Positioning methods, terminal devices, base stations, storage media, and chip systems

Abstract

This application provides a positioning method, terminal device, base station, storage medium, and chip system, relating to the field of communication technology. The method includes: performing 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 first information of each terminal device, the first information indicating the positioning requirements of the terminal device; and sending the location information of the terminal device to each terminal device. In this way, the number of clustering operations on the DOA parameters can be adaptively adjusted according to the positioning requirements of the terminal devices. This method ensures that the number of clustering operations on the DOA parameters matches the positioning requirements, thereby optimizing positioning accuracy and speed and improving user experience.

Description

Technical Field

[0001] This application relates to the field of terminal technology, and in particular to positioning methods, terminal devices, base stations, storage media, and chip systems. Background Art

[0002] Mobile phones, vehicles, and other terminal devices can provide location services through wireless communication networks. For example, taking location services through cellular networks, a secondary base station can receive the detection signal transmitted by the terminal device and estimate the direction of arrival (DOA) based on the received detection signal to obtain DOA parameters. The primary base station can process the DOA parameters from the secondary base station using clustering algorithms to improve positioning accuracy.

[0003] Currently, main base stations typically use a fixed number of clustering operations for data processing.

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

[0005] This application provides a positioning method, terminal device, base station, storage medium, and chip system, applicable to the field of communication technology. It helps adapt to diverse positioning needs and improves overall service quality.

[0006] In a first aspect, embodiments of this application propose a positioning method. The method includes: performing 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 first information of each terminal device, the first information being used to indicate the positioning requirements 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 operations for the DOA parameters can be adaptively adjusted according to the positioning requirements of the terminal device. This ensures that the number of clustering operations for the DOA parameters matches the positioning requirements, thereby optimizing positioning accuracy and speed and improving the user experience.

[0008] In one possible implementation, the first information includes: positioning level information of the terminal device; the positioning level information indicates a level that is positively correlated with positioning quality; N corresponds to the highest positioning 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 clusters, the positioning accuracy can be flexibly adjusted according to different positioning quality requirements to meet the accuracy needs 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 positioning level information indicates a level that is positively correlated with 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 the appropriate selection of clustering times based on the positioning level of the terminal device and the resource support level of the main base station; it also enables the provision of the highest possible positioning accuracy even with limited resources. Furthermore, it reduces the likelihood of positioning failures due to excessively high positioning accuracy and insufficient resources.

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

[0013] By labeling the DOA parameters before clustering, data from different signal sources can be grouped, 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. This includes: for any secondary base station's DOA parameter set, sorting the signals 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 the detection signal of the 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] By sorting and labeling the DOA parameters, we can better identify and distinguish data from different signal sources, thereby improving the accuracy of positioning.

[0016] In one possible implementation, ray drawing is performed on DOA parameters carrying the same label and N clustering processes are performed to obtain the location information of the terminal device corresponding to the label. This includes: ray drawing is performed on DOA parameters carrying the same label to obtain a set of intersection points corresponding to each label; for any set of intersection points, the K-Means clustering method is used to perform N clustering processes on the intersection points in the set of intersection points to obtain the location information of the terminal device corresponding to the label.

[0017] By performing ray casting and clustering on DOA parameters carrying the same marker, the location of the terminal device can be determined, improving the accuracy of positioning.

[0018] In one possible implementation, for any set of intersection points, the K-Means clustering method is used to cluster the intersection points in the set N times to obtain the location information of the terminal device corresponding to the marker. This includes: for any set of intersection points, using the Cluster clustering function, points outside the clusters are removed by setting a Euclidean distance threshold to obtain the first intersection point, which is the intersection point that has a positive effect on clustering; the K-Means clustering method is used to cluster the first intersection point in the set of intersection points N times to obtain N clustering results; and the location information of the terminal device corresponding to the marker is obtained based on the N clustering results.

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

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

[0021] Thus, using the blind source separation algorithm for DOA parameter estimation can effectively extract positioning information in multi-source signal environments, thereby improving the reliability of positioning.

[0022] In one possible implementation, when the probe 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 probe 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] Thus, by selecting an appropriate algorithm (blind source separation algorithm or MUSIC algorithm) for DOA parameter estimation based on the orthogonality of the detected signals, the accuracy and efficiency of DOA parameter estimation can be improved.

[0024] Secondly, embodiments of this application provide a positioning method. The method includes: a terminal device sending first information to a main base station, wherein the first signal is used to indicate the positioning quality requirements of the terminal device; and 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.

[0025] Thirdly, embodiments of this application provide a positioning method. The method includes: receiving multi-source signals; and using a blind source separation algorithm to estimate the DOA parameters of the received multi-source signals to obtain a DOA parameter set.

[0026] In one possible implementation, when the probe signals are non-orthogonal, a blind source separation algorithm is used to estimate the DOA parameters of the multi-source signals to obtain a set of DOA parameters; or, when the probe signals are orthogonal, the MUSIC algorithm is used to estimate the DOA parameters of the multi-source signals to obtain a set of DOA parameters.

[0027] In one possible implementation, the method further includes sending a set of DOA parameters to the main base station.

[0028] Fourthly, embodiments of this application provide a communication device. The communication device may include a processor and a memory, the memory for storing code instructions, and the processor for executing the code instructions to perform the methods described in the first aspect or any possible implementation thereof, or to perform the methods described in the second aspect or any possible implementation thereof.

[0029] Fifthly, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when executed on a computer, cause the computer to perform the method described in the first aspect or any possible implementation thereof, or to perform the method described in the second aspect or any possible implementation thereof.

[0030] Sixthly, embodiments of this application provide a computer program product including a computer program, which, when run on a computer, causes the computer 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.

[0031] Seventhly, this application provides a chip or chip system including at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run computer programs or instructions to perform the methods described in the first aspect or any possible implementation thereof, or to perform the methods described in the second aspect or any possible implementation thereof. The communication interface in the chip can be an input / output interface, pins, or circuits, etc.

[0032] In one possible implementation, the chip or chip system described above in this application further includes at least one memory storing instructions. The memory can be an internal storage unit of the chip, such as a register or cache, or it can be a storage unit of the chip itself (e.g., read-only memory, random access memory, etc.).

[0033] It should be understood that the second to seventh aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

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

[0035] Figure 2 This application provides a schematic diagram of the structure of a communication system according to an embodiment of the present application.

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

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

[0038] Figure 5 This is a schematic diagram of a blind source separation process provided in an embodiment of this application;

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

[0040] Figure 7 This is a schematic diagram of a clustering process provided in an embodiment of this application;

[0041] Figure 8 This is a schematic flowchart of a positioning process provided in an embodiment of this application;

[0042] Figure 9A A schematic diagram of positioning error provided for an embodiment of this application;

[0043] Figure 9B Another positioning error diagram provided for an embodiment of this application;

[0044] Figure 9C This is another schematic diagram of positioning error provided in the embodiments of this application;

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

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

[0047] Figure 12 This is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

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

[0049] 1. Other terms

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

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

[0052] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer 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 represent: a, b, c, ab, a--c, bc, or abc, where a, b, and c can be single or multiple.

[0053] 2. Network equipment

[0054] A network device is a device that connects terminal devices to a wireless network; it can also be called an access network device or a radio access network (RAN) device. A RAN device can be a node within the radio access network, often simply referred to as an RAN node.

[0055] In one possible scenario, a RAN node can be a base station (BS), an evolved NodeB (eNodeB), a transmission reception point (TRP), a home evolved NodeB (or home Node B, 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, etc.

[0056] RAN nodes can also be devices that function as base stations in device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, machine-to-machine (M2M) communication systems, and Internet-to-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, indoor stations, relay nodes, donor nodes, etc., or radio controllers in cloud radio access networks (CRAN) scenarios, or nodes in open radio access networks (O-RAN or ORAN) scenarios. Optionally, RAN nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, in V2X technology, RAN nodes 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 the terminal in achieving wireless access, with different RAN nodes each implementing a portion of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0059] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in the ORAN system, CU can also be called Open CU (O-CU), DU can also be called Open DU (O-DU), CU-CP can also be called Open CU-CP (O-CU-CP), CU-UP can also be called Open CU-UP (O-CU-UP), and RU can also be called Open RU (O-RU).

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

[0061] 3. Terminal equipment

[0062] The terminal device in this application embodiment is a wireless terminal device. A wireless terminal device can refer to a device with wireless transceiver capabilities, which can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on water (such as on ships); and it can also be deployed in the air (e.g., on airplanes, balloons, and satellites). The terminal device can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, virtual reality (VR) terminal, augmented reality (AR) terminal, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical care, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, etc., and is not limited thereto. It is understood that in this application embodiment, the terminal device can also be referred to as user equipment (UE).

[0063] In the embodiments of this application, the terminal equipment 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 equipment, 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, these at least two network devices may provide different RLC, MAC, and PHY entities for the terminal device; that is, all network devices provide RLC, MAC, and PHY entities for the terminal device. 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, i.e., having the same PDCP layer entities. In another MR-DC architecture, service data flows can be split from the core network (CN) and mapped to the PDCP, RLC, MAC, and PHY entities of different network devices respectively. It is understood that the radio carriers used by these at least two network devices may employ the same communication standard or different communication standards. For example, some carriers may use the LTE radio access communication standard to communicate with the terminal device, while other carriers may use the 5G New Radio (NR) radio access communication standard.

[0066] It should be noted that the MR-DC scenario in this application embodiment refers to the terminal device. At least two network devices may include a master node and a secondary node. The master node can 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, the terminal device can communicate with both the primary base station and the secondary base station. MR-DC may 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), etc.

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

[0069] In this embodiment of the application, the primary base station and 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 secondary base station can use the same CU but different DU, or they can use the same DU but different CU; no specific limitation is made here.

[0070] 5. Detection signal

[0071] A detection signal refers to a radio signal used to determine the location of a terminal device. In the embodiments of this application, the detection signal can be an uplink positioning signal (RS) or any other signal used for positioning, and is not specifically limited here.

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

[0073] The MUSIC algorithm utilizes the orthogonality of the signal and noise subspaces to estimate the Direction of Ability (DOA). Specifically, the algorithm decomposes the received signal into a signal subspace and a noise subspace. The signal subspace is composed of the signal's direction vectors, while the noise subspace is orthogonal to the signal subspace. By searching for the signal's direction vectors within the noise subspace, the DOA of the signal can be estimated, yielding the DOA parameters.

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

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

[0076] Non-line-of-sight (NLS) transmission refers to a situation where the propagation path of a signal between the transmitter and receiver is blocked by obstacles, and the signal must reach the receiver through reflection, refraction, diffraction, or other means. Multipath propagation is a common feature in NLS scenarios. Multipath propagation refers to the phenomenon that a signal may reach the receiver through multiple paths.

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

[0078] like Figure 1 As shown, taking a communication system as an example, the transmitting end has 3 terminal devices, and the receiving end has 17 communicable auxiliary base stations and 1 main base station. Both the auxiliary base stations and the main base station can be equipped with multiple receiving antennas.

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

[0080] To facilitate understanding of the embodiments of this application, firstly, in conjunction with Figure 2 A detailed description of the communication system applicable to the embodiments of this application will be provided. The communication system may include: at least one terminal device, one first network device, and at least one second network device.

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

[0082] The terminal device 201 can communicate with both the first network device 202 and 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 the main base station, and the second network device can also be referred to as the auxiliary base station.

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

[0084] In some embodiments, both the first network device 202 and the second network device 203 can perform DOA estimation based on the received detection signal to obtain the 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 the 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 merely an example; 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 or form of the network devices or terminal devices.

[0087] Currently, network devices typically perform a fixed number of clustering operations on DOA parameters. However, this method lacks the flexibility to adapt to the positioning needs of different terminal devices.

[0088] Understandably, if the terminal device has high requirements for positioning quality, the fixed number of times may be less than the number of clustering operations required for the terminal device's positioning, which may result in inaccurate positioning and a poor user experience. Conversely, if the terminal device has high requirements for positioning quality, the fixed number of times may be greater than the number of clustering operations required for the terminal device's positioning, which may result in slow positioning speed and a poor user experience.

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

[0090] For example, Figure 3 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 3 As shown, the positioning methods include:

[0091] S301. The first network device receives first information from each terminal device. The first information is used to indicate the positioning requirements of the terminal devices. For example, quality requirements, real-time requirements, and / or reliability requirements, etc.

[0092] For example, the first piece of information may include: quality level information, real-time performance level information, or service identifier, etc., without specific limitations here. It should be noted that the positioning requirements of the terminal device are usually related to the service currently used by the terminal device. Therefore, the positioning quality requirements and / or real-time performance requirements of the terminal device can also be indicated by the service identifier.

[0093] S302. The first network device adjusts the number of times it performs clustering processing on the location data of the terminal devices based on the first information of each terminal device.

[0094] In this way, the first network device can adaptively adjust the number of clusters for the DOA parameters based on the positioning quality requirements and / or real-time requirements of the terminal devices. This ensures that the number of clusters for the DOA parameters performed by the first network device aligns 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 positioning level information indication level is positively correlated with positioning quality, or negatively correlated with real-time requirements.

[0096] For example, taking a quality level that includes levels 1 to 7, and where positioning quality is 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, then the adjusted number of clusters is the number corresponding to level 5.

[0097] For example, taking real-time performance levels as including levels 1 to 7, and the real-time performance requirement standard being negatively correlated with the level (i.e., the shorter the time limit, the lower the level), 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 clusters is the number corresponding to level 5.

[0098] In this way, the number of clustering operations can be adjusted based on the location level information of the terminal device, allowing the first network device to use more clustering operations when the terminal device has a higher location level. This approach can fully utilize the location capabilities of the terminal device, thereby improving the accuracy and precision of the location.

[0099] Optionally, the first information includes: positioning level information of the terminal device; the positioning level indicated by the positioning level information is positively correlated with positioning quality, or the positioning level indicated by the positioning level information is negatively correlated with real-time requirements; when the first level is less than or equal to the second level, the adjusted number of clustering 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 corresponds to the second level.

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

[0101] For example, taking a real-time performance level range from level 1 to level 7, where 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, 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 operations is 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 operations is the number corresponding to level 3.

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

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

[0104] The following is combined Figure 4 The interaction flow of the positioning method in the embodiments of this application is described. For example, Figure 4 This is a flowchart illustrating a positioning method provided in an embodiment of this application. Figure 3 As shown, the positioning process for terminal device A may include:

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

[0106] It should be understood that when terminal device A is powered on or enters a network coverage area, terminal device A can scan for 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 main base station through a random access procedure.

[0108] Access request 'a' may include: device identification information, service request information, and / or capability information, etc. No specific limitations are specified here.

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

[0110] Service request information indicates the service requested by the terminal device, such as voice, data, emergency services, etc. Capability information indicates the communication capabilities of the terminal device, such as supported frequency bands, maximum data rate, etc.

[0111] S402. In response to access request a, the main base station sends a connection confirmation echo to terminal device A.

[0112] For example, the main base station can allocate resources corresponding to terminal device A based on the information in access request a, such as temporary identifiers (e.g., C-RNTI) and uplink resources.

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

[0114] Access request b is similar to access request a above. For details, please refer to the corresponding description of access request a above. No specific limitations are made here.

[0115] In this embodiment, there can be one or more secondary base stations, and the number of secondary base stations is not specifically limited. The following explanation uses two secondary base stations as an example.

[0116] In some embodiments, the secondary base stations are determined by the primary base station based on measurement reports from 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 nearby 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 nearby base stations based on the measurement results and connect to each secondary base station. After the primary base station connects to each secondary base station, it can send the identifiers of each secondary base station to terminal device A. Terminal device A establishes a communication connection with each secondary base station based on the identifiers of each secondary base station. This application does not specifically limit the method for determining secondary base stations.

[0117] Taking two secondary base stations, 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. In response to access request b, the secondary base station sends a connection confirmation echo to terminal device A.

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

[0120] S405. Terminal device A sends a location request to the main base station. This location request includes the user ID corresponding to terminal device A.

[0121] Location requests may include: device identifier, initial information, and location service type identifier. Location service types may include: emergency location, navigation service, location update, etc. No specific limitations are specified here.

[0122] S406. The main base station responds to the positioning request and allocates positioning resources corresponding to terminal device A.

[0123] Location resources may include: location signal information (e.g., the frequency and time slots of a Positioning Reference Signal (PRS)) and computing resources (e.g., memory). The allocated memory can be used to store the location data of terminal device A and to calculate the location of terminal device A based on the stored location data.

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

[0125] For example, 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 devices, which can make reasonable use of the main base station's computing resources and reduce resource waste.

[0127] S407. The main base station sends an interception request to the auxiliary base station corresponding to terminal device A in order to obtain location data.

[0128] Interception requests, also known as cooperation requests, can include device identifiers, location signal information, measurement requirements, and time synchronization information. Location signal information can include the frequency and time slot of the Positioning Reference Signal (PRS). Measurement requirements can include Time of Arrival (TOA), Angle of Arrival (AOA), Received Signal Strength Indicator (RSSI), as well as measurement accuracy and timing requirements. Time synchronization information is used to ensure time synchronization between the secondary base station, the primary base station, and the terminal equipment.

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

[0130] S408. In response to the interception request, the secondary base station performs DOA estimation on the received signal to obtain at least one DOA parameter.

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

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

[0133] It should be understood that the JADE algorithm can counteract the correlation caused by multipath effects, and can separate the original independent source signals from the received mixed signal without knowing the source signals 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 (NLOS) scenarios, and can achieve accurate DOA estimation.

[0134] To make it easier to understand, the following will be combined with Figure 5 The principles of the JADE algorithm will be explained. For example, Figure 5 This is a schematic diagram of a blind source separation process provided in an embodiment of this application. Figure 5 As shown, the blind source separation process can include: an unknown signal mixing process and a blind source separation process.

[0135] The unknown signal mixing process is as follows: Assume the received signal is from several independent source signals. A linear hybrid. The communication system includes multiple terminal devices and multiple base stations (e.g., main base station, auxiliary base station, etc.), and the signals transmitted by the terminal devices are the source signals. The signal received by the base station is the observation signal. For example.

[0136] If the signal transmitted by the terminal device can reach the base station via line-of-sight (LOS) and / or non-line-of-sight (NLOS) transmission, the signal received by the base station can be represented as follows: , .in, This represents the observed signal received by the i-th base station, where i is the base station number; This refers to noise signals, which can include: thermal noise in the air, white noise, etc. This indicates that the i-th base station receives signals transmitted by each terminal device; T is the observation period. Let represent the channel fading coefficient from the p-th terminal device (radiation source) to the i-th base station. This is the serial number of the terminal device (radiation source); This represents the detection signal transmitted by the p-th terminal device to the i-th base station; Indicates the start time of the observation period (sampling); This represents the time delay from the p-th terminal device's transmitted signal to the i-th base station.

[0137] Since the transmission process of the source signal is unknown, therefore, Figure 4 The process shown above will include the source signal. The transmission process can be simplified as follows: , where A is the confusion matrix. This represents the observed 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, they can be used in the blind source separation process. Signal separation is achieved using higher-order statistics (such as fourth-order cumulants).

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

[0140] Step 1: Observe the signals received by the base station. Preprocessing is performed to obtain whitened data. Specifically, the observed signals are centered and whitened. Centering can be preprocessed to center the signal (zero mean), and whitening can remove correlation and standardize variance. This step transforms the estimation problem of the mixture matrix into the estimation problem of the orthogonal matrix, simplifying subsequent calculations and improving computational efficiency.

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

[0142] Step 3: Joint Diagonalization. Specifically, by jointly diagonalizing these characteristic matrices, a dismixing matrix (also called a separation matrix) can be found, making the separated signals as independent as possible. This dismixing matrix is ​​used to convert the observed signals into independent source signals.

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

[0144] For example, such as Figure 5 As shown, the whitening matrix in the JADE algorithm is V, the separation matrix is ​​W, and the observed signal is... For example; Separate signal It can be represented as ;because ,but It should be understood that since whitening does not affect the estimation of the confusion matrix A, this parameter can be ignored when performing DOA estimation. In the positioning scenario If all are known, then the confusion matrix A can be obtained. Wherein, .in, Related to DOA, it can represent the direction angle of incoming wave. ;in, This is the path loss coefficient. For angle.

[0145] The above Figure 5 The process of signal separation has been explained; the process of DOA estimation will be explained below.

[0146] The DOA parameters can be obtained by performing DOA uncorrelation estimation on the confusion matrix A using a correlation spectrum search function. For example, this can be achieved through the above... In The parameters are used to search for relevant spectral functions.

[0147] For example, DOA estimation can be performed on the separated signal y using Euclidean distance decorrelation. This method is based on the confusion matrix A and the included array steering vector element a, and its estimation process can be expressed as follows: ; .in, Let A represent the array steering vector, and let A represent the confusion matrix for blind source separation.

[0148] For example, such as Figure 6 As shown, the process for DOA estimation based on blind source separation can include:

[0149] S601. The observation signals received by the secondary base station are processed through the whitening matrix V.

[0150] S602. Blind source separation of whitened observation signals is performed based on the Frobenius norm joint approximate diagonalization method.

[0151] S603. Based on the correlation spectrum search function, perform DOA uncorrelation estimation on the confusion matrix A to obtain the DOA parameters of each separated signal.

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

[0153] Among the possible implementations, when the probe signal is a non-orthogonal signal, the blind source separation algorithm is used to estimate the DOA parameters of the signal received by the secondary base station; when the probe signal is an orthogonal signal, the MUSIC algorithm is used to estimate the DOA parameters of the signal received by the secondary base station.

[0154] It should be understood that since orthogonal signals are mathematically independent, linear combinations do not lead to signal confusion. Therefore, the receiver (e.g., a secondary base station) can directly separate the signals received by the secondary base station through simple linear operations (such as projection) without using blind source separation. The receiver (e.g., the secondary base station) can directly estimate the angle after extracting each signal using orthogonality. For example, DOA estimation can be performed using the MUSIC algorithm.

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

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

[0157] S410: The main base station performs ray mapping based on the locations of each auxiliary base station and each DOA parameter to obtain a set of intersection points.

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

[0159] S411. The main base station marks and groups the DOA parameters.

[0160] The process of marking DOA parameters in this embodiment can be understood as associating each DOA parameter with a terminal device. The process of grouping DOA parameters can be understood as grouping DOA parameters corresponding to the same terminal device into a group.

[0161] It is understandable that in practical applications, there are often multiple terminal devices that are located simultaneously. Therefore, the DOA parameters contained in the DOA parameter set may correspond to different terminal devices, and each DOA parameter needs to be mapped to a terminal device.

[0162] In this embodiment, the main base station can mark the DOA parameter in any way. For example, it can be done through the maximum deviation in the frequency domain, artificial neural networks, etc., without specific limitations.

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

[0164] It should be understood that different terminal devices use different frequencies of detection signals when performing positioning. Since the maximum frequency domain deviation varies significantly between signals of different frequencies, the maximum frequency domain deviation can be used to distinguish between signals, and thus, between terminal devices.

[0165] Maximum frequency domain 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 value from the average frequency. For example, maximum frequency domain deviation can be the deviation between the maximum frequency value of a sampled point on the spectrum and the average frequency value of those sampled points.

[0166] Specifically, the spectrum of the separated signal can be obtained by performing a Fourier transform on the separated signal. For example, ;in, The frequency domain result of the separated signal can be understood as the distribution of the separated signal at different frequency components. This is a separated signal.

[0167] The maximum frequency deviation is then calculated by comparing the ratio of the maximum frequency value to the average frequency value at each sampling point in the spectrum. For example, the maximum frequency deviation... It can be represented as: ;in, Represents the maximum value in the frequency domain; This represents the mean frequency of the sampling points.

[0168] For example, for any secondary base station's DOA parameter set, the parameters are 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. The first detection signal is the detection signal of the terminal device that uses the secondary base station for positioning.

[0169] For example, the terminal devices used for positioning with auxiliary base station 1 include: terminal device A, terminal device B, and terminal device C. The detection signals corresponding to these 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 sequentially. Taking the DOA parameter set d1 obtained by auxiliary base station 1 as an example, if it includes: DOA parameter 11, DOA parameter 12, and DOA parameter 13, and the maximum frequency domain deviation corresponding to DOA parameter 11, DOA parameter 12, and DOA parameter 13 decreases sequentially, then DOA parameter 11 corresponds to detection signal 21 and thus corresponds to terminal device A; DOA parameter 12 corresponds to detection signal 22 and thus corresponds to terminal device B; and DOA parameter 13 corresponds to detection signal 23 and thus corresponds to terminal device C.

[0170] In other embodiments, the step of marking the DOA parameters can also be performed by each secondary base station. Adaptively, the secondary base station also sends the corresponding mark for each DOA parameter to the primary base station. This step can be performed simultaneously with S409, or it can be performed first and then S409, or S409 can be performed first and then this step; there is no specific limitation on the order of execution.

[0171] S413. The main base station performs N clustering operations on the intersection set corresponding to each group of DOA parameters to obtain the location information of each terminal device. N is related to the positioning requirements indicated by each terminal device.

[0172] The process of determining N can be referred to the above. Figure 3 The corresponding descriptions of the embodiments shown are not elaborated here.

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

[0174] S701. For any set of intersection points corresponding to 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 intersection points; and the similarity is evaluated using Euclidean distance. ; ;in, Euclidean distance. Let x be the x-coordinate of the i-th intersection point. Let be the ordinate of the i-th intersection point. The similarity is calculated using the above formula for all intersections, and intersections with a similarity less than the Euclidean distance threshold are all removed.

[0176] when If no other similar intersection points are found, it indicates that the intersection point is likely a ray intersection point drawn based on spurious DOA parameters generated by NLOS transmission. In this case, the intersection point is directly removed using the Cluster hard threshold and is not used for subsequent clustering. An empirical threshold can be set manually in the scheme.

[0177] In this way, by setting a Euclidean distance threshold, points outside the clusters can be removed, while intersections that have a positive effect on clustering can be retained.

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

[0179] It should be understood that after removing discrete points through Cluster, most of the remaining points are intersection points within closely clustered groups, so the K-Means method can be used for clustering.

[0180] For a given set of coordinates based on the location intersection points ,in, Let i represent the i-th intersection point.

[0181] For any intersection point The goal is to classify it into one of K clusters, where K is the number of the positioning terminal devices (also known as radiation sources).

[0182] Each of the K clusters corresponds to a central point. The objective function for optimization is the in-cluster squared error. This can be achieved by minimizing the objective function. Find the optimal cluster partition, objective function It can be represented as ,in, This represents the distance between the i-th intersection point and the k-th cluster center point. Let represent the set of intersection points in the Kth cluster.

[0183] K-Means clustering can include steps such as initialization, cluster assignment, centroid iterative update, and algorithm convergence. The first step is initialization, which involves randomly selecting clusters. As the initial centroid within the cluster; then, cluster assignment is performed, calculating the Euclidean clustering of each intersection point to all centroids, and assigning it to the nearest cluster. This step can be represented as: ,in, This indicates whether the i-th intersection point is assigned to (or belongs to, is contained in) the k-th cluster, with 1 indicating yes and 0 indicating no.

[0184] After determining the initial cluster assignments, a centroid iterative update step is performed, which involves recalculating the centroid of each cluster. The calculation expression is as follows: ,in, Indicates the center of the k-th cluster. This indicates whether the i-th intersection point is assigned to (or belongs to, is contained in) the k-th cluster. Let i represent the i-th intersection point.

[0185] The iterative process can be understood as the following two steps: 1. Determine (fix) the centroid. Cluster allocation of data is determined by minimizing the objective function J. 2. Fixed cluster allocation The new centroid is determined by minimizing the objective function J. .

[0186] When the cluster assignment no longer changes within the number of iterations, the K-Means clustering algorithm converges, yielding the location of each terminal device.

[0187] Figure 7 The illustrated embodiment represents a single clustering process. However, the clustering process in this application embodiment can be performed multiple times. Therefore, the above... Figure 7 The illustrated process may be executed multiple times. In some embodiments, only S702 may be executed multiple times. No specific limitation is made here.

[0188] S412. The main 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 illustrated with a set of DOA parameters, but the main base station can also calculate multiple sets of DOA parameters simultaneously.

[0190] For example, Figure 8 This is a schematic flowchart of a localization process provided in an embodiment of this application. Taking DOA estimation using blind source separation technology as an example, as follows... Figure 8 As shown, each auxiliary base station can perform DOA estimation using blind source separation technology to obtain a set of DOA parameters. These DOA parameters are then correlated (e.g., labeled and grouped) to obtain the DOA parameters corresponding to each terminal device. Finally, the DOA parameters corresponding to each terminal device are processed using ray casting, N-fold clustering, and other methods to obtain the location information of each terminal device. Figure 8 If the clustering count requirement is not met, the clustering process is repeated; if the clustering count requirement is met, the location information of each terminal device can be output.

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

[0192] The following is combined Figures 9A to 9C The positioning results of the terminal devices obtained by the positioning method are explained. The various parameter configurations of the communication system are shown in Table 1, and the parameter configurations of the clustering process are shown in Table 2. The positioning results can be obtained as follows: Figures 9A to 9C For example, as shown in the figure.

[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 probability distribution 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, the horizontal axis corresponding to a vertical axis of 0.5 represents the median error, which can be used to represent the system's positioning error. The horizontal axis corresponding to a vertical axis of 0.9 or 0.95 can be used to evaluate the system's reliability.

[0198] See Figures 9A to 9C When using the MUSIC algorithm for positioning, the positioning error of terminal device A is less than 40 meters (e.g., Figure 9A As shown), the positioning error of terminal device B is less than 150 meters (e.g. Figure 9B As shown), the positioning error of terminal device C is less than 500 meters (e.g. Figure 9C As shown); 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 either the MUSIC algorithm or the JADE algorithm for terminal device positioning. Compared to the MUSIC algorithm, the JADE algorithm typically has a smaller positioning error and higher positioning accuracy.

[0200] It should be understood that the clustering frequency adjustment method shown in the above embodiments can also be applied to other scenarios, such as the integrated sensing and communication (ISAC) system assisted by a distributed passive intelligent reflecting surface (IRS). This system does not require channel state information (CSI) and can simultaneously perform signal demodulation and location awareness. Specifically, each coherent block consists of two stages, and each stage is further divided into two time blocks. In these two time blocks, the proposed integrated localization and demodulation (I-LAD) algorithm is used to simultaneously perform signal demodulation, channel estimation, and location awareness. During location awareness processing, the clustering frequency can be adjusted according to the positioning requirements (positioning needs).

[0201] Furthermore, the DOA parameter marking method shown in the above embodiments can also be applied to other positioning scenarios, such as the distributed passive IRS-assisted ISAC system. In the process of signal demodulation in 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 schematic diagram of the structure of a distributed passive IRS-assisted ISAC system provided in an embodiment of this application. Figure 10 As shown, the system may include: a base station 1001, a sensor-integrated reflective surface (also known as a time block) 1002, and a terminal device 1003.

[0203] Terminal device 1003 can transmit detection signals; the integrated inductive reflector 1002 can adjust the phase correction and reflection of the detection signals transmitted by the terminal device. Base station 1001 can receive the detection signals reflected by the integrated inductive reflector 1002 (hereinafter referred to as reflected signals). Base station 1001 can perform DOA estimation on the reflected signals to infer and calculate the direction of arrival (DOA parameter) from the terminal device to the integrated inductive reflector 1002. Base station 1001 can obtain the location information of the terminal device by the position of the integrated inductive reflector 1002 and the direction of arrival (DOA parameter) from the terminal device to each integrated inductive reflector 1002.

[0204] In the process of obtaining the location information of the terminal device by using the position of the integrated sensory reflector 1002 and the direction of arrival (DOA parameter) from the terminal device to each integrated sensory reflector 1002, the clustering number adjustment method and / or DOA parameter marking method shown in the above embodiments can be used for processing. No specific limitations are made here.

[0205] The above text combined Figures 3 to 9C The positioning method of the embodiments of this application is described in detail below. Figure 11 and Figure 12 This application describes in detail the communication apparatus according to embodiments of the present application. The communication apparatus includes modules or units for performing each part of the above embodiments. Modules or units can be software, hardware, or a combination of software and hardware. The following is only a brief illustrative example of the communication apparatus; for details of the implementation, please refer to the description of the foregoing method embodiments, which will not be repeated below.

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

[0207] In one possible implementation, the communication device is used to implement the steps corresponding to the first network device in the method shown in the above embodiments. The transceiver module 1101 is used to interact (transmit information) with the first network device and / or terminal devices. For example, the transceiver module 1101 can send location information of each terminal device. The transceiver module 1101 can also receive first information from each terminal device, which indicates the positioning quality requirements of the terminal device, etc. The processing module 1102 is used to perform N clustering processes 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 positioning level indicated by the positioning level information is positively correlated with the positioning quality; N corresponds to the highest positioning 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 positioning level information indicates a positive correlation with 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 further configured to receive a DOA parameter set from at least one secondary base station; the processing module 1102 is further configured to, for any secondary base station's DOA parameter set, add a mark to each DOA parameter according to the maximum frequency domain deviation of the signal corresponding to each DOA parameter in the DOA parameter set; specifically, the processing module 1102 is configured to perform ray drawing and N clustering processes on the DOA parameters carrying the same mark 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 auxiliary 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 the detection signal of the terminal device that establishes a communication connection with the auxiliary 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 perform ray drawing on DOA parameters carrying the same label to obtain the set of intersection points corresponding to each label; the processing module 1102 is specifically used to perform N clustering operations on the intersection points in the set of intersection points using the K-Means clustering method for any set of intersection points to obtain the location information of the terminal device corresponding to the label.

[0213] Optionally, the processing module 1102 is specifically used to, for any set of intersection points, use the Cluster clustering function to remove points outside the clusters by setting a Euclidean distance threshold to obtain the first intersection point, which is the intersection point that has a positive effect on clustering; the processing module 1102 is specifically used to perform N clustering operations on the first intersection point in the set of intersection points using the K-Means clustering method to obtain N clustering results; the processing module 1102 is specifically used to obtain the location information of the terminal device corresponding to the marker based on the N clustering results.

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

[0215] Optionally, when the detected 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 detected 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" here can refer to an application-specific integrated circuit (ASIC), electronic circuitry, a processor (e.g., a shared processor, a proprietary processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, integrated logic circuitry, and / or other suitable components supporting the described functions. In an optional example, those skilled in the art will understand that the communication device can specifically be a terminal device or network device as described in the above embodiments. The communication device can be used to execute the various processes and / or steps corresponding to the terminal device or network device in the above method embodiments; to avoid repetition, these will not be elaborated further here.

[0217] The aforementioned communication device has the function of implementing the corresponding steps performed by the terminal device or network device in the aforementioned method; the aforementioned function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned function. In the embodiments of this application, Figure 11 The communication device in the system can also be a chip, such as a System-on-a-Chip (SoC).

[0218] Figure 12 A schematic diagram of another communication device provided in an embodiment of this application is shown. The communication device includes a processor 1201, a transceiver 1202, and a memory 1203. The processor 1201, transceiver 1202, and memory 1203 communicate with each other via internal interconnection paths. The memory 1203 stores instructions, such as computer-defined code. The processor 1201 executes 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 may specifically be a network device or a terminal device in the above embodiments, and may be used to execute the various steps and / or processes corresponding to the network device or terminal device in the above method embodiments. Optionally, the memory 1203 may include a read-only memory and a 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 may be used to execute instructions stored in the memory, and when the processor 1201 executes instructions stored in the memory, the processor 1201 is used to execute the various steps and / or processes of the above method embodiments. The transceiver 1202 may include a transmitter 12021, a receiver 12022, and an antenna 12023. The transmitter 12021 may be used to implement the various steps and / or processes corresponding to the transceiver for performing the transmission action. For example, the transmitter 12021 may be used to transmit information to another device through the antenna 12023. Receiver 12022 can be used to implement the various steps and / or processes corresponding to the transceiver described above for performing the receiving action. For example, receiver 12022 can be used to receive information from another device via antenna 12023.

[0220] It should be understood that, in the embodiments of this application, the processor may be a central processing unit (CPU), or it 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, etc.

[0221] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The steps of the method disclosed in the embodiments of this application can be directly manifested as execution by a hardware processor, or as a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor executes the instructions in the memory, combining them with its hardware to complete the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0222] The positioning method provided in this application can be applied to terminal devices with communication functions. The specific device form of the terminal device can be referred to the above description, and will not be repeated here.

[0223] This application provides a terminal device, which includes one or more processors and a memory; the memory is coupled to one or more processors and is used to store computer program code, which includes computer instructions; one or more processors call the computer instructions to cause the terminal device to perform the steps of the terminal device in the above method.

[0224] This application provides a network device, which includes one or more processors and a memory; the memory is coupled to one or more processors and is used to store computer program code, which includes computer instructions; one or more processors call the computer instructions to cause the network device to perform the steps of the network device in the above method.

[0225] This application provides a chip or chip system. The chip or chip system includes one or more processors, which are used to invoke computer instructions to cause a terminal device to perform the steps of the method described above, or to cause a network device to perform the steps of the method described above. Its implementation principle and technical effects are similar to the related embodiments described above, and will not be repeated here.

[0226] This application also provides a computer-readable storage medium. The computer-readable storage medium includes computer instructions that, when executed on an electronic device, cause a terminal device to perform the steps of the described method, or cause a network device to perform the steps of the described method.

[0227] This application also provides a computer program product, which includes a computer program (also referred to as code or instructions) that, when run on a computer, enables the computer to perform the methods shown in the above-described method embodiments.

[0228] The methods described in the above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. If implemented in software, the functionality can be stored as one or more instructions or code on or transmitted on a computer-readable medium. A computer-readable medium 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. A storage medium can be any target medium accessible by a computer.

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

[0230] This application provides a computer program product, which includes computer program code. When the computer program code is run, it causes the computer to perform the above-described method.

[0231] It should be noted that the module names involved in the embodiments of this application can all be defined as other names, as long as they can achieve the function of each module, and no specific restrictions are placed on the module names. It should also 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, data stored, data displayed, etc.) involved in the embodiments of this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0232] This application describes embodiments of methods, apparatus (systems), and computer program products according to embodiments of this application with reference to flowchart illustrations and / or block diagrams. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processing unit of a general-purpose computer, special-purpose computer, embedded processor, or other programmable device to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0233] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning method, characterized in that, The method includes: Receive the DOA parameter set of at least one secondary base station; For any secondary base station's DOA parameter set, each DOA parameter is marked according to the maximum frequency domain deviation of the signal corresponding to the DOA parameter in the DOA parameter set; Ray plotting is performed on DOA parameters carrying the same label, and N clustering processes are performed to obtain the location information of the terminal device corresponding to the label. The N is determined based on the first information of each terminal device, which is used to indicate the positioning requirements of the terminal device. Send the location information of the terminal devices 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 positioning 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 positioning 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.

4. The method according to any one of claims 1-3, characterized in that, Each DOA parameter is marked according to the maximum frequency domain deviation of the signal corresponding to the DOA parameter in the DOA parameter set, including: For any secondary base station's DOA parameter set, sort the parameters according to the maximum frequency domain deviation of the signals corresponding to each DOA parameter in the DOA parameter set. 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 the detection signal of the terminal device that establishes a communication connection with the secondary base station. The mark is used to indicate the terminal device corresponding to the DOA parameter.

5. The method according to any one of claims 1-3, characterized in that, The step of performing raycasting and N clustering operations on DOA parameters carrying the same label to obtain the location information of the terminal device corresponding to the label includes: Plot the DOA parameters carrying the same marker using rays to obtain the set of intersection points corresponding to each marker; For any set of intersection points, the K-Means clustering method is used to perform N clustering operations on the intersection points in the set of intersection points to obtain the location information of the terminal device corresponding to the label.

6. The method according to claim 5, characterized in that, For any set of intersection points, the K-Means clustering method is used to perform N clustering operations on the intersection points in the set to obtain the location information of the terminal device corresponding to the marker, including: For any set of intersection points, the Cluster clustering function is used to remove points outside the clusters by setting a Euclidean distance threshold, and the first intersection point is obtained. The first intersection point is the intersection point that has a positive effect on clustering. The K-Means clustering method is used to cluster the first intersection point in the intersection point set N times, resulting in N clustering results; The location information of the terminal device corresponding to the label is obtained based on N clustering results.

7. The method according to any one of claims 1-3, characterized in that, The DOA parameter set is obtained by the auxiliary base station using a blind source separation algorithm to estimate the DOA parameters of the received multi-source signals.

8. The method according to claim 7, characterized in that, When the detected signals are non-orthogonal signals, the DOA parameter set is obtained by the auxiliary base station using a blind source separation algorithm to estimate the DOA parameters of the multi-source signals; Alternatively, if the detected signals are orthogonal signals, the DOA parameter set is obtained by the auxiliary base station using the MUSIC algorithm to estimate the DOA parameters of the multi-source signals.

9. A positioning method, characterized in that, The method includes: The terminal device sends first information to the main base station, the first information being used to indicate the positioning quality requirements of the terminal device; The first information is used to determine the number of times the main base station performs ray drawing and clustering processing on DOA parameters carrying the same label; the label is added by the main base station to each DOA parameter according to the maximum frequency domain deviation of the signal corresponding to each DOA parameter in the received DOA parameter set.

10. A communication device, characterized in that, The communication device includes: one or more processors and a memory; The memory is coupled to the one or more processors, the memory being used to store computer program code, the computer program code including computer instructions, the one or more processors invoking the computer instructions to cause the communication device to perform the method as described in any one of claims 1 to 9.

11. A chip system, characterized in that, The chip system is applied to a communication device, the chip system including one or more processors, the one or more processors being used to invoke computer instructions to cause the communication device to perform the method as described in any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes computer instructions that, when executed on a communication device, cause the communication device to perform the method as described in any one of claims 1 to 9.

13. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a communication device, causes the communication device to perform the method as described in any one of claims 1 to 9.

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