an air interface synchronization message. Among them, one is that the sending period of the PRS is less than the sending period of the air interface synchronization message. For example, the sending period of the PRS is 1 ms, and the sending period of the air interface synchronization message is 100 ms. That is to say, within an air interface synchronization period (between two adjacent air interface synchronizations), 100 PRSs can be sent; the other is that the air interface synchronization message includes first information, and the first information is related to the PRS identifier. Here, the first information is, for example, the PRS group number and sequence number (i, m).

[0187] In the synchronization and positioning method of the embodiment of the present application, the second node device periodically sends PRS and air interface synchronization messages. Among them, the sending period of the PRS is less than the sending period of the air interface synchronization message. In this way, the receiving end (the first node device) can achieve synchronization and / or positioning according to multiple PRSs and air interface synchronization messages within an air interface synchronization period. Compared with the existing synchronization and positioning based on multiple air interface synchronization messages, the embodiment of the present application shortens the synchronization and / or positioning time and improves the positioning algorithm accuracy.

[0188] As an optional implementation manner, the air interface synchronization message further includes information related to synchronization, where the information related to synchronization includes at least one of phase deviation, timing offset, and timing adjustment amount. That is: the air interface synchronization message may include the following contents: PRS group number and sequence number, synchronization level, phase offset, timing offset, and timing adjustment amount, etc.

[0189] Further, as an optional implementation manner, the method further includes any one of the following:

[0190] In the case of separately scheduling the air interface synchronization message, determine the transmission resource according to the size of the air interface synchronization message;

[0191] In the case of multiplexing the air interface synchronization message with the high-layer service packet logical channel, determine the transmission resource according to the size of the air interface synchronization message and the multiplexed packet corresponding to the high-layer service packet.

[0192] That is to say, the air interface synchronization message can be sent alone or together with the high-layer service packet, and neither of the above two methods requires reserving resources for the air interface synchronization message, reducing the system overhead. Additionally, the resources for sending the air interface synchronization message can be specifically determined based on the size of the data packet to be sent, that is: when sending the air interface synchronization message alone, it is determined based on the size of the air interface synchronization message; when sending it together with the high-layer service packet, it is determined based on the total size of the air interface synchronization message and the multiplexed packet corresponding to the high-layer service packet.

[0193] As a specific implementation manner, the periodic sending of the PRS includes:

[0194] When the synchronization level of the second node device is higher than the synchronization level threshold, the PRS is periodically sent. In this way, it is possible to avoid the synchronization state of the synchronization source of the first node device from being out of synchronization, and improve the synchronization and / or positioning accuracy of the first node device.

[0195] The embodiment of the present application further provides a synchronization and positioning device, which is applied to the first node device, as Figure 5 shown, and includes:

[0196] A first receiving module 501, configured to receive the PRS periodically sent by at least one second node device;

[0197] A second receiving module 502, configured to receive the air interface synchronization message periodically sent by the at least one second node device, where the sending period of the PRS is less than the sending period of the air interface synchronization message, and the air interface synchronization message includes first information, and the first information is related to the PRS identifier;

[0198] A processing module 503, configured to perform synchronization and / or positioning according to the received air interface synchronization message and the PRS.

[0199] Optionally, the processing module 503 includes:

[0200] A first obtaining sub-module, configured to obtain a target PRS subset from the PRS set according to the first information and the synchronization level of the second node device, where the PRS set includes the received PRS, and the target PRS in the target PRS subset is at least one PRS in the PRS set, and the synchronization level of the second node device that sends the target PRS is higher than or equal to the reference synchronization level of the first node device;

[0201] A second obtaining sub-module, configured to measure and detect each of the target PRSs, and obtain the deviation information corresponding to each of the target PRSs, where the deviation information includes at least one of: time deviation, frequency deviation, and phase deviation;

[0202] The first synchronization sub-module is used to perform synchronization according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node device that sends the target PRS;

[0203] The first positioning sub-module is used to perform positioning according to the deviation information corresponding to the target PRS.

[0204] Optionally, the first acquisition sub-module includes:

[0205] The first acquisition unit is used to acquire a target air interface synchronization message from the received air interface synchronization messages; wherein, the synchronization level of the second node device that sends the target air interface synchronization message is higher than or equal to the reference synchronization level of the first node device;

[0206] The second acquisition unit is used to acquire the target PRS subset from the PRS set according to the first information in the target air interface synchronization message.

[0207] Optionally, the processing module 503 includes:

[0208] The third acquisition sub-module is used to acquire the deviation information corresponding to the PRS sent by the corresponding second node device for each of the second node devices, wherein the deviation information includes at least one of time deviation, frequency deviation, and phase deviation;

[0209] The fourth acquisition sub-module is used to acquire the deviation information corresponding to the target PRS from the deviation information corresponding to the PRS according to the received air interface synchronization message; wherein, the synchronization level of the second node device that sends the target PRS is higher than or equal to the reference synchronization level of the first node device;

[0210] The second synchronization sub-module is used to perform synchronization according to the deviation information corresponding to the target PRS and the air interface synchronization message sent by the second node device that sends the target PRS;

[0211] The second positioning sub-module is used to perform positioning according to the deviation information corresponding to the target PRS.

[0212] Optionally, the first synchronization sub-module and the second synchronization sub-module respectively include:

[0213] The third acquisition unit is used to acquire at least one third node device with the highest synchronization level from the second node devices that send each of the target PRSs according to the air interface synchronization message;

[0214] A first determination unit, configured to, for each of the third node devices, determine a first time deviation and a first frequency deviation between the first node device and the corresponding third node device according to the deviation information corresponding to the target PRS sent by the corresponding third node device;

[0215] A second determination unit, configured to determine a time adjustment amount between the first node device and Coordinated Universal Time (UTC) according to the first time deviation and the radio air interface synchronization messages sent by each of the third node devices;

[0216] A third determination unit, configured to determine a frequency adjustment amount between the first node device and a reference frequency according to the first frequency deviation and the radio air interface synchronization messages sent by each of the third node devices;

[0217] A synchronization unit, configured to perform synchronization according to the time adjustment amount and the frequency adjustment amount.

[0218] Optionally, the first determination unit includes:

[0219] A first determination subunit, configured to determine the first time deviation as: the time deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device;

[0220] A second determination subunit, configured to, when the deviation information does not include the frequency deviation, determine the first frequency deviation according to the variation amount of the time deviation in the deviation information corresponding to multiple target PRSs sent by the corresponding third node device;

[0221] A third determination subunit, configured to, when the deviation information includes the frequency deviation, determine the first frequency deviation as the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device.

[0222] Optionally, the second determination unit includes:

[0223] A fourth determination subunit, configured to, for each of the third node devices, determine a first time offset of the first node device with the corresponding third node device as a reference synchronization source according to the timing offset and the timing adjustment amount in the last radio air interface synchronization message sent by the corresponding third node device, and the first time deviation related to the corresponding third node device;

[0224] A fifth determination subunit, configured to determine a second time offset between the first node device and the UTC according to multiple first time offsets;

[0225] A sixth determination subunit, configured to determine the time adjustment amount according to the second time offset and the radio frequency capability of the first node device.

[0226] Optionally, the third determination unit includes:

[0227] A seventh determination subunit, configured to, for each of the third node devices, determine a second frequency offset of the first node device with the corresponding third node device as a reference synchronization source according to a first frequency offset and a second frequency adjustment amount in a last air interface synchronization message sent by the corresponding third node device, and a first frequency deviation related to the corresponding third node device;

[0228] An eighth determination subunit, configured to determine a third frequency offset of the first node device from the reference frequency according to a plurality of the second frequency offsets;

[0229] A ninth determination subunit, configured to determine the frequency adjustment amount according to the third frequency offset and the radio frequency capability of the first node device.

[0230] Optionally, the first positioning sub-module and the second positioning sub-module respectively include:

[0231] A fourth determination unit, configured to, for each of the second node devices that send the target PRS, determine a fractional part of a second time deviation and a phase deviation between the first node device and the corresponding second node device according to deviation information corresponding to a last target PRS sent by the corresponding second node device;

[0232] A fifth determination unit, configured to, for each of the second node devices that send the target PRS, determine an integer multiple part of the phase deviation between the first node device and the corresponding second node device according to a phase deviation of deviation information corresponding to a plurality of the target PRSs sent by the corresponding second node device;

[0233] A sixth determination unit, configured to determine a pseudorange between the first node device and the corresponding second node device according to the second time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation;

[0234] A positioning unit, configured to perform positioning according to the pseudoranges between the first node device and the second node devices that send the target PRS.

[0235] Optionally, the air interface synchronization message further includes synchronization-related information, where the synchronization-related information includes at least one of a phase deviation, a timing offset, and a timing adjustment amount.

[0236] It should be noted here that the above synchronization and positioning device provided by the embodiments of the present application can implement all the method steps implemented by the above synchronization and positioning method embodiments applied to the first node device, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0237] The embodiments of the present application also provide a synchronization and positioning device, which is applied to a second node device. As Figure 6 shown, it includes:

[0238] A first sending module 601, configured to periodically send PRS;

[0239] A second sending module 602, configured to periodically send radio interface synchronization messages. Among them, the sending period of the PRS is less than the sending period of the radio interface synchronization messages, and the radio interface synchronization messages include first information, and the first information is related to the PRS identifier.

[0240] Optionally, the radio interface synchronization messages further include information related to synchronization, where the information related to synchronization includes at least one of phase deviation, timing offset, and timing adjustment amount.

[0241] Optionally, the device further includes:

[0242] A determination module, configured to perform any one of the following:

[0243] In the case of separately scheduling the radio interface synchronization messages, determine the sending resources according to the size of the radio interface synchronization messages;

[0244] In the case of multiplexing the radio interface synchronization messages with the high-layer service packet logical channel, determine the sending resources according to the size of the radio interface synchronization messages and the multiplexed packet corresponding to the high-layer service packet.

[0245] Optionally, the first sending module 601 is specifically configured to periodically send the PRS when the synchronization level of the second node device is higher than the synchronization level threshold.

[0246] It should be noted here that the above synchronization and positioning device provided by the embodiments of the present application can implement all the method steps implemented by the above synchronization and positioning method embodiments applied to the second node device, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0247] As Figure 7As shown in the figure, an embodiment of the present application further provides a node device, including a transceiver 710, a memory 720, a processor 700, and a computer program stored on the memory 720 and running on the processor 700. When the processor 700 executes the computer program, it implements the above-mentioned synchronization positioning method applied to the first node device, or implements the above-mentioned synchronization positioning method applied to the second node device.

[0248] The transceiver 710 is used to receive and send data under the control of the processor 700.

[0249] Among them, in Figure 7 In the figure, the bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors represented by the processor 700 and the memory represented by the memory 720 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and therefore, will not be further described herein. The bus interface provides an interface. The transceiver 710 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on the transmission medium. The processor 700 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 700 when performing operations.

[0250] It should be noted here that the above-mentioned node device provided by the embodiment of the present application can implement all the method steps implemented by the above-mentioned synchronization positioning method embodiment applied to the first node device, or implement all the method steps implemented by the above-mentioned synchronization positioning method embodiment applied to the second node device, and can achieve the same technical effect. The same parts and beneficial effects as those in the method embodiment will not be specifically described in this embodiment.

[0251] Those skilled in the art can understand that all or part of the steps of implementing the above embodiment can be completed by hardware, or can be completed by a computer program instructing relevant hardware. The computer program includes instructions for executing part or all of the steps of the above method; and the computer program can be stored in a readable storage medium, and the storage medium can be any form of storage medium.

[0252] In addition, an embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, it implements each process of the above-described embodiment of the synchronization positioning method applied to the first node device, or implements each process of the above-described embodiment of the synchronization positioning method applied to the second node device, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here. Among them, the readable storage medium can be, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.

[0253] In addition, it should be noted that in the device and method of the present application, obviously, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application. And, the steps of performing the above series of processes can naturally be executed in the order described or in chronological order, but it is not necessary to execute them in chronological order. Some steps can be executed in parallel or independently of each other. For those of ordinary skill in the art, it can be understood that all or any steps or components of the method and device of the present application can be implemented in any computing device (including a processor, a storage medium, etc.) or a network of computing devices in hardware, firmware, software, or a combination thereof, which can be achieved by those of ordinary skill in the art using their basic programming skills after reading the description of the present application.

[0254] Therefore, the object of the present application can also be achieved by running a program or a set of programs on any computing device. The computing device can be a well-known general-purpose device. Therefore, the object of the present application can also be achieved only by providing a program product containing program code for implementing the method or device. That is to say, such a program product also constitutes the present application, and a storage medium storing such a program product can also constitute the present application. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future.

[0255] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0256] The above are the preferred embodiments of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle described in the present application, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A synchronization and positioning method, characterized in that, applied to a first node device, includes: Receiving positioning reference signals (PRS) periodically sent by at least one second node device; Receiving radio interface synchronization messages periodically sent by the at least one second node device, wherein the transmission period of the PRS is less than the transmission period of the radio interface synchronization message, and the radio interface synchronization message includes first information related to the PRS identifier; Performing synchronization and / or positioning according to the received radio interface synchronization message and the PRS.

2. The method according to claim 1, characterized in that, The performing synchronization and / or positioning according to the received radio interface synchronization message and the PRS includes: Obtaining a target PRS subset from a PRS set according to the first information and the synchronization level of the second node device, wherein the PRS set includes the received PRS, and the target PRS in the target PRS subset is at least one PRS in the PRS set, and the synchronization level of the second node device sending the target PRS is higher than or equal to the reference synchronization level of the first node device; Measuring and detecting each of the target PRSs to obtain deviation information corresponding to each of the target PRSs, wherein the deviation information includes at least one of time deviation, frequency deviation, and phase deviation; Performing synchronization according to the deviation information corresponding to the target PRS and the radio interface synchronization message sent by the second node device sending the target PRS; Performing positioning according to the deviation information corresponding to the target PRS.

3. The method according to claim 2, characterized in that, The obtaining a target PRS subset from a PRS set according to the first information and the synchronization level of the second node device includes: Obtaining a target radio interface synchronization message in the received radio interface synchronization messages; wherein the synchronization level of the second node device sending the target radio interface synchronization message is higher than or equal to the reference synchronization level of the first node device; Obtaining the target PRS subset from the PRS set according to the first information in the target radio interface synchronization message.

4. The method according to claim 1, characterized in that, The performing synchronization and / or positioning according to the received radio interface synchronization message and the PRS includes: For each of the second node devices, obtaining deviation information corresponding to the PRS sent by the corresponding second node device, wherein the deviation information includes at least one of time deviation, frequency deviation, and phase deviation; According to the received radio interface synchronization message, obtaining deviation information corresponding to the target PRS from the deviation information corresponding to the PRS; wherein the synchronization level of the second node device sending the target PRS is higher than or equal to the reference synchronization level of the first node device; Performing synchronization according to the deviation information corresponding to the target PRS and the radio interface synchronization message sent by the second node device sending the target PRS; Performing positioning according to the deviation information corresponding to the target PRS.

5. The method according to claim 2 or 4, It is characterized in that synchronization is performed according to the deviation information corresponding to the target PRS and the radio interface synchronization message sent by the second node device that sends the target PRS, including: obtaining at least one third node device with the highest synchronization level among the second node devices that send each of the target PRSs according to the radio interface synchronization message; for each of the third node devices, determining a first time deviation and a first frequency deviation between the first node device and the corresponding third node device according to the deviation information corresponding to the target PRS sent by the corresponding third node device; determining a time adjustment amount between the first node device and Coordinated Universal Time (UTC) according to the first time deviation and the radio interface synchronization messages sent by the third node devices; determining a frequency adjustment amount between the first node device and a reference frequency according to the first frequency deviation and the radio interface synchronization messages sent by the third node devices; performing synchronization according to the time adjustment amount and the frequency adjustment amount.

6. The method according to claim 5, It is characterized in that determining the first time deviation and the first frequency deviation between the first node device and the corresponding third node device according to the deviation information corresponding to the target PRS sent by the corresponding third node device includes: determining the first time deviation as the time deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device; in the case that the deviation information does not include the frequency deviation, determining the first frequency deviation according to the change amount of the time deviation in the deviation information corresponding to multiple target PRSs sent by the corresponding third node device; in the case that the deviation information includes the frequency deviation, determining the first frequency deviation as the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device.

7. The method according to claim 5, It is characterized in that determining the time adjustment amount between the first node device and Coordinated Universal Time (UTC) according to the first time deviation and the radio interface synchronization messages sent by the third node devices includes: for each of the third node devices, determining a first time offset of the first node device with the corresponding third node device as a reference synchronization source according to the timing offset and the timing adjustment amount in the last radio interface synchronization message sent by the corresponding third node device, and the first time deviation related to the corresponding third node device; determining a second time offset between the first node device and the UTC according to the multiple first time offsets; determining the time adjustment amount according to the second time offset and the radio frequency capability of the first node device.

8. The method according to claim 5, It is characterized in that determining the frequency adjustment amount between the first node device and a reference frequency according to the first frequency deviation and the radio interface synchronization messages sent by the third node devices includes: For each of the third node devices, determine a second frequency offset of the first node device with the corresponding third node device as a reference synchronization source according to a first frequency offset and a second frequency adjustment amount in a last radio interface synchronization message sent by the corresponding third node device, and a first frequency deviation associated with the corresponding third node device; Determine a third frequency offset of the first node device from the reference frequency according to a plurality of the second frequency offsets; Determine the frequency adjustment amount according to the third frequency offset and radio frequency capabilities of the first node device.

9. The method according to claim 2 or 4, wherein, Positioning according to deviation information corresponding to the target PRS includes: For each second node device that sends the target PRS, determine a fractional part of a second time deviation and a phase deviation between the first node device and the corresponding second node device according to deviation information corresponding to a last target PRS sent by the corresponding second node device; For each second node device that sends the target PRS, determine an integer multiple part of a phase deviation between the first node device and the corresponding second node device according to a phase deviation of deviation information corresponding to a plurality of the target PRSs sent by the corresponding second node device; Determine a pseudorange between the first node device and the corresponding second node device according to the second time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation; Perform positioning according to the pseudoranges between the first node device and the second node devices that send the respective target PRSs.

10. The method according to claim 1, wherein, The radio interface synchronization message further includes synchronization-related information, where the synchronization-related information includes at least one of a phase deviation, a timing offset, and a timing adjustment amount.

11. A synchronization and positioning method, wherein, Applied to a second node device, includes: Periodically send a PRS; Periodically send a radio interface synchronization message, where a transmission period of the PRS is less than a transmission period of the radio interface synchronization message, and the radio interface synchronization message includes first information related to a PRS identifier.

12. The method according to claim 11, wherein, The radio interface synchronization message further includes synchronization-related information, where the synchronization-related information includes at least one of a phase deviation, a timing offset, and a timing adjustment amount.

13. The method according to claim 11, wherein, The method further includes any one of the following: In a case of separately scheduling the radio interface synchronization message, determine a transmission resource according to a size of the radio interface synchronization message; In a case of multiplexing the radio interface synchronization message and a logical channel of a high-layer service packet, determine a transmission resource according to sizes of the radio interface synchronization message and a multiplexed packet corresponding to the high-layer service packet.

14. The method according to claim 11, wherein, The periodically sending a PRS includes: When the synchronization level of the second node device is higher than the synchronization level threshold, the PRS is sent periodically.

15. A synchronization and positioning device, characterized in that, applied to the first node device, comprising: a first receiving module, configured to receive the PRS periodically sent by at least one second node device; a second receiving module, configured to receive the air interface synchronization message periodically sent by the at least one second node device, wherein the sending period of the PRS is less than the sending period of the air interface synchronization message, and the air interface synchronization message includes first information, and the first information is related to the PRS identifier; a processing module, configured to perform synchronization and / or positioning according to the received air interface synchronization message and the PRS.

16. A synchronization and positioning device, characterized in that, applied to the second node device, comprising: a first sending module, configured to send the PRS periodically; a second sending module, configured to send the air interface synchronization message periodically, wherein the sending period of the PRS is less than the sending period of the air interface synchronization message, and the air interface synchronization message includes first information, and the first information is related to the PRS identifier.

17. A node device, comprising a transceiver, a memory, a processor, and a computer program stored on the memory and running on the processor, characterized in that, when the processor executes the computer program, it implements the synchronization and positioning method according to any one of claims 1 to 10, or implements the synchronization and positioning method according to any one of claims 11 to 14.

18. A readable storage medium, on which a program or instruction is stored, characterized in that, when the program or instruction is executed by a processor, it implements the synchronization and positioning method according to any one of claims 1 to 10, or implements the synchronization and positioning method according to any one of claims 11 to 14.

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