Positioning method, terminal device, base station, storage medium and chip system

Abstract

The embodiment of the invention provides a positioning method, terminal equipment, a base station, a storage medium and a chip system, and relates to the technical field of communication. The method comprises: performing N times of clustering processing on positioning data of each terminal device to obtain position information of each terminal device, N being determined based on first information of each terminal device, and the first information being used for indicating a positioning requirement of the terminal device; and sending the position information of the terminal equipment to each terminal equipment. In this way, the number of clustering times of the DOA parameters can be adaptively adjusted according to the positioning requirement of the terminal device. In this way, the number of clustering times of the DOA parameters can meet the positioning requirement, so that the positioning precision and speed are optimized, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of terminal technology, and in particular to a positioning method, a terminal device, a base station, a storage medium, and a chip system. Background Art

[0002] Mobile phones, vehicles, and other terminal devices can use wireless communication networks to provide positioning services. For example, using a cellular network as an example, a secondary base station (SBS) can receive detection signals transmitted by terminal devices and estimate the direction of arrival (DOA) based on the received detection signals to obtain DOA parameters. The primary base station can then process the DOA parameters from the SBS using a clustering algorithm to improve positioning accuracy.

[0003] Currently, the main base station usually uses a fixed number of clustering times for data processing.

[0004] However, this method lacks the flexibility to adapt to the positioning requirements of different terminal devices. Summary of the Invention

[0005] The embodiments of the present application provide a positioning method, terminal device, base station, storage medium, and chip system, which are applied in the field of communication technology, help to adapt to diverse positioning needs, and improve overall service quality.

[0006] In a first aspect, embodiments of the present application provide a positioning method. The method includes: performing N clustering processes on positioning data of each terminal device to obtain location information of each terminal device, where N is determined based on first information of each terminal device, the first information being used to indicate a positioning requirement of the terminal device; and sending the location information of the terminal device to each terminal device.

[0007] In this way, the number of clustering of DOA parameters can be adaptively adjusted according to the positioning requirements of the terminal device. In this way, the number of clustering of DOA parameters can be made consistent with the positioning requirements, thereby optimizing positioning accuracy and speed and improving user experience.

[0008] In one possible implementation, the first information includes: positioning level information of the terminal device; the level indicated by the positioning level information is positively correlated with the positioning quality; N corresponds to the highest level indicated by the positioning level information in the first information of each terminal device.

[0009] In this way, by using positioning level information to determine the number of clustering times, the positioning accuracy can be flexibly adjusted according to different positioning quality requirements to meet the accuracy requirements of different devices; in addition, resource utilization can be optimized to better adapt to diverse positioning needs and improve the overall service quality.

[0010] In one possible implementation, the first information includes: positioning level information of the terminal device; the level indicated by the positioning level information is positively correlated with the positioning quality; when the first level is less than or equal to the second level, N corresponds to the first level; wherein the first level is the highest level indicated by the positioning level information in the first information of each terminal device, and the second level is the highest level supported by the positioning resources of the main base station; when the first level is greater than the second level, N corresponds to the second level.

[0011] This allows for a reasonable selection of clustering times based on the terminal device's positioning level and the primary base station's resource support level, ensuring the highest possible positioning accuracy despite limited resources. Furthermore, it reduces the risk of positioning failures caused by excessively high positioning accuracy and insufficient resources.

[0012] In one possible implementation, the positioning data of each terminal device is clustered N times. Before that, the method also includes: receiving a DOA parameter set of at least one secondary base station; for the DOA parameter set of any secondary base station, adding a mark to each DOA parameter according to the maximum deviation in the frequency domain of the signal corresponding to each DOA parameter in the DOA parameter set; performing N clustering processes on the positioning data of each terminal device to obtain the location information of each terminal device, including: drawing rays on the DOA parameters carrying the same mark and performing N clustering processes to obtain the location information of the terminal device corresponding to the mark.

[0013] In this way, by marking the DOA parameters before clustering processing, data from different signal sources can be grouped, thereby improving the accuracy and efficiency of positioning.

[0014] In one possible implementation, each DOA parameter is marked according to the maximum frequency domain deviation of the signal corresponding to each DOA parameter in the DOA parameter set, including: for the DOA parameter set of any secondary base station, sorting according to the maximum frequency domain deviation of the signal corresponding to each DOA parameter in the DOA parameter set, and marking each DOA parameter according to the sorting result and the frequency sorting of the first detection signal, the first detection signal is a detection signal of a terminal device that establishes a communication connection with the secondary base station, and the mark is used to indicate the terminal device corresponding to the DOA parameter.

[0015] In this way, sorting and marking the DOA parameters can better identify and distinguish data from different signal sources, thereby improving positioning accuracy.

[0016] In one possible implementation, ray drawing is performed on the DOA parameters carrying the same tag and clustering is performed N times to obtain the location information of the terminal device corresponding to the tag, including: ray drawing is performed on the DOA parameters carrying the same tag to obtain a set of intersection points corresponding to each tag; for any intersection point set, the intersection points in the intersection point set are clustered N times using the K-Means clustering method to obtain the location information of the terminal device corresponding to the tag.

[0017] In this way, by performing ray drawing and clustering processing on DOA parameters carrying the same tag, the position of the terminal device can be determined and the positioning accuracy can be improved.

[0018] In one possible implementation, for any set of intersections, the K-Means clustering method is used to cluster the intersections in the intersection set N times to obtain the location information of the terminal device corresponding to the mark, including: for any set of intersections, using the Cluster clustering function, by setting the Euclidean distance threshold to remove points outside the cluster cluster, to obtain the first intersection, the first intersection is the intersection that has a positive effect on the clustering; using the K-Means clustering method to cluster the first intersection in the intersection set N times to obtain N clustering results; and obtaining the location information of the terminal device corresponding to the mark based on the N clustering results.

[0019] In this way, through the Cluster clustering function, noise and outliers can be removed, the accuracy of subsequent K-Means clustering can be improved, and thus the positioning accuracy can be improved.

[0020] In a possible implementation, the DOA parameter set is obtained by the secondary base station using a blind source separation algorithm to perform DOA parameter estimation on received multi-source signals.

[0021] In this way, using the blind source separation algorithm to estimate DOA parameters can effectively extract positioning information in a multi-source signal environment and improve the reliability of positioning.

[0022] In one possible implementation, when the detection signal is a non-orthogonal signal, the DOA parameter set is obtained by the secondary base station using a blind source separation algorithm to estimate the DOA parameters of the multi-source signal; or, when the detection signal is an orthogonal signal, the DOA parameter set is obtained by the secondary base station using a MUSIC algorithm to estimate the DOA parameters of the multi-source signal.

[0023] In this way, selecting a suitable algorithm (blind source separation algorithm or MUSIC algorithm) for DOA parameter estimation based on the orthogonality of the detection signals can improve the accuracy and efficiency of DOA parameter estimation.

[0024] In a second aspect, an embodiment of the present application provides a positioning method. The method includes: a terminal device sends first information to a primary base station, the first signal being used to indicate a positioning quality requirement of the terminal device; the first information being used to determine the number of times the primary base station performs clustering processing on positioning data of each terminal device.

[0025] In a third aspect, an embodiment of the present application provides a positioning method, which includes: receiving multi-source signals; and estimating DOA parameters of the received multi-source signals using a blind source separation algorithm to obtain a DOA parameter set.

[0026] In one possible implementation, when the detection signal is a non-orthogonal signal, the DOA parameters of the multi-source signal are estimated using a blind source separation algorithm to obtain a DOA parameter set; or, when the detection signal is an orthogonal signal, the DOA parameters of the multi-source signal are estimated using a MUSIC algorithm to obtain a DOA parameter set.

[0027] In a possible implementation manner, the method further includes: sending a DOA parameter set to the primary base station.

[0028] In a fourth aspect, an embodiment of the present application provides a communication device. The communication device may include a processor and a memory, the memory being configured to store code instructions, and the processor being configured to execute the code instructions to perform the method described in the first aspect or any possible implementation of the first aspect, or to perform the method described in the second aspect or any possible implementation of the second aspect.

[0029] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is run on a computer, the computer executes the method described in the first aspect or any possible implementation of the first aspect, or executes the method described in the second aspect or any possible implementation of the second aspect.

[0030] In a sixth aspect, an embodiment of the present application provides a computer program product comprising a computer program, which, when the computer program runs on a computer, enables the computer to execute the method described in the first aspect or any possible implementation of the first aspect, or execute the method described in the second aspect or any possible implementation of the second aspect.

[0031] In a seventh aspect, the present application provides a chip or chip system, which includes at least one processor and a communication interface, the communication interface and the at least one processor being interconnected by a line, and the at least one processor being configured to run a computer program or instruction to execute the method described in the first aspect or any possible implementation of the first aspect, or to execute the method described in the second aspect or any possible implementation of the second aspect. The communication interface in the chip may be an input / output interface, a pin, or a circuit, etc.

[0032] In one possible implementation, the chip or chip system described above in this application further includes at least one memory, wherein instructions are stored in the at least one memory. The memory may be a storage unit within the chip, such as a register or cache, or a storage unit of the chip (such as a read-only memory or random access memory).

[0033] It should be understood that the second to seventh aspects of the present application correspond to the technical solutions of the first aspect of the present application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of signal transmission in a multi-connection MR-DC scenario provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of a communication system provided in an embodiment of the present application;

[0036] Figure 3 A flowchart of a positioning method provided in an embodiment of the present application;

[0037] Figure 4 A flowchart of a positioning method provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of a blind source separation process provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of a process for DOA estimation based on blind source separation provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of a clustering process provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of a positioning process provided in an embodiment of the present application;

[0042] Figure 9A A schematic diagram of positioning error provided in an embodiment of the present application;

[0043] Figure 9B Another schematic diagram of positioning error provided in an embodiment of the present application;

[0044] Figure 9C A schematic diagram of another positioning error provided in an embodiment of the present application;

[0045] Figure 10 A schematic structural diagram of a distributed passive IRS-assisted ISAC system provided in an embodiment of the present application;

[0046] Figure 11 A schematic block diagram of a communication device provided in an embodiment of the present application;

[0047] Figure 12 A schematic diagram of the structure of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] To facilitate a clear description of the technical solutions of the embodiments of the present application, some of the terms and technologies involved in the embodiments of the present application are briefly introduced below:

[0049] 1. Other terms

[0050] In the embodiments of this application, terms such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the terms "first chip" and "second chip" are used solely to distinguish between different chips and do not define their order. Those skilled in the art will understand that terms such as "first" and "second" do not define the quantity or execution order, and do not necessarily define differences.

[0051] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0052] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, a--c, bc, or abc, where a, b, c can be single or plural.

[0053] 2. Network equipment

[0054] A network device is a device that connects a terminal device to a wireless network. It can also be called an access network device or a radio access network (RAN) device. A radio access network device can be a node in a radio access network, also known as a RAN node.

[0055] In one possible scenario, a RAN node may be a base station (BS), an evolved NodeB (eNodeB), a transmission reception point (TRP), a home evolved NodeB (HNB), an access point (AP) for wireless fidelity (Wi-Fi), a mobile switching center, a next-generation NodeB (gNB) in a 5G mobile communication system, a next-generation base station in a 6G mobile communication system, or a base station in a future mobile communication system.

[0056] RAN nodes can also be devices that perform base station functions in device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, machine-to-machine (M2M) communication systems, and Internet of Things (IoT) communication systems.

[0057] RAN nodes can also be RAN nodes in non-terrestrial networks (NTNs), meaning they can be deployed on high-altitude platforms or satellites. RAN nodes can be macro base stations, micro base stations, or indoor base stations. They can also be relay nodes, donor nodes, etc., or radio controllers in cloud radio access network (CRAN) scenarios, or nodes in open radio access network (O-RAN or ORAN) scenarios. RAN nodes can also optionally be servers, wearable devices, vehicles, or onboard devices. For example, RAN nodes in V2X technology can be roadside units (RSUs). Of course, RAN nodes can also be nodes in the core network.

[0058] In another possible scenario, multiple RAN nodes collaborate to assist terminals in achieving wireless access, with different RAN nodes implementing portions of the base station's functionality. For example, a RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU can be separate or included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or radio unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0059] In different systems, the names of CU (or CU-CP and CU-UP), DU, or RU may vary, but those skilled in the art will understand their meanings. For example, in the ORAN system, CU may be referred to as Open CU (O-CU), DU may be referred to as Open DU (O-DU), CU-CP may be referred to as Open CU-CP (O-CU-CP), CU-UP may be referred to as Open CU-UP (O-CU-UP), and RU may be referred to as Open RU (O-RU).

[0060] Any of the CU (or CU-CP, CU-UP), DU, and RU units may be implemented as software modules, hardware modules, or a combination of software and hardware modules. That is, the wireless access network device in this application may be a virtualized device, for example, implemented using general-purpose hardware and instantiated virtualization functions, or dedicated hardware and instantiated virtualization functions. The general-purpose hardware may be a server, such as a cloud server.

[0061] 3. Terminal equipment

[0062] The terminal device in the embodiments of the present application is a wireless terminal device. A wireless terminal device may refer to a device with wireless transceiver capabilities that can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on the water (such as a ship); it can also be deployed in the air (for example, on an airplane, balloon, and satellite). The terminal device can be a mobile phone, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical care, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, and the like, without limitation. It will be understood that in the embodiments of the present application, the terminal device may also be referred to as user equipment (UE).

[0063] In the embodiments of the present application, the terminal device may also be referred to as user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0064] 4. Multi-radio dual connectivity (MR-DC)

[0065] In an MR-DC scenario, a terminal device can simultaneously connect to at least two network devices, which may use different radio carriers. Optionally, the at least two network devices may provide different RLC entities, MAC entities, and PHY entities for the terminal device. In other words, each of these network devices provides the terminal device with RLC, MAC, and PHY entities. In one MR-DC architecture, service data flows can be mapped from the PDCP layer of one network device to the RLC, MAC, and PHY layers of one or more network devices, using the same PDCP layer entity. In another MR-DC architecture, service data flows can be offloaded from the core network (CN) and mapped to the PDCP entities, RLC entities, MAC entities, and PHY entities of different network devices. It is understood that the radio carriers used by the at least two network devices may use the same communication standard or different communication standards. For example, one carrier may use the LTE radio access communication standard to communicate with the terminal device, while another carrier may use the 5G New Radio (NR) radio access communication standard to communicate with the terminal device.

[0066] It should be noted that the MR-DC scenario in the embodiments of this application is for terminal devices. The at least two network devices may include a master node and a secondary node. The master node may provide a control plane connection between the terminal device and the core network. The secondary node may not provide a control plane connection between the terminal device and the core network.

[0067] In this embodiment of the present application, the terminal device can communicate with both the primary base station and the secondary base station. MR-DC can include: E-UTRA NR dual connectivity (EN-DC), next generation E-UTRA NR dual connectivity (NGEN-DC), NR E-UTRA dual connectivity (NE-DC), and NR dual connectivity (NR-DC).

[0068] The primary base station in EN-DC is an LTE base station (such as eNB) connected to the 4G core network, and the secondary base station is an NR base station (such as gNB); the primary base station in NGEN-DC is an LTE base station connected to the 5G core network, and the secondary base station is an NR base station; the primary base station in NE-DC is an NR base station connected to the 5G core network, and the secondary base station is an LTE base station; the primary base station in NR-DC is an NR base station connected to the 5G core network, and the secondary base station is an NR base station.

[0069] In the embodiment of the present application, the primary base station and the secondary base station in the MR-DC can be various forms and structures of the network devices described above. Optionally, the primary base station and the secondary base station can use the same CU but different DUs, or the same DU but different CUs, which is not specifically limited here.

[0070] 5. Detection signal

[0071] The detection signal refers to a radio signal used to determine the location of the terminal device. The detection signal in the embodiment of the present application can be an uplink positioning signal (uplink positioning RS) or any other signal used for positioning, which is not specifically limited here.

[0072] 6. Multiple signal classification (MUSIC) algorithm

[0073] The MUSIC algorithm leverages the orthogonality of the signal and noise subspaces to estimate the direction of arrival (DOA). Specifically, the algorithm decomposes the received signal into a signal subspace and a noise subspace. The signal subspace consists of the signal's direction vectors, while the noise subspace is orthogonal to the signal subspace. By searching for the direction vector that matches the signal in the noise subspace, the signal's direction of arrival (DOA) can be estimated, yielding the DOA parameter.

[0074] 7. Line of sight transmission (LOS) and non-line of sight transmission (NLOS)

[0075] Line-of-sight transmission means that the signal propagation path between the transmitter and the receiver is direct and unobstructed. This means that the signal can travel in a straight line to reach the receiver.

[0076] Non-line-of-sight (NLOS) transmission occurs when the signal propagation path between the transmitter and receiver is blocked by obstacles. Signals must reach the receiver through reflection, refraction, diffraction, and other methods. NLOS transmission often involves multipath, a phenomenon in which a signal may reach the receiver through multiple paths.

[0077] The positioning method in the embodiment of the present application can be used in a multi-connected MR-DC scenario, but is not limited thereto. The positioning method is described below using a multi-connected MR-DC scenario as an example. Figure 1 A schematic diagram of signal transmission in a multi-connection MR-DC scenario provided in an embodiment of the present application.

[0078] like Figure 1 As shown, a communication system includes three terminal devices at the transmitting end, 17 communicable secondary base stations and one primary base station at the receiving end as an example. Both the secondary base stations and the primary base station can be equipped with multiple receiving antennas.

[0079] like Figure 1 As shown, terminal devices A, B, and C can all communicate and exchange signaling. Signals transmitted by any terminal device can be transmitted to any base station via a multipath channel. In practical applications, signals transmitted by any terminal device may be blocked by obstacles such as buildings, trees, and vehicles, and may be transmitted to the secondary base station and / or the primary base station via NLOS.

[0080] To facilitate understanding of the embodiments of this application, first Figure 2 A communication system applicable to the embodiments of the present application is described in detail. The communication system may include: at least one terminal device, one first network device, and at least one second network device.

[0081] For example, Figure 2 As shown, the communication system may include: a terminal device 201 , a first network device 202 and a second network device 203 .

[0082] The terminal device 201 can communicate with the first network device 202 or the second network device 203 via a wireless link; the first network device 202 can communicate with the second network device 203 via a wireless link. For example, the first network device 202 can also be referred to as a primary base station, and the second network device can also be referred to as a secondary base station.

[0083] When implementing the positioning service of the terminal device 201 , the terminal device 201 may send a detection signal (also referred to as a positioning signal) to the first network device 202 and the second network device 203 . The first network device 202 and the second network device 203 may receive the detection signal from the terminal device 201 .

[0084] In some embodiments, the first network device 202 and the second network device 203 can both perform DOA estimation based on the received detection signal to obtain corresponding DOA parameters; the first network device 202 can perform ray drawing, clustering, and other processing based on the DOA parameters obtained by the first network device 202 and the DOA parameters obtained by the second network device 203 to obtain the location information of the terminal device 201.

[0085] In other embodiments, the second network device 203 can perform DOA estimation based on the received detection signal to obtain corresponding DOA parameters; the first network device 202 can perform ray drawing, clustering and other processing based on the DOA parameters obtained by the second network device 203 to obtain the location information of the terminal device 201.

[0086] It should be understood that Figure 2 The communication system shown is only an example, and the communication system may also include more or fewer network devices, or more or fewer terminal devices. This application does not limit the specific number and specific form of network devices and terminal devices.

[0087] Currently, the first network device usually performs a fixed number of clustering processes on the DOA parameters. However, this method lacks the flexibility to adapt to the positioning requirements of different terminal devices.

[0088] It is understandable that if the terminal device has high requirements for positioning quality, the fixed number may be less than the number of clustering times required for terminal device positioning, which may cause inaccurate positioning of the terminal device and poor user experience; conversely, if the terminal device has high requirements for positioning quality, the fixed number may be greater than the number of clustering times required for terminal device positioning, which may cause slow positioning speed of the terminal device and poor user experience.

[0089] In view of this, embodiments of the present application provide a positioning method, terminal device, base station, storage medium, and chip system. A first network device can adaptively adjust the number of DOA parameter clustering operations based on the terminal device's positioning quality requirements. In this way, the number of DOA parameter clustering operations performed by the first network device can be aligned with the positioning quality requirements, thereby optimizing positioning accuracy and speed and improving the user experience.

[0090] For example, Figure 3 This is a flow chart of a positioning method provided in an embodiment of the present application. Figure 3 As shown, the positioning method includes:

[0091] S301: A first network device receives first information from each terminal device. The first information is used to indicate positioning requirements of the terminal device, such as quality requirements, real-time requirements, and / or reliability requirements.

[0092] Exemplarily, the first information may include: quality level information, real-time level information, or service identification, etc., which are not specifically limited here. It should be noted that the positioning requirements of the terminal device are generally related to the service currently used by the terminal device. Therefore, the positioning quality requirements and / or real-time requirements of the terminal device can also be indicated by the service identification.

[0093] S302: The first network device adjusts the number of times the positioning data of each terminal device is clustered according to the first information of each terminal device.

[0094] In this way, the first network device can adaptively adjust the number of clustering times for the DOA parameters based on the positioning quality requirements and / or real-time requirements of the terminal device. In this way, the number of clustering times for the DOA parameters by the first network device can be made consistent with the positioning quality requirements, thereby optimizing positioning accuracy and speed and improving user experience.

[0095] Optionally, the adjusted clustering number corresponds to the highest level indicated by the positioning level information in the first information of each terminal device. The level indicated by the positioning level information is positively correlated with the positioning quality, or the level indicated by the positioning level information is negatively correlated with the real-time requirement.

[0096] For example, taking the quality levels including level 1 to level 7, and the positioning quality being positively correlated with the level (i.e., the more accurate the positioning, the higher the level), if the quality levels corresponding to terminal devices A to D are level 1, level 3, level 4, and level 5, respectively, the adjusted number of clustering times is the number corresponding to level 5.

[0097] For example, taking the real-time levels including level 1 to level 7, and the real-time requirement standard being negatively correlated with the level (i.e., the shorter the time limit, the lower the level), if the real-time levels corresponding to terminal devices A to D are level 1, level 3, level 4, and level 5, respectively, the adjusted number of clustering times is the number corresponding to level 5.

[0098] In this way, the number of clustering times can be adjusted according to the positioning level information of the terminal device, so that the first network device can use more clustering times when the positioning level of the terminal device is higher. This method can fully utilize the positioning capability of the terminal device, thereby improving the precision and accuracy of positioning.

[0099] Optionally, the first information includes: positioning level information of the terminal device; the level indicated by the positioning level information is positively correlated with the positioning quality, or the level indicated by the positioning level information is negatively correlated with the real-time requirement; when the first level is less than or equal to the second level, the adjusted number of clustering times corresponds to the first level; wherein the first level is the highest level indicated by the positioning level information in the first information of each terminal device, and the second level is the highest level supported by the positioning resources of the main base station; when the first level is greater than the second level, the adjusted number of clustering times corresponds to the second level.

[0100] For example, taking the quality levels as follows: level 1 to level 7, the positioning quality is negatively correlated with the level, and the highest level supported by the first network device is level 4, if the quality levels corresponding to terminal devices A to D are level 1, level 3, level 4, and level 5, respectively, then the adjusted number of clustering times is the number corresponding to level 4. If the quality levels corresponding to terminal devices A to D are level 1, level 3, level 3, and level 2, respectively, and the highest level supported by the first network device is level 3, then the adjusted number of clustering times is the number corresponding to level 3.

[0101] For example, if the real-time performance levels include levels 1 to 7, and the real-time performance requirement standard is negatively correlated with the level (i.e., the shorter the time limit, the lower the level), and the highest level supported by the first network device is level 4, then if the real-time performance levels corresponding to terminal devices A to D are level 1, level 3, level 4, and level 5, respectively, then the adjusted number of clustering times will be the number corresponding to level 4. If the real-time performance levels corresponding to terminal devices A to D are level 1, level 3, level 3, and level 2, respectively, and the highest level supported by the first network device is level 3, then the adjusted number of clustering times will be the number corresponding to level 3.

[0102] In this way, when the terminal device's positioning requirements are within the support range of the main base station, the main base station can adjust the number of clustering operations based on the terminal device's highest positioning level. This approach maximizes positioning accuracy while rationally utilizing the main base station's computing resources and reducing unnecessary resource waste. When the terminal device's positioning requirements exceed the main base station's support capabilities, the main base station adjusts the number of clustering operations to the main base station's highest supported level. This design reduces resource consumption beyond system capabilities and improves the stability and efficiency of the communication system.

[0103] It should be understood that the positioning level corresponding to the terminal device can be determined based on real-time requirements, positioning quality requirements, or a combination of real-time requirements and positioning quality requirements. For example, the real-time requirements and positioning quality requirements can each have corresponding weights. The positioning level corresponding to the terminal device is determined by performing a weighted calculation of the real-time requirements and positioning quality requirements.

[0104] The following combination Figure 4 The interactive process of the positioning method in the embodiment of the present application is described. For example, Figure 4 This is a flow chart of a positioning method provided in an embodiment of the present application. Figure 3 As shown, the positioning implementation process of terminal device A may include:

[0105] S401. Terminal device A sends an access request a to a primary base station to establish a connection with the primary base station.

[0106] It should be understood that when terminal device A is turned on or enters a network coverage area, terminal device A can scan available radio signals to select a suitable primary base station. The primary base station is usually the base station with the best signal quality.

[0107] In some embodiments, terminal device A may send an access request to the primary base station through a random access procedure.

[0108] The access request a may include: device identification information, service request information and / or capability information, etc., which are not specifically limited here.

[0109] Device identification information is used to identify the terminal device. The device identification information can be the International Mobile Subscriber Identity (IMSI) or the International Mobile Equipment Identity (IMEI).

[0110] The service request information is used to indicate the service requested by the terminal device, such as voice, data, emergency service, etc. The capability information is used to indicate the communication capability of the terminal device, such as supported frequency bands, maximum data rate, etc.

[0111] S402: The primary base station sends a connection confirmation reply to the terminal device A in response to the access request a.

[0112] Exemplarily, the primary base station may allocate resources corresponding to the terminal device A according to various information in the access request a, for example, a temporary identifier (such as C-RNTI) and uplink resources.

[0113] S403: Terminal device A sends an access request b to the secondary base station to establish a connection with the secondary base station.

[0114] Access request b is similar to the above-mentioned access request a. For details, please refer to the corresponding description of the above-mentioned access request a, and no specific limitation is made here.

[0115] In the embodiment of the present application, there may be one or more secondary base stations, and the number of secondary base stations is not specifically limited.

[0116] In some embodiments, the secondary base station is determined by the primary base station based on measurement reports of each base station uploaded by terminal device A. Specifically, while connected to the primary base station, terminal device A can measure the signal quality of adjacent base stations and report the measurement results to the primary base station. The primary base station can determine one or more secondary base stations from the adjacent base stations based on the measurement results and connect to each of the secondary base stations. After the primary base station connects to each secondary base station, the primary base station can issue an identifier of each secondary base station to terminal device A. Terminal device A establishes a communication connection with terminal device A based on the identifiers of each secondary base station. The embodiments of this application do not specifically limit the method for determining the secondary base station.

[0117] Taking two secondary base stations, namely secondary base station 1 and secondary base station 2, as an example, S403 may include: S403-1 and S403-2. S403-1: Terminal device A sends an access request b1 to secondary base station 1 to establish a connection with secondary base station 1. S403-2: Terminal device A sends an access request b2 to secondary base station 2 to establish a connection with secondary base station 2.

[0118] S404: The secondary base station sends a connection confirmation reply to the terminal device A in response to the access request b.

[0119] Taking two secondary base stations, namely secondary base station 1 and secondary base station 2, as an example, S404 may include: S404-1 and S404-2. In S404-1, secondary base station 1 responds to access request b1 and sends a connection confirmation backhaul to terminal device A. In S404-2, secondary base station 2 responds to access request b2 and sends a connection confirmation backhaul to terminal device A.

[0120] S405: Terminal device A sends a positioning request to the master base station. The positioning request includes: a user ID corresponding to terminal device A.

[0121] The positioning request may include: device identification, first information, type identification of positioning service, etc. The types of positioning services may include: emergency positioning, navigation service, location update, etc., which are not specifically limited here.

[0122] S406. The primary base station allocates positioning resources corresponding to terminal device A in response to the positioning request.

[0123] Positioning resources may include positioning signal information (e.g., positioning reference signal (PRS) frequency and time slot) and computing resources (e.g., memory). The allocated memory may be used to store positioning data of terminal device A and calculate the location of terminal device A based on the stored positioning data.

[0124] In some embodiments, the positioning resources corresponding to terminal device A are allocated based on the first information received from each terminal device. For example, the positioning resources for terminal device A may correspond to the highest level indicated by the positioning level information in the first information of each terminal device. The level indicated by the positioning level information is positively correlated with the positioning quality, or negatively correlated with the real-time performance requirement.

[0125] Exemplarily, when the first level is less than or equal to the second level, the positioning resources of terminal device A correspond to the first level; wherein the first level is the highest level indicated by the positioning level information in the first information of each terminal device, and the second level is the highest level supported by the positioning resources of the main base station; when the first level is greater than the second level, the positioning resources of terminal device A correspond to the second level.

[0126] In this way, the positioning resources correspond to the positioning requirements of the terminal device, and the computing resources of the main base station can be reasonably utilized to reduce resource waste.

[0127] S407: The primary base station sends an interception request to the secondary base station corresponding to the terminal device A to obtain positioning data.

[0128] An interception request, also known as a collaboration request, may include device identification, positioning signal information, measurement requirements, and time synchronization information. Positioning signal information may include the frequency and time slot of the Positioning Reference Signal (PRS). Measurement requirements may include time of arrival (TOA), angle of arrival (AOA), received signal strength (RSSI), and other information, as well as measurement accuracy and timing requirements. Time synchronization information is used to synchronize the time between the secondary base station, the primary base station, and the terminal device.

[0129] Taking two secondary base stations, namely secondary base station 1 and secondary base station 2, as an example, S407 may include: S407-1 and S407-2. S407-1: The primary base station sends an intercept request c1 to secondary base station 1 to perform DOA estimation of the sounding signal. S407-2: The primary base station sends an intercept request c2 to secondary base station 2 to perform DOA estimation of the sounding signal.

[0130] S408: The secondary base station performs DOA estimation on the signal received by it in response to the interception request to obtain at least one DOA parameter.

[0131] In the embodiment of the present application, the secondary base station may perform DOA estimation on the signal received by the secondary base station by using a MUSIC algorithm or any other method.

[0132] In some embodiments, the secondary base station may separate the signals received by the secondary base station by using a joint approximate diagonalization of eigenmatrices (JADE) algorithm, and perform DOA estimation on the separated signals.

[0133] It should be understood that the JADE algorithm can offset the correlation caused by multipath effects and separate the original independent source signal from the received mixed signal without knowing the source signal and the mixing process. Compared with the MUSIC algorithm, the JADE algorithm can eliminate the impact of multipath effects on DOA estimation in non-line of sight transmission (NLOS) scenarios, and can achieve accurate DOA estimation.

[0134] For ease of understanding, the following Figure 5 The principle of JADE algorithm is explained. For example, Figure 5 A schematic diagram of a blind source separation process provided in an embodiment of the present application. Figure 5 As shown, the blind source separation process may include: an unknown signal mixing process and a blind source separation process.

[0135] The unknown signal mixing process is as follows: Assume that the received signal is a number of independent source signals A linear mixture of . The communication system includes: multiple terminal devices and multiple base stations (for example, a primary base station, a secondary base station, etc.), and the signal transmitted by the terminal device is the source signal , the signal received by the base station is the observation signal For example.

[0136] If the signal transmitted by the terminal device can be transmitted to the base station via line-of-sight and / or non-line-of-sight (LOS / NLOS), the signal received by the base station can be expressed as , .in, represents the observation signal received by the i-th base station, where i is the base station number; Represents a noise signal, which may include thermal noise and white noise in the air. It indicates that the i-th base station receives the signal transmitted by each terminal device; T is the observation period; represents the channel fading coefficient from the pth terminal device (radiation source) to the i-th base station, The serial number of the terminal device (radiation source); represents the detection signal transmitted by the p-th terminal device to the i-th base station; Indicates the starting time node of the observation period (sampling); It represents the delay from the signal transmitted by the p-th terminal device to the i-th base station.

[0137] Since the transmission process of the source signal is unknown, Figure 4 In the process shown, the above source signal The transmission process is simplified to: , where A is the confusion matrix. Represents the observation signal received by the i-th base station. The confusion matrix A carries the active signal DOA information.

[0138] It should be noted that since the source signals are statistically independent, the source signals can be used in the blind source separation process. The high-order statistics (such as fourth-order cumulants) are used to separate the signals.

[0139] The blind source separation process can specifically include the following four steps:

[0140] Step 1: Observation signal received by the base station Perform preprocessing to obtain whitened data. Specifically, center and whiten the observed signal. Centering can be used as preprocessing to center the signal (zero mean), and whitening can remove correlation and normalize variance. This step transforms the problem of estimating the mixing matrix into that of estimating an orthogonal matrix, simplifying subsequent computations and improving efficiency.

[0141] Step 2: Calculate the high-order cumulants. Specifically, the observed signal can be calculated The fourth-order cumulants (fourth-order moments) of are used to construct a set of characteristic matrices.

[0142] Step 3: Joint diagonalization. Specifically, by jointly diagonalizing these feature matrices, we can find an unmixing matrix (also called a separation matrix) that makes the separated signals as independent as possible. This unmixing matrix is used to convert the observed signals into independent source signals.

[0143] Step 4: Signal separation. Specifically, the observed signal is converted into an estimated independent source signal (i.e., separated signal) using the demixing matrix. ).

[0144] For example, Figure 5 As shown, the whitening matrix in the JADE algorithm is V, the separation matrix is W, and the observation signal is For example; separating signals It can be expressed as ;because ,but It should be understood that since the whitening process does not affect the estimation of the confusion matrix A, this parameter can be ignored when performing DOA estimation. . Positioning scene If all are known, the confusion matrix A can be obtained. Among them, .in, Related to DOA, it can indicate the direction angle of the incoming wave. ;in, is the path loss coefficient. is the angle.

[0145] above Figure 5 The signal separation process is described, and the DOA estimation process is described below.

[0146] The DOA parameters can be obtained by performing DOA decorrelation estimation on the confusion matrix A through the correlation spectrum search function. in Parameters to search for related spectral functions.

[0147] For example, the DOA estimation can be performed by performing Euclidean distance decorrelation on the separated signal y. This method is based on the confusion matrix A and the array steering vector element a contained therein. The estimation process can be expressed as follows: ; .in, represents the array steering vector, and A represents the confusion matrix for blind source separation.

[0148] For example, Figure 6 As shown, the process of DOA estimation based on blind source separation may include:

[0149] S601: Process the observation signal received by the secondary base station using the whitening matrix V.

[0150] S602 , performing blind source separation on the whitened observation signal based on the Frobenius norm combined with the approximate diagonalization method.

[0151] S603 : Perform DOA decorrelation estimation on the confusion matrix A based on the correlation spectrum search function to obtain DOA parameters of each separated signal.

[0152] Taking two secondary base stations, namely secondary base station 1 and secondary base station 2, as an example, S408 may include S408-1 and S408-2. In S408-1, secondary base station 1 performs DOA estimation on its received signal to obtain a DOA parameter set d1, which includes at least one DOA parameter. In S408-2, secondary base station 2 performs DOA estimation on its received signal to obtain a DOA parameter set d2, which includes at least one DOA parameter.

[0153] In a possible implementation, when the sounding signal is a non-orthogonal signal, the DOA parameter estimation of the signal received by the secondary base station is performed using a blind source separation algorithm; when the sounding signal is an orthogonal signal, the DOA parameter estimation of the signal received by the secondary base station is performed using a MUSIC algorithm.

[0154] It should be understood that because orthogonal signals are mathematically independent, linear combinations do not cause confusion between the signals. Therefore, the receiver (e.g., the secondary base station) can directly separate the signals received by the secondary base station through simple linear operations (such as projection), without the need for blind source separation. The receiver (e.g., the secondary base station) can directly use orthogonality to extract the signals from each path and then estimate the angle. For example, the MUSIC algorithm can be used for DOA estimation.

[0155] S409: The secondary base station sends a DOA parameter set to the primary base station.

[0156] Taking two secondary base stations, namely secondary base station 1 and secondary base station 2, as an example, S409 may include: S409-1 and S409-2. S409-1, secondary base station 1 sends DOA parameter set d1 to the primary base station. S409-2, secondary base station 2 sends DOA parameter set d2 to the primary base station.

[0157] S410: The primary base station draws rays based on the positions of the secondary base stations and the DOA parameters to obtain a set of intersection points.

[0158] For example, with the primary base station as the origin and the relative positions of each secondary base station to the primary base station fixed, positioning rays can be drawn based on the various DOA parameters (DOA parameters indicate the direction of arrival of the signal), resulting in a set of intersection points. The intersection points in the set of intersection points can be understood as the predicted locations of the terminal device, and the set of intersection points can indicate the location of the terminal device.

[0159] S411: The primary base station marks and groups DOA parameters.

[0160] In the embodiment of the present application, the process of marking the DOA parameters can be understood as the process of matching each DOA parameter with a terminal device. The process of grouping the DOA parameters can be understood as the process of grouping the DOA parameters corresponding to the same terminal device.

[0161] It is understandable that in actual applications, there are usually situations where multiple terminal devices are positioned at the same time. Therefore, the DOA parameters included in the DOA parameter set may correspond to different terminal devices, and each DOA parameter needs to be matched with the terminal device.

[0162] In the embodiment of the present application, the primary base station may implement marking of the DOA parameters in any manner, such as by using a maximum deviation in the frequency domain, an artificial neural network, etc., which are not specifically limited here.

[0163] In some embodiments, each DOA parameter is labeled by the maximum deviation in the frequency domain.

[0164] It should be understood that different terminal devices use different frequencies of detection signals for positioning. The maximum deviations in the frequency domain of signals of different frequencies vary significantly. Therefore, the maximum deviation in the frequency domain can be used to distinguish signals, and thus terminal devices.

[0165] Frequency domain maximum deviation is typically used to describe the maximum deviation of a signal's characteristics in the frequency domain from its ideal or expected value. It can also be understood as the maximum deviation of the maximum frequency from the average frequency. For example, the frequency domain maximum deviation can be the deviation between the maximum frequency of a sampling point on the spectrum and the average frequency of the sampling point.

[0166] Specifically, the spectrum of the separated signal can be obtained by Fourier transforming the separated signal. ;in, It is the frequency domain result of the separated signal, which can be understood as the distribution of the separated signal on different frequency components. To separate the signal.

[0167] The maximum deviation in the frequency domain is then obtained based on the ratio between the maximum value of the frequency at the sampling point of the spectrum and the frequency mean of the sampling point. It can be expressed as: ;in, Indicates the maximum value in the frequency domain; Represents the mean of the frequencies of the sampling points.

[0168] Exemplarily, for any secondary base station's DOA parameter set, the DOA parameter set is sorted according to the maximum frequency domain deviation of the signal corresponding to each DOA parameter in the DOA parameter set, and each DOA parameter is marked according to the sorting result and the frequency sorting of the first detection signal, where the first detection signal is a detection signal of a terminal device that uses the secondary base station for positioning.

[0169] For example, the terminal devices positioned using the auxiliary base station 1 include: terminal device A, terminal device B and terminal device C, and the detection signals corresponding to the three terminal devices are detection signal 21, detection signal 22 and detection signal 23, respectively, and the frequencies of detection signal 21, detection signal 22 and detection signal 23 decrease in sequence. For example, if the DOA parameter set d1 obtained by the auxiliary base station 1 includes: DOA parameter 11, DOA parameter 12 and DOA parameter 13, and the maximum frequency domain deviations corresponding to DOA parameters 11, DOA parameters 12 and DOA parameters 13 decrease in sequence, then the DOA parameter 11 corresponds to the detection signal 21 and then corresponds to the terminal device A; the DOA parameter 12 corresponds to the detection signal 22 and then corresponds to the terminal device B; the DOA parameter 13 corresponds to the detection signal 23 and then corresponds to the terminal device C.

[0170] In other embodiments, the step of marking the DOA parameters may also be performed by each secondary base station. Optionally, the secondary base station also sends a mark corresponding to each DOA parameter to the primary base station. This step may be performed simultaneously with S409, or may be performed before S409, or after S409. The order of execution is not specifically limited.

[0171] S413: The master base station performs N clustering processes on the intersection point set corresponding to each set of DOA parameters to obtain the location information of each terminal device, where N is related to the positioning requirement indicated by each terminal device.

[0172] The determination process of N can refer to the above Figure 3 The corresponding description of the illustrated embodiment will not be repeated in detail here.

[0173] For example, Figure 7 A schematic diagram of a clustering process provided in an embodiment of the present application. Figure 7 As shown, the process may include:

[0174] S701 : For any set of intersection points corresponding to a group of DOA parameters, use the Cluster method to remove discrete points from the intersection points.

[0175] Specifically, the Cluster method is used to calculate the similarity between intersections, and the Euclidean distance is used to evaluate the similarity: ; ;in, is the Euclidean distance, is the horizontal coordinate of the i-th intersection point, is the ordinate of the i-th intersection point, The above formula is used to calculate the similarity of all intersections, and all intersections with similarity less than the Euclidean distance threshold will be eliminated.

[0176] when When , it means that there are no other similar intersection points near the intersection point. The intersection point is likely to be the intersection point of the ray drawn based on the false DOA parameters generated by NLOS transmission. The intersection point is directly eliminated through the Cluster hard threshold and is not used for subsequent clustering. It can be an empirical threshold set artificially in the scheme.

[0177] In this way, by setting the Euclidean distance threshold, points outside the cluster can be removed and the intersection points that have a positive effect on the cluster can be retained.

[0178] S702: Using the K-Means clustering method, set the appropriate number of clusters and cluster range threshold, cluster the intersection points, and obtain the positioning result of the terminal device.

[0179] It should be understood that after Cluster removes discrete points, most of the remaining points are intersection points within clusters that are relatively tightly clustered, so the K-Means method can be used for clustering.

[0180] For a given set of intersection coordinates based on the positioning ,in, represents the i-th intersection point.

[0181] For any intersection The goal is to divide it into one of K clusters, where K is the number of located terminal devices (also called radiation sources).

[0182] Each of the K clusters corresponds to a center point , then the optimized objective function is the intra-cluster square error, by minimizing the objective function Find the optimal cluster partition, the objective function It can be expressed as ,in, It represents the distance between the i-th intersection point and the k-th cluster center point. represents the set of intersection points in the K-th cluster.

[0183] K-Means clustering can include the following steps: initialization, cluster allocation, iterative update of centroids, and algorithm convergence. The first is initialization, that is, random selection As the initial center point in the cluster (also called the initial centroid); then perform cluster assignment, calculate the Euclidean clustering of each intersection point to all center points (centroids), and assign it to the nearest cluster. This step can be expressed as: ,in, Indicates whether the i-th intersection point is assigned to (can also be understood as belonging to, included in) the k-th cluster, 1 means yes, 0 means no.

[0184] After determining the initial cluster assignment, the centroid iterative update step is performed, that is, the centroid of each cluster is recalculated. The calculation expression is: ,in, represents the center of the k-th cluster, Indicates whether the i-th intersection point is assigned to (can also be understood as belonging to, included in) the k-th cluster, represents the i-th intersection point.

[0185] The iterative process can be understood as the following two steps: 1. Determine (fix) the center of mass , determine the cluster assignment of data by minimizing the objective function J 2. Fixed cluster allocation , determine the new center of mass by minimizing the objective function J .

[0186] When the cluster assignment does not change within the number of iterations, the K-Means clustering algorithm converges and the location of each terminal device is obtained.

[0187] Figure 7 The embodiment shown is a clustering process. The number of clustering in the embodiment of the present application can be multiple. Therefore, the above Figure 7 The process shown may be executed multiple times. In some embodiments, only S702 may be executed multiple times. This is not specifically limited here.

[0188] S412. The primary base station sends the location information of terminal device A to terminal device A.

[0189] It should be understood that Figure 7 The process shown is described based on one set of DOA parameters. The master base station can also calculate multiple sets of DOA parameters simultaneously.

[0190] For example, Figure 8 This is a flowchart of a positioning process provided by an embodiment of the present application. Taking the use of blind source separation technology to perform DOA estimation as an example, Figure 8 As shown, each secondary base station can use blind source separation technology to estimate the direction of arrival (DOA) and obtain a set of DOA parameters. The DOA parameters are then associated (e.g., labeled and grouped) to obtain the DOA parameters corresponding to each terminal device. Ray drawing and N-fold clustering are performed on the DOA parameters corresponding to each terminal device to obtain the location information of each terminal device. Figure 8 If the number of clustering requirements is not met, the clustering process is repeated; if the number of clustering requirements is met, the location information of each terminal device can be output.

[0191] Location of multiple terminal devices It can be expressed as . Indicates the location of the i-th terminal device, where i can be any value from 1 to N.

[0192] The following combination Figures 9A to 9C The positioning of the terminal device obtained by the positioning method is described. The parameter configuration of the communication system is shown in Table 1, and the parameter configuration of the clustering process is shown in Table 2. The positioning result can be shown as follows: Figures 9A to 9C Shown as an example.

[0193] Table 1 System parameter configuration

[0194]

[0195] Table 2 K-Means clustering parameter configuration table

[0196]

[0197] Figures 9A to 9C This is a cumulative distribution probability plot for different error ranges. The horizontal axis represents the magnitude of the positioning error (e.g., error distance); the vertical axis represents the probability that the error is less than or equal to the horizontal axis. Typically, when the vertical axis is 0.5, the horizontal axis corresponds to the median error, which can be used to indicate the positioning error of the system. When the vertical axis is 0.9 or 0.95, the horizontal axis corresponds to the median error, which can be used to evaluate the reliability of the system.

[0198] See also Figures 9A to 9C ,When using the MUSIC algorithm for positioning, the positioning error of terminal device A is less than 40 meters (such as Figure 9A As shown in the figure, the positioning error of terminal device B is less than 150 meters (as shown in the figure). Figure 9B As shown in ), the positioning error of terminal device C is less than 500 meters (as shown in Figure 9C When using the JADE algorithm for positioning, the positioning error of terminal device A is less than 30 meters, the positioning error of terminal device B is less than 100 meters, and the positioning error of terminal device C is less than 250 meters.

[0199] In summary, communication systems can use the MUSIC algorithm to locate terminal devices, or they can use the JADE algorithm. Compared to the MUSIC algorithm, the JADE algorithm generally has smaller positioning errors and higher positioning accuracy.

[0200] It should be understood that the method for adjusting the number of clustering times shown in the above embodiment can also be applied to other scenarios, for example, an integrated sensing and communication (ISAC) system assisted by a distributed passive intelligent reflecting surface (IRS), which does not require channel state information (CSI) and can simultaneously perform signal demodulation and position perception. Specifically, each coherent block consists of two stages, and each stage is divided into two time blocks. In these two time blocks, the proposed integrated positioning and demodulation (I-LAD) algorithm is used to simultaneously perform signal demodulation, channel estimation, and position perception. When performing position perception processing, the number of clustering times can be adjusted according to the positioning requirements (positioning needs).

[0201] In addition, the DOA parameter marking method shown in the above embodiment can also be applied to other positioning scenarios, for example, a distributed passive IRS-assisted ISAC system. During the signal demodulation process of this system, the terminal device can be marked based on the maximum deviation in the frequency domain to improve the demodulation accuracy.

[0202] For example, Figure 10 This is a structural diagram of a distributed passive IRS-assisted ISAC system provided in an embodiment of the present application. Figure 10 As shown, the system may include: a base station 1001 , a synaesthesia integrated reflection surface (also referred to as a time block) 1002 and a terminal device 1003 .

[0203] Terminal device 1003 can transmit a detection signal; integrated synesthesia reflective surface 1002 can adjust the phase of the detection signal transmitted by the terminal device and reflect it. Base station 1001 can receive the detection signal (reflected signal) reflected by integrated synesthesia reflective surface 1002. Base station 1001 can estimate the direction of arrival (DOA) of the reflected signal and infer the direction of arrival (DOA parameter) from the terminal device to integrated synesthesia reflective surface 1002. Base station 1001 can obtain the terminal device's location information based on the position of integrated synesthesia reflective surface 1002 and the direction of arrival (DOA parameter) from the terminal device to each integrated synesthesia reflective surface 1002.

[0204] In the process of obtaining the terminal device's location information based on the position of the integrated synesthesia reflecting surface 1002 and the direction of arrival (DOA parameter) of the terminal device to each integrated synesthesia reflecting surface 1002, the clustering order adjustment method and / or DOA parameter marking method described in the above embodiment can be used for processing. Specific limitations are not provided herein.

[0205] Combined with the above Figures 3 to 9C , describes the positioning method of the embodiment of the present application in detail, and the following is combined with Figure 11 and Figure 12 , a detailed description of the communication device of the embodiment of the present application is provided. The communication device includes modules or units for executing each part of the above embodiment. The modules or units can be software, hardware, or a combination of software and hardware. The following only briefly illustrates the communication device. For implementation details of the solution, please refer to the description of the aforementioned method embodiment and will not be repeated here.

[0206] Figure 11 This is a schematic block diagram of a communication device provided in an embodiment of the present application. Figure 11 As shown, the communication device includes: a transceiver module 1101 and a processing module 1102.

[0207] In one possible implementation, a communication device is configured to implement the steps corresponding to the first network device in the method described in the above embodiment. The transceiver module 1101 is configured to interact (transmit information) with the first network device and / or terminal devices. For example, the transceiver module 1101 may transmit terminal device location information, etc. to each terminal device. The transceiver module 1101 may also receive first information from each terminal device, where the first information indicates, for example, positioning quality requirements for the terminal device. The processing module 1102 is configured to perform N clustering operations on the positioning data of each terminal device to obtain the location information of each terminal device, where N is determined based on the first information of each terminal device.

[0208] Optionally, the first information includes: positioning level information of the terminal device; the level indicated by the positioning level information is positively correlated with the positioning quality; N corresponds to the highest level indicated by the positioning level information in the first information of each terminal device.

[0209] Optionally, the first information includes: positioning level information of the terminal device; the level indicated by the positioning level information is positively correlated with the positioning quality; when the first level is less than or equal to the second level, N corresponds to the first level; wherein, the first level is the highest level indicated by the positioning level information in the first information of each terminal device, and the second level is the highest level supported by the positioning resources of the main base station; when the first level is greater than the second level, N corresponds to the second level.

[0210] Optionally, the transceiver module 1101 is also used to receive a DOA parameter set of at least one secondary base station; the processing module 1102 is also used to add a mark to each DOA parameter of the DOA parameter set of any secondary base station according to the maximum frequency domain deviation of the signal corresponding to each DOA parameter in the DOA parameter set; the processing module 1102 is specifically used to draw rays on the DOA parameters carrying the same mark and perform N times of clustering processing to obtain the location information of the terminal device corresponding to the mark.

[0211] Optionally, the processing module 1102 is specifically used to sort the DOA parameter set of any secondary base station according to the maximum frequency domain deviation of the signal corresponding to each DOA parameter in the DOA parameter set, and add a mark to each DOA parameter according to the sorting result and the frequency sorting of the first detection signal. The first detection signal is a detection signal of a terminal device that establishes a communication connection with the secondary base station, and the mark is used to indicate the terminal device corresponding to the DOA parameter.

[0212] Optionally, the processing module 1102 is specifically used to draw rays for the DOA parameters carrying the same mark to obtain a set of intersection points corresponding to each mark; the processing module 1102 is specifically used to cluster the intersection points in the intersection set N times using the K-Means clustering method for any intersection set to obtain the location information of the terminal device corresponding to the mark.

[0213] Optionally, the processing module 1102 is specifically used to use the Cluster clustering function for any set of intersections, and to remove points outside the cluster by setting a Euclidean distance threshold to obtain a first intersection, where the first intersection has a positive effect on clustering; the processing module 1102 is specifically used to use the K-Means clustering method to cluster the first intersection in the set of intersections N times to obtain N clustering results; the processing module 1102 is specifically used to obtain the location information of the terminal device corresponding to the mark based on the N clustering results.

[0214] Optionally, the DOA parameter set is obtained by the secondary base station estimating DOA parameters of received multi-source signals by using a blind source separation algorithm.

[0215] Optionally, when the detection signal is a non-orthogonal signal, the DOA parameter set is obtained by the secondary base station using a blind source separation algorithm to estimate the DOA parameters of the multi-source signal; or, when the detection signal is an orthogonal signal, the DOA parameter set is obtained by the secondary base station using a MUSIC algorithm to estimate the DOA parameters of the multi-source signal.

[0216] It should be understood that Figure 11The communication device shown is embodied in the form of a functional module. The term "module" herein may refer to an application-specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions. In an optional example, those skilled in the art will understand that the communication device may specifically be a terminal device or a network device in the above-mentioned embodiment, and the communication device may be used to execute the various processes and / or steps corresponding to the terminal device or the network device in the above-mentioned method embodiment. To avoid repetition, they will not be described here.

[0217] The above-mentioned communication device has the function of implementing the corresponding steps performed by the terminal device or network device in the above-mentioned method; the above-mentioned functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions. In the embodiment of the present application, Figure 11 The communication device in the embodiment may also be a chip, such as a SOC.

[0218] Figure 12 1 shows a schematic diagram of the structure of another communication device provided in an embodiment of the present application. The communication device includes a processor 1201, a transceiver 1202, and a memory 1203. The processor 1201, the transceiver 1202, and the memory 1203 communicate with each other via an internal connection path. The memory 1203 is used to store instructions, such as computer program code, and the processor 1201 is used to execute the instructions stored in the memory 1203 to control the transceiver 1202 to send and / or receive signals.

[0219] It should be understood that the communication device can be specifically a network device or terminal device in the above-mentioned embodiments, and can be used to execute the various steps and / or processes corresponding to the network device or terminal device in the above-mentioned method embodiments. Optionally, the memory 1203 may include read-only memory and random access memory, and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store device type information. The processor 1201 can be used to execute instructions stored in the memory, and when the processor 1201 executes the instructions stored in the memory, the processor 1201 is used to execute the various steps and / or processes of the above-mentioned method embodiments. The transceiver 1202 may include a transmitter 12021, a receiver 12022, and an antenna 12023. The transmitter 12021 can be used to implement the various steps and / or processes corresponding to the above-mentioned transceiver for performing a transmission action. For example, the transmitter 12021 can be used to transmit information to another device via the antenna 12023. The receiver 12022 may be configured to implement the steps and / or processes corresponding to the above-mentioned transceiver for performing a receiving action. For example, the receiver 12022 may be configured to receive information from another device via the antenna 12023 .

[0220] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0221] During implementation, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0222] The positioning method provided in the embodiment of the present application can be applied to a terminal device with a communication function. The specific device form of the terminal device can refer to the above related description and will not be repeated here.

[0223] An embodiment of the present application provides a terminal device, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the terminal device to execute the steps of the terminal device in the above method.

[0224] An embodiment of the present application provides a network device, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the network device to execute the steps of the network device in the above method.

[0225] The present embodiment provides a chip or chip system. The chip or chip system includes one or more processors, which are configured to invoke computer instructions to cause a terminal device to execute the steps of the terminal device in the above-described method, or to cause a network device to execute the steps of the network device in the above-described method. The implementation principles and technical effects are similar to those of the above-described related embodiments and will not be further elaborated here.

[0226] The present application also provides a computer-readable storage medium including computer instructions, which, when executed on an electronic device, cause a terminal device to execute the steps of the terminal device in the above method, or cause a network device to execute the steps of the network device in the above method.

[0227] The present application also provides a computer program product, which includes a computer program (also referred to as code or instructions). When the computer program runs on a computer, the computer can execute the method shown in the above method embodiment.

[0228] The methods described in the above embodiments can be implemented in whole or in part through software, hardware, firmware, or any combination thereof. If implemented in software, the functions can be stored as one or more instructions or codes on a computer-readable medium or transmitted on a computer-readable medium. Computer-readable media can include computer storage media and communication media, and can also include any medium that can transfer a computer program from one place to another. The storage medium can be any target medium that can be accessed by a computer.

[0229] In one possible implementation, computer-readable media may include RAM, ROM, compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium designed to carry or store the desired program code in the form of instructions or data structures and accessible by a computer. Furthermore, any connection is appropriately termed a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, include optical disc, laser disc, optical disc, digital versatile disc (DVD), floppy disk, and Blu-ray disc, where disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of the above are also intended to be included within the scope of computer-readable media.

[0230] An embodiment of the present application provides a computer program product, which includes computer program code. When the computer program code is executed, the computer executes the above method.

[0231] It should be noted that the module names involved in the embodiments of the present application can be defined as other names, as long as the functions of each module can be achieved, and there is no specific restriction on the module names. It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the embodiments of the present application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation portals for users to choose to authorize or refuse.

[0232] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable device to produce a machine, so that the instructions executed by the processing unit of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0233] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the present invention should be included in the scope of protection of the present invention.

Claims

1. A positioning method, characterized in that: The method comprises: Performing N clustering processes on the positioning data of each terminal device to obtain location information of each terminal device, where N is determined based on first information of each terminal device, where the first information is used to indicate a positioning requirement of the terminal device; Sending the location information of the terminal device to each of the terminal devices.

2. The method according to claim 1, characterized in that The first information includes: positioning level information of the terminal device; the level indicated by the positioning level information is positively correlated with the positioning quality; The N corresponds to the highest level indicated by the positioning level information in the first information of each terminal device.

3. The method according to claim 1, characterized in that The first information includes: positioning level information of the terminal device; the level indicated by the positioning level information is positively correlated with the positioning quality; When the first level is less than or equal to the second level, N corresponds to the first level; wherein the first level is the highest level indicated by the positioning level information in the first information of each terminal device, and the second level is the highest level supported by the positioning resources of the primary base station; In the case where the first level is greater than the second level, the N corresponds to the second level.

4. The method according to any one of claims 1 to 3, characterized in that Before performing N clustering processes on the positioning data of each terminal device, the method further includes: receiving a DOA parameter set of at least one secondary base station; For any DOA parameter set of the secondary base station, mark each DOA parameter in the DOA parameter set according to the maximum deviation in the frequency domain of the signal corresponding to each DOA parameter; The performing N-times clustering processing on the positioning data of each terminal device to obtain the location information of each terminal device includes: performing ray drawing and N-times clustering processing on the DOA parameters carrying the same marker to obtain the location information of the terminal device corresponding to the marker.

5. The method according to claim 4, characterized in that Adding a mark to each of the DOA parameters in the DOA parameter set according to a maximum deviation in the frequency domain of a signal corresponding to each of the DOA parameters includes: For the DOA parameter set of any secondary base station, sort the signals corresponding to each DOA parameter in the DOA parameter set according to the maximum deviation in the frequency domain, and add a mark to each DOA parameter according to the sorting result and the frequency sorting of the first detection signal. The first detection signal is a detection signal of a terminal device that establishes a communication connection with the secondary base station, and the mark is used to indicate the terminal device corresponding to the DOA parameter.

6. The method according to claim 4, characterized in that The step of performing ray drawing and N-times clustering on the DOA parameters carrying the same marker to obtain the location information of the terminal device corresponding to the marker includes: Perform ray drawing on the DOA parameters carrying the same marker to obtain the set of intersection points corresponding to each marker; For any intersection point set, the K-Means clustering method is used to cluster the intersection points in the intersection point set N times to obtain the location information of the terminal device corresponding to the mark.

7. The method according to claim 6, characterized in that For any intersection point set, the intersection points in the intersection point set are clustered N times using the K-Means clustering method to obtain the location information of the terminal device corresponding to the mark, including: For any set of intersection points, use the Cluster clustering function to remove points outside the cluster by setting a Euclidean distance threshold to obtain the first intersection point, which is the intersection point that has a positive effect on the clustering; Use the K-Means clustering method to cluster the first intersection point in the intersection point set N times to obtain N clustering results; The location information of the terminal device corresponding to the tag is obtained according to the N clustering results.

8. The method according to claim 4, characterized in that The DOA parameter set is obtained by the secondary base station performing DOA parameter estimation on received multi-source signals using a blind source separation algorithm.

9. The method according to claim 8, characterized in that In the case where the detection signal is a non-orthogonal signal, the DOA parameter set is obtained by the secondary base station performing DOA parameter estimation on the multi-source signals using a blind source separation algorithm; Alternatively, in a case where the detection signal is an orthogonal signal, the DOA parameter set is obtained by the secondary base station estimating DOA parameters of the multi-source signals by using a MUSIC algorithm.

10. A positioning method, characterized in that: The method comprises: The terminal device sends first information to the primary base station, where the first signal is used to indicate a positioning quality requirement of the terminal device; The first information is used to determine the number of times the main base station performs clustering processing on the positioning data of each terminal device.

11. A positioning method, characterized in that: The method comprises: Receive multi-source signals; The DOA parameters of the received multi-source signals are estimated using the blind source separation algorithm to obtain a DOA parameter set.

12. The method according to claim 11, characterized in that When the detection signal is a non-orthogonal signal, a blind source separation algorithm is used to estimate the DOA parameters of the multi-source signal to obtain the DOA parameter set; Alternatively, when the detection signals are orthogonal signals, the DOA parameters of the multi-source signals are estimated using a MUSIC algorithm to obtain the DOA parameter set.

13. The method according to claim 11 or 12, characterized in that The method further comprises: Send the DOA parameter set to the primary base station.

14. A communication device, characterized in that: The communication device includes: one or more processors and memory; The memory is coupled to the one or more processors, and is configured to store computer program code, where the computer program code includes computer instructions. The one or more processors call the computer instructions to enable the communication device to perform the method according to any one of claims 1 to 13.

15. A chip system, characterized in that: The chip system is applied to a terminal device, and the chip system includes one or more processors, and the one or more processors are used to call computer instructions so that the terminal device executes the method as described in any one of claims 1 to 13.

16. A computer-readable storage medium, characterized in that The computer-readable storage medium includes computer instructions, and when the computer instructions are executed on a terminal device, the terminal device is caused to execute the method according to any one of claims 1 to 13.

17. A computer program product, characterized in that The computer program product includes a computer program code, and when the computer program code is run on a terminal device, the terminal device is caused to perform the method according to any one of claims 1 to 13.

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