Synchronous positioning method, device and equipment

Abstract

The present application discloses a synchronous positioning method, apparatus and equipment, which relates to the field of communication technology. The method is applied to a first node device, and the method includes: receiving a positioning reference signal PRS periodically sent by at least one second node device; receiving an 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; synchronization and / or positioning are performed according to the received air interface synchronization message and the PRS. In this way, synchronization and / or positioning can be achieved based on multiple PRSs and air interface synchronization messages within an air interface synchronization period, shortening the synchronization and / or positioning time and improving the accuracy of the positioning algorithm.

Description

Technical Field

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

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

[0003] The purpose of this application is to provide a synchronous positioning method, device and equipment, so as to solve the problems of long synchronous positioning cycle and low positioning accuracy in the current synchronization and positioning based on the detection and measurement of air interface synchronization messages.

[0004] In a first aspect, to achieve the above-mentioned objectives, an embodiment of the present application provides a synchronous positioning method, applied to a first node device, comprising:

[0005] receiving a positioning reference signal PRS periodically sent by at least one second node device;

[0006] receiving an 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, where the first information is related to the PRS identifier;

[0007] Synchronization and / or positioning are performed 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] Acquire a target PRS subset from a PRS set according to the first information and a synchronization level of the second node device, wherein the PRS set includes the received detected PRS, a target PRS in the target PRS subset is at least one PRS in the PRS set, and a synchronization level of the second node device sending the target PRS is higher than or equal to a reference synchronization level of the first node device;

[0010] Measure and detect 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 a time deviation, a frequency deviation, and a phase deviation;

[0011] 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;

[0012] Positioning is performed according to the deviation information corresponding to the target PRS.

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

[0014] Acquire a target air interface synchronization message from the received air interface synchronization message; wherein the synchronization level of the second node device sending the target air interface synchronization message is higher than or equal to the reference synchronization level of the first node device;

[0015] The target PRS subset is acquired from the PRS set according to the first information in the target air interface synchronization message.

[0016] Optionally, the performing synchronization and / or positioning according to the received air interface synchronization message and the PRS includes:

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

[0018] According to the received air interface synchronization message, obtaining 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 sending the target PRS is higher than or equal to the reference synchronization level of the first node device;

[0019] 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;

[0020] Positioning is performed according to the deviation information corresponding to the target PRS.

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

[0022] Acquire, according to the air interface synchronization message, at least one third node device with the highest synchronization level among the second node devices that send the target PRSs;

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

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

[0025] determining, according to the first frequency deviation and the air interface synchronization message sent by each of the third node devices, a frequency adjustment amount of the first node device relative to a reference frequency;

[0026] Synchronization is performed according to the time adjustment amount and the frequency adjustment amount.

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

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

[0029] When the deviation information does not include the frequency deviation, determining the first frequency deviation according to a change in time deviation in the deviation information corresponding to the multiple target PRSs sent by the corresponding third node device;

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

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

[0032] For each of the third node devices, determining, based on the timing offset and timing adjustment in the last air interface synchronization message sent by the corresponding third node device, and the first time deviation associated with the corresponding third node device, a first time offset of the first node device with the corresponding third node device as a reference synchronization source;

[0033] Determining a second time offset between the first node device and the UTC based on the multiple first time offsets;

[0034] The time adjustment value is determined according to the second time offset and the radio frequency capability of the first node device.

[0035] Optionally, determining, according to the first frequency deviation and the air interface synchronization message sent by each of the third node devices, a frequency adjustment amount between the first node device and a reference frequency includes:

[0036] For each of the third node devices, determining, based on 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, a second frequency offset of the first node device with the corresponding third node device as a reference synchronization source;

[0037] determining a third frequency offset of the first node device from the reference frequency according to the plurality of second frequency offsets;

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

[0039] Optionally, performing positioning according to deviation information corresponding to the target PRS includes:

[0040] For each second node device that sends the target PRS, determining, based on the offset information corresponding to the last target PRS sent by the corresponding second node device, a second time offset and a fractional part of the phase offset between the first node device and the corresponding second node device;

[0041] For the second node device that sends each of the target PRSs, determining, based on the phase deviation of the deviation information corresponding to the multiple target PRSs sent by the corresponding second node device, an integer multiple of the phase deviation between the first node device and the corresponding second node device;

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

[0043] Positioning is performed according to the pseudo-range between the first node device and the second node device that sends each of the target PRSs.

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

[0045] In a second aspect, to achieve the above-mentioned objective, an embodiment of the present application provides a synchronous positioning method, applied to a second node device, comprising:

[0046] Periodically send PRS;

[0047] An air interface synchronization message is periodically sent, wherein a sending period of the PRS is less than a 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.

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

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

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

[0051] In the case where the air interface synchronization message and the high-layer service packet are multiplexed on a logical channel, the sending resources are determined according to the size of the multiplexed packet corresponding to the air interface synchronization message and the high-layer service packet.

[0052] Optionally, the periodically sending a PRS includes:

[0053] When the synchronization level of the second node device is higher than the synchronization level threshold, the PRS is sent periodically.

[0054] In a third aspect, to achieve the above-mentioned objectives, an embodiment of the present application provides a synchronous positioning apparatus, applied to a first node device, comprising:

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

[0056] a second receiving module, configured to receive an 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;

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

[0058] In a fourth aspect, to achieve the above-mentioned objectives, an embodiment of the present application provides a synchronous positioning apparatus, applied to a second node device, comprising:

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

[0060] The second sending module is configured to periodically send an air interface synchronization message, wherein the sending period of the PRS is smaller 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.

[0061] In the fifth aspect, in order to achieve the above-mentioned purpose, 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, it implements the synchronous positioning method as described in the first aspect, or implements the synchronous positioning method as described in the second aspect.

[0062] In the sixth aspect, in order to achieve the above-mentioned purpose, 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 the processor, the synchronous positioning method as described in the first aspect is implemented, or the synchronous positioning method as 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 positioning method of the embodiment of the present application, a first node device receives a positioning reference signal PRS periodically sent by at least one second node device; and receives an air interface synchronization message 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 air interface synchronization message, and the air interface synchronization message includes first information, and the first information is related to the PRS identifier; thereby synchronization and / or positioning are performed based on the received air interface synchronization message and the PRS. In this way, synchronization and / or positioning can be achieved based on multiple PRSs and air interface synchronization messages within an 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 This is a typical RSU deployment diagram in a tunnel;

[0066] Figure 2 A schematic diagram of the MAC PDU format definition;

[0067] Figure 3 This is a flowchart of a synchronous positioning method according to an embodiment of the present application;

[0068] Figure 4 This is a second flow chart of the synchronous positioning method according to an embodiment of the present application;

[0069] Figure 5 This is one of the structural diagrams of the synchronous positioning device according to an embodiment of the present application;

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

[0071] Figure 7 This is a schematic diagram of the structure of the node device of an embodiment of the present application. DETAILED DESCRIPTION

[0072] In order 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 fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art 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, for clarity and brevity, the description of known functions and structures has been omitted.

[0073] It should be understood that references throughout this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic associated with 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 this specification do not necessarily refer to the same embodiment. Furthermore, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0074] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following 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.

[0075] In the embodiments provided herein, it should be understood that "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B based solely on A; B can also be determined based on A and / or other information.

[0076] When describing the embodiments of the present application, the prior art related to the embodiments of the present application will first be explained.

[0077] 1. The air interface synchronization algorithm uses the time difference between the arrival of beacon messages sent by the receiving end (such as the on-board unit (OBU) and the roadside unit (RSU)) and the sending end (such as the roadside unit (RSU)) to synchronize. The following is an overview:

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

[0079] The RSU performs timing measurements on the 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, deducting errors such as propagation delay and timing deviation between RSUs, and calculates its own real-time position based on the principle of geometric positioning.

[0081] The solution is explained using a tunnel scenario as an example. The same applies to other scenarios. Specifically, the typical deployment of Long Term Evolution (LTE) Vehicle to Everything (V2X) PC5 RSU in a tunnel scenario is as follows: Figure 1 As shown in the figure, RSU#1 and RSU#n are located at the tunnel entrance, directly receiving Global Navigation Satellite System (GNSS) satellite signals (R1 interface) to synchronize with Universal Time Coordinated (UTC). Starting from the tunnel entrance, RSUs are continuously deployed and pre-calibrated for precise positions. RSUs are connected to each other through the air interface in a step-by-step manner to achieve global UTC synchronization. RSUs provide positioning and synchronization services for OBUs. The specific RSU deployment should meet spacing requirements (it is recommended to ensure that three RSUs are visible at any location in the tunnel) and synchronization requirements.

[0082] 2. During air interface synchronization, the RSU operates as follows:

[0083] Each RSU periodically broadcasts a synchronization positioning beacon signal, using the Physical Sidelink Control Channel (PSCCH) and / or Physical Sidelink Shared Channel (PSSCH) format 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), where 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 follows: Figure 2 shown.

[0084] Among them, the synchronization positioning MAC SDU can be multiplexed with the R14 high-level service MAC SDU in the same MAC PDU, or it can be sent separately. The PSSCH carrying the above-mentioned synchronization positioning MAC SDU (whether sent separately or multiplexed) should occupy all subchannels of the RSU transmission resource pool. In its associated PSCCH direct link control information (Sidelink Control Information, SCI) format 1 (format 1), the first four reserved bits of the reserved bits defined in R14 (see 3GPP TS 36.212v15, Section 5.4.3.1.2) are used to indicate the last digit (0 to 9) of the logical subframe number of the subframe 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, the specific implementation process of the synchronous positioning method, device and equipment provided in the embodiments of the present application is described in detail below in conjunction with the accompanying drawings.

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

[0087] Step 301: Receive a Positioning Reference Signal (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: Receive an air interface synchronization message periodically sent by the at least one second node device, wherein, first, the transmission period of the PRS is less than the transmission period of the air interface synchronization message. Here, for example, the transmission period of the PRS is 1 ms, and the transmission period of the air interface synchronization message is 100 ms (logical subframe), that is, 100 PRSs can be sent within one air interface synchronization period (between two adjacent air interface synchronizations). Second, 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, a PRS group number and a sequence number (i, m), where group number i is the number of the subcarrier group carrying the PRS, and sequence number m is the sequence number of the PRS sequence to which the PRS related to the air interface synchronization message belongs in the subcarrier group. In this way, based on the first information and the correspondence between the PRS sequence and the PRS ID, the PRS related to the air interface synchronization message can be determined. Third, since the air interface synchronization message only carries the first information used for synchronization positioning, the first node device may not perform timing measurement on the air interface synchronization message.

[0089] Step 303: Perform synchronization and / or positioning according to the received air interface synchronization message and the PRS.

[0090] In the synchronization positioning method of the embodiment of the present application, a first node device receives a positioning reference signal PRS periodically sent by at least one second node device; and receives an 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; thereby synchronization and / or positioning are performed based on the received air interface synchronization message and the PRS. In this way, synchronization and / or positioning can be achieved based on 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 synchronization and / or positioning time is shortened and the accuracy of the positioning algorithm is improved.

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

[0092] 1) Obtaining a target PRS subset from a PRS set based on the first information and the synchronization level of the second node device, wherein the PRS set includes the received PRS, 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 greater 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 based on an air interface synchronization message sent by the second device, for example, the air interface synchronization message carries the synchronization level or indication information 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 during a previous synchronization process. For example, if the synchronization level of node A is 1 and node B selects node A as the synchronization source during a previous synchronization process, 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 (whose synchronization level is 2 and the reference synchronization level is 1) receives a message again, it selects a node with a synchronization level equal to or less than 1 as the synchronization source. That is, a node with synchronization level 1 or synchronization level 0 is selected as the synchronization source. In other words, 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 method, the specific implementation process of this step includes:

[0094] (1) obtaining a target air interface synchronization message from the received 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; this step may specifically be: after receiving the air interface synchronization message, determining whether the synchronization level in the air interface synchronization message is higher than or equal to the reference synchronization level of the first node device itself (the first node device); if so, determining that the air interface synchronization message is the target air interface synchronization message;

[0095] (2) acquiring the target PRS subset from the PRS set according to the first information in the target air interface synchronization message; this step specifically comprises: determining a PRS ID corresponding to the first information according to the first information and a predefined correspondence relationship, and acquiring a PRS (target PRS) corresponding to the PRS ID from the received PRS;

[0096] 2) 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 a time deviation, a frequency deviation, and a phase deviation; as a specific example, the deviation information includes a time deviation and a phase deviation, or the deviation information includes a time deviation, a frequency deviation, and a phase deviation;

[0097] 3) performing 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;

[0098] 4) Positioning is performed according to the deviation information corresponding to the target PRS.

[0099] That is to say, in an embodiment of the present application, when the first node device is synchronizing, it is necessary to consider the synchronization level of the synchronization source to avoid synchronizing with a node device that is in an out-of-sync state. In this way, the accuracy of synchronization can be improved; and when the first node device is positioning, since positioning is not related to time, there is no need to consider the synchronization status of other node devices.

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

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

[0102] For each second node device, obtaining deviation information corresponding to the PRS sent by the corresponding second node device, wherein the deviation information includes: at least one of a time deviation, a frequency deviation, and a 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, obtaining 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 sending the target PRS is higher than or equal to the reference synchronization level of the first node device; that is, upon receiving the air interface synchronization message and determining that the synchronization level in the air interface synchronization message is higher than or equal to the reference synchronization level of the first node device itself (the first node device), obtaining 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] Positioning is performed 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 an 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, the PRS is extracted, and then synchronization and / or positioning is performed based on the deviation information obtained from the extracted PRS; that is, in this scenario, the PRS is first filtered / screened to obtain the PRS that meets the synchronization level conditions, and then the filtered PRS is processed. processing 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 deviation information related to the PRS; thereafter, after receiving the air interface synchronization message related to the PRS, it is determined based on the synchronization priority in the air interface synchronization message whether the PRS is a PRS that meets the synchronization level; if so, the deviation information corresponding to the PRS is obtained; if not, the deviation information corresponding to the PRS is discarded, and finally, synchronization and / or positioning is performed based on the remaining deviation information.

[0107] Here, the process of obtaining deviation information in the above two optional implementation methods is described with examples:

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

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

[0110] A1 measures the fractional part of the phase deviation of the PRS sent by the anchor node A0. That is, the phase deviation obtained in each measurement can only be a fractional part. The full cycle deviation cannot be obtained through a single measurement. Multiple consecutive measurements (or very small measurement intervals) are required to determine the integer multiples of the phase deviation between the two nodes based on the changes in the fractional part of the phase deviation obtained multiple times.

[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) acquiring, based on the air interface synchronization message (the air interface synchronization message sent by the second node device that sends each of the target PRSs), at least one third node device with the highest synchronization level. Specifically, this step is to determine the synchronization level of the second node device based on the received air interface synchronization message, and then acquire all the node devices (third node devices) with the highest synchronization level among the second node devices, where the node devices with the highest synchronization level include one or more.

[0113] B) determining, for each of the third node devices, a first time offset and a first frequency offset between the first node device and the corresponding third node device according to the offset information corresponding to the target PRS sent by the corresponding third node device;

[0114] C) determining a time adjustment amount between the first node device and the Universal Time (UTC) according to the first time offset and the air interface synchronization message sent by each of the third node devices;

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

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

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

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

[0119] When the deviation information does not include the frequency deviation, determining the first frequency deviation according to a change in time deviation in the deviation information corresponding to the multiple target PRSs sent by the corresponding third node device;

[0120] In a case where the deviation information includes the frequency deviation, the first frequency deviation is determined to be 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, when the deviation information does not include frequency deviation, the first frequency deviation is determined based on the time deviation in multiple deviation information related to the same third node device; when the deviation information includes frequency deviation, the first frequency deviation is determined to be the frequency deviation in the deviation information corresponding to the last target PRS.

[0122] Here, the implementation process of determining the first time offset and the first frequency offset in the above implementation is described by example:

[0123] During the air interface synchronization period, the first node device obtains the time deviation (first time deviation) and frequency deviation (first frequency deviation) of the node pair (the first node device and the second node device that sends the PRS) during the air interface synchronization period based on the PRS measurement value (time deviation) sent by the second node device measured in multiple subframes. The basic idea of this process is to obtain the time / frequency deviation between the two anchor nodes (for example, the frequency deviation can be determined based on the time deviation) by measuring the PRS at multiple different time points during an air interface synchronization period. Specifically:

[0124] Assume that the air interface synchronization period is set to 100ms, and node A0 is used as the receiving observation object (first node device). During the air interface synchronization period, multiple time deviations and phase deviations of node A1 (PRS ID1), node A2 (PRS ID2), and node A3 (PRS ID3) are received through PRS measurement. Among them, A1, A2, and A3 are different second node devices. Here, A1 is used as an example to illustrate: Assume that the measurement of node A1 is successfully detected 4 times during the air interface synchronization period, and multiple timing deviation measurement quantities are obtained: (Ta A0,A1 (t0), Ta A0,A1 (t1), Ta A0,A1 (t2) and Ta A0,A1 (t3)).

[0125] Based on the above content, the first time deviation and first frequency deviation between A0 and A1, A2 and A3 are first obtained; wherein:

[0126] The time offset of a user pair (A0 and A1, or A0 and A2, or A0 and A3) is determined as follows: the most recent time offset measured. Taking the user pair A0 and A1 as an example, the first time offset between the user pair is: Ta A0,A1 =Ta A0,A1 (t3);

[0127] User determination of frequency deviation: The frequency deviation between two nodes is determined based on the change in the time deviation between the two nodes. For example, during the specific calculation, the frequency deviation can be calculated based on measurements at any two time points, and then the frequency deviations are weighted to obtain a first frequency deviation.

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

[0129]

[0130]

[0131]

[0132]

[0133]

[0134] Here, T A0,A1 (t i ) represents the difference between A0 and A1 at t i Time deviation of time points, F A0,A1 (i) Characterize the relationship between A0 and A1 at t i The frequency deviation at a time point, F0, represents the reference frequency.

[0135] Based on this, the first frequency deviations between multiple nodes such as A0 and A2, A0 and A3, etc. can also be obtained.

[0136] As a specific implementation manner, determining the time adjustment amount between the first node device and UTC according to the first time offset and the air interface synchronization message sent by each of the third node devices includes:

[0137] For each of the third node devices, determining, based on the timing offset and timing adjustment in the last air interface synchronization message sent by the corresponding third node device, and the first time deviation associated with the corresponding third node device, a first time offset of the first node device with the corresponding third node device as a reference synchronization source;

[0138] Determining, based on the multiple first time offsets, a second time offset between the first node device and the UTC; wherein the specific determination method may include: averaging, weighted summing, 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 the multiple first time offsets), etc.;

[0139] The time adjustment value is determined according to the second time offset and the radio frequency capability of the first node device.

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

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

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

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

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

[0145] Then get the offset between A0 and UTC time:

[0146] (TAdet A1 (i)+TAdet A2 (i)+TAdet A3 (i)+TAdet A4 (i)) / 4;

[0147] Furthermore, the time adjustment amount is determined based on radio frequency capabilities, namely:

[0148] TA=f((TAdet A1(i)+TAdet A2 (i)+TAdet A3 (i)+TAdet A4 (i)) / 4), here we need

[0149] Factors such as RF adjustment accuracy and RF adjustment threshold should be taken into consideration.

[0150] As another specific implementation, determining, according to the first frequency deviation and the air interface synchronization message sent by each of the third node devices, a frequency adjustment amount between the first node device and a reference frequency includes:

[0151] For each of the third node devices, determining, based on 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, a second frequency offset of the first node device with the corresponding third node device as a reference synchronization source;

[0152] Determining a third frequency offset of the first node device from the reference frequency based on the multiple second frequency offsets; a specific determination method may include: averaging, weighted summing, 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 the multiple second frequency offsets), etc.;

[0153] The frequency adjustment amount is determined according to the third frequency offset and the radio frequency capability of the first node device.

[0154] Following the previous example, an example of this specific implementation method is: according to the latest air interface synchronization message of A1 / A2 / A3 / A4, combined with the first frequency deviation, determine the frequency adjustment amount of the offset between A0 and the reference frequency F0 under A1 / A2 / A3 / A4 as the reference synchronization source. Among them, the frequency adjustment amount needs to consider the frequency offset (frequentOffset) and frequency adjustment amount (freAdjest) in the last air interface synchronization message sent by the corresponding second node device from the latest air interface synchronization message sent by A1 / A2 / A3 / A4, and determine the frequency adjustment amount of the offset between A0 and the reference frequency F0 under A1 / A2 / A3 / A4 as the reference synchronization source based on the frequency offset, the frequency adjustment amount, the frequentOffset and the freAdjest:

[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 we get the offset between A0 and the reference frequency:

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

[0161] Furthermore, the frequency adjustment amount is determined based on radio frequency capabilities, etc.

[0162] TA=f((FAdet A1 (i)+FAdet A2 (i)+FAdet A3 (i)+FAdet A4 (i)) / 4), here we need

[0163] Factors such as RF adjustment accuracy and RF adjustment threshold should be taken into consideration.

[0164] As another specific implementation, performing positioning according to the deviation information corresponding to the target PRS includes:

[0165] For each second node device that sends the target PRS, determine, based on the deviation information corresponding to the last target PRS sent by the corresponding second node device, a second time deviation and a fractional part of the phase deviation between the first node device and 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, based on the phase deviations of the deviation information corresponding to the multiple target PRSs sent by the corresponding second node device, an integer multiple of the phase deviation between the first node device and the corresponding second node device; that is, determine, based on the change of the phase deviations in the multiple deviation information, the integer multiple of the phase deviation between the first node device and the second node device; wherein, the determination process can be implemented according to the existing mechanism and is not described in detail here;

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

[0168] Positioning is performed according to the pseudo-range between the first node device and the second node device that sends each of the target PRSs.

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

[0170] First, the system uses electronic fences or other methods to pre-configure or pre-configure the location information of anchor nodes (non-reference node devices) and reference node associations. A With X R ;

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

[0172] Again, the pseudorange between the mobile node and the fixed node is calculated 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); where T A0 is the actual deviation between A0 and the reference time; T A1 is the actual deviation between A1 and the reference time;

[0175] Indicates: the fractional part of the phase deviation of the PRS signal sent by anchor node A0 measured by A1. That is, the phase deviation obtained in each measurement can only be a fractional part;

[0176] Integer ambiguity, where the integer cycle deviation cannot be obtained through a single measurement and needs to be measured multiple times (or at very close intervals) to determine the integer multiple of the phase deviation between the two nodes based on the changes in the fractional part of the phase deviation obtained multiple times;

[0177] λ represents wavelength;

[0178] It represents the pseudo-range between A1 and A0, i.e. the distance between the mobile node and the anchor node.

[0179] Finally, the mobile node detects the pseudoranges of at least four nearby fixed nodes, and then performs corresponding positioning, specifically using the existing multi-point positioning algorithm for positioning.

[0180] As an optional implementation, the air interface synchronization message also includes information related to synchronization, wherein the information related to synchronization includes at least one of phase deviation, timing offset and timing adjustment. The timing offset includes the offset between the second node device sending the air interface synchronization message and the reference frequency. and the offset between the second node device and the reference time The timing adjustment amount is the time between the second node device and the clock timing and the clock frequency adjustment

[0181] In summary, the air interface synchronization message of the embodiment of the present application includes the existing air interface synchronization message (synchronization level, phase deviation, timing offset, timing adjustment) and also includes the PRS group number and sequence number (first information).

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

[0183] In addition, it should be noted that the air interface synchronization message in the embodiment of the present application can be scheduled separately or multiplexed with the high-level service packet logical channel. Therefore, there is no need to periodically reserve a subframe for each user device in the resource multiplexing domain to send the air interface synchronization message, which can reduce system overhead.

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

[0185] Step 401, periodically sending PRS;

[0186] Step 402: periodically send an air interface synchronization message, wherein, firstly, 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 1ms, and the sending period of the air interface synchronization message is 100ms, that is, 100 PRSs can be sent within one air interface synchronization period (between two adjacent air interface synchronizations); secondly, 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 synchronous positioning method of the embodiment of the present application, the second node device periodically sends PRS and air interface synchronization messages, wherein the sending period of PRS is less than the sending period of air interface synchronization messages. In this way, the receiving end (first node device) can achieve synchronization and / or positioning based on multiple PRS 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 accuracy of the positioning algorithm.

[0188] As an optional implementation, 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. Specifically, the air interface synchronization message may include the following: a PRS group number and sequence number, a synchronization level, a phase offset, a timing offset, and a timing adjustment.

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

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

[0191] In the case where the air interface synchronization message and the high-layer service packet are multiplexed on a logical channel, the sending resources are determined according to the size of the multiplexed packet corresponding to the air interface synchronization message and the high-layer service packet.

[0192] That is to say, the air interface synchronization message can be sent alone or together with the high-level business package, and both of the above methods do not require resources to be reserved for the air interface synchronization message, reducing system overhead; in addition, the resources for sending the air interface synchronization message can be determined based on the size of the data packet to be sent, that is: when the air interface synchronization message is sent alone, it is determined based on the size of the air interface synchronization message; when it is sent together with the high-level business package, it is determined based on the total size of the multiplexed packet corresponding to the air interface synchronization message and the high-level business package.

[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, thereby preventing the synchronization state of the synchronization source of the first node device from being out of sync, and improving the synchronization and / or positioning accuracy of the first node device.

[0195] The embodiment of the present application also provides a synchronous positioning device, which is applied to a first node device, such as Figure 5 Shown, including:

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

[0197] A second receiving module 502 is configured to receive an 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;

[0198] The processing module 503 is 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 acquiring submodule, configured to acquire a target PRS subset from a PRS set based on the first information and a synchronization level of the second node device, wherein the PRS set includes the received PRS, a target PRS in the target PRS subset is at least one PRS in the PRS set, and a synchronization level of the second node device sending the target PRS is higher than or equal to a reference synchronization level of the first node device;

[0201] A second acquisition submodule is configured to measure and detect 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 a time deviation, a frequency deviation, and a phase deviation;

[0202] A first synchronization submodule, configured to perform synchronization according to the deviation information corresponding to the target PRS and an air interface synchronization message sent by the second node device sending the target PRS;

[0203] The first positioning submodule is configured to perform positioning according to the deviation information corresponding to the target PRS.

[0204] Optionally, the first acquisition submodule includes:

[0205] A first acquiring unit is configured to acquire a target air interface synchronization message from the received 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;

[0206] The second acquiring unit is configured 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] a third acquisition submodule, configured to acquire, for each second node device, deviation information corresponding to the PRS sent by the corresponding second node device, wherein the deviation information includes at least one of a time deviation, a frequency deviation, and a phase deviation;

[0209] a fourth acquisition submodule, configured to acquire, according to the received air interface synchronization message, 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 sending the target PRS is higher than or equal to the reference synchronization level of the first node device;

[0210] A second synchronization submodule, configured 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 sending the target PRS;

[0211] The second positioning submodule is configured to perform positioning according to the deviation information corresponding to the target PRS.

[0212] Optionally, the first synchronization submodule and the second synchronization submodule respectively include:

[0213] a third acquiring unit, configured to acquire, according to the air interface synchronization message, at least one third node device with the highest synchronization level among the second node devices that send the target PRSs;

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

[0215] a second determining unit, configured to determine a time adjustment amount between the first node device and the Universal Time (UTC) according to the first time offset and the air interface synchronization message sent by each of the third node devices;

[0216] a third determining 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 air interface synchronization message sent by each of the third node devices;

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

[0218] Optionally, the first determining unit includes:

[0219] A first determining subunit is configured to determine that the first time offset is: a time offset in the offset information corresponding to the last target PRS sent by the corresponding third node device;

[0220] a second determining subunit, configured to determine the first frequency deviation according to a change in time deviation in the deviation information corresponding to the multiple target PRSs sent by the corresponding third node device, when the deviation information does not include the frequency deviation;

[0221] The third determining subunit is configured to, when the deviation information includes the frequency deviation, determine that the first frequency deviation is the frequency deviation in the deviation information corresponding to the last target PRS sent by the corresponding third node device.

[0222] Optionally, the second determining unit includes:

[0223] a fourth determining subunit, configured to determine, for each of the third node devices, a first time offset of the first node device with the corresponding third node device as a reference synchronization source based on the timing offset and timing adjustment in the last air interface synchronization message sent by the corresponding third node device, and the first time deviation associated with the corresponding third node device;

[0224] a fifth determining subunit, configured to determine a second time offset between the first node device and the UTC based on the plurality of first time offsets;

[0225] The sixth determining subunit is 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 determining unit includes:

[0227] a seventh determining subunit, configured to determine, for each of the third node devices, a second frequency offset of the first node device with the corresponding third node device as a reference synchronization source based on 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;

[0228] an eighth determining subunit, configured to determine a third frequency offset between the first node device and the reference frequency according to the plurality of second frequency offsets;

[0229] The ninth determining subunit is 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 submodule and the second positioning submodule respectively include:

[0231] a fourth determining unit, configured to determine, for each second node device that sends the target PRS, a second time offset and a fractional part of a phase offset between the first node device and the corresponding second node device based on the offset information corresponding to the last target PRS sent by the corresponding second node device;

[0232] a fifth determining unit, configured to determine, for the second node device that sends each target PRS, an integer multiple of the phase deviation between the first node device and the corresponding second node device based on the phase deviation of the deviation information corresponding to the multiple target PRSs sent by the corresponding second node device;

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

[0234] A positioning unit is configured to perform positioning according to a pseudorange between the first node device and the second node device that sends each of the target PRSs.

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

[0236] It should be noted here that the above-mentioned synchronous positioning device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned synchronous positioning method embodiment applied to the first node device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0237] The embodiment of the present application also provides a synchronous positioning device, which is applied to a second node device, such as Figure 6 Shown, including:

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

[0239] The second sending module 602 is configured to periodically send an air interface synchronization message, wherein the sending period of the PRS is smaller 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.

[0240] Optionally, the air interface synchronization message further includes information related to synchronization, wherein the information related to synchronization includes at least one of a phase deviation, a timing offset, and a timing adjustment.

[0241] Optionally, the device further comprises:

[0242] Identify a module that does any of the following:

[0243] In the case of scheduling the air interface synchronization message separately, determining the sending resource according to the size of the air interface synchronization message;

[0244] In the case where the air interface synchronization message and the high-layer service packet are multiplexed on a logical channel, the sending resources are determined according to the size of the multiplexed packet corresponding to the air interface synchronization message and 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 a synchronization level threshold.

[0246] It should be noted here that the above-mentioned synchronous positioning device provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned synchronous positioning method embodiment applied to the second node device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0247] like Figure 7 As shown, an embodiment of the present application also 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 synchronization positioning method applied to the first node device as described above, or implements the synchronization positioning method applied to the second node device as described above.

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

[0249] Among them, Figure 7In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 700 and memory represented by memory 720. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 710 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a 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 in the embodiment of the present application can implement all the method steps implemented in the above-mentioned synchronous positioning method embodiment applied to the first node device, or implement all the method steps implemented in the above-mentioned synchronous positioning method embodiment applied to the second node device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0251] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing relevant hardware through a computer program, wherein the computer program includes instructions for executing part or all of the steps of the above method; and the computer program may be stored in a readable storage medium, which may be any form of storage medium.

[0252] In addition, the 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 the processor, the various processes of the embodiment of the synchronous positioning method applied to the first node device as described above are implemented, or the various processes of the embodiment of the synchronous positioning method applied to the second node device as described above are implemented, and the same technical effect can be achieved. To avoid repetition, it is not described here. The readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0253] In addition, it should be noted that, in the apparatus and method of the present application, it is obvious that each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent schemes of the present application. Moreover, the steps of performing the above-mentioned series of processes can naturally be performed in the order of description or in chronological order, but do not necessarily need to be performed in chronological order, and some steps can be performed in parallel or independently of each other. For those of ordinary skill in the art, it will be understood that all or any steps or components of the method and apparatus of the present application can be implemented in any computing device (including processors, storage media, etc.) or a network of computing devices with 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 purpose of this application can also be achieved by running a program or a group of programs on any computing device. The computing device can be a well-known general-purpose device. Therefore, the purpose of this application can also be achieved simply by providing a program product containing program code that implements the method or device. In other words, such a program product also constitutes this application, and the storage medium storing such a program product also constitutes this application. Obviously, the storage medium can be any well-known storage medium or any storage medium developed in the future.

[0255] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0256] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A synchronous positioning method, characterized in that: Applied to the first node device, including: receiving a positioning reference signal PRS periodically sent by at least one second node device; receiving an 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, where the first information is related to the PRS identifier; Synchronization and / or positioning are performed according to the received air 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 air interface synchronization message and the PRS includes: Acquire, according to the first information and the synchronization level of the second node device, a target PRS subset from a PRS set, wherein the PRS set includes the received PRS, a target PRS in the target PRS subset is at least one PRS in the PRS set, and a synchronization level of the second node device sending the target PRS is higher than or equal to a reference synchronization level of the first node device; Measure and detect 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 a time deviation, a frequency deviation, and a phase deviation; 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; Positioning is performed according to the deviation information corresponding to the target PRS.

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

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

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

6. The method according to claim 5, characterized in that Determining, according to the offset information corresponding to the target PRS sent by the corresponding third node device, a first time offset and a first frequency offset between the first node device and the corresponding third node device, includes: Determine the first time offset as: the time offset in the offset information corresponding to the last target PRS sent by the corresponding third node device; When the deviation information does not include the frequency deviation, determining the first frequency deviation according to a change in time deviation in the deviation information corresponding to the multiple target PRSs sent by the corresponding third node device; In a case where the deviation information includes the frequency deviation, the first frequency deviation is determined to be 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, characterized in that Determining, according to the first time offset and the air interface synchronization message sent by each of the third node devices, a time adjustment amount between the first node device and the Universal Time Coordinated (UTC) includes: For each of the third node devices, determining, based on the timing offset and timing adjustment in the last air interface synchronization message sent by the corresponding third node device, and the first time deviation associated with the corresponding third node device, a first time offset of the first node device with the corresponding third node device as a reference synchronization source; Determining a second time offset between the first node device and the UTC based on the multiple first time offsets; The time adjustment value is determined according to the second time offset and the radio frequency capability of the first node device.

8. The method according to claim 5, characterized in that Determining, according to the first frequency deviation and the air interface synchronization message sent by each of the third node devices, a frequency adjustment amount between the first node device and a reference frequency, including: For each of the third node devices, determining, based on 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, a second frequency offset of the first node device with the corresponding third node device as a reference synchronization source; determining a third frequency offset of the first node device from the reference frequency according to the plurality of second frequency offsets; The frequency adjustment amount is determined according to the third frequency offset and the radio frequency capability of the first node device.

9. The method according to claim 2 or 4, characterized in that Positioning is performed according to the deviation information corresponding to the target PRS, including: For each second node device that sends the target PRS, determining, based on the offset information corresponding to the last target PRS sent by the corresponding second node device, a second time offset and a fractional part of the phase offset between the first node device and the corresponding second node device; For the second node device that sends each of the target PRSs, determining, based on the phase deviation of the deviation information corresponding to the multiple target PRSs sent by the corresponding second node device, an integer multiple of the phase deviation between the first node device and the corresponding second node device; Determine a pseudorange between the first node device and the corresponding second node device according to the second time offset, the fractional part of the phase offset, and the integer multiple part of the phase offset; Positioning is performed according to the pseudo-range between the first node device and the second node device that sends each of the target PRSs.

10. The method according to claim 1, characterized in that The air interface synchronization message further includes information related to synchronization, wherein the information related to synchronization includes at least one of a phase deviation, a timing offset, and a timing adjustment.

11. A synchronous positioning method, characterized in that: Applied to the second node device, including: Periodically send PRS; An air interface synchronization message is periodically sent, wherein a sending period of the PRS is less than a 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.

12. The method according to claim 11, characterized in that The air interface synchronization message further includes information related to synchronization, wherein the information related to synchronization includes at least one of a phase deviation, a timing offset, and a timing adjustment.

13. The method according to claim 11, characterized in that The method further comprises any of the following: In the case of scheduling the air interface synchronization message separately, determining the sending resource according to the size of the air interface synchronization message; In the case where the air interface synchronization message and the high-layer service packet are multiplexed on a logical channel, the sending resources are determined according to the size of the multiplexed packet corresponding to the air interface synchronization message and the high-layer service packet.

14. The method according to claim 11, characterized in that The periodically sending the 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 synchronous positioning device, characterized in that: Applied to the first node device, including: A first receiving module, configured to receive a PRS periodically sent by at least one second node device; a second receiving module, configured to receive an 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; The processing module is configured to perform synchronization and / or positioning according to the received air interface synchronization message and the PRS.

16. A synchronous positioning device, characterized in that: Applied to the second node device, including: A first sending module, configured to periodically send a PRS; The second sending module is configured to periodically send an air interface synchronization message, wherein the sending period of the PRS is smaller 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 in the memory and running on the processor, characterized in that: When the processor executes the computer program, the synchronous positioning method according to any one of claims 1 to 10 is implemented, or the synchronous positioning method according to any one of claims 11 to 14 is implemented.

18. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or instruction is executed by a processor, the synchronous positioning method according to any one of claims 1 to 10 is implemented, or the synchronous positioning method according to any one of claims 11 to 14 is implemented.

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