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 reference node device, comprising: receiving a positioning reference signal (PRS) periodically sent by at least one non-reference node device; determining a reference synchronization message according to a plurality of PRSs received in a reference synchronization period; and periodically sending a reference synchronization message to the non-reference node device, the reference synchronization message being used for synchronization and / or positioning of the non-reference node device. According to the scheme, the reference node equipment is arranged, and the reference node equipment receives the PRS of each non-reference node equipment and sends the reference synchronization message to each non-reference node according to the received PRS, which is equivalent to that each non-reference node equipment can receive each PRS sent by other node equipment, so that the PRS receiving frequency of the non-reference node equipment is improved, and the PRS receiving time of the non-reference node equipment is shortened. Therefore, the non-reference node equipment is sufficient in PRS measurement and accurate in synchronous positioning.

Description

Technical Field

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

[0002] Compared with the method of physical sidelink control channel (PSCCH) / physical sidelink shared channel (PSSCH) air interface synchronization, the method of achieving air interface synchronization and positioning based on positioning reference signal (PRS) has many advantages. However, the high performance of the method of achieving air interface synchronization and positioning based on PRS depends on receiving PRS at a high frequency. However, in actual situations, problems such as insufficient PRS measurement may occur due to various factors such as half-duplex, resulting in a low PRS reception frequency. Summary of the Invention

[0003] The purpose of the present application is to provide a synchronization and positioning method, apparatus, and device, so as to solve the problem of insufficient PRS measurement caused by the low PRS reception frequency of node devices.

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

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

[0006] Determining a reference synchronization message according to multiple received PRSs within a reference synchronization period;

[0007] Periodically sending the reference synchronization message to the non-reference node device, where the reference synchronization message is used for synchronization and / or positioning of the non-reference node device.

[0008] Optionally, the determining the reference synchronization message according to multiple received PRSs within a reference synchronization period includes:

[0009] Measuring and detecting each of the PRSs within a reference synchronization period to obtain timing deviation, phase deviation, and PRS identification (ID) information corresponding to each of the PRSs;

[0010] Determining the reference synchronization message according to the timing deviation, the phase deviation, and the PRS ID information.

[0011] Optionally, the determining the reference synchronization message according to the timing deviation and the phase deviation includes:

[0012] Determine the time deviation and / or frequency deviation between the reference node device and the non-reference node device according to the timing deviation corresponding to each of the PRSs sent by a said non-reference node within a reference synchronization period;

[0013] Determine the phase deviation between the reference node device and the non-reference node device according to the phase deviation corresponding to each of the PRSs sent by a said non-reference node within a reference synchronization period;

[0014] Determine the reference synchronization message according to at least one of the time deviation, the frequency deviation and the phase deviation, wherein the reference synchronization message includes PRS identification indication information, and deviation information corresponding to each of the PRS identification indication information, and the deviation information includes at least one of the time deviation, the frequency deviation and the phase deviation.

[0015] Optionally, the reference synchronization message is carried on a physical direct link shared channel PSSCH, sent by a media access control control element MAC CE, and the reference synchronization message is indicated by a target logical channel identity LCID.

[0016] Optionally, the transmission frequency of the reference synchronization message is less than the transmission frequency of the PRS.

[0017] Optionally, the method further includes: periodically sending an air interface synchronization message, wherein the transmission frequency of the air interface synchronization message is less than the transmission frequency of the reference synchronization message, and the air interface synchronization message includes first information, and the first information is related to a PRS identification.

[0018] In a second aspect, to achieve the above object, an embodiment of the present application provides a synchronization and positioning method, applied to a non-reference node device, including:

[0019] Periodically send PRSs;

[0020] Receive a reference synchronization message periodically sent by a reference node device;

[0021] Receive an air interface synchronization message periodically sent by other node devices, wherein the other node devices include the reference node device and other non-reference node devices, and the air interface synchronization message includes first information, and the first information is related to a PRS identification;

[0022] Synchronize and / or position according to the received reference synchronization message and the air interface synchronization message.

[0023] Optionally, the transmission frequency of the reference synchronization message is greater than that of the air interface synchronization message and less than that of the PRS.

[0024] Optionally, the reference synchronization message is carried on the PSSCH, sent by the media access control control element MAC CE, and the reference synchronization message is indicated by the target LCID.

[0025] Optionally, the reference synchronization message includes PRS identification indication information and deviation information corresponding to each piece of the PRS identification indication information, where the deviation information includes at least one of time deviation, frequency deviation, and phase deviation.

[0026] Optionally, synchronizing and / or positioning according to the received reference synchronization message and the air interface synchronization message includes:

[0027] In the received air interface synchronization message, obtain the target air interface synchronization message; where the synchronization level of other node devices that send the target air interface synchronization message is higher than or equal to the reference synchronization level of the non-reference node device;

[0028] According to the target air interface synchronization message, where the synchronization source is the node device that sends the target air interface synchronization message;

[0029] According to the first information and the PRS identification indication information in the target air interface synchronization message, extract first deviation information and second deviation information from the reference synchronization message, where the first deviation information is the deviation information between the non-reference node device and the reference node device, and the second deviation information is the deviation information between the synchronization source and the reference node device;

[0030] Synchronize with the synchronization source according to the first deviation information, the second deviation information, and the synchronization level of the synchronization source;

[0031] Perform positioning according to the first deviation information and the second deviation information.

[0032] Optionally, synchronizing with the synchronization source according to the first deviation information, the second deviation information, and the synchronization level of the synchronization source includes:

[0033] In the synchronization source, obtain the first synchronization source with the highest synchronization level, where the first synchronization source includes one or more synchronization sources;

[0034] Determine third deviation information according to the first deviation information and the second deviation information corresponding to each first synchronization source, where the third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source;

[0035] Determine the time adjustment amount of the non-reference node device relative to Coordinated Universal Time (UTC) and the frequency adjustment amount of the non-reference node device relative to the reference frequency according to each of the third deviation information;

[0036] Perform synchronization according to the time adjustment amount and the frequency adjustment amount.

[0037] Optionally, determine the third deviation information according to the first deviation information and the second deviation information corresponding to each first synchronization source, including:

[0038] Calculate the time deviation in the third deviation information according to the time deviations in the first deviation information and the second deviation information;

[0039] In the case where the first deviation information and / or the second deviation information includes a time deviation and does not include a frequency deviation, calculate the frequency deviation according to the change amount of the time deviations in multiple third deviation information, where the multiple third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source;

[0040] In the case where the first deviation information and the second deviation information include frequency deviations, calculate the frequency deviation in the third deviation information according to the frequency deviations in the first deviation information and the second deviation information.

[0041] Optionally, determine the frequency adjustment amount of the non-reference node device relative to the reference frequency according to each of the third deviation information, including:

[0042] For each of the first synchronization sources, determine the first time offset of the non-reference node device with the corresponding first synchronization source as the reference synchronization source according to the timing offset and the timing adjustment amount in the last air interface synchronization message sent by the corresponding first synchronization source, and the time deviation in the third deviation information related to the corresponding first synchronization source;

[0043] Determine the second time offset of the non-reference node device relative to the UTC according to multiple first time offsets;

[0044] Determine the time adjustment amount according to the second time offset and the radio frequency capability of the non-reference node device.

[0045] Optionally, determine the time adjustment amount of the non-reference node device relative to Coordinated Universal Time (UTC) according to each of the third deviation information, including:

[0046] For each of the first synchronization sources, determine a second frequency offset of the non-reference node device with the corresponding first synchronization source as the 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 first synchronization source, and a frequency deviation in the third deviation information related to the corresponding first synchronization source;

[0047] Determine a third frequency offset of the non-reference node device from the reference frequency according to a plurality of the second frequency offsets;

[0048] Determine the frequency adjustment amount according to the third frequency offset and radio frequency capabilities of the non-reference node device.

[0049] Optionally, positioning according to the first deviation information and the second deviation information includes:

[0050] For each of the synchronization sources, determine a first time deviation according to a time deviation in the first deviation information and second deviation information corresponding to the corresponding synchronization source, where the first time deviation is a time deviation between the non-reference node device and the corresponding synchronization source;

[0051] For each of the synchronization sources, determine a fractional part of a phase deviation between the non-reference node device and the corresponding synchronization source according to a phase deviation in the first deviation information and the second deviation information;

[0052] Determine an integer multiple part of a phase deviation between the reference node device and the corresponding synchronization source according to fractional parts of a plurality of the phase deviations;

[0053] Determine a pseudorange between the non-reference node device and the corresponding synchronization source according to the first time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation;

[0054] Perform positioning according to the pseudoranges between the non-reference node device and each of the synchronization sources.

[0055] In a third aspect, to achieve the above object, an embodiment of the present application provides a synchronization and positioning device applied to a reference node device, including:

[0056] A receiving module, configured to receive PRSs periodically sent by at least one non-reference node device;

[0057] A determining module, configured to determine a reference synchronization message according to a plurality of the PRSs received within a reference synchronization period;

[0058] A first sending module, configured to periodically send a reference synchronization message to the non-reference node device, where the reference synchronization message is used for synchronization and / or positioning of the non-reference node device.

[0059] In a fourth aspect, to achieve the above object, an embodiment of the present application provides a synchronization and positioning device, which is applied to a non-reference node device and includes:

[0060] A sending module, configured to periodically send PRS;

[0061] A first receiving module, configured to receive a reference synchronization message periodically sent by a reference node device;

[0062] A second receiving module, configured to receive an air interface synchronization message periodically sent by other node devices, where the other node devices include the reference node device and other non-reference node devices, and the air interface synchronization message includes first information, and the first information is related to a PRS identifier;

[0063] A synchronization and positioning module, configured to perform synchronization and / or positioning according to the received reference synchronization message and the air interface synchronization message.

[0064] 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, it implements the synchronization and positioning method described in the first aspect, or implements the synchronization and positioning method described in the second aspect.

[0065] 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 an instruction is stored. When the program or the instruction is executed by a processor, it implements the synchronization and positioning method described in the first aspect, or implements the synchronization and positioning method described in the second aspect.

[0066] The above technical solutions of the present application have at least the following beneficial effects:

[0067] In the synchronization and positioning method according to the embodiments of the present application, first, a reference node device receives positioning reference signals (PRS) periodically sent by at least one non-reference node device; second, the reference node device determines a reference synchronization message according to a plurality of the PRS received within a reference synchronization period; then, the reference node device periodically sends the reference synchronization message to the non-reference node device, where the reference synchronization message is used for the synchronization and / or positioning of the non-reference node device. In the embodiments of the present application, by setting up a reference node device, the reference node device receives the PRS of each non-reference node device and sends a reference synchronization message to each non-reference node according to the received PRS, which is equivalent to each non-reference node device being able to receive the PRS sent by other node devices, improving the frequency of the non-reference node device receiving the PRS, making the PRS measurement of the non-reference node device sufficient, and the synchronization and positioning accurate. Description of the Drawings

[0068] Figure 1 One of the schematic flowcharts of the synchronization and positioning method according to the embodiments of the present application;

[0069] Figure 2 One of the schematic flowcharts of the synchronization and positioning method according to the embodiments of the present application;

[0070] Figure 3 Schematic diagram of the deployment of the reference node device according to the embodiments of the present application;

[0071] Figure 4 One of the schematic structural diagrams of the synchronization and positioning device according to the embodiments of the present application;

[0072] Figure 5 One of the schematic structural diagrams of the synchronization and positioning device according to the embodiments of the present application;

[0073] Figure 6 Schematic structural diagram of the node device according to the embodiments of the present application. Detailed Embodiments

[0074] 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 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 here without departing from the scope and spirit of the present application. In addition, descriptions of known functions and structures are omitted for clarity and conciseness.

[0075] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the 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 one or more embodiments in any suitable manner.

[0076] In various embodiments of the present application, it should be understood that the magnitudes of the sequence numbers of the following processes do not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0077] 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.

[0078] When describing the embodiments of the present application, some concepts used in the following description are first explained.

[0079] I. In an actual scenario, the following factors will all affect the continuous reception of PRS (factors that may cause non - continuous reception):

[0080] Half - duplex impact: For the synchronization of the Road Side Unit (RSU), if the operation of continuously sending PRS is always carried out, the RSU will not be able to receive PRS; if PRS is sent in a fixed pattern, if two nodes send / receive PRS using the same pattern, then PRS cannot be received at all.

[0081] Impact of signal detection: Even in a synchronized scenario, considering the influence of the channel, it is possible that the On - Board Unit (OBU) receives the PRS of an RSU discretely (non - continuously). For RSU positioning, there are physical layer measurement errors inherently. If there are differences in the measurement errors of each node, it is not conducive to the global synchronization of the RSU.

[0082] II. In an actual scenario, there are certain requirements for continuous PRS reception. Here, the following two scenarios are taken as examples for illustration:

[0083] Synchronization between RSU and synchronization between OBU and RSU (including time synchronization and frequency synchronization): Since only timing deviation can be obtained from a single received measurement, and frequency deviation requires measurements at multiple time points, it is a basic requirement for the receiving node to receive PRS at a relatively high frequency. Only by receiving PRS at a relatively high frequency can the frequency offset (frequency deviation) be better determined, and then time and frequency adjustments can be performed.

[0084] Positioning of OBU: In terms of requirements, it is necessary to receive the corresponding PRS signal every 1 ms. Only by receiving the PRS signal every 1 ms can the integer ambiguity be better calculated, and information such as frequency offset and phase be determined to obtain accurate positioning information. That is, there is a need for the OBU to continuously receive RRS.

[0085] That is, whether from the perspective of RSU / OBU synchronization or OBU positioning, it is required that PRS reception be as continuous as possible.

[0086] Based on the above content, below, with reference to the accompanying drawings, the specific implementation process of the synchronization and positioning method, device, and equipment provided by the embodiments of the present application will be described in detail.

[0087] An embodiment of the present application provides a synchronization and positioning method, which is applied to a reference node device. Here, the reference node device is a fixed node deployed at a specific location, such as a Road side Unit (RSU), etc. As Figure 1 shown, the method includes:

[0088] Step 101, receiving at least one positioning reference signal (PRS) periodically sent by a non-reference node device; here, on the one hand, the non-reference node device is, for example, a fixed node deployed at other locations such as an RSU or a mobile node such as an On Board Unit (OBU), etc.; on the other hand, the sending period of the PRS is, for example, 1 ms;

[0089] Step 102, determining a reference synchronization message according to multiple received PRSs within a reference synchronization period; here, the reference synchronization period is greater than the sending period of the PRS, that is, multiple PRSs can be received within the time length corresponding to a reference synchronization period; among them, the reference synchronization message includes the measurement results of multiple PRSs;

[0090] Step 103, periodically sending the reference synchronization message to the non-reference node device, where the reference synchronization message is used for the synchronization and / or positioning of the non-reference node device.

[0091] In the synchronization and positioning method of the embodiments of the present application, first, the reference node device receives the positioning reference signals (PRSs) periodically sent by at least one non-reference node device; second, the reference node device determines a reference synchronization message according to the multiple PRSs received within a reference synchronization period; then, the reference node device periodically sends the reference synchronization message to the non-reference node device, where the reference synchronization message is used for the synchronization and / or positioning of the non-reference node device. In the embodiments of the present application, by setting the reference node device, the reference node device receives the PRSs of each non-reference node device and sends the reference synchronization message to each non-reference node according to the received PRSs, which is equivalent to each non-reference node device being able to receive the PRSs sent by other node devices, improving the frequency of the non-reference node device receiving the PRS, making the PRS measurement of the non-reference node device sufficient, and the synchronization and positioning accurate.

[0092] Here, the configuration of the reference node device involved in the embodiments of the present application is described:

[0093] Regarding the deployment location: The message sent by the reference node device needs to be able to be monitored by other node devices. Therefore, the distance between adjacent reference node devices cannot be too far. Therefore, the distance between two adjacent reference node devices should be in the order of hundreds of meters (such as 300 m);

[0094] Regarding the selection of the reference node device: The reference node device can be pre-configured, or the node device can select itself as the reference node device; among them, the method of the node device selecting itself involves complex signaling interactions. Therefore, the embodiments of the present application prefer to adopt a fixed-configured semi-static configuration method;

[0095] Regarding the capability: The synchronization level of the reference node device should be higher than the synchronization level threshold.

[0096] Among them, a schematic diagram of the reference node device selected based on the detection capability of the device and the actual deployment situation is as Figure 3 shown.

[0097] As an optional implementation manner, step 102 includes:

[0098] Measure and detect each of the PRSs within a reference synchronization period to obtain the timing deviation, phase deviation, and PRS identification ID information corresponding to each of the PRSs;

[0099] Determine the reference synchronization message according to the timing deviation, the phase deviation, and the PRS ID information. As a specific implementation manner, this step includes:

[0100] 1) Determine the time deviation and / or frequency deviation between the reference node device and the non-reference node device according to the timing deviation corresponding to each PRS sent by a said non-reference node within a reference synchronization period; in this step, for a non-reference node device, the time deviation between the reference node device and this non-reference node device is the timing deviation corresponding to the last PRS sent by this non-reference node within this reference synchronization period, and the frequency deviation between the reference node device and this non-reference node device is determined according to the change amount of the timing deviations corresponding to each PRS sent by this non-reference node device within this reference synchronization period;

[0101] Taking the reference node device as node A0 and the non-reference node devices as nodes A1, A2, and A3 respectively, an example is given to illustrate the implementation process of this step:

[0102] Suppose non-reference node devices A1, A2, and A3 send PRS in each subframe.

[0103] Within the reference synchronization period, through PRS measurement, multiple timing deviations and phase deviations of node A1 (PRS ID1), node A2 (PRS ID2), and node A3 (PRS ID3) are received. Here, taking A1 as an example: Suppose node A1 is successfully detected 4 times within this reference synchronization period: (T A0,A1 (t 0 ), T A0,A1 (t 1 ), T A0,A1 (t 2 ), and T A0,A1 (t 3 ).

[0104] Based on the above content, first obtain the time deviation and frequency deviation between A0 and A1, A2, and A3; among them:

[0105] Determine the time deviation of the user pair (A0 and A1, or A0 and A2, or A0 and A3) as: the measured timing deviation that is the closest to this user pair. Taking the user pair A0 and A1 as an example, the time deviation between this user pair is: T A0,A1 =T A0,A1 (t 3 );

[0106] Determination of the frequency deviation of the user pair: Determine the frequency deviation between two nodes according to the change amount of the timing deviation between the two nodes within the reference synchronization period; for example, when specifically calculating, the frequency deviation can be calculated based on the measurements at any two time points, and then the frequency deviation is weighted. Among them, the above method for calculating the frequency deviation is only an example, but the calculation method of the frequency deviation is not limited to this. Taking the user pair of A0 and A1 as an example, the example of calculating the frequency deviation is as follows:

[0107]

[0108]

[0109]

[0110]

[0111]

[0112] Here, T A0,A1 (t i ) represents the timing 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 , F A0,A1 represents the frequency deviation between A0 and A1, and F 0 represents the reference frequency.

[0113] Accordingly, the frequency deviations between A0 and A2, A0 and A3, etc. can also be obtained.

[0114] 2) Determine the phase deviation between the reference node device and the non-reference node device according to the phase deviations corresponding to each of the PRSs sent by a non-reference node within a reference synchronization period; in this step, for a non-reference node device, the phase deviation between the reference node device and the non-reference node device is the phase deviation corresponding to the last PRS sent by the non-reference node within the reference synchronization period;

[0115] 3) Determine the reference synchronization message according to at least one of the time deviation, the frequency deviation, and the phase deviation, where the reference synchronization message includes PRS identification indication information, and deviation information corresponding to each of the PRS identification indication information, where the deviation information includes at least one of the time deviation, the frequency deviation, and the phase deviation.

[0116] As an optional implementation manner, the reference synchronization message is carried on a Physical Sidelink Shared Channel (PSSCH), and is sent by a Media Access Control (MAC) (Control Element, CE), and the reference synchronization message is indicated by a target Logical Channel Identity (LCID); here, the target LCID is a special LCID. That is to say, since the reference synchronization message is a non-application layer message, a dedicated LCID can be configured for the reference synchronization message and a high priority can be determined (for example, PPPPP is set to 1 and the underlying indication is 0).

[0117] In addition, the time-frequency resources for sending the reference synchronization message can be multiplexed with other service data, so that the system overhead can be reduced. Among them, when multiplexing, the value of PPPPP (per packet per priority) takes the highest PPPPP in the reference synchronization message and the service data according to the prior art, and the DST ID (destination ID) is processed according to the DST ID of the service.

[0118] As an optional implementation manner, as described above, the transmission frequency of the reference synchronization message is less than the transmission frequency of the PRS.

[0119] Furthermore, as an optional implementation manner, the method further includes: periodically sending an air interface synchronization message, where the transmission frequency of the air interface synchronization message is less than the transmission frequency of the reference synchronization message. Here, 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 the sequence number (i, m). Here, the group number i is the number of the subcarrier group carrying the PRS, and the 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; thus, based on the correspondence between the first information and the PRS sequence and the PRS ID, the PRS related to the air interface synchronization message can be determined. Among them, on the basis of including the first information, the air interface synchronization message further includes the content in the existing air interface synchronization message, such as: synchronization level, timing offset (offset from the reference time and offset from the reference frequency), phase offset, and timing adjustment amount, etc. information.

[0120] That is to say, the transmission frequency of the PRS is greater than that of the reference synchronization message, and the transmission frequency of the reference synchronization message is greater than that of the air interface synchronization message; that is: the transmission period of the PRS is less than the transmission period of the reference synchronization message, and the transmission period of the reference synchronization message is less than the transmission period of the air interface synchronization message; for example, if the transmission period of the PRS is 1 ms and the transmission period of the air interface synchronization message is 100 ms, then the transmission period of the reference synchronization message is 20 ms or 50 ms, etc.

[0121] Here, it should be noted that the setting of the transmission period of the reference synchronization message can be considered to be selected from the semi-persistent scheduling (SPS) resource reservation period. Here, indicating periodicity for the reference synchronization message is only to improve the reliability of the resources.

[0122] An embodiment of the present application further provides a synchronization and positioning method, which is applied to a non-reference node device. For example, the non-reference node is a fixed node RSU or a mobile node OBU, etc. As Figure 2 shown, the method includes:

[0123] Step 201, periodically send the PRS; for example, the transmission period of the PRS is, for example, 1 ms;

[0124] Step 202, receive the reference synchronization message periodically sent by the reference node device;

[0125] Step 203, receive the air interface synchronization message periodically sent by other node devices, where the other node devices include the reference node device and other non-reference node devices, and 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);

[0126] Step 204, perform synchronization and / or positioning according to the received reference synchronization message and the air interface synchronization message.

[0127] In the embodiments of the present application, the non-reference node device first periodically sends PRS so that the reference node device can determine the reference synchronization message based on the received PRS. Secondly, it receives the reference synchronization message periodically sent by the reference node device. Since the reference synchronization message includes deviation information related to other non-reference node devices, equivalently, this non-reference node device can receive all the PRS sent by other non-reference node devices; this solves the problem of low PRS reception frequency and insufficient PRS measurement of the non-reference node device due to factors such as half-duplex. After that, it receives the radio interface synchronization message periodically sent by other node devices. Finally, it performs synchronization and / or positioning according to the received reference synchronization message and radio interface synchronization message. In this way, it can perform synchronization and / or positioning based on the reference synchronization message and radio interface synchronization message within one transmission period of the radio interface synchronization message, shortening the synchronization and / or positioning period and improving the accuracy of synchronization and / or positioning.

[0128] As an optional implementation, the transmission frequency of the reference synchronization message is greater than the transmission frequency of the radio interface synchronization message and less than the transmission frequency of the PRS. That is: within one transmission period of the radio interface synchronization message, multiple reference synchronization messages sent by the same reference node device can be received. For example, if the transmission period of the PRS is 1 ms and the transmission period of the radio interface synchronization message is 100 ms, then the transmission period of the reference synchronization message is 20 ms or 50 ms, etc.

[0129] As an optional implementation, the reference synchronization message is carried on the PSSCH, sent as a MAC CE, and the reference synchronization message is indicated by the target LCID. Here, the target LCID is a special LCID. That is: this target LCID is specifically used to indicate the reference synchronization message. Based on this, when the non-reference node device receives a message, the MAC layer can distinguish whether the message is ordinary service data or a synchronization type message through the LCID. If it is a synchronization type message, the synchronization module intercepts the message and analyzes the message type by parsing the specific message and analyzing the fields.

[0130] As an optional implementation, the reference synchronization message includes PRS identification indication information, and deviation information corresponding to each piece of PRS identification indication information, where the deviation information includes at least one of time deviation, frequency deviation, and phase deviation. The specific content of the deviation information here is the same as the specific content of the deviation information in the embodiments of the synchronization and positioning method applied to the reference node device, which will not be elaborated here.

[0131] As an optional implementation, step 204 includes:

[0132] In the received air interface synchronization message, obtain the target air interface synchronization message; wherein, the synchronization level of other node devices sending the target air interface synchronization message is higher than or equal to the reference synchronization level of the non-reference node device; as described above, on the basis of including the first information, the air interface synchronization message further includes the content in the existing air interface synchronization message, such as: synchronization level, timing offset (offset from the reference time and offset from the reference frequency), phase offset, and timing adjustment amount, etc.; the reference synchronization level of the non-reference node device is the synchronization level of the synchronization source selected by the non-reference 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) makes a reception 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; look at the synchronization level of the sending node.

[0133] According to the target air interface synchronization message, determine the synchronization source of the non-reference node device, wherein the synchronization source is the node device that sends the target air interface synchronization message;

[0134] According to the first information and the PRS identification indication information in the target air interface synchronization message, extract the first deviation information and the second deviation information from the reference synchronization message, wherein the first deviation information is the deviation information between the non-reference node device and the reference node device, and the second deviation information is the deviation information between the synchronization source and the reference node device; that is to say, determine the identification of the PRS (PRS ID) related to the target air interface synchronization message according to the first information in the target air interface synchronization message. Here, "related" can mean that the target air interface synchronization message and the PRS are sent by the same node device; then, search for the PRS identification indication information corresponding to this PRS ID in the reference synchronization message to obtain the corresponding deviation information according to this PRS identification indication information;

[0135] Synchronize with the synchronization source according to the first deviation information, the second deviation information, and the synchronization level of the synchronization source;

[0136] Locate according to the first deviation information and the second deviation information.

[0137] As a specific implementation manner, synchronizing with the synchronization source according to the first deviation information, the second deviation information, and the synchronization level of the synchronization source includes:

[0138] 1) In the synchronization source, obtain a first synchronization source with the highest synchronization level, where the first synchronization source includes one or more synchronization sources;

[0139] 2) Determine third deviation information according to the first deviation information and the second deviation information corresponding to each of the first synchronization sources, where the third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source; A more specific implementation manner of this step includes the following steps:

[0140] (1) Calculate the time deviation in the third deviation information according to the time deviations in the first deviation information and the second deviation information; Here, assume that the first synchronization source is node A0 and the non-reference node device is node A1, then the time deviation in the first deviation information is The time deviation in the second deviation information is On this basis, the time deviation in the third deviation information is

[0141] (2) In the case where the first deviation information and / or the second deviation information includes a time deviation and does not include a frequency deviation, calculate the frequency deviation according to the change amount of the time deviations in multiple third deviation information, where the multiple third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source; In this case, it is necessary to determine the corresponding frequency deviation based on the time deviations obtained by calculating multiple reference synchronization messages;

[0142] (3) In the case where the first deviation information and the second deviation information include a frequency deviation, calculate the frequency deviation in the third deviation information according to the frequency deviations in the first deviation information and the second deviation information; The calculation method of the frequency deviation in this step is similar to the calculation method of the foregoing time deviation;

[0143] 3) Determine the time adjustment amount of the non-reference node device with respect to Coordinated Universal Time (UTC) and the frequency adjustment amount of the non-reference node device with respect to the reference frequency according to each of the third deviation information. Here, if there is one first synchronization source, the time adjustment amount is determined by the time deviation calculated in step 2) above and the air interface synchronization message sent by the first synchronization source, and the frequency adjustment amount is determined by the frequency deviation calculated in step 2) above and the air interface synchronization message sent by the first synchronization source. If there are multiple first synchronization sources, determine the time adjustment amount according to the time deviations related to each first synchronization source and the air interface synchronization messages sent by each first synchronization source, and determine the frequency adjustment amount according to the frequency deviations related to each first synchronization source and the air interface synchronization messages sent by each first synchronization source.

[0144] 4) Synchronize according to the time adjustment amount and the frequency adjustment amount.

[0145] As a specific implementation, determining the frequency adjustment amount of the non-reference node device with respect to the reference frequency according to each of the third deviation information includes:

[0146] For each of the first synchronization sources, determine the first time offset of the non-reference node device with respect to the corresponding first synchronization source as the reference synchronization source according to the timing offset and the timing adjustment amount in the last air interface synchronization message sent by the corresponding first synchronization source, and the time deviation in the third deviation information related to the corresponding first synchronization source.

[0147] Determine the second time offset of the non-reference node device with respect to UTC according to the 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 the multiple first time offsets), etc.

[0148] Determine the time adjustment amount according to the second time offset and the radio frequency capability of the non-reference node device.

[0149] Here, taking A5 as the non-reference node device and A1 / A2 / A3 / A4 as the first synchronization sources of A5 as an example, the specific implementation method is as follows: According to the air interface synchronization messages of A1 / A2 / A3 / A4, combined with the time deviation in the third deviation information, 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 air interface synchronization message sent by the corresponding non-reference node device (A1 / A2 / A3 / A4) from the latest air interface synchronization messages sent by A1 / A2 / A3 / A4. According to the TimeOffset and the TaAdjest, determine the offset between A5 and UTC time with A1 / A2 / A3 / A4 as the reference synchronization source:

[0150] That is, the offset TAdet between A5 and UTC time with A1 as the reference synchronization source A1 (i);

[0151] That is, the offset TAdet between A5 and UTC time with A2 as the reference synchronization source A2 (i);

[0152] That is, the offset TAdet between A5 and UTC time with A3 as the reference synchronization source A3 (i);

[0153] That is, the offset TAdet between A5 and UTC time with A4 as the reference synchronization source A4 (i);

[0154] Then obtain the offset between A5 and UTC time:

[0155] (TAdet A1 (i)+TAdet A2 (i)+TAdet A3 (i)+TAdet A4 (i)) / 4;

[0156] Furthermore, combine the radio frequency capabilities, etc. to determine the time adjustment amount for this time; that is:

[0157] TA = f((TAdet A1 (i)+TAdet A2 (i)+TAdet A3 (i)+TAdet A4 (i)) / 4), where it is necessary to

[0158] consider factors such as RF adjustment accuracy and RF adjustment threshold.

[0159] As another specific implementation, according to each of the third deviation information, determining a frequency adjustment amount of the non-reference node device with respect to a reference frequency includes:

[0160] For each of the first synchronization sources, according to a first frequency offset and a second frequency adjustment amount in a last air interface synchronization message sent by the corresponding first synchronization source, and a frequency deviation in the third deviation information related to the corresponding first synchronization source, determining a second frequency offset of the non-reference node device with the corresponding first synchronization source as a reference synchronization source;

[0161] According to a plurality of the second frequency offsets, determining a third frequency offset of the non-reference node device with respect to the reference frequency; here, a specific determination method may be: taking an 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 a median of a plurality of second frequency offsets), etc.;

[0162] According to the third frequency offset and a radio frequency capability of the non-reference node device, determining the frequency adjustment amount.

[0163] Continuing with the previous example, still taking A5 as the non-reference node device and A1 / A2 / A3 / A4 as the first synchronization sources of A5 as an example, this specific implementation is: according to the latest air interface synchronization messages of A1 / A2 / A3 / A4, and combining with the frequency deviation in the third deviation information to determine the frequency adjustment amount of the offset of A5 with respect to the reference frequency F 0 wherein, the frequency adjustment amount needs to consider obtaining a frequency offset (frequentOffset) and a frequency adjustment amount (freAdjest) in the last air interface synchronization message sent by the corresponding non-reference node device (A1 / A2 / A3 / A4) from the latest air interface synchronization messages sent by A1 / A2 / A3 / A4, and according to the frequency offset, the frequency adjustment amount, the frequentOffset, and the freAdjest, determining the frequency adjustment amount of the offset of A5 with respect to the reference frequency F 0 as follows:

[0164] That is, the frequency offset FAdet A1 (i) of A5 with respect to the reference frequency F0 with A1 as the reference synchronization source;

[0165] That is, the offset FAdet A2 (i) of A5 with respect to the reference frequency F0 with A2 as the reference synchronization source;

[0166] That is, the offset FAdet of A5 from the reference frequency F0 with A3 as the reference synchronization source A3 (i);

[0167] That is, the offset FAdet of A5 from the reference frequency F0 with A4 as the reference synchronization source A14 (i);

[0168] Subsequently, the offset of A0 from the reference frequency is obtained:

[0169] (FAdet A1 (i) + FAdet A2 (i) + FAdet A3 (i) + FAdet A4 (i)) / 4;

[0170] Furthermore, in combination with the radio frequency capabilities, etc., the frequency adjustment amount for this time is determined;

[0171] TA = f((FAdet A1 (i) + FAdet A2 (i) + FAdet A3 (i) + FAdet A4 (i)) / 4), where it is necessary to

[0172] take into account factors such as RF adjustment accuracy and RF adjustment threshold.

[0173] Here, it should be noted that in the examples of the above two specific implementation methods, " / " is "or".

[0174] As an alternative implementation method, positioning according to the first deviation information and the second deviation information includes:

[0175] For each of the synchronization sources, according to the time deviation in the first deviation information and the second deviation information corresponding to the respective synchronization sources, a first time deviation is determined, where the first time deviation is the time deviation between the non-reference node device and the respective synchronization source; specifically, for example, the first time deviation is determined according to the deviation in the last reference synchronization message and the time deviation in the second deviation information corresponding to the respective synchronization source;

[0176] For each of the synchronization sources, according to the phase deviation in the first deviation information and the second deviation information, the fractional part of the phase deviation between the non-reference node device and the respective synchronization source is determined; similarly, the fractional part of this phase deviation is determined according to the first deviation information in the last reference synchronization message and the phase deviation in the second deviation information corresponding to the respective synchronization source; Continuing the previous example, if the phase deviation in the second deviation information is The phase deviation in the first deviation information is Then the fractional part of the phase deviation is

[0177] Based on the fractional parts of multiple phase deviations, determine the integer multiple part of the phase deviation between the reference node device and the corresponding synchronization source; that is: based on the fractional parts of the phase deviations related to the same synchronization source, determine the integer multiple part of the phase deviation between this non-reference node device and this synchronization source; among them, this determination process can be implemented according to the existing mechanism and will not be described in detail here;

[0178] Based on the first time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation, determine the pseudorange between the non-reference node device and the corresponding synchronization source;

[0179] Perform positioning based on the pseudoranges between the non-reference node device and each synchronization source.

[0180] An embodiment of the present application provides a synchronization positioning device, which is applied to a reference node device, such as Figure 4 as shown, the device includes:

[0181] A receiving module 401, configured to receive PRSs periodically sent by at least one non-reference node device;

[0182] A determining module 402, configured to determine a reference synchronization message according to multiple PRSs received within a reference synchronization period;

[0183] A first sending module 403, configured to periodically send a reference synchronization message to the non-reference node device, where the reference synchronization message is used for synchronization and / or positioning of the non-reference node device.

[0184] Optionally, the determining module 402 includes:

[0185] An obtaining sub-module, configured to measure and detect each of the PRSs within a reference synchronization period, and obtain the timing deviation, phase deviation, and PRS identification ID information corresponding to each PRS;

[0186] A determining sub-module, configured to determine the reference synchronization message according to the timing deviation, the phase deviation, and the PRS ID information.

[0187] Optionally, the determining sub-module includes:

[0188] A first determining unit, configured to determine the time deviation and / or frequency deviation between the reference node device and the non-reference node device according to the timing deviations corresponding to each of the PRSs sent by a non-reference node within a reference synchronization period;

[0189] A second determination unit, configured to determine a phase deviation between the reference node device and the non-reference node device according to phase deviations corresponding to respective PRSs sent by one of the non-reference nodes within a reference synchronization period;

[0190] A third determination unit, configured to determine the reference synchronization message according to at least one of the time deviation, the frequency deviation, and the phase deviation, where the reference synchronization message includes PRS identification indication information, and deviation information corresponding to each of the PRS identification indication information, where the deviation information includes at least one of the time deviation, the frequency deviation, and the phase deviation.

[0191] Optionally, the reference synchronization message is carried on a Physical Pass-Through Link Shared Channel (PSSCH), sent by a Media Access Control Control Element (MAC CE), and the reference synchronization message is indicated by a Target Logical Channel Identity (LCID).

[0192] Optionally, a transmission frequency of the reference synchronization message is less than a transmission frequency of the PRS.

[0193] Optionally, the apparatus further includes:

[0194] A transmission module, configured to periodically send an air interface synchronization message, where a transmission frequency of the air interface synchronization message is less than a transmission frequency of the reference synchronization message, and the air interface synchronization message includes first information related to a PRS identification.

[0195] It should be noted here that the above synchronization positioning apparatus provided in the embodiments of the present application can implement all method steps implemented in the above embodiments of the synchronization positioning method applied to the reference node device, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0196] An embodiment of the present application provides a synchronization positioning apparatus, applied to a non-reference node device, as Figure 5 shown, the apparatus includes:

[0197] A transmission module 501, configured to periodically send a PRS;

[0198] A first receiving module 502, configured to receive a reference synchronization message periodically sent by a reference node device;

[0199] A second receiving module 503, configured to receive an air interface synchronization message periodically sent by other node devices, where the other node devices include the reference node device and other non-reference node devices, and the air interface synchronization message includes first information related to a PRS identification;

[0200] The synchronization and positioning module 504 is configured to perform synchronization and / or positioning according to the received reference synchronization message and the air interface synchronization message.

[0201] Optionally, the transmission frequency of the reference synchronization message is greater than the transmission frequency of the air interface synchronization message and less than the transmission frequency of the PRS.

[0202] Optionally, the reference synchronization message is carried on the PSSCH, sent as a MAC CE, and the reference synchronization message is indicated by the target LCID.

[0203] Optionally, the reference synchronization message includes PRS identification indication information and deviation information corresponding to each piece of the PRS identification indication information, where the deviation information includes at least one of time deviation, frequency deviation, and phase deviation.

[0204] Optionally, the synchronization and positioning module 504 includes:

[0205] The first acquisition sub-module is configured to acquire a target air interface synchronization message from the received air interface synchronization message; wherein, the synchronization level of other node devices that send the target air interface synchronization message is higher than or equal to the reference synchronization level of the non-reference node device;

[0206] The determination sub-module is configured to determine the synchronization source of the non-reference node device according to the target air interface synchronization message, where the synchronization source is the node device that sends the target air interface synchronization message;

[0207] The second acquisition sub-module is configured to extract first deviation information and second deviation information from the reference synchronization message according to the first information and the PRS identification indication information in the target air interface synchronization message, where the first deviation information is the deviation information between the non-reference node device and the reference node device, and the second deviation information is the deviation information between the synchronization source and the reference node device;

[0208] The synchronization sub-module is configured to synchronize with the synchronization source according to the first deviation information, the second deviation information, and the synchronization level of the synchronization source;

[0209] The positioning sub-module is configured to perform positioning according to the first deviation information and the second deviation information.

[0210] Optionally, the synchronization sub-module includes:

[0211] The acquisition unit is configured to acquire a first synchronization source with the highest synchronization level from the synchronization sources, where the first synchronization source includes one or more synchronization sources;

[0212] A first determination unit, configured to determine third deviation information according to the first deviation information and the second deviation information corresponding to each of the first synchronization sources, where the third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source;

[0213] A second determination unit, configured to determine a time adjustment amount of the non-reference node device with respect to Coordinated Universal Time (UTC) and a frequency adjustment amount of the non-reference node device with respect to a reference frequency according to each of the third deviation information;

[0214] Synchronize according to the time adjustment amount and the frequency adjustment amount.

[0215] Optionally, the first determination unit includes:

[0216] A first calculation subunit, configured to calculate a time deviation in the third deviation information according to the time deviations in the first deviation information and the second deviation information;

[0217] A second calculation subunit, configured to calculate a frequency deviation according to a change amount of the time deviations in a plurality of the third deviation information when the first deviation information and / or the second deviation information includes a time deviation and does not include a frequency deviation, where the plurality of the third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source;

[0218] A third calculation subunit, configured to calculate a frequency deviation in the third deviation information according to the frequency deviations in the first deviation information and the second deviation information when the first deviation information and the second deviation information include frequency deviations.

[0219] Optionally, the second determination unit includes:

[0220] A first determination subunit, configured to, for each of the first synchronization sources, determine a first time offset of the non-reference node device with respect to the corresponding first synchronization source as a reference synchronization source according to a timing offset and a timing adjustment amount in the last air interface synchronization message sent by the corresponding first synchronization source, and a time deviation in the third deviation information related to the corresponding first synchronization source;

[0221] A second determination subunit, configured to determine a second time offset of the non-reference node device with respect to the UTC according to a plurality of the first time offsets;

[0222] A third determination subunit, configured to determine the time adjustment amount according to the second time offset and the radio frequency capability of the non-reference node device.

[0223] Optionally, the second determination unit includes:

[0224] A fourth determination subunit, configured to, for each of the first synchronization sources, determine a second frequency offset of the non-reference node device with the corresponding first synchronization source as the 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 first synchronization source, and a frequency deviation in the third deviation information related to the corresponding first synchronization source;

[0225] A fifth determination subunit, configured to determine a third frequency offset between the non-reference node device and the reference frequency according to the multiple second frequency offsets;

[0226] A sixth determination subunit, configured to determine the frequency adjustment amount according to the third frequency offset and the radio frequency capability of the non-reference node device.

[0227] Optionally, the positioning sub-module includes:

[0228] A third determination unit, configured to, for each of the synchronization sources, determine a first time deviation according to a time deviation in the first deviation information and a second deviation information corresponding to the corresponding synchronization source, where the first time deviation is a time deviation between the non-reference node device and the corresponding synchronization source;

[0229] A fourth determination unit, configured to, for each of the synchronization sources, determine a fractional part of a phase deviation between the non-reference node device and the corresponding synchronization source according to a phase deviation in the first deviation information and the second deviation information;

[0230] A fifth determination unit, configured to determine an integer multiple part of a phase deviation between the reference node device and the corresponding synchronization source according to the multiple fractional parts of the phase deviation;

[0231] A sixth determination unit, configured to determine a pseudorange between the non-reference node device and the corresponding synchronization source according to the first time deviation, the fractional part of the phase deviation, and the integer multiple part of the phase deviation;

[0232] A positioning unit, configured to perform positioning according to the pseudoranges between the non-reference node device and each of the synchronization sources.

[0233] 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 non-reference node devices, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0234] Such asFigure 6 As shown in the figure, an embodiment of the present application further provides a node device, including a transceiver 610, a memory 620, a processor 600, and a computer program stored on the memory 620 and running on the processor 600. When the processor 600 executes the computer program, it implements the synchronization positioning method applied to the reference node device as described above, or implements the synchronization positioning method applied to the non-reference node device as described above.

[0235] The transceiver 610 is configured to receive and send data under the control of the processor 600.

[0236] Among them, in Figure 6 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits of one or more processors represented by the processor 600 and the memory represented by the memory 620 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, so they will not be further described herein. The bus interface provides an interface. The transceiver 610 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 600 is responsible for managing the bus architecture and general processing, and the memory 620 may store data used by the processor 600 when executing operations.

[0237] It should be noted here that the above node device provided by the embodiment of the present application can implement all the method steps implemented by the above embodiment of the synchronization positioning method applied to the reference node device, or implement all the method steps implemented by the above embodiment of the synchronization positioning method applied to the non-reference node device, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiment will not be specifically described in this embodiment.

[0238] 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.

[0239] Accordingly, embodiments of the present application further provide a readable storage medium, on which a program or instructions are stored. When the program or instructions are executed by a processor, the various processes of the above-described embodiments of the synchronization positioning method applied to the reference node device are implemented, or the various processes of the above-described embodiments of the synchronization positioning method applied to the non-reference node device are implemented, and the same technical effects can be achieved. To avoid repetition, details are not described herein again. Among them, the readable storage medium may be, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc, etc.

[0240] In addition, it should be noted that in the devices and methods of the present application, obviously, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations shall be regarded as equivalent solutions of the present application. Moreover, 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. Certain 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.

[0241] 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 may be a well-known general-purpose device. Thus, the object of the present application can also be achieved merely 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 may be any well-known storage medium or any storage medium developed in the future.

[0242] 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 terms "comprising", "including" or any other variant thereof are 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 element.

[0243] The above is the preferred embodiment 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 refinements can be made, and these improvements and refinements 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 reference node device, including: Receiving positioning reference signals (PRS) periodically sent by at least one non-reference node device; Determining a reference synchronization message according to multiple received PRSs within a reference synchronization period; Periodically sending the reference synchronization message to the non-reference node device, wherein the reference synchronization message is used for the synchronization and / or positioning of the non-reference node device.

2. The method according to claim 1, characterized in that, The determining the reference synchronization message according to multiple received PRSs within a reference synchronization period includes: Measuring and detecting each of the PRSs within a reference synchronization period to obtain timing deviation, phase deviation, and PRS identification ID information corresponding to each of the PRSs; Determining the reference synchronization message according to the timing deviation, the phase deviation, and the PRS ID information.

3. The method according to claim 2, characterized in that, The determining the reference synchronization message according to the timing deviation and the phase deviation includes: Determining the time deviation and / or frequency deviation between the reference node device and the non-reference node device according to the timing deviation corresponding to each of the PRSs sent by a non-reference node within a reference synchronization period; Determining the phase deviation between the reference node device and the non-reference node device according to the phase deviation corresponding to each of the PRSs sent by a non-reference node within a reference synchronization period; Determining the reference synchronization message according to at least one of the time deviation, the frequency deviation, and the phase deviation, wherein the reference synchronization message includes PRS identification indication information, and deviation information corresponding to each of the PRS identification indication information, and the deviation information includes at least one of the time deviation, the frequency deviation, and the phase deviation.

4. The method according to claim 1, characterized in that, The reference synchronization message is carried on a physical direct link shared channel (PSSCH), sent by a media access control control element (MAC CE), and the reference synchronization message is indicated by a target logical channel identity (LCID).

5. The method according to claim 1, characterized in that, The sending frequency of the reference synchronization message is less than the sending frequency of the PRS.

6. The method according to claim 1, characterized in that, The method further includes: periodically sending an air interface synchronization message, wherein the sending frequency of the air interface synchronization message is less than the sending frequency of the reference synchronization message, and the air interface synchronization message includes first information related to the PRS identification.

7. A synchronization and positioning method, characterized in that, applied to a non-reference node device, including: Periodically sending PRSs; Receiving the reference synchronization message periodically sent by the reference node device; Receive air interface synchronization messages periodically sent by other node devices, where the other node devices include the reference node device and other non-reference node devices, and the air interface synchronization message includes first information related to the PRS identifier; Perform synchronization and / or positioning according to the received reference synchronization message and the air interface synchronization message.

8. The method according to claim 7, wherein, The sending frequency of the reference synchronization message is greater than the sending frequency of the air interface synchronization message and less than the sending frequency of the PRS.

9. The method according to claim 7, wherein, The reference synchronization message is carried on the PSSCH, sent as a MAC CE, and the reference synchronization message is indicated by the target LCID.

10. The method according to claim 7, wherein, The reference synchronization message includes PRS identifier indication information and deviation information corresponding to each PRS identifier indication information, where the deviation information includes at least one of time deviation, frequency deviation, and phase deviation.

11. The method according to claim 10, wherein, Performing synchronization and / or positioning according to the received reference synchronization message and the air interface synchronization message includes: In the received air interface synchronization message, obtain a target air interface synchronization message; where the synchronization level of the other node device sending the target air interface synchronization message is higher than or equal to the reference synchronization level of the non-reference node device; Determine the synchronization source of the non-reference node device according to the target air interface synchronization message, where the synchronization source is the node device sending the target air interface synchronization message; Extract first deviation information and second deviation information from the reference synchronization message according to the first information and the PRS identifier indication information in the target air interface synchronization message, where the first deviation information is the deviation information between the non-reference node device and the reference node device, and the second deviation information is the deviation information between the synchronization source and the reference node device; Synchronize with the synchronization source according to the first deviation information, the second deviation information, and the synchronization level of the synchronization source; Perform positioning according to the first deviation information and the second deviation information.

12. The method according to claim 11, wherein, Synchronizing with the synchronization source according to the first deviation information, the second deviation information, and the synchronization level of the synchronization source includes: In the synchronization source, obtain a first synchronization source with the highest synchronization level, where the first synchronization source includes one or more synchronization sources; Determine third deviation information according to the first deviation information and the second deviation information corresponding to each first synchronization source, where the third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source; Determine the time adjustment amount of the non-reference node device with respect to Coordinated Universal Time (UTC) and the frequency adjustment amount of the non-reference node device with respect to the reference frequency according to each third deviation information; Synchronize according to the time adjustment amount and the frequency adjustment amount.

13. The method according to claim 12, wherein, determining third deviation information according to the first deviation information and the second deviation information corresponding to each of the first synchronization sources includes: calculating the time deviation in the third deviation information according to the time deviations in the first deviation information and the second deviation information; when the first deviation information and / or the second deviation information includes a time deviation and does not include a frequency deviation, calculating a frequency deviation according to a change amount of the time deviations in a plurality of the third deviation information, where the plurality of the third deviation information is the deviation information between the non-reference node device and the corresponding first synchronization source; when the first deviation information and the second deviation information include a frequency deviation, calculating the frequency deviation in the third deviation information according to the frequency deviations in the first deviation information and the second deviation information.

14. The method according to claim 12, wherein, determining a time adjustment amount of the non-reference node device with respect to Coordinated Universal Time (UTC) according to each of the third deviation information includes: for each of the first synchronization sources, determining a first time offset of the non-reference node device with respect to the corresponding first synchronization source 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 first synchronization source, and the time deviation in the third deviation information related to the corresponding first synchronization source; determining a second time offset of the non-reference node device with respect to the UTC according to a plurality of the first time offsets; determining the time adjustment amount according to the second time offset and the radio frequency capability of the non-reference node device.

15. The method according to claim 13, wherein, determining a frequency adjustment amount of the non-reference node device with respect to a reference frequency according to each of the third deviation information includes: for each of the first synchronization sources, determining a second frequency offset of the non-reference node device with respect to the corresponding first synchronization source as a reference synchronization source according to the first frequency offset and the second frequency adjustment amount in the last radio interface synchronization message sent by the corresponding first synchronization source, and the frequency deviation in the third deviation information related to the corresponding first synchronization source; determining a third frequency offset of the non-reference node device with respect to the reference frequency according to a plurality of the second frequency offsets; determining the frequency adjustment amount according to the third frequency offset and the radio frequency capability of the non-reference node device.

16. The method according to claim 11, wherein, performing positioning according to the first deviation information and the second deviation information includes: for each of the synchronization sources, determining a first time deviation according to the first deviation information and the time deviation in the second deviation information corresponding to the corresponding synchronization source, where the first time deviation is the time deviation between the non-reference node device and the corresponding synchronization source; For each of the synchronization sources, determine the fractional part of the phase deviation between the non-reference node device and the corresponding synchronization source according to the phase deviations in the first deviation information and the second deviation information; Determine the integer multiple part of the phase deviation between the reference node device and the corresponding synchronization source according to the fractional parts of the multiple phase deviations; Determine the pseudorange between the non-reference node device and the corresponding synchronization source according to the first 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 non-reference node device and each of the synchronization sources.

17. A synchronization and positioning device, characterized in that, applied to a reference node device, comprising: a receiving module, configured to receive PRSs periodically sent by at least one non-reference node device; a determining module, configured to determine a reference synchronization message according to multiple received PRSs within a reference synchronization period; a first sending module, configured to periodically send a reference synchronization message to the non-reference node device, wherein the reference synchronization message is used for synchronization and / or positioning of the non-reference node device.

18. A synchronization and positioning device, characterized in that, applied to a non-reference node device, comprising: a sending module, configured to periodically send PRSs; a first receiving module, configured to receive a reference synchronization message periodically sent by a reference node device; a second receiving module, configured to receive an air interface synchronization message periodically sent by other node devices, wherein the other node devices include the reference node device and other non-reference node devices, and the air interface synchronization message includes first information, and the first information is related to a PRS identifier; a synchronization and positioning module, configured to perform synchronization and / or positioning according to the received reference synchronization message and the air interface synchronization message.

19. 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 6, or implements the synchronization and positioning method according to any one of claims 7 to 16.

20. 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 6, or implements the synchronization and positioning method according to any one of claims 7 to 16.

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