Error compensation parameter calculation method and device

Abstract

The embodiment of the invention provides an error compensation parameter calculation method and device. The method comprises the steps that a first node obtains first measurement information of a first measurement object, and the first measurement information is obtained by measuring the first measurement object through a first measurement method; the first node obtains first state information of the first measurement object; and the first node calculates an error compensation parameter according to the first measurement information and the first state information, wherein the error compensation parameter is used for correcting the measurement information of the measurement object measured by the first measurement method. Thus, the first node can calculate the error compensation parameter through the first measurement object, thereby realizing compensation of system errors of communication perception, improving accuracy of measurement information of the measurement object, and improving communication performance.

Description

A method and device for calculating error compensation parameters Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method and device for calculating error compensation parameters. Background Art

[0002] In the integrated communication and perception scenario, perception nodes (such as cellular base stations) often complete various communication perception tasks such as detection, positioning, speed measurement, tracking and imaging of the measurement objects to be perceived in the passive environment by receiving the echo of wireless radio frequency signals in the passive environment.

[0003] For example, a sensing node can use a non-cooperative measurement method to perform communication sensing and determine the measurement information of the target object. However, in actual applications, due to the influence of array installation and hardware circuits, the measurement information of the target object determined using this method may contain systematic errors (including site errors and measurement errors). Therefore, the measurement information determined by this method will deviate from the actual information, thereby reducing communication performance.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a method and apparatus for calculating an error compensation parameter, which are used to correct measurement information of a measurement object determined by a first measurement method, thereby improving the accuracy of the measurement information of the measurement object and thus improving communication performance.

[0006] In a first aspect, an embodiment of the present application provides a method for calculating an error compensation parameter, the method including: a first node obtains first measurement information of a first measurement object, wherein the first measurement information is obtained by measuring the first measurement object using a first measurement method; the first node obtains first state information of the first measurement object; the first node calculates an error compensation parameter based on the first measurement information and the first state information, the error compensation parameter being used to correct the measurement information of the measurement object obtained by measuring the first measurement method.

[0007] Using this method, the first node can calculate the error compensation parameter through the first measurement object with known first state information, thereby compensating for the system error, and further improving the accuracy of the measurement information obtained by itself or other nodes through the first measurement method, thereby improving communication performance.

[0008] In one possible design, after the first node calculates the error compensation parameter based on the first measurement information and the first state information, the first node may also measure the second measurement object using the first measurement method to obtain second measurement information; the first node performs error compensation on the second measurement information based on the error compensation parameter; or, the first node sends the error compensation parameter to the second node.

[0009] With this design, the first node can correct the measurement information of the object measured using the first measurement method based on the error compensation parameters. Alternatively, the first node can send the calculated error compensation parameters to the second node, allowing the second node to correct the measurement information of the object measured using the first measurement method. This design improves the accuracy of the measurement information of the object measured. Furthermore, when the first node sends the error compensation parameters to the second node, the error calculation process does not require the second node's computing resources, saving computing resources.

[0010] In one possible design, the first node may calculate the error compensation parameter in the following manner: the first node receives the node status information of the third node from the third node through a link between the first node and the third node; or, the first node obtains the node status information of the third node through calculation; the first node calculates the error compensation parameter based on the node status information of the third node, the first measurement information and the first status information.

[0011] With such a design, the first node can refer to the node state information of the third node to determine the error compensation parameter, thereby improving the accuracy of the error compensation parameter.

[0012] In one possible design, the step of the first node obtaining the first measurement information of the first measurement object includes: the first node measures the first measurement object using a first measurement method to obtain the first measurement information; or, the first node receives the first measurement information from a fourth node.

[0013] With such a design, the first node can execute the first measurement method to obtain the first measurement information, or the first node can indirectly obtain the first measurement information through the fourth node, thereby improving the flexibility and accuracy of the error calculation method.

[0014] In one possible design, the step of the first node obtaining the first status information of the first measurement object includes: the first node receiving the first status information from the first measurement object through a link between the first node and the first measurement object; or, the first node obtaining the first status information through calculation; or, the first node receiving the first status information from a fifth node.

[0015] With the aforementioned design, the first node can obtain the first state information of the first measurement object through link communication or calculation, thereby improving the flexibility and accuracy of the error calculation method.

[0016] In one possible design, the step of the first node receiving the first status information from the fifth node includes: the first node sends a first request to the fifth node; wherein the first request carries the identifier of the first measurement object, and the first request is used to request the first status information of the first measurement object; the first node receives a first response from the fifth node, and the first response includes the first status information; or, the first node receives a second request from the fifth node; wherein the second request carries the identifier of the first measurement object; the second request is used to instruct the first node to receive the first status information of the first measurement object from the fifth node; the first node receives a first message from the fifth node, and the first message includes the first status information.

[0017] In this way, the first node initiates the error compensation request, or the fifth node initiates the error compensation request, so that the first node obtains the first state information of the first measurement object, thereby making the calculation method of the error compensation parameter more flexible.

[0018] In one possible design, the error compensation parameter includes at least one of the following: a position error compensation parameter, an attitude angle error compensation parameter, and a measurement error compensation parameter.

[0019] In one possible design, the first node is any one of the following: a terminal device, a network device, and a location management function LMF network element.

[0020] In a second aspect, embodiments of the present application provide a communications device comprising a module for executing each of the steps in the first aspect above. Optionally, the communications device comprises a communications module and a processing module; the communications module is configured to receive and transmit data; and the processing module is configured to execute the method provided in the first aspect above based on the communications module. Exemplarily, the communications device may be applied to the first node described above.

[0021] In a third aspect, embodiments of the present application provide a communication device comprising a communication module, a memory, and a processor; wherein the communication module is configured to receive and send data; the memory is configured to store program instructions and data; and the processor is configured to read the program instructions and data from the memory, thereby implementing the method provided in the first aspect above. Exemplarily, the communication device may be the aforementioned first node.

[0022] In a fourth aspect, embodiments of the present application provide a communications device comprising at least one processing element and at least one storage element, wherein the at least one storage element is used to store programs and data, and the at least one processing element is used to execute the method provided in the first aspect of the present application. Exemplarily, the communications device may be the aforementioned first node.

[0023] In a fifth aspect, an embodiment of the present application further provides a computer program that, when executed on a computer, causes the computer to execute the method provided in the first aspect. Optionally, the computer may be the aforementioned first node; or the aforementioned communication device or communication equipment.

[0024] In a sixth aspect, embodiments of the present application further provide a computer-readable storage medium storing a computer program. When the computer program is executed by a computer, the computer performs the method provided in the first aspect. Optionally, the computer may be the aforementioned first node; or the aforementioned communication device or apparatus.

[0025] In a seventh aspect, embodiments of the present application further provide a chip configured to read a computer program stored in a memory and execute the method provided in the first aspect. Optionally, the chip may include a processor and a memory, the processor coupled to the memory configured to read the computer program stored in the memory and execute the method provided in the first aspect.

[0026] In an eighth aspect, embodiments of the present application further provide a chip system, comprising a processor configured to support a computer device in implementing the method provided in the first aspect. In one possible design, the chip system further comprises a memory configured to store programs and data necessary for the computer device. The chip system may be composed solely of a chip, or may include a chip and other discrete components.

[0027] The technical effects that can be achieved in any of the second to eighth aspects mentioned above can refer to the description of the technical effects that can be achieved by any possible design in the first aspect mentioned above, and the repetitions will not be discussed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is an architecture diagram of a communication system provided in an embodiment of the present application;

[0029] FIG2 is a flow chart of a method for calculating an error compensation parameter provided in an embodiment of the present application;

[0030] FIG3 is a flow chart of another method for calculating error compensation parameters provided in an embodiment of the present application;

[0031] FIG4A is an architecture diagram of another communication system provided in an embodiment of the present application;

[0032] FIG4B is an example diagram of a method for calculating error compensation parameters provided in an embodiment of the present application;

[0033] FIG5A is an architecture diagram of another communication system provided in an embodiment of the present application;

[0034] FIG5B is an example diagram of a method for calculating error compensation parameters provided by an embodiment of the present application;

[0035] FIG6A is an architecture diagram of another communication system provided in an embodiment of the present application;

[0036] FIG6B is an example diagram of a method for calculating error compensation parameters provided in an embodiment of the present application;

[0037] FIG7A is an architecture diagram of another communication system provided in an embodiment of the present application;

[0038] FIG7B is an example diagram of a method for calculating error compensation parameters provided in an embodiment of the present application;

[0039] FIG8 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0040] FIG9 is a schematic structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and beneficial effects of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0042] Below, some terms in this application are explained to facilitate understanding by those skilled in the art.

[0043] (1) Non-cooperative measurement: This generally refers to the technology used by radar to detect the position of measurement objects (including non-cooperative target objects) in the search space. The position information of non-cooperative target objects cannot be obtained by any other technical means other than direct measurement by sensors. For example, non-cooperative target objects can include terminal devices, vehicles, pedestrians, buildings, incoming missiles, enemy aircraft, failed or malfunctioning spacecraft, enemy spacecraft, and space debris in the search space.

[0044] (2) Active Cooperation Target Objects: These are target objects whose location information can be obtained through other cooperative channels in addition to being directly measured by sensors. In other words, the identity document (ID) and status information of active cooperation target objects can be obtained. For example, active cooperation target objects can be positioning reference units or positioning beacon systems.

[0045] (3) Terminal equipment is a device that provides voice and / or data connectivity to users. Terminal equipment can also be called user equipment (UE), mobile station (MS), mobile terminal (MT), etc.

[0046] For example, the terminal device may be a handheld device with wireless connection function, various vehicle-mounted devices, a roadside unit, etc. Currently, some examples of terminal devices include: mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), smart point of sale (POS) terminals, wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving cars, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, various smart meters (smart water meters, smart electricity meters, smart gas meters), eLTE-DSA UE, devices with integrated access and backhaul (IAB) capabilities, on-board electronic control units (ECUs), on-board computers, on-board cruise control systems, telematics boxes (T-BOXs), etc.

[0047] (4) Network equipment: A device in a communication system that connects a terminal device to a wireless network. As a node in a radio access network, the network equipment can also be called a base station, a radio access network (RAN) node (or device), or an access point (AP).

[0048] Currently, some examples of network equipment include: new generation Node B (gNB), transmission reception point (TRP), evolved Node B (eNB), radio network controller (RNC), Node B (NB), access point (AP), base station controller (BSC), base transceiver station (BTS), home base station (for example, home evolved NodeB, or home Node B, HNB), or base band unit (BBU), Enterprise LTE Discrete Narrowband Aggregation (eLTE-DSA) base station, etc.

[0049] In addition, in one network structure, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes. This structure splits the protocol layer of the eNB in ​​the long-term evolution (LTE) system, placing some protocol layer functions centrally controlled by the CU, and distributing some or all of the remaining protocol layer functions in the DU, which is centrally controlled by the CU.

[0050] (5) Location management function (LMF) network element, whose main functions include interacting with the fifth generation mobile communication technology (5G) core network to complete the positioning function of communication equipment.

[0051] It should be noted that the term "plurality" in this application refers to two or more, and "at least one" refers to one or more.

[0052] In addition, it should be understood that, in the description of this application, words such as "first" and "second" are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0053] Figure 1 shows a structural diagram of a communication system provided by an embodiment of the present application. As shown in Figure 1, the communication system includes a sensing node and at least one measurement object in the sensing environment of the sensing node. The sensing environment may be an environment composed of objects such as terminal devices, vehicles, pedestrians, and buildings. In the communication system, the sensing node may measure at least one measurement object by a non-cooperative measurement method to obtain measurement information of the at least one measurement object. Optionally, the number of sensing nodes may be one or more. The communication system may be deployed in a cellular positioning scenario, a communication sensing integration scenario, a multi-station network sensing scenario, or a vehicle network scenario, which is not limited in the present application. The sensing node may be a network device or a terminal device.

[0054] Optionally, the communication system shown in FIG1 may further include a network node. The network node may serve as a communication transit node between the sensing node and the active cooperation target object. The network node may be a network device or a LMF network element.

[0055] In order to correct the measurement information of the measured object, improve the accuracy of the measurement information of the measured object, and thus improve the communication performance, an embodiment of the present application proposes a method for calculating error compensation parameters. By selecting a measurement object in the perception environment that can obtain status information, the error compensation parameters corresponding to the measurement method are calculated, thereby realizing compensation for the system error of the perception node.

[0056] 1 , in an embodiment of the present application, at least one measurement object includes an active cooperative target object. The sensing node can implement link interaction with the active cooperative target object, or measure the active cooperative target object using a non-cooperative measurement method.

[0057] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0058] FIG2 is a flow chart of a method for calculating an error compensation parameter provided in an embodiment of the present application, which is applicable to the communication system shown in FIG1 . It should be noted that the embodiment of the present application can implement the calculation of the error compensation parameter through the first node, and can also implement the calculation of the error compensation parameter through the interaction between the first node and other nodes. The following describes each node involved in the embodiment of the present application:

[0059] The first node is used to calculate the error compensation parameter. In addition, the first node can also initiate the calculation of the error compensation parameter (or error calculation), obtain measurement information of the measurement object through the first measurement method, and perform error compensation on the measurement information obtained by the first measurement method.

[0060] The second node may perform error compensation on the measurement information obtained by the first measurement method according to the error compensation parameter.

[0061] The third node may obtain measurement information of the measurement object through the first measurement method, and may also send its own state information to the first node.

[0062] The fourth node may obtain the measurement information of the measurement object through the first measurement method.

[0063] The fifth node may initiate calculation of error compensation parameters (or error calculation).

[0064] It should be noted that in the method provided in the embodiment of the present application, the second node, the third node, the fourth node and the fifth node can be different nodes respectively, or any part or all of them can be the same node, which is not limited in the present application.

[0065] The method provided in the embodiment of the application will be described below with reference to FIG2 .

[0066] S201: A first node obtains first measurement information of a first measurement object, where the first measurement information is obtained by measuring the first measurement object using a first measurement method. For example, the first measurement information may include a measured position of the first measurement object, a measured distance from the first measurement object, a measured angle of the first measurement object, and a measured velocity of the first measurement object.

[0067] It should be understood that, taking the communication system shown in FIG1 as an example, the first node may be a sensing node or a network node; the first measurement object may be an active cooperation target object.

[0068] Optionally, the first node may specifically be any one of the following: any one of a terminal device, a network device, and a LMF network element. Optionally, the first measurement method may include, but is not limited to, non-cooperative measurement.

[0069] In one possible design, the first node may obtain the first measurement information of the first measurement object in either of the following two ways.

[0070] Method 1: The first node measures the first measurement object using a first measurement method to obtain first measurement information.

[0071] For example, in combination with Figure 1, when the first node is a perception node and the first measurement object is an active cooperative target object, the perception node can perform non-cooperative measurement (i.e., processing and analysis of echo data) on the active cooperative target object through a non-cooperative measurement method to obtain first measurement information.

[0072] Method 2: The first node receives the first measurement information from the fourth node.

[0073] For example, in combination with Figure 1, when the first node is a network node, the fourth node is a perception node, and the first measurement object is an active cooperative target object, the network node can send a measurement request to the perception node; the perception node can respond to the measurement request, perform non-cooperative measurement on the active cooperative target object through a non-cooperative measurement method (i.e., processing and analysis of echo data), obtain first measurement information, and send the first measurement information to the network node; accordingly, the network node receives the first measurement information from the perception node.

[0074] With such a design, the first node can obtain the first measurement information of the first measurement object through any of the above methods, thereby improving the flexibility and accuracy of the error calculation method.

[0075] S202: The first node obtains first state information of a first measurement object. The first measurement object may be an active cooperative target object. The first node may obtain the first state information of the first measurement object based on computing requirements. For example, the first state information may include the actual position and actual speed of the first measurement object.

[0076] Optionally, in addition to obtaining the first state information of the first measurement object, the first node may also obtain ID information and timestamp information of the first measurement object.

[0077] In one possible design, the first node may obtain the first status information of the first measurement object through any one of the following three methods.

[0078] Mode A: The first node receives first status information from the first measurement object through a link between the first node and the first measurement object.

[0079] For example, in combination with Figure 1, assuming that the first node is a perception node and the first measurement object is an active cooperation target object, the perception node can establish a link between the perception node and the active cooperation target object; the active cooperation target object can send the ID information, timestamp information and first status information (i.e., real-time status information) of the active cooperation target object to the perception node through the link.

[0080] Mode B: The first node obtains the first state information through calculation.

[0081] For example, in conjunction with FIG1 , assuming that the first node is a network node, and the first measurement object is an active cooperation target object, the network node may calculate first state information of the active cooperation target object.

[0082] Mode C: the first node receives the first status information from the fifth node.

[0083] Optionally, the first state information is obtained by the fifth node through calculation, or the first state information is received by the first measurement object through a link between the fifth node and the first measurement object.

[0084] In a possible design of method C, the process of the first node receiving the first status information specifically includes the following two cases:

[0085] Case 1 (error calculation initiated by the first node):

[0086] The first node sends a first request to the fifth node; wherein the first request carries an identifier of the first measurement object, and the first request is used to request first status information of the first measurement object; the first node receives a first response from the fifth node, and the first response includes the first status information.

[0087] For example, in combination with Figure 1, assuming that the first node is a perception node, the fifth node is a network node, and the first measurement object is an active cooperative target object, the perception node initiates a first request (also called an error correction request) to the network node through the air interface, and the first request includes the ID information of the active cooperative target object; accordingly, the network node responds to the first request and obtains the timestamp information and first status information of the active cooperative target object; further, the network node sends a first response to the perception node, and the first response includes the timestamp information and first status information of the active cooperative target object.

[0088] Case 2 (error calculation initiated by the fifth node):

[0089] The first node receives a second request from the fifth node; wherein the second request carries the identifier of the first measurement object; the second request is used to instruct the first node to receive first status information of the first measurement object from the fifth node; the first node receives a first message from the fifth node, and the first message includes the first status information.

[0090] For example, in combination with Figure 1, assuming that the first node is a perception node, the fifth node is a network node, and the first measurement object is an active cooperative target object, the perception node can receive a second request (also called an error correction request) from the network node through the air interface, and the second request includes the ID information of the active cooperative target object; the perception node can receive a first message from the network node, and the first message includes the timestamp information and first status information of the active cooperative target object.

[0091] In this way, in case one, the error compensation request is initiated by the first node, and in case two, the error compensation request is initiated by the fifth node, and both cases can enable the first node to obtain the first state information of the first measurement object, thereby making the calculation method of the error compensation parameter in this application more flexible.

[0092] Optionally, the calculation method in method B and method C includes any one of the following: radio access technology (RAT)-independent technology, radio access technology-dependent technology, and hybrid positioning technology.

[0093] With the aforementioned design, the first node can obtain the first state information of the first measurement object through any of the above methods, thereby improving the flexibility and accuracy of the error calculation method.

[0094] It should be noted that the execution order of step S201 and step S202 can be exchanged, or step S201 and step S202 can be completed simultaneously, which is not limited in this application.

[0095] S203: The first node calculates an error compensation parameter according to the first measurement information and the first state information, where the error compensation parameter is used to correct measurement information of the measurement object obtained by measuring using the first measurement method.

[0096] Optionally, the error compensation parameter includes at least one of the following: a position error compensation parameter, an attitude angle error compensation parameter, and a measurement error compensation parameter. The position error compensation parameter is used to indicate the position error of the sensing node (translation) itself in three different directions. The position error compensation parameter can be represented by Δp, which is represented by Δp x ,Δp y and Δp z The attitude angle error compensation parameter is used to indicate the roll angle error, tilt angle error and yaw angle error of the sensing node (rotation). The attitude angle error compensation parameter can be represented by Δζ, which is composed of three values: Δα, Δβ and Δγ. The measurement error compensation parameter is used to indicate the systematic error of the sensing node in measuring the distance, azimuth and pitch angle when measuring the measurement object. The measurement error compensation parameter can be represented by Δz, which is composed of three values: Δρ, Δφ and Δη.

[0097] For example, in conjunction with FIG1 , assuming that the first node is a sensing node and the first measurement object is an active cooperative target object, the sensing node can calculate an error compensation parameter based on the first measurement information and first state information of the active cooperative target object.

[0098] In a possible design, when the first node is not a sensing node, the first node may obtain node state information of the sensing node in advance and calculate the error compensation parameter through the following two steps.

[0099] Step 1: The first node receives the node status information of the third node from the third node through the link between the first node and the third node; or, the first node obtains the node status information of the third node through calculation.

[0100] Optionally, the calculation method includes any one of the following: RAT-independent, RAT-dependent, and hybrid positioning technology.

[0101] Step 2: The first node calculates an error compensation parameter according to the node state information of the third node, the first measurement information, and the first state information.

[0102] For example, assuming that the first node is a network node and the third node is a perception node, the network node can receive the node status information of the perception node through a link between the network node and the perception node, or the network node can obtain the node status information of the perception node through calculation; the network node calculates the error compensation parameter based on the node status information of the perception node, the first measurement information and the first status information.

[0103] In this way, when the first node is not a sensing node, the first node can determine the error compensation parameter by referring to the node state information of the sensing node through the aforementioned steps, thereby improving the accuracy of the error compensation parameter.

[0104] By using the method shown in the aforementioned steps S201 to S203, the first node can calculate the error compensation parameter through the first measurement object whose first state information is known, thereby compensating for the system error, improving the accuracy of the measurement information of the measurement object obtained by the first measurement method, and improving the communication performance.

[0105] After determining the error compensation parameters, the first node may further correct the measurement information of the measurement object obtained by the first measurement method through the actions shown in steps S204-S205 or steps S206-S208. Therefore, the actions of steps S204-S205 and steps S206-S208 may be performed selectively. It should be understood that the actions of steps S204-S205 and steps S206-S208 are both optional actions, for example, only performed when the first node or the second node has a measurement requirement.

[0106] The following description will be made by taking the measurement object to be measured as the second measurement object as an example. The second measurement object may be any measurement object in the perception environment shown in FIG1 .

[0107] S204: The first node measures the second measurement object using the first measurement method to obtain second measurement information.

[0108] S205: The first node performs error compensation on the second measurement information according to the error compensation parameter.

[0109] For example, when the first node is a sensing node, the sensing node measures the second measurement object using the first measurement method to obtain second measurement information. The sensing node then performs error compensation on the second measurement information based on the error compensation parameter determined in step S203. It should be understood that the error compensation method can refer to existing solutions in the art and is not limited in this application.

[0110] In this way, the first node can correct the measurement information of the measurement object obtained by the first measurement method according to the error compensation parameter, thereby improving the accuracy of the measurement information of the measurement object and thus improving communication performance.

[0111] S206: The first node sends an error compensation parameter to the second node.

[0112] Optionally, before executing step S206, the first node may receive a third request from the second node, where the third request is used to request to obtain error compensation parameters.

[0113] S207: The second node measures the second measurement object using the first measurement method to obtain second measurement information.

[0114] S208: The second node performs error compensation on the second measurement information according to the error compensation parameter.

[0115] For example, when the first node is a network node and the second node is a sensing node, the sensing node sends a third request to the network node via an air interface; the network node sends the error compensation parameter determined in step S203 to the sensing node. Optionally, the sensing node may also measure the second measurement object using the first measurement method to obtain second measurement information, and perform error compensation on the second measurement information based on the error compensation parameter. It should be understood that error compensation methods can refer to existing solutions in the art and are not limited in this application.

[0116] In this way, the first node can calculate the error compensation parameter, so that the second node can correct the measurement information of the measurement object obtained by the first measurement method, thereby improving the accuracy of the measurement information of the measurement object. At the same time, the error calculation process does not need to occupy the computing resources of the second node, saving the computing resources of the second node.

[0117] It should be noted that in some scenarios, the second node is the same as the fourth node. When method 1 is adopted in step S201, steps S204-S205 are executed; when method 2 is adopted in step S202, steps S206-S208 are executed.

[0118] Based on the method provided in the embodiment shown in FIG2 above, this application also provides an example of error compensation for non-cooperative measurement. In this example, the first node is the sensing node shown in FIG1 , the first measurement object is the active cooperative target object shown in FIG1 , and the second measurement object is any measurement object shown in FIG1 (e.g., measurement object A). The error compensation method and steps in this example are described below in conjunction with the flowchart shown in FIG3 .

[0119] S301: The sensing node may measure the measurement object A using a non-cooperative measurement method.

[0120] S302: Based on step S301, the sensing node obtains a measurement result, where the measurement result includes measurement information of the measurement object A.

[0121] S303: The sensing node may establish a cooperation link with the active cooperation target object.

[0122] S304. The sensing node receives the status information reported by the active cooperation target object through the cooperation link in step S303. The status information is the aforementioned first status information.

[0123] The actions in step S303 and step S304 may be the same as or different from the action in the aforementioned step S202.

[0124] S305: The sensing node may measure the active cooperative target object using a non-cooperative measurement method.

[0125] S306: Based on step S305, the sensing node obtains a measurement result, where the measurement result includes measurement information of the active cooperation target object.

[0126] The actions in step S305 and step S306 may be the same as or different from the actions in the aforementioned step S201.

[0127] It should be understood that steps S303 and S304, and steps S305 and S306 can be executed synchronously in terms of time, wherein step S304 is implemented based on step S303, and step S306 is implemented based on step S305.

[0128] S307 : The sensing node calculates an error compensation parameter based on the state information of the active cooperation target object determined in step S304 and the measurement information of the active cooperation target object determined in step S306 .

[0129] The action in step S307 may be the same as or different from the action in the aforementioned step S203.

[0130] S308: The sensing node may correct the measurement information obtained by the non-cooperative measurement according to the error compensation parameter in step S307. For example, the sensing node may re-execute steps S301 and S302 and correct the measurement results.

[0131] In this way, the sensing node can correct the system error generated when the sensing node performs non-cooperative measurement by selecting the active cooperative target object in the sensing scene and using the real-time status information and measurement information of the active cooperative target object, thereby improving the communication performance.

[0132] By using the method shown in the aforementioned steps S301 to S308, the perception node can calculate the error compensation parameter through the status information and measurement information of the active cooperative target object, thereby enabling the perception node to compensate for the system error in the first measurement method, thereby improving the accuracy of the measurement information of the measurement object obtained by the first measurement method and improving the communication performance.

[0133] Based on the method provided in the embodiment shown in Figure 2 above, the present application also provides the following four examples according to the differences in the initiating device of the error compensation calculation process, the error compensation calculation device, and the link that transmits the status information of the measurement object, thereby realizing error compensation of non-cooperative measurement.

[0134] Example 1:

[0135] Assume that measurement object B is any measurement object in the perception environment shown in Figure 1, and the active cooperative target object is a measurement object with known state information. As shown in Table 1 below, in this example, the terminal device initiates the error compensation calculation process and calculates the error compensation parameters. In this example, the state information of the active cooperative target object is transmitted via the sidelink.

[0136] Table 1

[0137] This example is applicable to a communication system as shown in FIG4A . As shown in FIG4A , the terminal device is a UE, and the UE and the active cooperation target object can interact via sidelink.

[0138] The error compensation method and steps are described below with reference to the flowchart shown in FIG4B .

[0139] S401: The terminal device may measure the measurement object B using a non-cooperative measurement method.

[0140] S402: Based on step S401, the terminal device obtains a measurement result, which includes measurement information of the measurement object B. It should be understood that the measurement information of the measurement object B obtained in step S402 is uncorrected, that is, the measurement information contains systematic errors.

[0141] S403: The terminal device may establish a cooperation link with the active cooperation target object.

[0142] S404: The terminal device receives the status information, ID information, and timestamp information reported by the active cooperation target object through the cooperation link in step S403. The status information is the aforementioned first status information.

[0143] The actions of step S403 and step S404 may be the same as method A in the aforementioned step S202, and will not be repeated here.

[0144] S405: The terminal device may measure the active cooperative target object using a non-cooperative measurement method.

[0145] S406: Based on step S405, the terminal device obtains a measurement result, where the measurement result includes measurement information of the active cooperation target object.

[0146] The actions of step S405 and step S406 may be the same as the method 1 in the aforementioned step S201, and will not be repeated here.

[0147] It should be understood that steps S403 and S404, and steps S405 and S406 can be executed synchronously in terms of time, wherein step S404 is implemented based on step S403, and step S406 is implemented based on step S405.

[0148] S407: The terminal device calculates an error compensation parameter based on its own state information, the state information of the active cooperation target object determined in step S404, and the measurement information of the active cooperation target object determined in step S406.

[0149] The action in step S407 may be the same as the action in the aforementioned step S403, and will not be repeated here.

[0150] S408: The terminal device may correct the measurement information obtained by the non-cooperative measurement according to the error compensation parameter in step S407. For example, the terminal device may re-execute steps S401 and S402 and correct the measurement results.

[0151] By adopting the process of Example 1, the terminal device can initiate the error compensation calculation process, calculate the error compensation parameters, and correct the measurement results obtained through non-cooperative measurement, thereby improving the accuracy of the measurement information obtained by the terminal device through non-cooperative measurement and improving the communication performance.

[0152] Example 2:

[0153] Assume that measurement object C is any measurement object in the perception environment shown in Figure 1, and the active cooperative target object is a measurement object with known state information. As shown in Table 2 below, in this example, the terminal device initiates the error compensation calculation process and calculates the error compensation parameters. In this example, the state information of the active cooperative target object is transmitted via the uu link, where the uu link is the communication link between the terminal device and the network node.

[0154] Table 2

[0155] Based on the communication system shown in Figure 1, this example provides a communication system as shown in Figure 5A, and Example 2 is applicable to this communication system. As shown in Figure 5A, the terminal device is a UE, the network device is a Next Generation Radio Access Network (NG-RAN), and the LMF network element can interact with the NG-RAN.

[0156] The error compensation method and steps are described below with reference to the flowchart shown in FIG5B .

[0157] S501. The terminal device sends an error correction request to the network device via an air interface.

[0158] For example, the action of step S501 may be the same as that of the first case of method C in the aforementioned step S202, and will not be repeated here.

[0159] S502: The terminal device may measure the measurement object C using a non-cooperative measurement method.

[0160] S503: Based on step S502, the terminal device obtains a measurement result, which includes measurement information of the measurement object C. It should be understood that the measurement information of the measurement object C obtained in step S503 is uncorrected, that is, the measurement information contains systematic errors.

[0161] S504: The network device obtains the status information reported by the active cooperation target object through the following method ① or method ②.

[0162] Method ①: The network device acquires a uu link that can be established with the active cooperation target object; and receives the status information, ID information and timestamp information reported by the active cooperation target object through the uu link. The status information is the aforementioned first status information.

[0163] Method ②: The network device obtains the status information of the active cooperation target object through calculation.

[0164] Among them, the action of method ① can be the same as method A in the aforementioned step S202, and the action of method ② is the same as method B in the aforementioned step S202, which will not be repeated here.

[0165] S505: The network device sends the status information reported by the active cooperation target object to the terminal device; correspondingly, the terminal device receives the status information reported by the active cooperation target object from the network device.

[0166] S506: The terminal device may measure the active cooperative target object using a non-cooperative measurement method.

[0167] S507: Based on step S506, the terminal device obtains a measurement result, where the measurement result includes measurement information of the active cooperation target object.

[0168] The actions of step S506 and step S507 may be the same as the method 1 in the aforementioned step S201, and will not be repeated here.

[0169] S508: The terminal device calculates an error compensation parameter based on the state information of the active cooperation target object determined in step S505 and the measurement information of the active cooperation target object determined in step S507.

[0170] The action in step S508 may be the same as that in the aforementioned step S403 and will not be described in detail here.

[0171] S509: The terminal device may correct the measurement information obtained by the non-cooperative measurement according to the error compensation parameter in step S508. For example, the terminal device may re-execute steps S502 and S503 and correct the measurement results.

[0172] By adopting the process of Example 2, the terminal device can initiate the error compensation calculation process, and the network device can assist in obtaining the status information of the active cooperative target object, so that the terminal device can calculate the error compensation parameters and correct the measurement results obtained through non-cooperative measurement, thereby improving the accuracy of the measurement information obtained by the terminal device through non-cooperative measurement and improving communication performance.

[0173] Example 3:

[0174] Assume that measurement object D is any measurement object in the perception environment shown in Figure 1, and the active cooperative target object is a measurement object with known status information. As shown in Table 3 below, in this example, the terminal device initiates the error compensation calculation process, and the LMF network element calculates the error compensation parameters. In this example, the status information of the active cooperative target object is transmitted via the uu link between the LMF network element and the active cooperative target object.

[0175] Table 3

[0176] Based on the communication system shown in Figure 1, this example provides a communication system as shown in Figure 6A, to which Example 3 applies. As shown in Figure 6A, the terminal device is a UE, the network device is an NG-RAN, the LMF network element can interact with the NG-RAN, and the UE and the active cooperation target object can interact via a uu link.

[0177] The error compensation method and steps are described below with reference to the flowchart shown in FIG6B .

[0178] S601. The terminal device sends an error correction request to the LMF network element.

[0179] For example, the action of step S601 may be the same as that of the first case of method C in the aforementioned step S202, and will not be repeated here.

[0180] S602: The terminal device may measure the measurement object D using a non-cooperative measurement method.

[0181] S603: Based on step S602, the terminal device obtains a measurement result, which includes measurement information of the measurement object D. It should be understood that the measurement information of the measurement object D obtained in step S603 is uncorrected, that is, the measurement information contains systematic errors.

[0182] S604. The LMF network element obtains the status information reported by the active cooperation target object through the following method ① or method ②.

[0183] Method ①: The LMF network element obtains and can establish a uu link with the active cooperation target object; and receives the status information, ID information and timestamp information reported by the active cooperation target object through the uu link. The status information is the aforementioned first status information.

[0184] Method ②: The LMF network element obtains the status information of the active cooperation target object through calculation.

[0185] Among them, the action of method ① can be the same as method A in the aforementioned step S202, and the action of method ② is the same as method B in the aforementioned step S202, which will not be repeated here.

[0186] S605. The LMF network element obtains the status information of the terminal device through calculation. The status information is the aforementioned node status information.

[0187] The action of step S605 may be the same as or different from step 1 in the aforementioned step S203, and will not be repeated here.

[0188] S606: The terminal device may measure the active cooperative target object using a non-cooperative measurement method.

[0189] S607: Based on step S606, the terminal device obtains a measurement result, where the measurement result includes measurement information of the active cooperation target object.

[0190] The actions of step S606 and step S607 may be the same as the method 1 in the aforementioned step S201, and will not be repeated here.

[0191] S608. The terminal device sends the measurement information determined in step S607 to the LMF network element; correspondingly, the LMF network element receives the measurement information from the terminal device.

[0192] S609: The LMF network element calculates error compensation parameters based on the state information of the active cooperation target object determined in step S604, the state information of the terminal device determined in step S605, and the measurement information of the active cooperation target object determined in step S607.

[0193] The action of step S609 may be the same as the action of step 2 in the aforementioned step S403, and will not be repeated here.

[0194] S610. The LMF network element sends the aforementioned error compensation parameters to the terminal device.

[0195] S611: The terminal device may correct the measurement information obtained by the non-cooperative measurement according to the error compensation parameter in step S609. For example, the terminal device may re-execute steps S602 and S603 and correct the measurement results.

[0196] By adopting the process of Example 3, the terminal device can initiate the error compensation calculation process, the network device can obtain the status information of the active cooperative target object, and calculate the error compensation parameters, so that the terminal device can correct the measurement results obtained by non-cooperative measurement according to the error compensation parameters, thereby improving the accuracy of the measurement information obtained by the terminal device through non-cooperative measurement and improving the communication performance.

[0197] Example 4:

[0198] Assume that measurement object E is any measurement object in the sensing environment shown in Figure 1, and the active cooperative target object is a measurement object with known status information. As shown in Table 4 below, in this example, the LMF network element initiates the error compensation calculation process, and the terminal device calculates the error compensation parameters. In this example, the status information of the active cooperative target object is transmitted via the uu link between the LMF network element and the active cooperative target object.

[0199] Table 4

[0200] Based on the communication system shown in Figure 1, this example provides a communication system as shown in Figure 7A, to which Example 4 applies. As shown in Figure 7A, the terminal device is a UE, the network device is an NG-RAN, the LMF network element can interact with the NG-RAN, and the UE and the active cooperation target object can interact via a uu link.

[0201] The error compensation method and steps are described below with reference to the flowchart shown in FIG7B .

[0202] S701. The LMF network element sends an error correction request to the terminal device.

[0203] For example, the action of step S701 may be the same as the second case of method C in the aforementioned step S202, and will not be repeated here.

[0204] S702: The terminal device may measure the measurement object E using a non-cooperative measurement method.

[0205] S703 . Based on step S702 , the terminal device obtains a measurement result, which includes measurement information of the measurement object E. It should be understood that the measurement information of the measurement object E obtained in step S703 is uncorrected, that is, the measurement information contains systematic errors.

[0206] S704. The LMF network element obtains the status information reported by the active cooperation target object through method ① or method ②.

[0207] Method ①: The LMF network element obtains and can establish a uu link with the active cooperation target object; and receives the status information, ID information and timestamp information reported by the active cooperation target object through the uu link. The status information is the aforementioned first status information.

[0208] Method ②: The LMF network element obtains the status information of the active cooperation target object through calculation.

[0209] Among them, the action of method ① can be the same as method A in the aforementioned step S202, and the action of method ② is the same as method B in the aforementioned step S202, which will not be repeated here.

[0210] S705. The LMF network element sends the status information reported by the active cooperation target object to the terminal device; correspondingly, the terminal device receives the status information reported by the active cooperation target object from the LMF network element.

[0211] S706: The terminal device may measure the active cooperative target object using a non-cooperative measurement method.

[0212] S707: Based on step S706, the terminal device obtains a measurement result, where the measurement result includes measurement information of the active cooperation target object.

[0213] The actions of step S706 and step S707 may be the same as the method 1 in the aforementioned step S201, and will not be repeated here.

[0214] S708: The terminal device calculates an error compensation parameter based on the state information determined in the aforementioned step S705 and the measurement information of the active cooperation target object determined in step S707.

[0215] The action in step S708 may be the same as that in the aforementioned step S403 and will not be repeated here.

[0216] S709: The terminal device may correct the measurement information obtained by the non-cooperative measurement according to the error compensation parameter in step S708. For example, the terminal device may re-execute steps S702 and S703 and correct the measurement results.

[0217] By adopting the process of Example 4, the network device can initiate the error compensation calculation process and assist the terminal device in obtaining the status information of the active cooperative target object. The terminal device can calculate the error compensation parameters based on the status information of the active cooperative target object and correct the measurement results obtained through non-cooperative measurement, thereby improving the accuracy of the measurement information obtained by the terminal device through non-cooperative measurement and improving the communication performance.

[0218] Based on the same technical concept, the present application also provides a communication device that can be applied to the communication system shown in FIG1 to implement the error compensation parameter calculation method provided in the above embodiment. Referring to FIG8 , the communication device 800 includes a communication module 801 and a processing module 802 .

[0219] The communication module 801 is used to receive and send data. Optionally, the communication module 801 may include a communication interface and / or a transceiver.

[0220] The processing module 802 is configured to execute the steps performed by the first node in the error compensation parameter calculation method provided in the above embodiments based on the aforementioned communication module. The specific functions of the processing module 802 can be referred to the relevant description in the above embodiments and will not be repeated here.

[0221] In one embodiment, the processing module 802 is used to obtain first measurement information of a first measurement object, wherein the first measurement information is obtained by measuring the first measurement object using a first measurement method; obtain first state information of the first measurement object; and calculate an error compensation parameter based on the first measurement information and the first state information, where the error compensation parameter is used to correct the measurement information of the measurement object obtained by measuring the first measurement method.

[0222] In one possible design, the processing module 802 is further used to: after calculating the error compensation parameter based on the first measurement information and the first state information, measure the second measurement object through the first measurement method to obtain second measurement information; perform error compensation on the second measurement information according to the error compensation parameter; or, through the communication module 801, also be used to: send the error compensation parameter to the second node.

[0223] In one possible design, the processing module 802 is specifically used to: receive node status information of the third node from the third node through the communication module 801 and the link between the first node and the third node; or, obtain the node status information of the third node by calculation; and calculate the error compensation parameter based on the node status information of the third node, the first measurement information and the first status information.

[0224] In one possible design, the processing module 802 is specifically used to: measure the first measurement object through the first measurement method to obtain first measurement information; or, receive the first measurement information from the fourth node through the communication module 801.

[0225] In one possible design, the processing module 802 is specifically used to: receive first status information from the first measurement object through the communication module 801 and the link between the first node and the first measurement object; or, obtain the first status information through calculation; or, receive the first status information from the fifth node through the communication module 801.

[0226] In one possible design, the processing module 802 is specifically used to: send a first request to the fifth node through the communication module 801; wherein the first request carries the identifier of the first measurement object, and the first request is used to request the first status information of the first measurement object; receive a first response from the fifth node through the communication module 801, and the first response includes the first status information; or receive a second request from the fifth node through the communication module 801; wherein the second request carries the identifier of the first measurement object; the second request is used to instruct the first node to receive the first status information of the first measurement object from the fifth node; receive a first message from the fifth node through the communication module 801, and the first message includes the first status information.

[0227] In one possible design, the error compensation parameter includes at least one of the following: a position error compensation parameter, an attitude angle error compensation parameter, and a measurement error compensation parameter.

[0228] In one possible design, the first node is any one of the following: a terminal device, a network device, and an LMF network element.

[0229] It should be noted that the division of modules in the embodiments of the present application is illustrative and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0230] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0231] Based on the same technical concept, an embodiment of the present application also provides another communication device, wherein the communication device 900 can implement the calculation method of the error compensation parameters provided in the above embodiment and has the functions of the processor provided in the above embodiment. Referring to Figure 9, the communication device 900 includes: a memory 902 and a processor 901. Optionally, the communication device 900 also includes a communication module 903. The communication module 903, the processor 901 and the memory 902 are interconnected. The communication module 903 is used to receive and send data; the memory 902 is used to store program instructions and data; the processor 901 is used to read the program instructions and data in the memory to implement the aforementioned calculation method of the error compensation parameters.

[0232] Exemplarily, the communication device 900 may be the first node shown in the embodiment of the present application; when the first node is an LMF, the communication module 903 is a communication interface; when the first node is a terminal device, the communication module 903 is a transceiver; when the first node is a network device, the communication module 903 may include a communication interface and a transceiver.

[0233] Optionally, the communication module 903, the processor 901, and the memory 902 are interconnected via a bus 904. The bus 904 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, FIG9 shows only one thick line, but this does not mean that there is only one bus or one type of bus.

[0234] The communication module 903 is used to receive and send data to achieve communication with other devices other than the communication device.

[0235] The functions of the processor 901 can be described in the above embodiments and will not be repeated here. The processor 901 can be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and an NP, etc. The processor 901 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. When implementing the above-mentioned functions, the processor 901 can be implemented through hardware, or of course, the corresponding software implementation can be executed by hardware.

[0236] The memory 902 is used to store program instructions, etc. Specifically, the program instructions may include program code, which includes computer operation instructions. The memory 902 may include random access memory (RAM), and may also include non-volatile memory (non-volatile memory), such as at least one disk storage. The processor 901 executes the program instructions stored in the memory 902 to implement the above functions, thereby implementing the method provided in the above embodiment. Exemplarily, the memory 902 may include the first node shown in the embodiment of the present application.

[0237] Based on the same technical concept, an embodiment of the present application further provides a computer program, which, when executed on a computer, enables the computer to execute the method provided in the above embodiment.

[0238] Based on the same technical concept, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the computer executes the method provided in the above embodiment.

[0239] The storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer.

[0240] Based on the above embodiments, embodiments of the present application further provide a chip configured to read a computer program stored in a memory to implement the methods provided in the above embodiments. Optionally, the chip may include a processor and a memory, wherein the processor is coupled to the memory to read the computer program stored in the memory to implement the methods provided in the above embodiments.

[0241] Based on the above embodiments, the embodiments of the present application provide a chip system, which includes a processor for supporting a computer device to implement the functions involved in the first node in the above embodiments. In one possible design, the chip system also includes a memory for storing the necessary programs and data for the computer device. The chip system can be composed of a chip or can include a chip and other discrete devices.

[0242] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0243] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, as well as the combination of the flow chart and / or box in the flow chart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more flow charts and / or one or more boxes in the block diagram.

[0244] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0245] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0246] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of protection of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for calculating an error compensation parameter, characterized in that: The method comprises: The first node obtains first measurement information of a first measurement object, wherein the first measurement information is obtained by measuring the first measurement object using a first measurement method; Acquiring, by the first node, first state information of the first measurement object; The first node calculates an error compensation parameter according to the first measurement information and the first state information, where the error compensation parameter is used to correct measurement information of the measurement object obtained by measuring using the first measurement method.

2. The method according to claim 1, characterized in that After the first node calculates an error compensation parameter according to the first measurement information and the first state information, the method further includes: The first node measures the second measurement object by using the first measurement method to obtain second measurement information; the first node performs error compensation on the second measurement information according to the error compensation parameter; or The first node sends the error compensation parameter to the second node.

3. The method according to claim 1 or 2, characterized in that The first node calculates an error compensation parameter according to the first measurement information and the first state information, including: The first node receives the node status information of the third node from the third node through a link between the first node and the third node; or the first node obtains the node status information of the third node by calculation; The first node calculates an error compensation parameter according to the node state information of the third node, the first measurement information and the first state information.

4. The method according to any one of claims 1 to 3, characterized in that: The first node acquiring first measurement information of a first measurement object includes: The first node measures the first measurement object by using the first measurement method to obtain the first measurement information; or The first node receives the first measurement information from a fourth node.

5. The method according to any one of claims 1 to 4, characterized in that: The first node acquiring first status information of the first measurement object includes: receiving, by the first node, the first state information from the first measurement object through a link between the first node and the first measurement object; or The first node obtains the first state information by calculation; or The first node receives the first state information from a fifth node.

6. The method according to claim 5, characterized in that The first node receiving the first state information from the fifth node includes: The first node sends a first request to the fifth node; wherein the first request carries an identifier of the first measurement object, and the first request is used to request the first state information of the first measurement object; the first node The node receives a first response from the fifth node, where the first response includes the first state information; or The first node receives a second request from the fifth node; wherein the second request carries the identifier of the first measurement object; the second request is used to instruct the first node to receive the first state information of the first measurement object from the fifth node; the first node receives a first message from the fifth node, and the first message includes the first state information.

7. The method according to any one of claims 1 to 6, characterized in that: The error compensation parameter includes at least one of the following: Position error compensation parameters, attitude angle error compensation parameters and measurement error compensation parameters.

8. The method according to any one of claims 1 to 7, characterized in that: The first node is any one of the following: Any of terminal equipment, network equipment and location management function LMF network elements.

9. A communication device, applied to a first node, characterized in that: The device comprises: A communication module for receiving and sending data; The processing module is used to obtain first measurement information of a first measurement object, wherein the first measurement information is obtained by measuring the first measurement object using a first measurement method; obtain first state information of the first measurement object; and calculate error compensation parameters based on the first measurement information and the first state information, wherein the error compensation parameters are used to correct the measurement information of the measurement object obtained by measuring the first measurement method.

10. The device according to claim 9, characterized in that The processing module is also used to: after calculating the error compensation parameter according to the first measurement information and the first state information, measure the second measurement object through the first measurement method to obtain second measurement information; perform error compensation on the second measurement information according to the error compensation parameter; or send the error compensation parameter to the second node through the communication module.

11. The device according to claim 9 or 10, characterized in that The processing module is specifically used for: Receiving node status information of the third node from the third node through the communication module and the link between the first node and the third node; or obtaining the node status information of the third node by calculation; An error compensation parameter is calculated according to the node state information of the third node, the first measurement information and the first state information.

12. The device according to any one of claims 9 to 11, characterized in that: The processing module is specifically used for: Measuring the first measurement object by using the first measurement method to obtain the first measurement information; or The first measurement information is received from a fourth node through the communication module.

13. The device according to any one of claims 9 to 12, characterized in that: The processing module is specifically used for: receiving, through the communication module and a link between the first node and the first measurement object, the first state information from the first measurement object; or Obtaining the first state information by calculation; or The first state information is received from the fifth node through the communication module.

14. The device according to claim 13, characterized in that The processing module is specifically used for: Sending a first request to the fifth node through the communication module; wherein the first request carries the identifier of the first measurement object, and the first request is used to request the first state information of the first measurement object; receiving a first response from the fifth node through the communication module, wherein the first response includes the first state information; or A second request is received from the fifth node through the communication module; wherein the second request carries the identifier of the first measurement object; the second request is used to instruct the first node to receive the first status information of the first measurement object from the fifth node; a first message is received from the fifth node through the communication module, wherein the first message includes the first status information.

15. The device according to any one of claims 9 to 14, characterized in that: The error compensation parameter includes at least one of the following: Position error compensation parameters, attitude angle error compensation parameters and measurement error compensation parameters.

16. The device according to any one of claims 9 to 15, characterized in that: The first node is any one of the following: Any of terminal equipment, network equipment and location management function LMF network elements.

17. A communication device, characterized in that: include: A communication module, a memory and a processor; wherein, The communication module is used to receive and send data; The memory is used to store program instructions and data; The processor is used to read the program instructions and data in the memory to implement the method described in any one of claims 1-8.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer is enabled to execute the method according to any one of claims 1 to 8.

19. A chip, characterized in that: The chip includes a processor and a memory; the processor is coupled to the memory and is used to read the computer program stored in the memory and execute the method described in any one of claims 1-8.

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