Positioning method, device, readable storage medium and chip system

Abstract

This application provides a positioning method, apparatus, readable storage medium, and chip system. The method relates to the field of communication technology and is applicable to positioning scenarios for terminal devices. The method acquires multiple positioning parameters of the terminal device, determines a positioning parameter set including at least one of the multiple positioning parameters based on the confidence levels of these parameters, and then obtains the positioning information of the terminal device by inputting the positioning parameter set into a first positioning model or a second positioning model. This method selects appropriate positioning parameters based on the confidence levels of the positioning parameters to predict the positioning information of the terminal device, avoiding situations where the estimated positioning parameters of the terminal device have large errors, leading to low positioning accuracy, thus improving the positioning accuracy of the terminal device.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a positioning method, apparatus, readable storage medium, and chip system. Background Technology

[0002] With the development of communication technology, the demand for positioning of terminal devices in fields such as intelligent transportation and logistics management is increasing daily. As a key infrastructure of digital communication systems, 5G base stations are experiencing rapid growth in throughput due to increased data transmission demands. Because positioning services for terminal devices consume significant network resources, the rapid increase in 5G base station throughput is leading to increasingly strained positioning resources. Simultaneously, the increasing number of terminal devices is causing a surge in their positioning demands, placing higher requirements on the real-time performance and accuracy of 5G base station positioning.

[0003] However, due to environmental factors such as multipath effect, attenuation, and interference, the positioning accuracy of terminal equipment is affected to some extent. Summary of the Invention

[0004] This application provides a positioning method, apparatus, readable storage medium, and chip system that can improve the positioning accuracy of terminal devices.

[0005] Firstly, a positioning method is provided. This method can be executed by a terminal device or a location management function network element, or by a component (such as a circuit, chip, or chip system) configured in the terminal device or location management function network element, or by a logic module or software capable of implementing all or part of the functions of the terminal device or location management function network element. This application does not limit this. The method includes: acquiring multiple positioning parameters of the terminal device; determining a positioning parameter set including at least one positioning parameter based on the confidence level of the multiple positioning parameters; and obtaining positioning information of the terminal device based on the positioning parameter set. The at least one positioning parameter includes arrival time and / or time difference of arrival.

[0006] In this implementation, the terminal device or location management function network element selects appropriate positioning parameters to predict the positioning information of the terminal device based solely on the confidence level of the positioning parameters. This avoids the situation where the positioning parameters estimated by the terminal device have large errors, resulting in low positioning accuracy, and is conducive to improving the positioning accuracy of the terminal device.

[0007] Secondly, a communication device is provided, comprising a processing module and a transceiver module. The transceiver module is used to acquire multiple positioning parameters of a terminal device; the processing module is used to determine a set of positioning parameters, including at least one of the multiple positioning parameters, based on the confidence level of the multiple positioning parameters, and then obtain the positioning information of the terminal device based on the set of positioning parameters.

[0008] The second aspect is the implementation on the device side, which corresponds to the first aspect. The explanations, supplements, and descriptions of the beneficial effects of the first aspect also apply to the second aspect, and will not be repeated here.

[0009] Thirdly, a communication device is provided, including one or more processors. The one or more processors are coupled to a memory and can be used to execute instructions or data in the memory to implement the method in any possible implementation of the first aspect described above. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0010] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0011] In another implementation, the communication device is a chip configured in a terminal device. When the communication device is a chip configured in a terminal device, the communication interface can be an input / output interface.

[0012] Fourthly, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, causing the processor to execute a method in any possible implementation of any aspect.

[0013] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0014] Fifthly, a communication device is provided, including a processor and a memory. The processor is used to read instructions stored in the memory, receive signals via a receiver, and transmit signals via a transmitter to execute the method in any possible implementation of any of the above aspects.

[0015] Optionally, the processor may be one or more, and the memory may be one or more.

[0016] In a sixth aspect, a computer program product is provided, the computer program product comprising: a computer program (also referred to as code or instructions) that, when the computer program is run, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0017] In a seventh aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when run on a computer, causes the computer to perform the methods in any possible implementation of any of the above aspects.

[0018] Eighthly, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the above aspects or possible implementations to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0019] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0020] In a ninth aspect, a communication system is provided, including a terminal device and a location management function network element. Optionally, the communication system may further include other devices that communicate with the terminal device and / or the location management function network element. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of a communication system used in an embodiment of this application;

[0022] Figure 2 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0023] Figure 3 A schematic diagram of a positioning method provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of a first positioning model provided in an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the structure of a second positioning model provided in an embodiment of this application;

[0026] Figure 6 A schematic diagram illustrating a positioning method provided in an embodiment of this application;

[0027] Figure 7 A signaling interaction diagram of a positioning method provided in an embodiment of this application;

[0028] Figure 8 A signaling interaction diagram illustrating another positioning method provided in this application embodiment;

[0029] Figure 9 A schematic block diagram of a communication device provided in an embodiment of this application;

[0030] Figure 10 A schematic block diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0031] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0032] The technical solutions provided in this application can be applied to various communication systems, such as: Global System for Mobile Communications (GSM) systems, General Packet Radio Service (GPRS), Wireless Local Area Network (WLAN), Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, sidelink communication systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, non-terrestrial network (NTN) communication systems, 5th generation (5G) mobile communication systems, or new radio access technology (NR). Among these, 5G mobile communication systems can include non-standalone (NSA) and / or standalone (SA) networking. The technical solutions provided in this application can also be applied to future communication systems. This application does not limit the scope of these applications.

[0033] Figure 1This is a schematic diagram of a communication system used in an embodiment of this application. The communication system 100 may include network devices, such as... Figure 1 The network device 110 is shown. The communication system 100 may also include terminal devices, such as... Figure 1 The terminal device 120 shown. The network device 110 and the terminal device 120 can communicate via a wireless link.

[0034] Figure 1 An exemplary network device 110 and a terminal device 120 are shown. Optionally, the communication system 100 may also include multiple network devices and / or multiple terminal devices.

[0035] The network equipment in this application can be network-side equipment such as access network equipment and core network equipment. Access network equipment is sometimes also called access node. Access network equipment has wireless transceiver capabilities and is used to communicate with terminal equipment. Access network equipment includes, but is not limited to, base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs) in the above-mentioned communication systems, next-generation NodeBs (gNBs) in 5G mobile communication systems, access network equipment or modules of access network equipment in open RAN (ORAN) systems, satellites in NTN communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems. Access network equipment can also be modules or units that can implement some of the functions of a base station. Access network equipment can be macro base stations, micro base stations or indoor stations, relay nodes or donor nodes, or wireless controllers in cloud radioaccess network (CRAN) scenarios. Optionally, access network equipment can also be servers, wearable devices, or vehicle-mounted equipment, etc. For example, the access network equipment in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). Multiple access network devices in a communication system can be base stations of the same type or different types. Base stations can communicate with terminal devices directly or via relay stations. Terminal devices can communicate with multiple base stations using different access technologies. The embodiments of this application do not limit the specific technology or device form used in the access network equipment. In this application, the access network equipment is referred to as a network device.

[0036] In this application, the means for implementing the functions of a network device can be a network device itself, or a means capable of supporting the network device in implementing those functions, such as a processor, circuit, chip, or chip system. This means can be installed in or connected to the network device. In the technical solutions provided in this application, the example of a network device being used to implement the functions of a network device is used to describe the technical solutions provided in this application.

[0037] The terminal device in this application can be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. For example, the terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN). The terminal device can also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), ultra-reliable low-latency communication (URLLC), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, or satellite communication, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, wearable device, vehicle, aircraft (such as drone, helicopter, airplane), hot air balloon, ship, robot, robotic arm, or smart home device, etc. The embodiments of this application do not limit the form of the terminal device.

[0038] In this application, the apparatus for implementing the functions of a terminal device can be the terminal device itself, or any apparatus capable of supporting the terminal device in implementing those functions, such as a processor, circuit, chip, or chip system. This apparatus can be installed in or connected to the terminal device. In the technical solutions provided in this application, the example of a terminal device being used to implement the functions of a terminal device is used to describe the technical solutions provided in this application.

[0039] Access network devices and / or terminals can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. This application does not limit the application scenarios of the access network devices and terminals. Access network devices and terminal devices can be deployed in the same or different scenarios; for example, both can be deployed on land; or the access network device can be deployed on land, and the terminal device on water, etc., and so on.

[0040] In practical applications, multiple network devices can collaborate to assist terminals in achieving wireless access, with different network devices each implementing a portion of the base station's functions. For example, network devices can be central units (CUs), distributed units (DUs), CUs (control planes, CPs), CUs (user planes, UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0041] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (Open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. CU (or CU-CP and CU-UP), DU, and RU can implement different protocol layer functions.

[0042] In related technologies, when locating a terminal device, positioning parameters such as time of arrival (TOA) or angle of arrival (AOA) can be estimated. Then, based on any of the estimated positioning parameters, the positioning information of the terminal device can be determined through artificial intelligence (AI) or machine learning (ML).

[0043] The positioning process can be performed by the terminal device or by the location management function (LMF) network element. When performed by the LMF network element, the positioning parameters can be estimated by the terminal device and sent to the LMF through the access network device, or the terminal device can send them directly to the LMF without restriction.

[0044] In related technologies, environmental factors such as multipath effects, attenuation, and interference lead to errors in the estimated positioning parameters. This limits the positioning accuracy of terminal devices that rely solely on single positioning parameters like time of arrival or angle of arrival. Furthermore, existing positioning algorithms have limited ability to correct for these errors, especially in scenarios with weak signals or heavy interference. The inherent parameter errors and information losses in the estimated positioning parameters cannot be effectively compensated for during the determination of the terminal device's positioning information, thus affecting its positioning accuracy.

[0045] In view of this, this application provides a positioning method. After a terminal device or location management function network element acquires multiple positioning parameters of the terminal device, and determines a positioning parameter set including at least one of the multiple positioning parameters based on the confidence level of the multiple positioning parameters, the positioning information of the terminal device is obtained based on the positioning parameter set. The confidence level of the positioning parameters is used to characterize the accuracy of the positioning parameters. Therefore, the terminal device or location management function network element selects appropriate positioning parameters based on the confidence level of the positioning parameters to predict the positioning information of the terminal device, avoiding situations where the estimated positioning parameters of the terminal device have large errors, resulting in low positioning accuracy, thus improving the positioning accuracy of the terminal device.

[0046] The solution provided in this application will be described in detail below with reference to the corresponding flowcharts. It is understood that the illustrative flowcharts provided in this application primarily use different devices (e.g., terminal devices, network devices) as examples of the execution subjects of this interactive illustration to illustrate the method, but this application does not limit the execution subjects of the interactive illustrations. For example, the devices (e.g., terminal devices, network devices) in the illustrative flowcharts can also be chips, chip systems, or processors that support the implementation of this method on the device, or logic modules or software that can implement all or part of the functions of the device.

[0047] As a general statement, the message or signaling interactions involved in the interaction process of this application embodiment can be standard messages or signaling or newly introduced messages or signaling. This application embodiment does not make specific limitations on this.

[0048] Figure 2 This is a flowchart illustrating a positioning method provided in an embodiment of this application. It can be understood that... Figure 2 The terminal device in the middle can be Figure 1 Any terminal device in the context of network equipment can refer to any component within that terminal device (such as a processor, chip, or chip system). Network equipment can be... Figure 1 Any access network device, or a component within an access network device (such as a processor, chip, or chip system). Figure 2 As shown, this positioning method can be executed by a terminal device or by an LMF network element; no limitation is made here. The following description uses the example of a terminal device executing this positioning method, which may include the following steps:

[0049] S210, The terminal device acquires multiple positioning parameters of the terminal device.

[0050] The positioning parameters include a time of arrival (TOA) and a first positioning parameter. The TOA is either TOA or time difference of arrival (TDOA). The first positioning parameter includes at least one of received signal strength (RSS), AOA, and round-trip time (RTT).

[0051] Optionally, after the terminal device's receiving antenna receives positioning reference signals (PRS) from the access network device, the terminal device can measure the received PRS to obtain positioning parameters. In this application, there can be one or more PRSs, which can come from one or more access network devices, without limitation. When the terminal device receives multiple PRSs, it can obtain the positioning parameters corresponding to each PRS. Subsequently, the terminal device can determine its positioning information based on the positioning parameters corresponding to multiple PRSs, resulting in higher accuracy of the determined positioning information.

[0052] The following section describes the specific implementation of positioning parameters and how the terminal device obtains positioning parameters by measuring the positioning reference signal.

[0053] RSS represents the received signal strength of the positioning reference signal received by the terminal device from the access network device. RSS is an important parameter for evaluating the quality of the communication link. The larger the RSS value, the stronger the positioning reference signal received by the terminal device. Optionally, after receiving the positioning reference signal from the access network device, the terminal device measures the power value of the positioning reference signal through its built-in signal strength detection module, and substitutes the measured power value into the following formula (1) to obtain the RSS.

[0054] Formula (1);

[0055] RSS represents the received signal strength of the positioning reference signal received by the terminal device from the access network device. This indicates the transmission power of the positioning reference signal. Indicates the transmit antenna gain. Indicates the receiving antenna gain. Indicates cable and connector losses. This represents the free space path loss.

[0056] TOA represents the signal transmission time from the access network device to the terminal device for the positioning reference signal. Optionally, the terminal device receives the positioning reference signal from the access network device, records the timestamp of receiving the positioning reference signal, and determines the signal transmission time based on the time the access network device sends the positioning reference signal and the time the terminal device receives the positioning reference signal. Alternatively, the terminal device may use the difference between the time it receives the positioning reference signal and the time it sends the positioning reference signal as the signal transmission time.

[0057] AOA represents the angle at which the positioning reference signal arrives at the terminal device. Optionally, the terminal device is equipped with a multi-antenna array. The terminal device determines the angle at which the positioning reference signal arrives at the terminal device by comparing the phase difference between the positioning reference signals received by different antennas. For example, the terminal device determines the angle at which the positioning reference signal arrives at the terminal device as the angle corresponding to the phase difference between the positioning reference signals received by two adjacent antennas.

[0058] TDOA represents the time difference of arrival of positioning reference signals from multiple different access network devices to the terminal device. Optionally, after receiving positioning reference signals from multiple access network devices, the terminal device records the timestamps of the received positioning reference signals. Then, the terminal device calculates the time difference of arrival of the positioning reference signals from different access network devices based on the multiple timestamps. For example, the terminal device uses the difference in the time of receipt of positioning reference signals from different access network devices as the time difference of arrival.

[0059] RTT represents the total time from when the access network device sends a positioning reference signal to the terminal device, to when the terminal device sends a response signal to the access network device. Optionally, after the access network device sends a positioning reference signal to the terminal device, the terminal device receives and processes the signal, and then sends a response signal to the access network device. The access network device records the timestamps of the sent and received signals, and then obtains the RTT based on the timestamps of the sent and received signals.

[0060] For example, Figure 3 As shown, the communication system includes three base stations: gNB1, gNB2, and gNB3. All three base stations can communicate with the LMF network element. gNB1, gNB2, and gNB3 transmit positioning reference signals to the terminal device via a wireless channel. The terminal device receives the positioning reference signals from the three gNBs and generates multiple corresponding positioning parameters based on each received positioning reference signal. These positioning parameters include at least one of received signal strength, angle of arrival, or round-trip time, as well as a time of arrival parameter. The process by which the terminal device generates multiple corresponding positioning parameters based on each received positioning parameter signal is described above and will not be repeated here.

[0061] S220, the terminal device determines the set of positioning parameters based on the confidence level of multiple positioning parameters.

[0062] The positioning parameter set includes at least one of multiple positioning parameters.

[0063] Since the multiple positioning parameters of the terminal device are affected by environmental factors such as multipath effect, attenuation, and interference, the accuracy of the multiple positioning parameters is affected to a certain extent. In this embodiment of the application, the terminal device can determine at least one positioning parameter from the multiple positioning parameters based on the confidence level of the multiple positioning parameters. That is, the terminal device determines a set of positioning parameters including at least one positioning parameter based on the confidence level of the multiple positioning parameters, so as to determine the positioning information of the terminal device.

[0064] Optionally, for any one of the multiple positioning parameters, if the confidence level of the positioning parameter is greater than the corresponding confidence threshold, the terminal device determines that the positioning parameter set includes that positioning parameter. The confidence threshold is a pre-set value, and each positioning parameter has a corresponding confidence threshold. It should be understood that if the confidence level of a positioning parameter is greater than its corresponding confidence threshold, it indicates that the positioning parameter estimated by the terminal device based on the positioning reference signal has high accuracy. In this case, the terminal device uses this positioning parameter to determine its positioning information, which helps improve the positioning accuracy of the terminal device.

[0065] For a detailed explanation of how to determine the confidence level of multiple positioning parameters of a terminal device, please refer to the description of the subsequent embodiments; it will not be described in detail here.

[0066] Optionally, each positioning parameter corresponds to two confidence thresholds: a first confidence threshold and a second confidence threshold, where the second confidence threshold is greater than the first confidence threshold. The terminal device can determine whether a positioning parameter can be used to determine the terminal device's positioning information based on the first and second confidence thresholds corresponding to each positioning parameter, as well as the confidence level of the positioning parameter; that is, whether the positioning parameter set includes the positioning parameter. Specifically, this includes the following two cases:

[0067] In the first case, if the confidence level of the arrival time parameter is greater than the second confidence level threshold corresponding to the arrival time parameter, the terminal device determines that the positioning parameter set includes the arrival time parameter.

[0068] It should be understood that, for multiple positioning parameters, the arrival time and time difference can achieve positioning accuracy at the centimeter or even millimeter level, which has advantages such as high-precision positioning, low clock synchronization requirements, and strong anti-interference ability. Therefore, in order to improve the positioning accuracy of the terminal device and reduce the amount of computation, after the terminal device determines the confidence level of multiple positioning parameters, it first judges the relationship between the confidence level of the arrival time parameter and the second confidence level threshold corresponding to the arrival time parameter, so as to determine whether the positioning parameter set includes the arrival time parameter.

[0069] When the confidence level of the arrival time parameter determined by the terminal device is greater than the second confidence threshold corresponding to the arrival time parameter, the terminal device determines that the set of positioning parameters includes the arrival time parameter. In this case, the accuracy of the terminal device in determining the arrival time parameter is extremely high. The positioning information of the terminal device can be accurately determined based solely on the arrival time parameter, without the need to compare the confidence levels of other positioning parameters with their corresponding confidence thresholds. This reduces the amount of computation and lowers the computational complexity, thereby improving positioning efficiency.

[0070] For example, assuming the arrival time parameter is the arrival time itself, if the confidence level of the arrival time is greater than the second confidence threshold corresponding to the arrival time, then the terminal device determines that the positioning parameter set includes the arrival time. Assuming the arrival time parameter is the arrival time difference, if the confidence level of the arrival time difference is greater than the second confidence threshold corresponding to the arrival time difference, then the terminal device determines that the positioning parameter set includes the arrival time difference. Assuming the arrival time parameters are both the arrival time and the arrival time difference, if the confidence level of the arrival time is greater than the second confidence threshold corresponding to the arrival time, and the arrival time difference is greater than the second confidence threshold corresponding to the arrival time difference, then the terminal device determines that the positioning parameter set includes both the arrival time and the arrival time difference.

[0071] If the confidence level of the arrival time parameter determined by the terminal device is less than or equal to the second confidence threshold corresponding to the arrival time parameter, the terminal device determines that the location parameter set does not include the arrival time parameter. In this case, the terminal device determines that it cannot accurately predict the location information of the terminal device based solely on the accuracy of the arrival time parameter. The terminal device needs to determine the location information of the terminal device based on the arrival time parameter together with other location parameters. The terminal needs to further determine the relationship between the confidence level of the first location parameter and the confidence threshold corresponding to the first location parameter among multiple location parameters, so that the terminal device determines that the location parameter set includes the first location parameter. The specific implementation is described in the second case below, and will not be elaborated here.

[0072] In the second scenario, if the confidence level of the arrival time parameter is less than the second confidence threshold corresponding to the arrival time parameter but greater than the first confidence threshold corresponding to the arrival time parameter, then the positioning parameter set is determined to include the arrival time parameter and the target positioning parameter. The target positioning parameter is included in the first positioning parameter.

[0073] It should be understood that since the confidence level of the time of arrival parameter is less than the second confidence threshold but greater than the first confidence threshold, it indicates that the accuracy of the time of arrival parameter determined by the terminal device has decreased to some extent due to factors such as multipath effects. In this case, the terminal device can comprehensively consider multiple positioning parameters, that is, the set of positioning parameters determined by the terminal device includes the time of arrival parameter and the target positioning parameter.

[0074] Optionally, the first positioning parameter specifically included in the target positioning parameters determined by the terminal device includes the following three cases.

[0075] Case 1: The target positioning parameters include the positioning parameters in the first positioning parameters that satisfy the first condition.

[0076] Among them, the first condition is that the confidence level of the positioning parameter is greater than the second confidence level threshold corresponding to the positioning parameter.

[0077] In this case, the terminal device obtains the first positioning parameters. If the terminal device determines that there is a positioning parameter in the first positioning parameters that satisfies the first condition, then the terminal device determines the positioning parameter that satisfies the first condition as the target positioning parameter.

[0078] For example, suppose the first positioning parameter includes a first positioning parameter, and the confidence level of the first positioning parameter is greater than the second confidence threshold corresponding to the first positioning parameter, then the terminal device determines that the target positioning parameter includes the first positioning parameter. For instance, suppose the first positioning parameter is the angle of arrival, and the confidence level of the angle of arrival is greater than the second confidence threshold corresponding to the angle of arrival, then the terminal device determines that the target positioning parameter includes the angle of arrival.

[0079] Assuming there are multiple first positioning parameters, the terminal device can identify the first positioning parameter whose confidence level is greater than the corresponding second confidence threshold as the target positioning parameter. For example, assuming the first positioning parameters include angle of arrival, round-trip time, and received signal strength, if the terminal device determines that the confidence level of the angle of arrival is greater than the second confidence threshold corresponding to the angle of arrival, and the confidence level of the round-trip time is greater than the second confidence threshold corresponding to the round-trip time, then the terminal device determines that the target positioning parameters include the angle of arrival and the round-trip time.

[0080] Therefore, the terminal device only determines the first positioning parameter that meets the first condition as the target positioning parameter, thus ensuring the positioning accuracy of the terminal device's positioning information determined based on the arrival time parameter and the target positioning parameter.

[0081] Scenario 2: The target positioning parameters include the second positioning parameter, which has the highest priority among the positioning parameters that satisfy the first condition, and the third positioning parameter.

[0082] The third positioning parameter is the parameter among the first positioning parameters that has a higher priority than the second positioning parameter and does not meet the first condition.

[0083] The priority of positioning parameters characterizes the degree to which a positioning parameter affects the accuracy of the positioning information of a terminal device. A higher priority indicates a smaller impact of that parameter on the accuracy of the positioning information, while a lower priority indicates a greater impact. For example, the angle of arrival (AHA) has a higher priority than the received signal strength (RSS), meaning the AHA has a smaller impact on the accuracy of the positioning information than the RSS. It should be understood that inaccurate estimations of noise power and interference signal power can lead to larger errors in the RSS determination by the terminal device, thus significantly impacting the accuracy of the positioning information.

[0084] In this case, the terminal device determines that there are positioning parameters that satisfy the first condition and positioning parameters that do not satisfy the first condition among the first positioning parameters, and the positioning parameters that satisfy the first condition are one or more.

[0085] If the terminal device determines that there is a positioning parameter that satisfies the first condition and a third positioning parameter that does not satisfy the first condition among the first positioning parameters, and the positioning parameter that satisfies the first condition is only one (i.e., the second positioning parameter), the terminal device determines that the target positioning parameters include the second positioning parameter and the third positioning parameter.

[0086] For example, suppose the first positioning parameters include the angle of arrival and the received signal strength, the priority of the angle of arrival is higher than the priority of the received signal strength, the confidence of the angle of arrival is less than the second confidence threshold corresponding to the angle of arrival, and the confidence of the received signal strength is greater than the second confidence threshold corresponding to the received signal strength. The terminal device determines that the target positioning parameters include the angle of arrival and the received signal strength.

[0087] If the terminal device determines that there are positioning parameters that satisfy the first condition and positioning parameters that do not satisfy the first condition among the first positioning parameters, and there are multiple positioning parameters that satisfy the first condition, the terminal device determines the positioning parameter with the highest priority among the multiple positioning parameters that satisfy the first condition as the second positioning parameter. The target positioning parameter determined by the terminal device includes the second positioning parameter with the highest priority among the multiple positioning parameters that satisfy the first condition and the third positioning parameter.

[0088] It should be understood that since the second positioning parameter is the highest priority positioning parameter among the multiple positioning parameters that satisfy the first condition, it indicates that the second positioning parameter has high accuracy and has a small impact on the accuracy of the terminal device's positioning information. Furthermore, even if the third positioning parameter does not satisfy the first condition, its priority is higher than the second positioning parameter, and its impact on the accuracy of the terminal device's positioning information is even smaller. Therefore, the terminal device determines that the target positioning parameters include both the second and third positioning parameters, which has a small impact on the terminal device's positioning accuracy. For example, suppose the first positioning parameters include the angle of arrival, received signal strength, and round-trip time. The angle of arrival has a higher priority than the received signal strength, and the received signal strength has a higher priority than the round-trip time. If the confidence level of the angle of arrival is less than the second confidence threshold corresponding to the angle of arrival, the confidence level of the received signal strength is greater than the second confidence threshold corresponding to the received signal strength, and the confidence level of the round-trip time is greater than the second confidence threshold corresponding to the round-trip time, then the terminal device determines that the target positioning parameters include the angle of arrival and the received signal strength.

[0089] Case 3: The target positioning parameters include the positioning parameters that satisfy the second condition, excluding the received signal strength, from the first positioning parameters.

[0090] The second condition includes a confidence level that is less than a second confidence threshold and greater than a first confidence threshold.

[0091] In this embodiment of the application, if there are positioning parameters in the first positioning parameters whose confidence level is less than the second confidence threshold but greater than the first confidence threshold, it indicates that the accuracy of the positioning parameters in the first positioning parameters is low. In this case, the terminal device determines that the target positioning parameters include the positioning parameters in the first positioning parameters that satisfy the second condition, excluding the received signal strength.

[0092] It should be understood that when the accuracy of the received signal strength is low, the received signal strength has a significant impact on the positioning accuracy of the terminal device. In order to avoid the terminal device determining the positioning information of the terminal device with low accuracy, the terminal device does not include the received signal strength when determining the target positioning parameters, so as to improve the positioning accuracy of the terminal device.

[0093] For example, suppose the terminal device obtains multiple positioning parameters including multiple first positioning parameters, and among these first positioning parameters, there are positioning parameters that satisfy a second condition and positioning parameters that do not satisfy the second condition. If the positioning parameters that satisfy the second condition do not include received signal strength, then the terminal device determines that the target positioning parameters include the positioning parameters among the multiple first positioning parameters that satisfy the second condition. If the positioning parameters that satisfy the second condition include received signal strength, then the terminal device determines that the target positioning parameters include the positioning parameters among the multiple first positioning parameters that satisfy the second condition, excluding received signal strength.

[0094] After a terminal device receives multiple positioning reference signals and measures each signal to obtain corresponding positioning parameters, it can determine a set of positioning parameters based on the confidence levels of the positioning parameters corresponding to each of the multiple positioning reference signals. For example, suppose the terminal device receives three positioning reference signals, measures these three signals, and obtains the time of arrival and angle of arrival for each signal. In this case, the set of positioning parameters includes all three times of arrival.

[0095] S230, the terminal device obtains its location information based on the set of positioning parameters.

[0096] In this embodiment of the application, after the terminal device determines the set of positioning parameters based on the confidence level of multiple positioning parameters, it can input the positioning parameters in the set of positioning parameters into the first positioning model or the second positioning model to obtain the positioning information of the terminal device.

[0097] Optionally, the first positioning model is a trained neural network model. During the training phase, the terminal device combines actual positioning information with corresponding positioning parameters to construct a training dataset, and uses this training dataset to train the neural network model, obtaining the trained first positioning model. This allows the trained first positioning model to compensate for the inherent information loss of the positioning parameters, reducing the impact of information loss on positioning accuracy. The trained first positioning model learns the mapping relationship between positioning parameters and actual positioning information, which helps improve positioning accuracy. The first positioning model may include a neural network. This neural network can be a deep neural network or other types of neural networks; the type of neural network is not limited in this embodiment.

[0098] Taking the first localization model, which includes a deep neural network, as an example, Figure 4 This is a schematic diagram of the structure of a first positioning model provided in an embodiment of this application, as shown below. Figure 4 As shown, this deep neural network includes an input layer, hidden layers, and an output layer. The input layer receives a set of localization parameters. For example, Figure 4 The input layer in a deep neural network receives a set of localization parameters, including time of arrival, angle of arrival, and received signal strength. Hidden layers, located between the input and output layers, are responsible for learning complex patterns and feature representations from the input set of localization parameters. A deep neural network can include one or more hidden layers. For example, Figure 4 The deep neural network in the diagram includes hidden layer 1 and hidden layer 2. Hidden layer 1 contains 10 neurons, and hidden layer 2 contains 3 neurons. The output layer is used to generate and output the final output of the network, specifically the location information of the terminal device.

[0099] The process by which a terminal device inputs positioning parameters from a set of positioning parameters into a first positioning model to obtain its positioning information refers to the process by which the terminal device directly uses at least one positioning parameter from the set as input to the first positioning model, feeding it into the deep neural network included in the model for end-to-end feature extraction and positioning information prediction. This method, in predicting the positioning information of the terminal device, can fully exploit the inherent correlations between different positioning parameters, significantly reduce the impact of errors in a single positioning parameter on the overall positioning accuracy, and effectively improve the accuracy and robustness of the positioning system.

[0100] Optionally, the second localization model includes a fusion network and a neural network corresponding to the localization parameters in the localization parameter set. In this case, the input to the neural network is the localization parameters, the output of the neural network is the input to the fusion network, and the output of the fusion network is the localization information.

[0101] For example, Figure 5 This is a schematic diagram of the structure of a second positioning model provided in an embodiment of this application, as shown below. Figure 5 As shown, assuming the positioning parameter set includes time of arrival (TOA), angle of arrival (Angle of arrival), and received signal strength (RSS), the second positioning model includes a fusion network and neural networks corresponding to TOA, Angle of arrival (Angle of arrival), and RSS. The input to neural network 1 (TOA), corresponding to TOA, is TOA; the input to neural network 2 (Angle of arrival) is Angle of arrival; and the input to neural network 3 (RSS), corresponding to RSS, is RSS. Before the TOA, Angle of arrival (Angle of arrival), and RSS are input to their respective neural networks, preprocessing operations can be performed. For example, preprocessing operations include noise removal and normalization. The outputs of these three neural networks serve as the input to the fusion network, and the output of the fusion network is the positioning information of the terminal device. Thus, each positioning parameter's corresponding neural network processes that parameter separately, and the fusion network then fuses the outputs of each neural network, thereby achieving high-precision, low-latency positioning.

[0102] Figure 5Each neural network and fusion network in the diagram includes only an input layer, a hidden layer, and an output layer. For example, as shown in Table 1 below, neural network 1, neural network 2, and neural network 3 all include an input layer, hidden layer 1, hidden layer 2, and an output layer. The input layer of each neural network is used to input the corresponding localization parameters. The hidden layer, located between the input and output layers, is responsible for learning complex patterns and feature representations from the input localization parameters. The neural networks in Table 1 include hidden layer 1 and hidden layer 2. Hidden layer 1 includes 8 neurons, and hidden layer 2 includes 3 neurons. The output layer of the neural network is used to output the characteristic information of the localization parameters. For example, the output layer of neural network 1 outputs the arrival time feature information 1. The input layer of the fusion network is used to input the characteristic information of the localization parameters output by the three neural networks, namely characteristic information 1, characteristic information 2, and characteristic information 3. The fusion network includes two hidden layers, hidden layer 1 and hidden layer 2. Hidden layer 1 includes 8 neurons, and hidden layer 2 includes 3 neurons. The output layer of the fusion network is used to output the localization information of the terminal device.

[0103] Table 1

[0104]

[0105] It should be understood that since the model structures of the first positioning model and the second positioning model are different, when the same set of positioning parameters is input into the first positioning model and the second positioning model respectively, the accuracy of the positioning information output by the two positioning models is not the same, and the computational load of the two positioning models also differs.

[0106] For example, as shown in Table 2 below, when the same set of positioning parameters is input into the first positioning model and the second positioning model respectively, a comparison reveals that the first positioning model has a lower number of parameters and a lower computational load compared to the second positioning model, thus saving computational resources and improving positioning efficiency. Furthermore, although the second positioning model has a higher computational load, it can process different features more precisely, resulting in higher positioning accuracy.

[0107] Table 2

[0108]

[0109] As shown in Table 2 above, after determining the set of positioning parameters, the terminal device can choose to use either the first positioning model or the second positioning model to predict the positioning information based on the positioning accuracy required by the terminal device's business data.

[0110] Optionally, if the positioning accuracy required by the terminal device's service data is less than a preset accuracy threshold, the terminal device inputs the positioning parameters from the positioning parameter set into the first positioning model to obtain positioning information. It is evident that when the positioning accuracy required by the terminal device's service data is low, the terminal device can use the first positioning model, which has lower positioning accuracy and computational complexity, to predict the positioning information. This not only satisfies the positioning accuracy requirement but also reduces the computational load, thereby improving computational efficiency and positioning efficiency.

[0111] For example, assuming the terminal device is running a service such as ordinary navigation or logistics delivery, which has low requirements for positioning accuracy, the terminal device can use the first positioning model to predict the positioning information of the terminal device, so as to reduce the amount of computation and improve the positioning efficiency while meeting the positioning accuracy requirements.

[0112] If the positioning accuracy required by the terminal device's service data exceeds a preset accuracy threshold, the terminal device will input the positioning parameters from the positioning parameter set into the second positioning model to obtain positioning information. Therefore, when the terminal device's service data requires high positioning accuracy, the terminal device can use a high-accuracy second positioning model to predict the positioning information, thereby obtaining a high-precision positioning result to meet the positioning accuracy requirements.

[0113] For example, assuming the terminal device is running a service that requires high positioning accuracy, such as autonomous driving or intelligent transportation, the terminal device can use a second positioning model to predict the positioning information of the terminal device in order to obtain a positioning result with high positioning accuracy.

[0114] In summary, in the positioning method of this application embodiment, the terminal device obtains multiple positioning parameters, but does not directly use these parameters to predict positioning information. Instead, it determines a set of positioning parameters based on the confidence levels of the multiple parameters, and then obtains the positioning information of the terminal device based on this set. Therefore, the terminal device filters out positioning parameters with low confidence levels and uses only high-precision parameters to predict positioning information, avoiding situations where the estimated positioning parameters have large errors, leading to low positioning accuracy and thus improving the positioning accuracy of the terminal device.

[0115] The following section will describe in detail the specific implementation process of how the terminal device determines the confidence level of multiple positioning parameters.

[0116] In this embodiment, the terminal device obtains the confidence level of the positioning parameters by weighting the reciprocal of the geometric dilution of precision (GDOP) and the reciprocal of a first value. The GDOP characterizes the influence of the access network device's location on the measurement accuracy of the positioning parameters; a larger GDOP value indicates a larger measurement error. The first value is the product of at least one of the resource utilization factor, antenna array gain factor, or multipath loss factor of the positioning reference signal, and the mean squared error (MSE) of the positioning parameters. The MSE characterizes the statistical noise error of the positioning parameters; a smaller MSE indicates higher measurement accuracy.

[0117] For example, the terminal device can use the following formula (2) to determine the confidence level of the positioning parameters.

[0118] Formula (2);

[0119] in, , This indicates the confidence level of the positioning parameters, for example, Indicates the confidence level of the arrival time; Indicates the weight value of the geometric precision factor; This represents the weight value for estimating the mean squared error; This represents the geometric precision factor corresponding to the positioning parameters; This represents the estimated mean square error of the positioning parameters under a preset system configuration (e.g., preset bandwidth, preset antenna, or preset multipath). This value is usually given by the Cramerrao lower bound (CRLB) or historical experience. , as well as All are dimensionless influence factors, representing the resource utilization factor of the positioning reference signal, the antenna array gain factor, or the multipath loss factor, respectively.

[0120] It should be understood that the degree of influence of the estimated mean square error of the same preset system configuration on different positioning parameters varies. The following uses the positioning parameters as time of arrival, angle of arrival, and received signal strength as examples to determine the estimated mean square error and dimensionless influence factor of time of arrival, angle of arrival, and received signal strength.

[0121] For example, the terminal device can use the following formula (3) to determine the estimated mean square error of the arrival time, and use the following formulas (4) to (6) to determine the dimensionless influence factor of the arrival time.

[0122] Formula (3);

[0123] Formula (4);

[0124] Formula (5);

[0125] Formula (6);

[0126] in, B represents the mean square error of the estimated arrival time; SNR represents the signal-to-noise ratio. As can be seen from formula (3), the larger the bandwidth B and the higher the signal-to-noise ratio, the smaller the mean square error of the estimated arrival time. This indicates the impact of the utilization rate of the bandwidth resources occupied by the positioning reference signal on the accuracy of the time of arrival estimation; Indicates the maximum bandwidth of the preset bandwidth; This indicates the impact of the antenna array on the accuracy of the time of arrival estimation; This indicates the impact of multipath effects on the accuracy of arrival time estimation. This indicates the root mean square delay spread.

[0127] For example, the terminal device can use the following formula (7) to determine the estimated mean square error of the angle of arrival, and use the following formulas (8) to (10) to determine the dimensionless influence factor of the angle of arrival.

[0128] Formula (7);

[0129] Formula (8);

[0130] Formula (9);

[0131] Formula (10);

[0132] in, This represents the mean square error of the estimated angle of arrival. The length of the antenna array is represented by ; SNR represents the signal-to-noise ratio. From formula (7), it can be seen that the measurement accuracy of the angle of arrival is related to the length of the antenna array. It is directly proportional, and the smaller the signal-to-noise ratio (SNR), the higher the measurement accuracy of the angle of arrival. This represents 32 / 64 / 100 resource blocks (RBs), with each resource block consisting of 12 subcarriers; This indicates the impact of the utilization rate of the bandwidth resources occupied by the positioning reference signal on the accuracy of the angle of arrival estimation; This indicates the impact of the antenna array on the accuracy of the angle of arrival estimation; This indicates the impact of multipath effects on the accuracy of angle of arrival estimation.

[0133] For example, the terminal device can use the following formula (11) to determine the estimated mean square error of the received signal strength, and use the following formulas (12) to (14) to determine the dimensionless influence factor of the received signal strength.

[0134] Formula (11);

[0135] Formula (12);

[0136] Formula (13);

[0137] Formula (14);

[0138] in, The mean square error representing the estimated strength of the received signal; This indicates the impact of the utilization rate of the bandwidth resources occupied by the positioning reference signal on the estimation accuracy of the received signal strength. This indicates the number of orthogonal frequency division multiplexing (OFDM) operations occupied by the positioning reference signal in the time domain; This indicates the impact of the antenna array on the accuracy of the received signal strength estimation; This indicates the impact of multipath effects on the accuracy of received signal strength estimation; This represents 32 / 64 / 100 resource blocks, with each resource block consisting of 12 subcarriers; This is the root mean square delay spread.

[0139] In summary, the terminal device can use the following formulas (15) to (17) to determine the confidence level of arrival time, angle of arrival, and received signal strength.

[0140] Formula (15);

[0141] Formula (16);

[0142] Formula (17);

[0143] The meaning and value of each parameter in formulas (15) to (17) above can be found in the above embodiments, and will not be repeated here.

[0144] In one example, taking multiple positioning parameters obtained by the terminal device, including time of arrival, angle of arrival, and received signal strength, the process of the terminal device determining a set of positioning parameters based on the confidence level of multiple positioning parameters and obtaining positioning information based on the set of positioning parameters is described in an exemplary manner.

[0145] Figure 6 A schematic diagram of a positioning method provided in an embodiment of this application, as shown below. Figure 6 As shown, after the terminal device obtains multiple positioning parameters including arrival time, angle of arrival, and received signal strength, the terminal device calculates the confidence level of the arrival time based on the above formulas (15) to (17). Confidence level of angle of arrival and the confidence level of the received signal strength .

[0146] In this embodiment, the terminal device can compare the confidence level of the positioning parameters with the first confidence threshold and the second confidence threshold corresponding to the positioning parameter in descending order of priority, in order to determine the positioning parameter set based on the confidence levels of multiple positioning parameters, and then obtain positioning information based on the positioning parameter set. Specifically, this includes the following implementation methods:

[0147] The first implementation method, when the confidence level of the arrival time... Greater than the second confidence threshold corresponding to the arrival time In this case, the terminal device can determine the arrival time with high accuracy, as it can accurately locate the terminal device using only the arrival time as a positioning parameter. However, this method has drawbacks. The terminal device does not need to determine the relationship between the angle of arrival and the received signal strength and the corresponding confidence threshold, thus saving computation time, reducing computational load, and improving positioning efficiency. The terminal device determines its positioning parameter set by including only the arrival time. The terminal device inputs the arrival time into the first positioning model to obtain its positioning information.

[0148] The second implementation method involves the confidence level of the arrival time. Less than the second confidence threshold corresponding to the arrival time And greater than the first confidence threshold corresponding to the arrival time. In the case of the confidence level of the angle of arrival Greater than the second confidence threshold corresponding to the angle of arrival In this case, the terminal device determines the set of positioning parameters, including the time of arrival and angle of arrival. Based on the required positioning accuracy for its service data, the terminal device can determine whether to input the set of positioning parameters into a first positioning model or a second positioning model to obtain its positioning information.

[0149] If the positioning accuracy required by the terminal device's service data is less than a preset accuracy threshold, the terminal device can input the arrival time and angle of arrival into the first positioning model to obtain the terminal device's positioning information. Therefore, when the positioning accuracy required by the terminal device's service data is low, the terminal device can use the first positioning model, which has lower positioning accuracy and computational complexity, to predict the positioning information. This not only satisfies the positioning accuracy requirement but also reduces the computational load, thereby improving computational efficiency and positioning efficiency.

[0150] If the positioning accuracy required by the terminal device's service data is greater than a preset accuracy threshold, the terminal device can input the arrival time and angle of arrival into the second positioning model to obtain the terminal device's positioning information. Therefore, when the terminal device's service data requires high positioning accuracy, the terminal device can use a high-accuracy second positioning model to predict the positioning information, thereby obtaining a high-precision positioning result to meet the positioning accuracy requirements.

[0151] The third implementation method involves the confidence level of the arrival time. Less than the second confidence threshold corresponding to the arrival time And greater than the first confidence threshold corresponding to the arrival time. and the confidence level of the angle of arrival. Less than the second confidence threshold corresponding to the angle of arrival And greater than the first confidence threshold corresponding to the angle of arrival. In the case of confidence level of received signal strength Greater than the second confidence threshold corresponding to the received signal strength At that time, the terminal device determines the set of positioning parameters, including arrival time, angle of arrival, and received signal strength.

[0152] In this implementation, if the positioning accuracy required by the terminal device's service data is less than a preset accuracy threshold, the terminal device can input the arrival time, angle of arrival, and received signal strength into the first positioning model to obtain the terminal device's positioning information. Therefore, when the positioning accuracy required by the terminal device's service data is low, the terminal device can use the first positioning model, which has low positioning accuracy and low computational complexity, to predict the positioning information, thus not only satisfying the positioning accuracy requirement but also improving positioning efficiency.

[0153] If the positioning accuracy required by the terminal device's service data exceeds a preset accuracy threshold, the terminal device can input the time of arrival, angle of arrival, and received signal strength into the second positioning model to obtain the terminal device's positioning information. Therefore, when the terminal device's service data requires high positioning accuracy, the terminal device can use the high-accuracy second positioning model to predict the positioning information, thereby obtaining a high-precision positioning result to meet the positioning accuracy requirements.

[0154] The fourth implementation method involves the confidence level of the arrival time. Less than the second confidence threshold corresponding to the arrival time And greater than the first confidence threshold corresponding to the arrival time. and the confidence level of the angle of arrival. Less than the second confidence threshold corresponding to the angle of arrival And greater than the first confidence threshold corresponding to the angle of arrival. In the case of confidence level of received signal strength Less than the second confidence threshold corresponding to the received signal strength At that time, the terminal device determines the set of positioning parameters, including the time of arrival and the angle of arrival.

[0155] It should be understood that due to the influence of noise power and interference signal power, the confidence level corresponding to the received signal strength is less than the second confidence threshold corresponding to the received signal strength. In this case, to avoid the impact of received signal strength on positioning accuracy, the terminal device can use the time of arrival and angle of arrival to obtain the positioning information of the terminal device.

[0156] In this implementation, since the confidence level of the arrival time is less than the second confidence threshold corresponding to the arrival time, and the confidence level of the angle of arrival is less than the second confidence threshold corresponding to the angle of arrival, it indicates that although the arrival time and angle of arrival are reliable, their accuracy is not high enough. In this case, to improve the positioning accuracy of the terminal device, the terminal device can input the arrival time and angle of arrival into the second positioning model to obtain the positioning information of the terminal device.

[0157] It should be noted that the positioning method described in the above embodiments is illustrated using a terminal device as the executing entity. Specifically, after receiving a positioning reference signal from the access network device, the terminal device determines multiple positioning parameters based on the positioning reference signal. Then, the terminal device determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters, and finally determines the positioning information of the terminal device based on the set of positioning parameters. When the LMF network element executes the positioning method of this application embodiment as the executing entity, the terminal device determines multiple positioning parameters based on the positioning reference signal and sends these multiple positioning parameters to the LMF network element. The LMF network element determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters, determines the positioning information of the terminal device based on the set of positioning parameters, and then sends the positioning information to the terminal device. The LMF network element determines the positioning information of the terminal device without requiring the terminal device to calculate the confidence levels of multiple positioning parameters or determine the positioning information based on the set of positioning parameters, thus reducing the computational load on the terminal device and improving its operating efficiency. The process by which the LMF network element determines the set of positioning parameters based on the confidence levels of multiple positioning parameters and then determines the positioning information of the terminal device based on the set of positioning parameters can be found in S220 and S230 above, and will not be repeated here.

[0158] The following describes the flow of the positioning method of this application embodiment, taking the determination of positioning information by a terminal device as an example. Figure 7 This is a schematic diagram of the signaling interaction of a positioning method provided in an embodiment of this application. Figure 7 As shown, the communication equipment involved may include terminal equipment, positioning base stations, and core network equipment. A positioning base station is a base station that sends positioning reference signals to the terminal equipment; a positioning base station includes one or more base stations. Core network equipment includes access and mobility management function (AMF) network elements and LMF network elements. For example... Figure 7 As shown, this method mainly includes the following steps:

[0159] S701, the terminal device sends a location request to the AMF network element; correspondingly, the AMF network element receives the location request.

[0160] The location request includes the location service requirement and the identification information of the terminal device.

[0161] Optionally, location service requirements may include the type of location request (e.g., single location or continuous location), service type, and location accuracy requirements. For example, in an emergency call scenario, the location request type is single location, the service type is emergency call, and the location accuracy requirement is high; in an autonomous driving scenario, the location request type is continuous location, the service type is autonomous driving, and the location accuracy requirement is low.

[0162] The terminal device's identification information is uniquely used to identify the terminal device, enabling LMF network elements to accurately locate the terminal device based on this information. The terminal device's identification information can be a device identifier (ID). The device ID can be a device permanent identifier (DPI), such as the device's International Mobile Equipment Identity (IMEI), i.e., the device's serial number, or the device's International Mobile Subscriber Identity (IMSI). The device ID can also be a device temporary identifier (DTI), such as a globally unique temporary identifier (GUTI). The device ID can also be other unique identification information for the device; this is not limited here.

[0163] S702, the AMF network element sends a location request to the LMF network element; correspondingly, the LMF network element receives the location request.

[0164] In some embodiments, when a terminal device needs to locate itself, the AMF network element can send a location request to the LMF network element in response to receiving a location request from the terminal device. For example, the terminal device sends a location request to the AMF network element via an uplink non-access stratum transmission message.

[0165] In other embodiments, when a service provider needs to locate a terminal device in order to provide services, the AMF network element can respond to receiving a location request sent by the gateway mobile location center (GMLC) to the LMF network element through an interface that provides location information. For example, the interface that provides location information is Namf_Location_ProvidePositioningInfo.

[0166] Here, GMLC can respond to a location request sent by a service provider to locate the terminal device by sending a location request to the AMF network element. For example, service providers may include navigation service providers or emergency service providers. Service providers can interact with GMLC through application function (AF) network elements or location service (LCS) clients.

[0167] The S703, LMF network element determines the configuration information of the positioning reference signal and the positioning base station.

[0168] In this embodiment, after receiving a positioning request, the LMF can configure the positioning reference signal to obtain its configuration information. For example, the configuration information may include time-domain resources, frequency-domain resources, transmission power, and scheduling method. The scheduling method refers to the way the positioning base station sends the positioning reference signal to the terminal device. For instance, the LMF network element determines the ID, subcarrier spacing, bandwidth, starting physical resource block (PRB), reference point (Point A), number of frequency comb components, cyclic prefix type, period and slot offset, repetition factor, time interval, or number of symbols for each PRS resource set.

[0169] When determining the positioning base station to transmit the positioning reference signal, the LMF network element mainly considers factors such as the base station's signal quality, positioning capability, spatial distribution, and synchronization performance. Optionally, the LMF network element first evaluates multiple base stations based on indicators such as reference signal received power and signal-to-noise ratio, selecting base stations with better signal quality (e.g., base stations with signal quality exceeding a preset threshold). Secondly, the LMF network element filters out base stations from those with better signal quality that support configuring and transmitting the positioning reference signal. Here, to improve positioning accuracy, the LMF network element can select geographically well-distributed base stations to avoid collinearity and reduce the geometric precision factor. Finally, the LMF network element excludes base stations with high load or poor synchronization performance, thus obtaining the positioning base station and ensuring its accuracy and stability.

[0170] S704, the LMF network element sends configuration information for the positioning reference signal to the positioning base station; correspondingly, the positioning base station receives the configuration information.

[0171] Optionally, 5G introduces a new radiopositioning protocol A (NRPPa) between LMF network elements and positioning base stations. LMF network elements transmit the configuration information of positioning reference signals to the positioning base station through NRPPa.

[0172] S705, the positioning base station sends a positioning reference signal to the terminal device; correspondingly, the terminal device receives the positioning reference signal.

[0173] Optionally, the positioning base station sends the positioning reference signal to the terminal device through radio resource control (RRC) or broadcast, based on the configuration information of the positioning reference signal.

[0174] S706, the terminal device determines multiple positioning parameters based on the positioning reference signal.

[0175] S707, the terminal device calculates the confidence level of each of the multiple positioning parameters.

[0176] S708, the terminal device determines the set of positioning parameters based on the confidence levels of multiple positioning parameters.

[0177] S709, the terminal device determines its location information based on a set of positioning parameters.

[0178] The specific implementation process of S706 to S709 can be found in the implementation process of S210 to S230 in the above embodiments, and will not be repeated here.

[0179] In the positioning method of this application embodiment, after the terminal device sends a positioning request to the LMF network element through the AMF network element, the LMF network element sends configuration information of the positioning reference signal to the positioning base station. The positioning base station then sends the positioning reference signal to the terminal device based on the configuration information, and the terminal device determines multiple positioning parameters based on the positioning reference signal. Further, the terminal device determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters, and obtains the terminal device's positioning information based on the set of positioning parameters. Since the positioning parameters in the set of positioning parameters are those that meet the confidence threshold, the problem of low-precision positioning parameters among the multiple positioning parameters determined by the terminal device is avoided, which affects the positioning accuracy of the terminal device, thus improving the positioning accuracy of the terminal device. Furthermore, for continuous positioning scenarios, the terminal device does not need to send positioning requests to the LMF network element subsequently, and does not need to interact frequently with the LMF network element, thereby reducing the positioning time delay.

[0180] The following describes the flow of the positioning method of this application embodiment, taking the determination of positioning information by the LMF network element as an example. Figure 8 This is a schematic diagram of the signaling interaction for another positioning method provided in an embodiment of this application. Figure 8 As shown, the communication equipment involved may include terminal equipment, positioning base stations, and core network equipment, with the core network equipment including AMF network elements and LMF network elements. For example... Figure 8 As shown, this method mainly includes the following steps:

[0181] S801, the terminal device sends a location request to the AMF network element; correspondingly, the AMF network element receives the location request.

[0182] S802, the AMF network element sends a location request to the LMF network element; correspondingly, the LMF network element receives the location request.

[0183] The S803, LMF network element determines the configuration information of the positioning reference signal and the positioning base station.

[0184] S804, the LMF network element sends the configuration information of the positioning reference signal to the positioning base station; correspondingly, the positioning base station receives the configuration information.

[0185] S805, the positioning base station sends a positioning reference signal to the terminal device; correspondingly, the terminal device receives the positioning reference signal.

[0186] S806, the terminal device determines multiple positioning parameters based on the positioning reference signal.

[0187] For the specific implementation process of S801 to S806 above, please refer to the detailed description of S701 to S706 in the above embodiments, which will not be repeated here.

[0188] S807, the terminal device sends multiple positioning parameters to the AMF network element; correspondingly, the AMF network element receives these multiple positioning parameters.

[0189] S808, the AMF network element sends multiple positioning parameters to the LMF network element; correspondingly, the LMF network element receives these multiple positioning parameters.

[0190] S809, LMF network element calculates the confidence level of each positioning parameter among multiple positioning parameters.

[0191] In S810, the LMF network element determines the set of positioning parameters based on the confidence levels of multiple positioning parameters.

[0192] S811, the LMF network element determines the location information of the terminal device based on the set of positioning parameters.

[0193] The specific implementation process of S809 to S811 can be found in the specific implementation process of S707 to S709 in the above embodiments, which will not be repeated here.

[0194] S812, the LMF network element sends the location information of the terminal device to the AMF network element; correspondingly, the AMF network element receives the location information of the terminal device.

[0195] S813, the AMF network element sends the location information of the terminal device to the terminal device; correspondingly, the terminal device receives the location information of the terminal device.

[0196] In the positioning method of this application embodiment, after the terminal device sends a positioning request to the LMF network element through the AMF network element, the LMF network element sends configuration information of the positioning reference signal to the positioning base station. The positioning base station then sends the positioning reference signal to the terminal device based on the configuration information. The terminal device determines multiple positioning parameters based on the positioning reference signal and sends these parameters to the LMF network element. Further, the LMF network element determines a set of positioning parameters based on the confidence levels of the multiple positioning parameters. After determining the positioning information of the terminal device based on the set of positioning parameters, it sends the positioning information of the terminal device to the terminal device through the AMF network element. Since the positioning parameters in the set of positioning parameters are those that meet the confidence threshold, the problem of low-precision positioning parameters among the multiple positioning parameters determined by the terminal device, which would affect the positioning accuracy of the terminal device, is avoided, thus improving the positioning accuracy of the terminal device.

[0197] Furthermore, for scenarios where continuous positioning is not required on the terminal device side, such as single positioning or a few positioning operations, the terminal device can directly obtain the positioning information sent by the LMF network element. This eliminates the need for the terminal device to calculate the confidence of multiple positioning parameters or determine the positioning information based on the set of positioning parameters, thereby reducing the computational load on the terminal device and improving its operating efficiency.

[0198] It should be understood that Figures 1 to 8 The flowcharts or scene diagrams shown are for illustrative purposes only and are not intended to limit the embodiments of this application to the examples illustrated. In fact, those skilled in the art can interpret the embodiments based on... Figures 1 to 8 The examples in the document can be transformed into equivalent ways to obtain more implementations.

[0199] The above text combined Figures 1 to 8 This document describes in detail the positioning method provided in the embodiments of this application. The following will combine... Figures 9 to 10 The device embodiments of this application are described in detail below. It should be understood that the communication device of the embodiments of this application can execute the various communication methods of the foregoing embodiments of this application, and the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0200] In the embodiments described above, the terminal device may execute some or all of the steps in each embodiment; the network device may execute some or all of the steps in each embodiment. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be executed in different orders as presented in the embodiments, and it is not necessary to execute all the operations in the embodiments of this application. Moreover, the sequence number of each step does not imply 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 this application.

[0201] Figure 9 This is a schematic block diagram of a communication device provided in an embodiment of this application. Figure 9 As shown, the communication device may include a communication module 920. The communication module 920 can implement corresponding communication functions, which can be internal communication functions of the communication device or communication functions between the communication device and other devices. Optionally, the communication module 920 may also be referred to as a communication interface or transceiver module. Optionally, the communication device further includes a processing module 910. The processing module 910 can implement corresponding processing functions.

[0202] Optionally, the communication device further includes a storage module, which can be used to store instructions and / or data; the processing module 910 can read the instructions and / or data in the storage module so that the communication device can implement the aforementioned method embodiments.

[0203] In one possible design, the communication device may correspond to the terminal device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the terminal device. The communication device can be used to execute the steps or processes performed by the terminal device in any of the above method embodiments.

[0204] For example, the processing module 910 is used to acquire multiple positioning parameters of the terminal device, determine a positioning parameter set based on the confidence level of the multiple positioning parameters, the positioning parameter set including at least one positioning parameter among the multiple positioning parameters; and obtain the positioning information of the terminal device based on the positioning parameter set. At least one positioning parameter includes an arrival time parameter, which is the arrival time and / or the time difference between arrivals.

[0205] In some embodiments, the plurality of positioning parameters includes a first positioning parameter, which includes at least one of received signal strength, angle of arrival, or round-trip time.

[0206] The processing module 910 is also used to determine that the set of positioning parameters includes the positioning parameter if the confidence level of any positioning parameter among multiple positioning parameters is greater than the confidence level threshold corresponding to the positioning parameter.

[0207] In other embodiments, the confidence thresholds corresponding to the positioning parameters include a first confidence threshold and a second confidence threshold, wherein the second confidence threshold is greater than the first confidence threshold. The processing module 910 is further configured to determine that the positioning parameter set includes the arrival time parameter if the confidence of the arrival time parameter is greater than the second confidence threshold corresponding to the arrival time parameter; and to determine that the positioning parameter set includes the arrival time parameter and the target positioning parameter if the confidence of the arrival time parameter is less than the second confidence threshold corresponding to the arrival time parameter but greater than the first confidence threshold corresponding to the arrival time parameter, wherein the target positioning parameter is included in the first positioning parameters.

[0208] In other embodiments, the target positioning parameters include positioning parameters from the first positioning parameters that satisfy a first condition; satisfying the first condition means that the confidence level of the positioning parameter is greater than a second confidence threshold corresponding to the positioning parameter; or...

[0209] The target positioning parameters include the second positioning parameter, which has the highest priority among the positioning parameters that satisfy the first condition, and the third positioning parameter; the third positioning parameter is a parameter among the first positioning parameters that has a higher priority than the second positioning parameter and does not satisfy the first condition; or,

[0210] The target positioning parameters include positioning parameters that satisfy the second condition, excluding the received signal strength, from the first positioning parameters. The second condition includes a confidence level that is less than a second confidence threshold and greater than a first confidence threshold.

[0211] The processing module 910 is also used to input the positioning parameters in the positioning parameter set into a first positioning model to obtain positioning information; wherein the first positioning model includes a neural network; or, input the positioning parameters in the positioning parameter set into a second positioning model to obtain positioning information; wherein the second positioning model includes a fusion network and a neural network corresponding to the positioning parameters in the positioning parameter set; the input of the neural network is the positioning parameters, the output of the neural network is the input of the fusion network, and the output of the fusion network is the positioning information.

[0212] The processing module 910 is also used to input the positioning parameters in the positioning parameter set into the first positioning model to obtain positioning information if the positioning accuracy required by the service data of the terminal device is less than the preset accuracy threshold; and to input the positioning parameters in the positioning parameter set into the second positioning model to obtain positioning information if the positioning accuracy required by the service data of the terminal device is greater than the preset accuracy threshold.

[0213] The processing module 910 is also used to input the arrival time parameter into the first positioning model for prediction to obtain positioning information.

[0214] In other embodiments, the confidence level is calculated by weighting the reciprocal of the geometric precision factor and the reciprocal of the first value;

[0215] Among them, the geometric accuracy factor is used to characterize the degree of influence of the location of the access network equipment on the measurement accuracy of the positioning parameters; the first value is the product of at least one of the resource utilization factor, antenna array gain factor or multipath loss factor of the positioning reference signal and the mean square error (MSE) of the positioning parameters.

[0216] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0217] In one possible design, the communication device may correspond to the positioning function network element in the above method embodiments, or a component (such as a circuit, chip, or chip system) configured in the positioning function network element. The communication device can be used to perform the steps or processes executed by the positioning function network element in any of the above method embodiments.

[0218] For example, the communication module 920 is used to receive multiple positioning parameters from the terminal device.

[0219] The processing module 910 is used to determine a set of positioning parameters based on the confidence level of multiple positioning parameters, wherein the set of positioning parameters includes at least one of the multiple positioning parameters; and to obtain the positioning information of the terminal device based on the set of positioning parameters.

[0220] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0221] Figure 10This is a schematic block diagram of another communication device provided in an embodiment of this application. The communication device may be a chip, chip system, or processor, etc., in a terminal device or network device that implements the above-described method. This communication device can be used to implement the methods described in the above-described method embodiments; for details, please refer to the descriptions in the above-described method embodiments.

[0222] like Figure 10 As shown, the communication device may include one or more processors 1010, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 1010 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device (e.g., base station, baseband chip, user, user chip), execute software programs, and process data from the software programs.

[0223] In an alternative design, the processor 1010 may also store instructions and / or data that can be executed by the processor 1010 to cause the communication device to perform the methods described in the above method embodiments.

[0224] In another alternative design, the communication device may include a communication interface 1020 for implementing receiving and transmitting functions. For example, the communication interface 1020 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0225] Optionally, the communication device may include one or more memories 1030, which may store instructions that can be executed on the processor 1010, causing the communication device to perform the methods described in the above method embodiments. Optionally, the memories 1030 may also store data. Optionally, the processor 1010 may also store instructions and / or data. The processor 1010 and the memories 1030 may be configured separately or integrated together.

[0226] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0227] In one implementation, the communication device may correspond to the terminal device in the above method embodiments and may be used to execute the various steps and / or processes executed by the terminal device in the above method embodiments. The processor 1010 may be used to execute instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute the various steps and / or processes of the above method embodiments corresponding to the terminal device.

[0228] In another implementation, the communication device may correspond to the network device in the above method embodiments and may be used to execute the various steps and / or processes executed by the network device in the above method embodiments. The processor 1010 may be used to execute instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute the various steps and / or processes of the above method embodiments corresponding to the network device.

[0229] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0230] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0231] According to the method provided in the embodiments of this application, this application also provides a chip system, which includes one or more processors for calling and executing instructions stored in memory, thereby causing the method described in the embodiments of this application to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0232] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0233] According to the method provided in the embodiments of this application, this application also provides a communication system, which includes the aforementioned access network equipment, terminal equipment and core network equipment.

[0234] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the various steps or processes performed in any of the foregoing method embodiments.

[0235] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute the various steps or processes performed in any of the foregoing method embodiments.

[0236] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or it may include both volatile memory and non-volatile memory.

[0237] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0238] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0239] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0240] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply 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 this application.

[0241] In summary, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A positioning method, characterized in that, The method includes: Multiple positioning parameters of the terminal device are obtained; wherein each of the multiple positioning parameters corresponds to a first confidence threshold and a second confidence threshold; the multiple positioning parameters are obtained by measuring positioning reference signals from one or more access network devices; A set of positioning parameters is determined based on a first confidence threshold and a second confidence threshold corresponding to each of the plurality of positioning parameters, and the confidence level of each positioning parameter. The set of positioning parameters includes at least one of the plurality of positioning parameters. The at least one positioning parameter includes a time of arrival parameter, which is the time of arrival and / or the time difference of arrival. The plurality of positioning parameters also includes a target positioning parameter, which is included in the first positioning parameter. The first positioning parameter includes at least one of received signal strength, angle of arrival, or round-trip time. If the confidence level of the arrival time parameter is greater than the second confidence level threshold corresponding to the arrival time parameter, then it is determined that the location parameter set includes the arrival time parameter; If the confidence level of the arrival time parameter is less than the second confidence threshold corresponding to the arrival time parameter and greater than the first confidence threshold corresponding to the arrival time parameter, then the positioning parameter set is determined to include the arrival time parameter and the target positioning parameter; wherein, the target positioning parameter is determined based on the first confidence threshold and the second confidence threshold corresponding to each first positioning parameter in the first positioning parameters, and the confidence level of each first positioning parameter; The positioning information of the terminal device is obtained based on the positioning parameter set; wherein, if the positioning accuracy required for the service data of the terminal device is less than a preset accuracy threshold, the positioning parameters in the positioning parameter set are input into a first positioning model to obtain the positioning information; wherein, the first positioning model includes a neural network; if the positioning accuracy required for the service data of the terminal device is greater than the preset accuracy threshold, the positioning parameters in the positioning parameter set are input into a second positioning model to obtain the positioning information; wherein, the second positioning model includes a fusion network and a neural network corresponding to the positioning parameters in the positioning parameter set; the input of the neural network is the positioning parameters, the output of the neural network is the input of the fusion network, and the output of the fusion network is the positioning information.

2. The method according to claim 1, characterized in that, The process of determining the set of positioning parameters based on the confidence levels of the multiple positioning parameters includes: For any one of the plurality of positioning parameters, if the confidence level of the positioning parameter is greater than the confidence level threshold corresponding to the positioning parameter, then the positioning parameter set is determined to include the positioning parameter.

3. The method according to claim 1, characterized in that, The target positioning parameters include positioning parameters from the first positioning parameters that satisfy a first condition; the first condition is that the confidence level of the positioning parameter is greater than a second confidence threshold corresponding to the positioning parameter; or... The target positioning parameters include the second positioning parameter, which has the highest priority among the positioning parameters that satisfy the first condition, and a third positioning parameter; the third positioning parameter is a parameter among the first positioning parameters that has a higher priority than the second positioning parameter and does not satisfy the first condition; or... The target positioning parameters include positioning parameters that satisfy the second condition, excluding the received signal strength, from the first positioning parameters. The second condition includes a confidence level that is less than a second confidence threshold and greater than a first confidence threshold.

4. The method according to any one of claims 1 to 3, characterized in that, The step of obtaining the location information of the terminal device based on the location parameter set includes: The positioning parameters from the set of positioning parameters are input into the first positioning model to obtain the positioning information; or... The positioning parameters in the set of positioning parameters are input into the second positioning model to obtain the positioning information.

5. The method according to any one of claims 1 to 4, characterized in that, When the location parameter set includes the arrival time parameter, obtaining the location information of the terminal device based on the location parameter set includes: The arrival time parameter is input into the first positioning model for prediction to obtain the positioning information.

6. The method according to any one of claims 1 to 3, characterized in that, The confidence level is calculated by weighting the reciprocal of the geometric precision factor and the reciprocal of the first value; The geometric accuracy factor is used to characterize the degree of influence of the location of the access network equipment on the measurement accuracy of the positioning parameters; the first value is the product of at least one of the resource utilization factor, antenna array gain factor or multipath loss factor of the positioning reference signal and the estimated mean square error (MSE) of the positioning parameters.

7. The method according to any one of claims 1 to 3, characterized in that, The location information is determined by the terminal device or the location management function network element.

8. A communication device comprising one or more processors, a memory, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the method described in any one of claims 1 to 7.

10. A chip system comprising a memory and a processor, characterized in that, When the program / instructions stored in the memory are executed by the processor, they implement the method described in any one of claims 1 to 7.

11. A computer program product, characterized in that, The computer program product includes: a computer program or instructions that, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 7.

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