Positioning method and device

Abstract

The invention discloses a positioning method and equipment, and belongs to the field of communication, and the positioning method comprises the steps that first equipment measures a first signal searched in a search window corresponding to reference time based on the measurement of the first signal searched in the search window corresponding to the reference time, or based on a first difference value between the transmission time of the first signal and the reference time; determining a first measurement result of the first signal; wherein the first measurement result is used for positioning the position of the first device or the position of a second device, and the second device is a device sending the first signal.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of communication, and particularly relates to a positioning method and device. BACKGROUND

[0002] In some scenarios, there is a direct demand for positioning of ambient IoT (AIOT) devices, or the AIOT devices need to be positioned in the process of inventory.

[0003] In the related art, the positioning method of an ambient IoT (AIOT) device usually adopts a time-dependent positioning technology. For example, a reader can position the AIOT device based on the time difference between reader-to-device (R2D) transmission and device-to-reader (D2R) transmission after the R2D.

[0004] However, due to the limited capability of the AIOT device, the time interval between the R2D transmission and the D2R transmission after the R2D of the AIOT device is unstable, and the instability of the time interval will result in too low positioning accuracy. SUMMARY

[0005] Embodiments of the present application provide a positioning method and device, which can improve the positioning accuracy.

[0006] In a first aspect, a positioning method is provided, which is executed by a terminal, and the method comprises:

[0007] The first device determines a first measurement result of a first signal based on measurement of the first signal searched in a search window corresponding to a reference time, or based on a first difference value between a transmission time of the first signal and the reference time.

[0008] The first measurement result is used for positioning a position of the first device or a position of a second device, and the second device is a device that transmits the first signal.

[0009] In a second aspect, a positioning apparatus is provided, which comprises:

[0010] The processing module is configured to determine a first measurement result of a first signal based on measurement of the first signal searched in a search window corresponding to a reference time, or based on a first difference value between a transmission time of the first signal and the reference time.

[0011] The first measurement result is used for positioning a position of the first device or a position of a second device, and the second device is a device that transmits the first signal.

[0012] In a third aspect, a positioning apparatus is provided, which is configured to perform the steps of the method according to the first aspect.

[0013] In a fourth aspect, a first device is provided, which comprises a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions being executed by the processor to implement the steps of the method according to the first aspect.

[0014] In a fifth aspect, a first device is provided, which comprises a processor, wherein the processor is configured to determine a first measurement result of a first signal based on a measurement of the first signal searched in a search window corresponding to a reference time, or based on a first difference between a transmission time of the first signal and the reference time.

[0015] The first measurement result is used to determine a position of the first device or a position of a second device, the second device being a device that transmits the first signal.

[0016] In a sixth aspect, a readable storage medium is provided, which stores a program or instructions, the program or instructions being executed by a processor to implement the steps of the method according to the first aspect.

[0017] In a seventh aspect, a wireless communication system is provided, which comprises a terminal and a network-side device, the terminal being configured to perform the steps of the method according to the first aspect.

[0018] In an eighth aspect, a chip is provided, which comprises a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to run a program or instructions to implement the method according to the first aspect.

[0019] In a ninth aspect, a computer program / program product is provided, which is stored in a storage medium, the computer program / program product being executed by at least one processor to implement the steps of the positioning method according to the first aspect.

[0020] In the embodiments of the present application, by introducing the reference time, the influence of the capability of the second device on the first measurement result can be reduced, and thus the positioning accuracy of the first device or the second device can be improved. Especially, when the first device is a reader and the second device is an AIOT device, due to the limited capability of the AIOT device, the time interval between the R2D transmission and the D2R transmission after the R2D transmission is unstable. In the embodiments, by introducing the reference time, the influence of the instability of the time interval on the positioning accuracy can be reduced, and thus the positioning accuracy can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a schematic diagram of a communication system architecture provided by an embodiment of the present application.

[0022] Figure 2 is a schematic diagram of a communication scenario provided by the present application.

[0023] Figure 3 is a schematic diagram of another communication scenario provided by the present application.

[0024] Figure 4 is a schematic diagram of a process of receiving and transmitting data by a tag provided by an embodiment of the present application.

[0025] Figure 5 is a schematic diagram of information transmitted between a reader and a tag provided by an embodiment of the present application.

[0026] Figure 6 is an example of NR UL TDOA positioning provided by an embodiment of the present application.

[0027] Figure 7 is a schematic flowchart of a positioning method provided by an embodiment of the present application.

[0028] Figure 8 is an example of a search window provided by an embodiment of the present application.

[0029] Figure 9 is an example of a transmission time of a first signal provided by an embodiment of the present application.

[0030] Figure 10 is an example of a first measurement result provided by an embodiment of the present application.

[0031] Figures 11 to 16 is an example of a reference time provided by an embodiment of the present application.

[0032] Figure 17 and Figure 18 is a schematic flowchart of a measurement process provided by an embodiment of the present application.

[0033] Figures 19 to 24 is an example of a reference time provided by an embodiment of the present application.

[0034] Figures 25 to 26 is an example of a search window provided by an embodiment of the present application.

[0035] Figure 27 is an example in which a reception time of a first signal and a reference time exceed a preset value range provided by an embodiment of the present application.

[0036] Figure 28 is a schematic block diagram of a positioning apparatus provided by an embodiment of the present application.

[0037] Figure 29 is a schematic block diagram of a communication device provided by an embodiment of the present application.

[0038] Figure 30 is a schematic diagram of a hardware structure of a terminal provided by an embodiment of the present application.

[0039] Figure 31 is a schematic block diagram of a network-side device provided by an embodiment of the present application.

[0040] Figure 32 is a schematic block diagram of another network-side device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0042] The terms "first", "second", and the like in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are usually a category and do not limit the number of objects, for example, the first object can be one or more. In addition, "or" in the present application means at least one of the connected objects. For example, the protection scope of "A or B" at least covers three schemes, namely, scheme one: including A and not including B; scheme two: including B and not including A; scheme three: including A and B. In addition, the terms "A and / or B", "at least one of A and B", "at least one of A or B" also at least cover the above three schemes, respectively. The character " / " generally represents that the objects before and after are in an "or" relationship.

[0043] The term "indication" in the present application can be a direct indication (or explicit indication) or an indirect indication (or implicit indication). The direct indication can be understood as that the sender explicitly informs the receiver of specific information, operations to be performed or requested results, etc. in the sent indication. The indirect indication can be understood as that the receiver determines the corresponding information according to the indication sent by the sender, or judges and determines the operations to be performed or the requested results according to the judgment result.

[0044] It is worth noting that the technology described in the embodiments of the present application is not limited to Ambient Internet of Things (IoT) systems, but can also be used in other wireless communication systems, such as Long Term Evolution (LTE) / LTE-Advanced (LTE-A), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used in the above-mentioned systems and radio technologies, as well as in other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in most of the following description, but these technologies can also be applied to systems other than NR systems, such as 6th Generation (6G) communication systems. th

[0045] Figure 1 A block diagram of a wireless communication system to which the embodiments of the present application can be applied is shown.

[0046] As shown in Figure 1 , the wireless communication system includes a terminal 11, a network side device 12 and an ambient IoT device 13. The terminal 11 acts as an intermediate node. The network side device 12 controls the terminal 11 through air interface signaling, and the terminal 11 excites the ambient IoT device 13 through a downlink carrier. The ambient IoT device 13 backscatters the downlink carrier transmitted by the terminal to achieve uplink transmission to the terminal 11, and the terminal 11 transfers the uplink transmission of the ambient IoT device 13 to the network side device 12 through the air interface.

[0047] Of course, the network side device 12 can also act as a carrier source, and the network side device 12 excites the ambient IoT device 13 through a downlink carrier. The ambient IoT device 13 backscatters the downlink carrier transmitted by the network side device 12 to achieve uplink transmission to the network side device 12. In addition, sidelink transmission can also be performed between two terminals 11, which is not specifically limited by the present application. ​

[0048] The terminal 11 can be a terminal-side device such as a mobile phone, a Tablet Personal Computer, a Laptop Computer, a notebook computer, a Personal Digital Assistant (PDA), a palmtop computer, a netbook, an Ultra-mobile Personal Computer (UMPC), a Mobile Internet Device (MID), an Augmented Reality (AR) device, a Virtual Reality (VR) device, a robot, a wearable device, a flight vehicle, a Vehicle User Equipment (VUE), a shipboard device, a Pedestrian User Equipment (PUE), a smart home (a home device with a wireless communication function, such as a refrigerator, a television, a washing machine, or furniture), a game console, a Personal Computer (PC), a kiosk, or a self-service machine. The wearable device includes a smart watch, a smart bracelet, a smart earphone, smart glasses, smart jewelry (a smart bracelet, a smart necklace, a smart ring, a smart necklace, a smart anklet, a smart necklace, and the like), a smart wristband, smart clothing, and the like. The vehicle-mounted device can also be referred to as a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, or a vehicle-mounted unit. It should be noted that the specific type of the terminal 11 is not limited in the embodiments of the present application.

[0049] The network-side device 12 can include an access network device.

[0050] The access network device can also be referred to as a radio access network (RAN) device, a radio access network function or a radio access network unit. The access network device can include a base station, a wireless local area network (WLAN) access point (AP) or a wireless fidelity (WiFi) node, etc. Among them, the base station can be referred to as a node B (NB), an evolved node B (eNB), a next generation node B (gNB), a new radio node B (NR node B), an access point, a relay base station (RBS), a serving base station (SBS), a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home node B (HNB), a home evolved node B, a transmission reception point (TRP), or some other suitable term in the art. As long as the same technical effect is achieved, the base station is not limited to a specific technical term. It should be noted that in the embodiments of the present application, only the base station in the NR system is taken as an example for introduction, and the specific type of the base station is not limited.

[0051] The environmental IoT device 13 can also be referred to as a passive IoT device, an ambient power (AMP) device, a zero-power device, a low-power IoT device, a responding device, a tag, etc. It should be noted that the specific type of the environmental IoT device 13 is not limited in the embodiments of the present application.

[0052] In order to better understand the embodiments of the present application, the related technologies of the present application are described.

[0053] 1. AIOT device type.

[0054] The environmental IoT device is characterized by the energy storage capacity of the environmental IoT device and the ability to generate radio frequency signals for transmission. The AIOT device has one of the following energy storage capabilities:

[0055] Storage capacity 1: no ability to store energy.

[0056] Storage capacity 2: energy can be stored up to E1 or E2 Joules, where it is possible that E1 = E2

[0057] Storage capacity 3: energy can be stored up to E2 Joules

[0058] Depending on these storage capacities, the environmental IoT devices can be classified as:

[0059] Device A: no energy storage, no independent signal generation / amplification, i.e. backscatter transmission.

[0060] Device B: with energy storage, no independent signal generation, i.e. backscatter transmission. The use of stored energy can include amplification of the reflected signal.

[0061] Device C: with energy storage, with independent signal generation, i.e. active RF components for transmission.

[0062] Different energy storage capabilities of devices also affect the transmission quality of the devices. In general, devices with higher energy storage also mean higher reception sensitivity or higher transmission power. That is, the reliability of the reception or transmission link can be better guaranteed.

[0063] 2. AIOT data / service types.

[0064] AIOT data / service types can include the following types:

[0065] Device-originated (DO) communication initiated by the device.

[0066] Device-terminated (DT) communication terminated by the device.

[0067] Device-originated-autonomous (DO-A) AIOT device autonomously initiates data transmission.

[0068] Device-originated-device-terminated triggered (DO-DTT) AIOT device is triggered by a reader device such as a base station to initiate. Among them, DO and DT data represent that the data flow originates from the AIOT device (similar to RFID tag) or is transmitted to the AIOT device. For data flow originating from the AIOT device, i.e. DO data, it can be further classified as:

[0069] DO-A: such as connecting a large number of various sensors, which collect and actively report information about the environment, devices and living beings when necessary.

[0070] DO-DTT: such as asset identification, status reporting and tracking, are downlink (DL) triggered reports, where the reader collects data from tags by triggering an inventory procedure. Since the data is generated / initiated in the IoT device, this service should be considered as a DO service initiated by the tag triggered by a command sent by the reader.

[0071] 3. AIOT scenarios.

[0072] Based on the topology type of AIOT devices, there are two scenarios as follows:

[0073] The scenario where AIOT devices communicate directly with the base station BS. Referring to Figure 2 , the base station BS 22 can send AIOT data or signals directly to the AIOT device 21, or receive AIOT data or signals from the AIOT device 21.

[0074] The scenario where AIOT devices communicate with the base station BS through an intermediate node. Referring to Figure 3 , the base station BS 22 can send AIOT data or signals to the intermediate node 23 through the Uu interface, and the intermediate node 23 further forwards the AIOT data or signals to the AIOT device 21; or the AIOT device 21 can send AIOT data or signals to the intermediate node 23, and the intermediate node 23 forwards the AIOT data or signals to the base station BS 22.

[0075] 4. Information transmission between the reader and the tag in Radio Frequency Identification (RFID).

[0076] RFID is a traditional backscatter communication system, and its main design goal is to identify and read data from BSC devices (i.e. tags) within the coverage range of the reader. Since RFID was initially applied to the automatic inventory of a large number of goods, the process of identifying and reading data from tags is also called inventory.

[0077] As Figure 4As shown, after the reader sends a query instruction (Query), the tag responds (Reply). Taking the RN16 as an example, the tag generates a 16-bit random number and sends it to the reader. Then the reader sends the sequence to the tag through an acknowledgment (ACK) instruction. After the tag successfully verifies the RN16 in the ACK, it sends subsequent data (such as protocol control (PC) / extended protocol control (XPC), electronic product code (EPC), package cyclic redundancy check (CRC), etc.) to the reader.

[0078] wherein, as shown, Figure 5 the operation instructions of the reader are as shown in the following table:

[0079] Table 1

[0080]

[0081] 5. AIOT device processing time.

[0082] Due to the limited capabilities of AIOT devices, the interval time between D2R transmission and R2D transmission after receiving R2D transmission is unstable.

[0083] When the AIOT device sends a D2R signal, for the time interval between D2R transmission and R2D transmission, at least one of the following options is met.

[0084] Option 1: The interval is within the interval [T R2D_min ,T R2D_max ];

[0085] T R2D_min : Minimum time between a R2D transmission and the corresponding D2R transmission following it.

[0086] T R2D_max : Maximum time between a R2D transmission and the corresponding D2R transmission following it.

[0087] Option 2:

[0088] D2R transmission timing T R2D after R2D transmission is determined by control information in R2D transmission.

[0089] 6. NR uplink time difference of arrival (UL TDOA) positioning.

[0090] The UL TDOA positioning method measures the relative time of arrival (RTOA) of the positioning SRS (Situational Reference Signals) sent by the UE based on measurements from multiple gNBs participating in the positioning process. The measurement results are then sent to a location management function (LMF), which ultimately obtains the UE's location. For example, Figure 6 As shown, the definition of RTOA measurement is as follows: UL relative arrival time (T UL-RTOA ) is the start time of the SRS subframe i received by the receiving point relative to the RTOA reference time.

[0091] The RTOA reference time is defined as T0+t. sRs .

[0092] T0 is the nominal SFN initialization time.

[0093] t SRS =(10n) f +n sf )×10 -3 , where n f and n sf These are the system frame number and subframe number of the SRS, respectively.

[0094] The positioning method provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0095] Figure 7 This is a schematic flowchart of the positioning method 300 according to an embodiment of this application.

[0096] like Figure 7 As shown, the positioning method 300 may include at least some of the following:

[0097] S301, the first device determines a first measurement result of the first signal based on the measurement of the first signal searched within the search window corresponding to the reference time, or based on a first difference between the transmission time of the first signal and the reference time; wherein, the first measurement result is used to locate the position of the first device or the position of the second device, the second device being the device that sent the first signal.

[0098] Exemplarily, the reference time can be referred to as an expected transmission time of the first signal. For example, the reference time can be referred to as an expected reception time or an expected sending time of the first signal.

[0099] Exemplarily, the reference time is used for determining the search window and / or for determining the first measurement result. For example, when the first measurement result includes a first RTOA, the reference time can be used for determining the first RTOA. For example, the first RTOA can be a difference between a transmission time of the first signal and the reference time.

[0100] Exemplarily, the reference time can be indicated by another device, autonomously determined by the first device, or agreed by a protocol.

[0101] Exemplarily, the first signal can be a device to reader (D2R) reference signal (RS), a D2R signal / channel, a D2R signal / channel, a D2R positioning reference signal, or the first signal includes but is not limited to at least one of a D2R preamble, a D2R positioning reference signal (PRS), a D2R PDRCH.

[0102] Exemplarily, the first measurement result includes but is not limited to at least one of a measurement result of a relative time of arrival (RTOA), a reception-sending time difference (Rx-Tx Time Difference), a reference signal received power (RSRP), a received signal strength indication (RSSI), and the like.

[0103] Exemplarily, the first device can be a handheld or fixed AIOT device information reading (and sometimes writing) device; can also be a device communicating with a tag, which can be a terminal; can also be a base station or a device with reading and writing functions, such as a reader; can also be a core network device, such as a location server or a location management function (LMF), which is not specifically limited here. The first device can send a carrier stimulation signal or a control command.

[0104] Exemplarily, the second device can be a responder device, and a communication manner of the responder device can be backscattering RF signals for signal transmission, or some active tags have the ability of active signal generation. Because the energy of the responder device can be derived from the environment, such as environmental RF energy, thermal energy, wind energy, kinetic energy, etc., it can also be called an AIOT device. Therefore, it can also be regarded as a terminal. It can be called a terminal device. In a possible implementation manner, it can be a tag, and can be active, passive or semi-active.

[0105] In addition, the following relates to a third device, which can be a network side device, for example, the first device is a base station, and the third device can be a location server or a location management function (LMF).

[0106] In addition, for the signaling message types between devices:

[0107] Terminal and base station: at least one of radio resource control (RRC), media access control (MAC) control element (CE), downlink control information (DCI), physical uplink control channel (PUCCH), physical uplink shared channel (PUSCH), physical downlink control channel (PDCCH), physical broadcast channel (PBCH), physical downlink shared channel (PDSCH), physical random access channel (PRACH).

[0108] Terminal-to-terminal: Sidelink messages, including but not limited to: at least one of Sidelink Protocol Parameters (SLPP), Sidelink (SL) RRC, SL MAC CE, 1st SCI, 2nd SCI, Physical Sidelink Shared Channel (PSSCH), Physical Sidelink Control Channel (PSCCH), Physical Sidelink Feedback Channel (PSFCH), Physical Sidelink Triggering Channel (PSTCH), Physical Sidelink Broadcast Channel (PSBCH).

[0109] Terminal-to-Location Server: including but not limited to: at least one of NAS, LPP, SLPP, RRC + NR Positioning Protocol A (NRPPA)

[0110] Base Station-to-Location Server: including but not limited to: NRPPA.

[0111] In the embodiment, by introducing the reference time, the influence of the capability of the second device on the first measurement result can be reduced, and the positioning accuracy of the first device or the second device can be improved. Especially, when the first device is a reader and the second device is an AIOT device, due to the limited capability of the AIOT device, the time interval between the R2D transmission and the D2R transmission after the R2D transmission is unstable. In the embodiment, by introducing the reference time, the influence of the instability of the time interval on the positioning accuracy can be reduced, and the positioning accuracy can be improved.

[0112] It should be noted that in the embodiment, the first device can include multiple devices, that is, the first signal transmitted by the same second device can be measured by multiple first devices to obtain the measurement result, such as RTOA, and then the position of the second device is determined based on the RTOA of the multiple first devices. This positioning method can eliminate the time error caused by the instability of the time interval between the received signal and the transmitted signal of the second device. For example, the time error caused by the instability of the time interval between the received signal and the transmitted signal of the second device can be eliminated by the way of difference between the RTOA of the multiple first devices.

[0113] In some embodiments, the first device measures the first signal searched in the search window to obtain the first measurement result; or the first device determines the first measurement result based on a first difference between a transmission time of the first signal and the reference time.

[0114] Exemplarily, “transmit” in the present application means “send” and / or “receive”.

[0115] Exemplarily, the reference time is used to determine one of: a center of the search window, a start point of the search window, and an end point of the search window. In other words, the first device measures the first signal searched in the search window before receiving the first signal, with the reference time as the center of the search window, the start point of the search window, or the end point of the search window, to obtain the first measurement result. For example, as shown in Figure 8 Exemplarily, the first device measures the first signal searched in the search window before receiving the first signal, with the reference time as the center of the search window, to obtain the first measurement result.

[0116] Exemplarily, the transmission time of the first signal is a receiving time or a sending time of the first signal. Exemplarily, the transmission time of the first signal is associated with a start position or an end position of the first signal, or the transmission time of the first signal is associated with a start time or an end time of a third time unit in which the first signal is located. Optionally, the third time unit can be a time unit of an OFDM system, or can be decoupled from the time unit of the OFDM system, such as the third time unit being a time unit related to D2R or R2D in an AIOT system. For example, as shown in Figure 9 Exemplarily, the transmission time of the first signal is decoupled from a subframe of an OFDM system. Optionally, the third time unit is one of: a frame, a subframe, a slot, a symbol, a chip length, and a code length; or the third time unit is determined by a preamble of a second signal, such as being determined according to a clock-acquisition part of the second signal. The second signal is transmitted before the first signal and is used to trigger the transmission of the first signal. Optionally, the first signal spans multiple time units, and the third time unit is the earliest time unit in the multiple time units. Optionally, the transmission time of the first signal is defined by or corresponds to a first detected path in a time domain.

[0117] Exemplarily, the first difference is RTOA or TOA.

[0118] In some embodiments, the first device determines the first measurement result based on a first difference between a transmission time of the first signal and the reference time, including at least one of:

[0119] In a case where the first difference does not exceed a preset value range, the first device determines the first difference as the first measurement result.

[0120] In a case where the first difference exceeds the preset value range, the first device determines a second difference as the first measurement result; the second difference is determined according to the first difference, and the second difference is within the preset value range.

[0121] Exemplarily, the preset value range is [-0.5 ms, 0.5 ms] or other ranges.

[0122] Since the transmission time of the first signal is not fixed, it is possible to cause the first difference to exceed the preset value range, increasing the difficulty of determining the first difference and / or reducing the reporting overhead of the first difference. In the embodiment, in a case where the first difference does not exceed the preset value range, the first device determines the first difference as the first measurement result; or in a case where the first difference exceeds the preset value range, the first device determines a second difference as the first measurement result; the second difference is determined according to the first difference, and the second difference is within the preset value range. That is, regardless of whether the result of the first difference is within the preset value range, the first measurement result can be guaranteed to be within the preset value range, thereby reducing the difficulty of determining the first difference and / or reducing the reporting overhead of the first difference.

[0123] In some embodiments, the second difference is a value obtained by performing a modulo operation on the first difference.

[0124] Exemplarily, the first measurement result includes T RTOA , a lower limit value of the preset value range is -V, an upper limit value of the preset value range is V, V is greater than 0 and less than 1, and T RTOA is determined according to the following formula:

[0125] T RTOA = mod(D+V, 2V)-V.

[0126] Wherein, D represents the first difference.

[0127] Exemplarily, the first measurement result includes T RTOA , and an upper limit value of the preset value range is V, V is greater than 0 and less than 1, and T RTOA is determined according to the following formula:

[0128] T RTOA = mod(T1-T RTOA_reference +V, 2V)-V.

[0129] wherein T1 is a transmission time of the first signal, T RTOA_reference is the reference time.

[0130] Taking V as 0.5ms for example, the first difference value ranges from -0.5ms to 0.5ms; further, if the first difference value exceeds the range of -0.5ms to 0.5ms, the result is limited in -0.5ms to 0.5ms by taking modulus. For example, T RTOA = mod(T1-T RTOA_reference +0.5ms, 1ms)-0.5ms.

[0131] In some embodiments, the reference time is determined according to at least one of: a start time of a first SFN0 with a system frame number (SFN) of 0, a time offset relative to the first SFN0.

[0132] wherein the time offset relative to the first SFN0 is determined according to at least one of:

[0133] a first time offset corresponding to a first time granularity;

[0134] a second time offset corresponding to a second time granularity;

[0135] wherein the first SFN0 comprises at least one of: a nominal SFN0, an SFN0 associated with the first device, an SFN0 associated with the second device, an SFN0 associated with a device triggering the second device to send the first signal; the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system; the second time granularity is a time granularity based on a signal from the first device to the second device (e.g., a reader to device (R2D) signal) or a signal from the second device to the first device (e.g., a device to reader (D2R) signal), and the second time granularity is different from the first time granularity.

[0136] For example, as shown in FIG. 4, the reference time is equal to the sum of the first SFN0 and the time offset relative to the first SFN0. Figure 11

[0137] ​Exemplarily, the description of SFN in the present application can also be replaced by directly frame number (DFN), i.e. SFN0 can be replaced by DFN0. Optionally, the DFN is timing determined based on GNSS or other manners.

[0138] Exemplarily, the first SFN0 and / or the time offset relative to the first SFN0 can be autonomously determined by the first device, or indicated by the second device or the third device.

[0139] Exemplarily, the time offset relative to the first SFN0 comprises a time offset of a receiving time of the first signal relative to a starting time of the first SFN0.

[0140] Exemplarily, the first SFN0 can be a nominal SFN0, which is provided by a nominal SFN initialization time. Optionally, the nominal SFN0 can be autonomously determined by the first device, or indicated by other devices for positioning the first device or the second device, the second device or the third device. Optionally, the nominal SFN0 can (or can not necessarily) correspond to an SFN0 corresponding to an actual sending of the first signal (such as an SFN0 of the second device); or the nominal SFN0 can (or can not necessarily) correspond to an SFN0 corresponding to an actual receiving of the first signal (such as an SFN0 initialization time of the first device); or the nominal SFN0 can be an SFN0 irrelevant to the sending of the first signal.

[0141] Exemplarily, the first SFN0 can be a SFN0 associated with the first device, which comprises at least one of the following: a SFN0 of a serving cell associated with the first device; a SFN0 for uplink transmission or downlink transmission associated with the first device; a SFN0 determined by the first device. Optionally, the first device is a terminal, and the SFN0 associated with the first device can be a SFN0 corresponding to uplink (UL) or downlink (DL). Optionally, the SFN0 associated with the first device is autonomously determined by the first device.

[0142] Exemplarily, the time offset relative to the first SFN0 comprises the first time offset. Optionally, the first time offset comprises at least one of a system frame offset, a subframe offset, a slot offset, a symbol offset, a Ts offset, a Tc offset. Wherein, T c = 1 / (Δf max ·N f ), Δf max , N frespectively, the maximum subcarrier spacing of the OFDM system and the maximum Fast Fourier Transform (FFT) point number of the OFDM system, generally Δf max = 480 · 10 3 Hz, N f = 4096; T s = 1 / (Δf ref · N f,ref ), Δf ref , N f,ref respectively, the maximum reference subcarrier spacing of the OFDM system and the reference FFT point number of the OFDM system, Δf ref = 15 · 10 3 Hz, N f,ref = 2048. Optionally, if the first time offset contains offsets of multiple granularities, the time offset of smaller granularity is the offset based on the offset of larger granularity. For example: if the first time offset contains system frame offset and subframe offset, the subframe offset is the subframe offset within the system frame.

[0143] Exemplarily, the time offset relative to the first SFN0 includes the second time offset. Optionally, the second time offset is the time offset relative to the first time offset.

[0144] Optionally, the second time offset is the time granularity in the AIOT system (e.g., the time granularity of the AIOT-based R2D or D2R signal). Exemplarily, the second time granularity includes chip time unit or code length. Optionally, the second time granularity includes at least one of the following: the length of OOK signal 1 or 0, the length of BPSK signal 1 or -1, the length of 1 or 0 after first encoding, the length of the period formed by on and off, or 1 / BLF (Backscatter link Frequency). Optionally, the first encoding includes at least one of the following: NRZ (Non Return Zero) encoding, Manchester encoding, Unipolar RZ encoding, DBP (Differential Bi-Phase) encoding, Miller encoding. An example is as follows: the chip time is the length of OOK signal 1 or 0, or the length of BPSK signal 1 or -1. The code length is the length of 1 or 0 after first encoding.

[0145] Exemplarily, the second time granularity is determined according to at least one of the following:

[0146] second length;

[0147] a fourth parameter;

[0148] The second time length is determined according to a clock acquisition part of a preamble of the second signal, and the fourth parameter is determined according to information carried by the second signal. The second signal is used to trigger the second device to send the first signal, and / or the second signal is used to locate the position of the first device or the position of the second device.

[0149] For example, the second time granularity is in a reference time length. Optionally, the reference time length is determined according to at least one of the second time length and the fourth parameter. For example, the second time granularity is equal to the second time length multiplied by the fourth parameter. Specifically, the second time length is determined according to a clock acquisition part of a preamble of the second signal, the fourth parameter is determined according to an indication in control signaling in the second signal, and the reference time length is equal to the second time length multiplied by the fourth parameter. For example, the fourth parameter is denoted as M, the reference time length is M times the second time length, and M can be a decimal number or a positive integer or equal to 1. Specifically, the reference time length is determined according to at least one of a preamble of R2D and an indication in control signaling in R2D. R2D is R2D transmission before D2R RS, and is used to trigger transmission of D2R RS.

[0150] Of course, in other alternative embodiments, the time offset relative to the first SFN0 can include a nominal time offset corresponding to a nominal SFN0.

[0151] In this embodiment, the reference time is determined according to at least one of the following: a starting time of the first SFN0, a time offset relative to the first SFN0, and breaking the limitation that the reference time is determined based on the sending time of the first signal. That is, even in the case where the first signal is not determined, the first measurement result can be determined based on a unified reference time, and the positioning accuracy of the first device or the second device can be improved.

[0152] In addition, the time offset relative to the first SFN0 includes the first time offset or the second time offset, which means that the reference time can be determined based on the time granularity of the OFDM system or based on the time granularity of the signal, so as to improve the flexibility of the reference time. In particular, when the time offset relative to the first SFN0 includes the second time offset, the error and complexity that occur when the reference time is determined based on the time granularity of the OFDM system can be reduced, that is, the accuracy of the reference time can be improved and the determination complexity thereof can be reduced, so as to improve the accuracy of the first measurement result and reduce the time delay of obtaining the first measurement result, and further, the positioning accuracy of the first device or the second device can be improved and the positioning time delay thereof can be reduced.

[0153] It should be noted that the first time offset, the second time offset and the various time offsets involved below can be ms-level offsets or offsets within ms, which are not limited in the present application.

[0154] In some embodiments, the reference time is determined according to a starting position of a first time unit closest to a transmission time of the first signal.

[0155] Exemplarily, as shown in Figure 12 , the reference time is a starting position of a first time unit closest to a transmission time of the first signal.

[0156] Exemplarily, the first time unit includes but is not limited to at least one of the following: a subframe, a time slot, a symbol. For example, as shown in Figure 12 , the first time unit is a subframe.

[0157] In the present embodiment, the reference time is determined according to a starting position of a first time unit closest to a transmission time of the first signal, so as to reduce the influence of unstable transmission time of the first signal on the accuracy of the reference time, that is, to improve the accuracy of the reference time, and further, to improve the positioning accuracy of the first device or the second device.

[0158] In some embodiments, the timing associated with the first time unit is determined according to at least one of the following:

[0159] a nominal SFN0;

[0160] an SFN0 associated with the first device.

[0161] Exemplarily, the timing associated with the first time unit is a starting time of the nominal SFN0 or a starting time of the SFN0 associated with the first device.

[0162] Optionally, the timing associated with the first time unit can be a start time of a nominal SFN0, which can be provided by a nominal SFN initialization time. Optionally, the nominal SFN0 can be determined by the first device itself, indicated by another device used for positioning the first device or the second device, the second device, or a third device. Optionally, the nominal SFN0 can (or can not) correspond to an SFN0 corresponding to an actual transmission of the first signal (e.g., an SFN0 of the second device); or the nominal SFN0 can (or can not) correspond to an SFN0 corresponding to an actual reception of the first signal (e.g., an SFN0 initialization time of the first device); or the nominal SFN0 can be an SFN0 unrelated to the transmission of the first signal.

[0163] Optionally, the timing associated with the first time unit can be a start time of a SFN0 associated with the first device, which can include at least one of the following: an SFN0 of a serving cell associated with the first device; an SFN0 associated with the first device for uplink transmission or downlink transmission; an SFN0 determined by the first device. Optionally, the first device can be a terminal, and the SFN0 associated with the first device can be an SFN0 corresponding to UL or DL. Optionally, the SFN0 associated with the first device can be determined by the first device autonomously. When the timing associated with the first time unit is a start time of an SFN0 associated with the first device, which can be an SFN0 corresponding to UL or DL, it is equivalent to that the timing associated with the first time unit is an UL timing or a DL timing.

[0164] In some embodiments, the reference time is determined according to a transmission time of the first signal or a nominal transmission time of the first signal.

[0165] Optionally, the reference time can be a transmission time of the first signal.

[0166] Optionally, the nominal transmission time of the first signal can be a nominal transmission time of the first signal, but can not necessarily be an actual transmission time of the first signal.

[0167] It should be noted that the transmission time of the first signal can be referred to the related description above, which will not be repeated here.

[0168] In this embodiment, the reference time is determined according to a transmission time of the first signal or a nominal transmission time of the first signal, which can reduce the complexity of determining the reference time, i.e., can reduce the time delay of obtaining the first measurement result, and further can reduce the positioning time delay of the first device or the second device.

[0169] In some embodiments, the reference time is determined according to at least one of: a transmission time of the second signal, a time offset relative to the transmission time of the second signal.

[0170] wherein the second signal is used to trigger the second device to transmit the first signal, and / or the second signal is used to locate a position of the first device or a position of the second device.

[0171] The time offset relative to the transmission time of the second signal is determined according to at least one of:

[0172] a third time offset corresponding to a first time granularity;

[0173] a fourth time offset corresponding to a second time granularity;

[0174] a fifth time offset;

[0175] wherein the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system; the second time granularity is a time granularity based on a signal from the first device to the second device (e.g., a reader-to-device (R2D) signal) or a signal from the second device to the first device (e.g., a device-to-reader (D2R) signal), and the second time granularity is different from the first time granularity.

[0176] For example, as shown in Figure 13 the reference time is the transmission time of the second signal.

[0177] For example, as shown in Figure 14 the reference time is a sum of the transmission time of the second signal and a time offset relative to the transmission time of the second signal.

[0178] For example, the second signal is a PRDCH or other signal transmitted by the first device to the second device.

[0179] For example, the time offset relative to the transmission time of the second signal includes a time offset of a reception time of the first signal relative to a transmission time of the second signal. For example, a time offset of a reception time of the first signal relative to a reception time of the second signal. For example, a time offset of a reception time of the first signal relative to a transmission time of the second signal.

[0180] Exemplarily, the time offset relative to the transmission time of the second signal comprises the third time offset. Optionally, the third time offset comprises at least one of a system frame offset, a subframe offset, a slot offset, a symbol offset, a Ts offset, and a Tc offset. Wherein, T c = 1 / (Δf max · N f ), Δf max , N f are respectively a maximum subcarrier spacing of an OFDM system and a maximum FFT (Fast Fourier Transform) point number of the OFDM system, and Δf max = 480·10 3 Hz, N f = 4096; T s = 1 / (Δf ref · N f,ref ), Δf ref , N f,ref are respectively a maximum reference subcarrier spacing of an OFDM system and a reference FFT point number of the OFDM system, and Δf ref = 15·10 3 Hz, N f,ref = 2048. Optionally, if the third time offset comprises time offsets of multiple granularities, a time offset of a smaller granularity is a time offset based on a time offset of a larger granularity. For example, if the third time offset comprises a system frame offset and a subframe offset, the subframe offset is a subframe offset within a system frame.

[0181] Exemplarily, the time offset relative to the transmission time of the second signal comprises the fourth time offset. Optionally, the fourth time offset is a time offset relative to the third time offset.

[0182] It should be noted that the second time granularity can refer to the related description above, and details are not described herein again to avoid repetition.

[0183] Exemplarily, the fifth time offset is related to a preset value range. The preset value range is a preset value range of a time interval between the first signal and the second signal.

[0184] Of course, in other alternative embodiments, the time offset relative to the transmission time of the second signal can comprise a time offset corresponding to a nominal transmission time of the first signal, which does not necessarily correspond to an actual transmission time of the first signal.

[0185] In the embodiment, the reference time is determined according to at least one of the following: a transmission time of the second signal, a time offset relative to the transmission time of the second signal, and breaking the limitation that the reference time is determined based on the transmission time of the first signal, which means that the first measurement result can be determined based on a unified reference time even if the first signal is not determined, and the positioning accuracy of the first device or the second device can be improved.

[0186] In addition, the time offset relative to the transmission time of the second signal includes the third time offset or the fourth time offset, which means that the reference time can be determined based on the time granularity of the OFDM system or the time granularity of the signal, and the flexibility of the reference time can be improved. In particular, when the time offset relative to the transmission time of the second signal includes the fourth time offset, the error and complexity that occur when the reference time is determined based on the time granularity of the OFDM system can be reduced, that is, the accuracy of the reference time can be improved and the determination complexity thereof can be reduced, the accuracy of the first measurement result can be improved and the acquisition delay thereof can be reduced, and further, the positioning accuracy of the first device or the second device can be improved and the positioning delay thereof can be reduced.

[0187] In some embodiments, the transmission time of the second signal is determined according to at least one of the following:

[0188] a transmission start time of the second signal;

[0189] a transmission end time of the second signal;

[0190] a start time of a second time unit in which the second signal is located;

[0191] an end time of the second time unit in which the second signal is located.

[0192] Exemplarily, the transmission start time of the second signal includes a transmission start time or a reception start time of the second signal.

[0193] Exemplarily, the transmission end time of the second signal includes a transmission end time or a reception end time of the second signal.

[0194] Exemplarily, the second time unit includes but is not limited to at least one of the following: a subframe, a time slot, and a symbol.

[0195] In some embodiments, the transmission time of the second signal is determined according to at least one of a start time of a second SFN0 with a system frame number SFN of 0 and a time offset relative to the second SFN0;

[0196] The time offset relative to the second SFN0 is determined according to at least one of the following:

[0197] The sixth time offset corresponding to the first time granularity;

[0198] The seventh time offset corresponding to the second time granularity;

[0199] The second SFN0 includes at least one of the following: a nominal SFN0, an SFN0 associated with the first device, an SFN0 associated with the second device, an SFN0 associated with a transmitting device of the second signal; the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system; the second time granularity is a time granularity based on a signal from the first device to the second device (such as a reader-to-device (R2D) signal) or a signal from the second device to the first device (such as a device-to-reader (D2R) signal), and the second time granularity is different from the first time granularity.

[0200] For example, as shown in Figure 15 The reference time is the transmission time of the second signal. The transmission time of the second signal is determined according to the start time of the second SFN0 and the time offset relative to the second SFN0.

[0201] For example, as shown in Figure 16 The reference time root is the sum of the transmission time of the second signal and the time offset relative to the transmission time of the second signal. The transmission time of the second signal is determined according to the start time of the second SFN0 and the time offset relative to the second SFN0.

[0202] For example, the second SFN0 includes a direct frame offset (DFN) 0 with a DFN of zero.

[0203] For example, the second SFN0 and / or the time offset relative to the second SFN0 can be autonomously determined by the first device, or indicated by the second device or the third device.

[0204] For example, the time offset relative to the second SFN0 includes the time offset of the receiving time of the first signal relative to the start time of the second SFN0.

[0205] Exemplarily, the second SFN0 can be a nominal SFN0. Optionally, the nominal SFN0 can be determined by the first device itself, indicated by other devices for positioning the first device or the second device, the second device or the third device. Optionally, the nominal SFN0 can (or not necessarily) correspond to the SFN0 corresponding to the actual sending of the first signal (such as the SFN0 of the second device); or the nominal SFN0 can (or not necessarily) correspond to the SFN0 corresponding to the actual receiving of the first signal (such as the SFN0 start time of the first device); or the nominal SFN0 can be an SFN0 irrelevant to the sending of the first signal.

[0206] Exemplarily, the second SFN0 can be the SFN0 associated with the first device, and the SFN0 associated with the first device includes at least one of the following: the SFN0 of the serving cell associated with the first device; the SFN0 associated with the first device for uplink transmission or downlink transmission; the SFN0 determined by the first device. Optionally, the type of the first device is a terminal, and the SFN0 associated with the first device can be the SFN0 corresponding to UL or DL. Optionally, the SFN0 associated with the first device is determined by the first device autonomously.

[0207] Exemplarily, the time offset relative to the second SFN0 includes the sixth time offset. Optionally, the sixth time offset includes at least one of a system frame offset, a subframe offset, a slot offset, a symbol offset, a Ts offset, a Tc offset. Wherein, T c =1 / (Δf max ·N f ), Δf max , N f are the maximum subcarrier spacing and the maximum FFT point number of the OFDM system respectively, and Δf max =480·10 3 Hz, N f =4096; T s =1 / (Δf ref ·N f,ref ), Δf ref , N f,ref are the maximum reference subcarrier spacing and the reference FFT point number of the OFDM system respectively, Δf ref =15·10 3 Hz, N f,ref= 2048. Alternatively, if the sixth time offset comprises offsets of multiple granularities, the time offset of smaller granularity is offset based on the time offset of larger granularity. For example, if the sixth time offset comprises a system frame offset and a subframe offset, the subframe offset is the offset of a subframe within a system frame.

[0208] Exemplarily, the time offset relative to the second SFN0 comprises the seventh time offset. Alternatively, the seventh time offset is a time offset relative to the sixth time offset.

[0209] It should be appreciated that the second time granularity can refer to the related description above, and thus will not be repeated here.

[0210] Of course, in other alternative embodiments, the time offset relative to the second SFN0 can comprise a nominal time offset corresponding to a nominal SFN0.

[0211] Exemplarily, the reference time is the sum of the transmission time of the second signal and a time offset relative to the transmission time of the second signal; the transmission time of the second signal is the sum of the start time of the second SFN0 and a time offset relative to the second SFN0, wherein the time offset relative to the transmission time of the second signal and the time offset relative to the second SFN0 can have the following combinations:

[0212] Combination 1:

[0213] The time offset relative to the transmission time of the second signal comprises the third time offset and the fourth time offset, and the time offset relative to the second SFN0 comprises the sixth time offset.

[0214] Combination 2:

[0215] The time offset relative to the transmission time of the second signal comprises the third time offset, and the time offset relative to the second SFN0 comprises the sixth time offset.

[0216] Combination 3:

[0217] The time offset relative to the transmission time of the second signal comprises the fourth time offset, and the time offset relative to the second SFN0 comprises the fifth time offset and the sixth time offset.

[0218] Combination 4:

[0219] The time offset relative to the transmission time of the second signal comprises the third time offset and the fourth time offset, and the time offset relative to the second SFN0 comprises the fifth time offset and the sixth time offset.

[0220] Of course, the above four manners are only examples and should not be understood as limiting the present application.

[0221] In the embodiment, the transmission time of the second signal is determined according to at least one of the following: the start time of the second SFN0, the time offset relative to the second SFN0, which breaks the limitation that the reference time is determined based on the transmission time of the first signal, and which means that the first measurement result can be determined based on the unified reference time even in the case that the first signal is not determined, and further that the positioning accuracy of the first device or the second device can be improved.

[0222] In addition, the time offset relative to the second SFN0 includes the sixth time offset or the seventh time offset, which means that the transmission time of the second signal can be determined based on the time granularity of the OFDM system or based on the time granularity of the signal, and which can improve the flexibility of the transmission time of the second signal and further improve the flexibility of the reference time. In particular, when the time offset relative to the second SFN0 includes the seventh time offset, the error and complexity that occur when the transmission time of the second signal is determined based on the time granularity of the OFDM system can be reduced, that is, the accuracy of the transmission time of the second signal can be improved and the determination complexity thereof can be reduced, and accordingly, the accuracy of the reference time can be improved and the determination complexity thereof can be reduced, the accuracy of the first measurement result can be improved and the acquisition delay thereof can be reduced, and further, the positioning accuracy of the first device or the second device can be improved and the positioning delay thereof can be reduced.

[0223] In some embodiments, the fifth time offset is determined according to at least one of the following:

[0224] The minimum time length between the second signal and the first signal;

[0225] The maximum time length between the second signal and the first signal;

[0226] The first time length;

[0227] The eighth time offset;

[0228] The ninth time offset;

[0229] The first time length is determined according to the minimum time length and the maximum time length, or the first time length is determined according to information borne by the second signal; the eighth time offset is determined according to information borne by the second signal; and the ninth time offset is determined by the first device, indicated by other devices, or agreed by a protocol.

[0230] Optionally, the minimum time length between the second signal and the first signal is the minimum time between R2D transmission and the corresponding D2R transmission thereafter, such as T R2D_min ; and the minimum time length between the second signal and the first signal is the maximum time between R2D transmission and the corresponding D2R transmission thereafter, such as T R2D_max .

[0231] Optionally, the first time length is determined according to the minimum time length and the maximum time length. The first time length is the center of [T R2D_min , T R2D_max ]. For example, the first time length is the sum of the minimum time length and the difference between the maximum time length and the minimum time length.

[0232] For example, the first time length is indicated by a control command borne by the second signal.

[0233] For example, the ninth time offset is determined according to the round trip time of the first device and the second device. Optionally, the round trip time of the first device and the second device is determined according to prior information.

[0234] For example, the fifth time offset is equal to the minimum time length, the maximum time length, the first time length, the eighth time offset, or the ninth time offset.

[0235] In some embodiments, the fifth time offset is equal to the sum of the ninth time offset and one of:

[0236] the minimum time length, the maximum time length, the first time length, the eighth time offset.

[0237] For example, the fifth time offset is equal to the sum of the minimum time length and the ninth time offset, the fifth time offset is equal to the sum of the maximum time length and the ninth time offset, the fifth time offset is equal to the sum of the first time length and the ninth time offset, and the fifth time offset is equal to the sum of the eighth time offset and the ninth time offset.

[0238] In some embodiments, the length of the search window is determined by the first device, indicated by other devices, or agreed by a protocol; or the length of the search window is determined according to one of:

[0239] a minimum time length between the first signal and the second signal;

[0240] a maximum time length between the first signal and the second signal;

[0241] a first parameter;

[0242] a synchronization error between the first device and other measurement device of the first signal;

[0243] a propagation time difference between a propagation time of the first device and the second device and a propagation time of other measurement device of the first signal and the second device;

[0244] a synchronization error between the first device and the second device;

[0245] a propagation time between the first device and the second device;

[0246] wherein the second signal is used to trigger the second device to send the first signal, and / or the second signal is used to locate a position of the first device or a position of the second device; the first parameter is used to represent an error of the reference time.

[0247] Exemplarily, at least one of the synchronization error between the first device and other measurement device of the first signal, the propagation time difference between a propagation time of the first device and the second device and a propagation time of other measurement device of the first signal and the second device, the synchronization error between the first device and the second device, the propagation time between the first device and the second device is determined according to prior information.

[0248] Exemplarily, the error of the reference time is also referred to as an uncertainty of the reference time.

[0249] Exemplarily, if the reference time is a center of a search window, a range of the search window is [the reference time - a length of the search window / 2, the reference time + the length of the search window / 2]. If the reference time is a start point of a search window, a range of the search window is [the reference time, the reference time + the length of the search window]. If the reference time is an end point of a search window, a range of the search window is [the reference time - the length of the search window, the reference time].

[0250] Exemplarily, a lower limit value of the search window is a difference between the reference time and the first parameter, and an upper limit value of the search window is a sum of the reference time and the first parameter.

[0251] Exemplarily, the lower limit value and the upper limit value of the search window are determined according to a first value; wherein the first value is a ratio of a first difference value to 2, and the first difference value is a difference between the maximum time length and the minimum time length. For example, the lower limit value is a difference between the reference time and the first value, and the upper limit value is a sum of the reference time and the first value. For another example, exemplarily, the lower limit value is a difference between the reference time and the first value minus a second value, and the upper limit value is a sum of the reference time and the first value plus the second value; wherein the second value is determined according to at least one of the following: the first parameter, the synchronization error, and the propagation delay difference.

[0252] In some embodiments, the first parameter is determined according to a second parameter and a granularity of the second parameter; wherein the second parameter is used to represent a boundary error of the time window.

[0253] Exemplarily, the boundary error of the time window can also be referred to as an uncertainty of the boundary of the time window.

[0254] In some embodiments, the granularity of the second parameter is determined according to a third parameter and a target granularity; wherein the third parameter is determined by the first device, or indicated by other devices, or agreed by a protocol; and the target granularity is determined according to a second time granularity, and the second time granularity is a time granularity based on a signal from the first device to the second device (such as a R2D (reader to device) signal from a reader to an AIOT device) or a signal from the second device to the first device (such as a D2R (device to reader) signal from an AIOT device to a reader).

[0255] It should be understood that the second time granularity can refer to the related description above, and details are not repeated here to avoid repetition.

[0256] In some embodiments, the first measurement result includes a timestamp, and the timestamp indicates a time when the first device measures the first signal.

[0257] Exemplarily, in the case that the first measurement result includes a first RTOA, the first measurement result further includes a timestamp of the first RTOA, and the timestamp indicates a time when the first device measures the first signal.

[0258] In some embodiments, the timing associated with the timestamp is determined according to at least one of the following:

[0259] the timing associated with the first device;

[0260] a timing associated with a reference time of a global navigation satellite system (GNSS);

[0261] a timing associated with a reference time.

[0262] Exemplarily, the timing associated with the first device is autonomously determined by the first device. The timing associated with the first device is a start time of SFN0 associated with the first device.

[0263] Exemplarily, the timing associated with the reference time is a start time of nominal SFN0. Alternatively, the timing associated with the timestamp is the timing associated with the reference time, i.e., the timing of determining the timestamp is consistent with the timing of determining the reference time. For example, if the reference time is associated with nominal SFN initialization time, then the timing associated with the timestamp is also the nominal SFN initialization time.

[0264] In some embodiments, the timestamp comprises at least one of:

[0265] a tenth time offset corresponding to a first time granularity;

[0266] an eleventh time offset corresponding to a second time granularity;

[0267] wherein the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system;

[0268] the second time granularity is a time granularity based on a signal from the first device to the second device (e.g., a reader to device (R2D) signal from a reader to an AIOT device) or a signal from the second device to the first device (e.g., a device to reader (D2R) signal from an AIOT device to a reader), and the second time granularity is different from the first time granularity;

[0269] timing information;

[0270] wherein the timing information is used to determine the timing associated with the timestamp. Alternatively, the timing information is used to report (or indicate) the timing to which the timestamp is applied. For example, the timing information can be SFN initialization time.

[0271] For example, the time stamp contains a time offset with a finest granularity of a subframe offset. For example, the time stamp contains only a tenth time offset, and the tenth time offset contains a system frame offset and a subframe offset. For example, if the reference time is determined according to a start position of a first time unit closest to a transmission time of the first signal, the time offset contained in the time stamp has a finest granularity less than or equal to the first time unit.

[0272] For example, the time stamp contains the eleventh time offset. Optionally, the eleventh time offset is a time offset relative to the tenth time offset. c = 1 / (Δf max ·N f ), Δf max , N f are respectively a maximum subcarrier spacing of an OFDM system and a maximum FFT (Fast Fourier Transform) point number of the OFDM system, and Δf max = 480·10 3 Hz, N f = 4096; T s = 1 / (Δf ref ·N f,ref ), Δf ref , N f,ref are respectively a maximum reference subcarrier spacing of an OFDM system and a reference FFT point number of the OFDM system, and Δf ref = 15·10 3 Hz, N f,ref = 2048. Optionally, if the tenth time offset contains time offsets with multiple granularities, a time offset with a smaller granularity is a time offset based on a time offset with a larger granularity. For example, if the tenth time offset contains a system frame offset and a subframe offset, the subframe offset is a subframe offset within a system frame.

[0273] For example, the time stamp contains the eleventh time offset. Optionally, the eleventh time offset is a time offset relative to the tenth time offset.

[0274] It should be understood that the second time granularity can refer to the related description above, and thus will not be described here again to avoid repetition.

[0275] For example, in a case where the timing information is timing associated with the reference time, the time stamp contains the timing information, and the timing information is timing associated with the reference time.

[0276] Exemplarily, in a case that the timing information is the timing associated with the reference time, if the timing associated with the reference time is the start time of a nominal SFN 0 and the third device does not acquire the nominal SFN 0, the timestamp contains the timing information, which is the nominal SFN 0; or in a case that the timing associated with the reference time is the start time of a nominal SFN 0 and the third device has acquired the nominal SFN 0, the timestamp does not contain the timing information, i.e., the timestamp does not contain the nominal SFN 0.

[0277] Exemplarily, the timestamp contains the positioning information, and the positioning information includes an SFN initialization time, and the timing associated with the timestamp is determined based on the SFN initialization time.

[0278] In some embodiments, the method 300 further includes at least one of the following:

[0279] The first device sends the first measurement result to a third device;

[0280] The first device sends the first measurement result to an upper layer of the first device.

[0281] Exemplarily, the first device sends the first measurement result to a third device, such as a location server or other device for positioning the first device or the second device. Alternatively, the first device sends the first measurement result to an upper layer of the first device, so that the upper layer of the first device processes the first measurement result.

[0282] The positioning method provided in the present application is described below in combination with the specific embodiments provided in the present application.

[0283] Embodiment 1

[0284] In this embodiment, the first device is taken as an example of a device in devices 1 to n and the second device is taken as an example of an AIOT device, and a positioning process based on measurement results in an AIOT system is given. In addition, the positioning process given in this embodiment supports a positioning method similar to UL TDOA, reduces the positioning error caused by the uncertain processing time of the AIOT device, and improves the positioning accuracy of the AIOT system.

[0285] Figure 17 FIG. 4 is a schematic flowchart of a measurement process 400 provided in an embodiment of the present application.

[0286] As shown in FIG. 4, the measurement process 400 can include: Figure 17

[0287] ​S401, the device 1 sends D2R RS control information or control command to the AIOT device.

[0288] The D2R RS control information contains the configuration of the D2R RS. The device 1 can be the control node in the whole procedure. Optionally, the D2R RS control information or control command is contained in the D2R PRDCH.

[0289] S402, optionally, the device 1 sends D2R RS configuration or measurement request to the device n.

[0290] For example, the device 1 sends D2R RS configuration to other devices for measuring D2R RS. Optionally, the D2R RS configuration contains the measurement request of D2R RS. Optionally, the D2R RS configuration contains at least one of the indication of the reference time and the indication of the search window.

[0291] S403, the AIOT device processes the D2R RS control information.

[0292] S404, optionally, the AIOT device sends D2R RS configuration or measurement request to the device n.

[0293] For example, the AIOT device sends D2R RS configuration to other devices for measuring D2R RS. Optionally, the D2R RS configuration contains the measurement request of D2R RS. Optionally, the D2R RS configuration contains at least one of the indication of the reference time and the indication of the search window. Optionally, the D2R RS is associated with the corresponding D2R control information, which contains the configuration or measurement request of D2R RS. Optionally, the D2R control information is carried in the PDRCH. The D2R RS is sent together with the PDRCH associated with it.

[0294] S405a, the AIOT device sends D2R RS to the device 1.

[0295] For example, the AIOT device sends D2R RS to the device 1 according to the D2R RS control information.

[0296] S405b, the AIOT device sends D2R RS to the device n.

[0297] For example, the AIOT device sends D2R RS to the device n according to the D2R RS control information.

[0298] It should be noted that the AIOT device can send the D2R RS to the devices 1-n at the same time, and the present application does not make a specific limitation on this.

[0299] S406a, the device 1 measures the D2R RS.

[0300] S406b, the device n measures the D2R RS.

[0301] S407, optionally, the device n sends the measurement result to the device 1.

[0302] Optionally, the devices 1-n are readers. The readers can be network devices (such as base stations) or terminal devices.

[0303] Exemplarily, the device n feeds back the measurement result of the D2R RS of the device n to the device 1, so that the device 1 performs positioning on the AIOT device based on the measurement result of the D2R RS of the device 1 and the measurement result of the D2R RS of the device n.

[0304] It should be understood that the positioning process 400 includes the related processes of the AIOT device and the devices 1-n, and the positioning methods related to the devices 1-n are similar to the method 300 described above, and therefore, the specific content can be referred to the related description in the method 300, and to avoid repetition, it will not be described here.

[0305] Figure 18 is a schematic flowchart of the measurement process 500 provided by the embodiments of the present application.

[0306] As shown in Figure 18 , the measurement process 500 can include:

[0307] S501, the LMF sends a positioning request to the device 1.

[0308] Exemplarily, the positioning request contains the characteristics of the D2R RS expected by the LMF. The characteristics include but are not limited to at least one of the bandwidth, transmission rate, chip length, repetition number, period, etc. of the D2R RS.

[0309] Optionally, if the device 1 is a terminal. The transmission between the terminal and the LMF can be carried by the LPP message.

[0310] Exemplarily, the LMF can be the control node in the whole process.

[0311] Optionally, in the measurement process 500, the LMF can also be replaced by other devices as control nodes, such as terminals or other network devices.

[0312] S502, the device 1 sends D2R RS control information to the AIOT device.

[0313] Illustratively, the device 1 determines the configuration of the D2R RS, and sends D2R RS control information to the AIOT device. Wherein, the D2R RS control information contains the configuration of the D2R RS.

[0314] S503, the device 1 sends D2R RS configuration to the LMF.

[0315] Illustratively, the D2R RS configuration contains at least one of the indication of the reference time and the indication of the search window mentioned above.

[0316] S504, the AIOT device processes the D2R RS control information.

[0317] S505a, the AIOT device sends D2R RS to the device 1.

[0318] Illustratively, the AIOT device sends D2R RS to the device 1 according to the D2R RS control information.

[0319] S505b, the AIOT device sends D2R RS to the device n.

[0320] Illustratively, the AIOT device sends D2R RS to the device n according to the D2R RS control information.

[0321] It should be noted that the AIOT device can send D2R RS to the devices 1-n at the same time, which is not limited in the present application.

[0322] S506a, the LMF sends D2R RS configuration or D2R RS measurement request to the device n.

[0323] Illustratively, the LMF sends D2R RS configuration to the device n. Optionally, the D2R RS configuration includes D2R RS measurement request. Optionally, the D2R RS configuration contains at least one of the indication of the reference time and the indication of the search window mentioned above.

[0324] S506a, the LMF sends D2R RS configuration or D2R RS measurement request to the device 1.

[0325] Illustratively, the LMF sends D2R RS configuration to the device 1. Optionally, the D2R RS configuration includes D2R RS measurement request. Optionally, the D2R RS configuration contains at least one of the indication of the reference time and the indication of the search window mentioned above.

[0326] It should be noted that the LMF can send a D2R RS configuration or a measurement request of the D2R RS to the devices 1-n at the same time, which is not limited herein.

[0327] S507a, the device 1 measures the D2R RS.

[0328] S507b, the device n measures the D2R RS.

[0329] S508a, the device n sends the measurement result to the LMF.

[0330] S508b, the device 1 sends the measurement result to the LMF.

[0331] Exemplarily, after receiving the measurement result of the D2R RS by the device n and the measurement result of the D2R RS by the device 1, the LMF can position the AIOT device based on the measurement result of the D2R RS by the device 1 and the measurement result of the D2R RS by the device n.

[0332] It should be understood that the positioning process 500 includes the related processes of the AIOT device, the devices 1-n, and the LMF, and the positioning method related to the devices 1-n is similar to the method 300 described above, and thus the specific content can be referred to the related description in the method 300, and to avoid repetition, it will not be described herein.

[0333] Embodiment 2:

[0334] The reference time described above is explained in this embodiment, and specifically, the manner of determining the reference time can include one of the following:

[0335] Manner 1:

[0336] The reference time is the start of the first time unit closest to the receiving time of the D2R RS.

[0337] For example, as shown in the following table, the reference time is the start of the subframe closest to the receiving time of the D2R RS. Figure 19

[0338] Wherein, the timing corresponding to the first time unit (such as subframe) is determined according to the SFN initialization time. The SFN initialization time can be determined according to the SFN initialization time of the first device itself, or according to the nominal SFN initialization time, which can be indicated by other first devices, second devices or third devices.

[0339] ​For example, for multiple first devices participating in positioning, such as device 1 to device n, the multiple first devices are used to receive D2R Rx, and the multiple first devices can apply different reference times. For example, the SFN start time is determined based on the SFN start time of the first device itself, and the reference time will be different for different first devices; or, the most recent first time unit (such as a subframe) will be different for different first devices, so the reference time will be different for different first devices.

[0340] Method 2:

[0341] The reference time is the time of R2D transmission. R2D refers to the R2D transmission prior to D2R RS, used to trigger the D2RRS transmission.

[0342] For example, such as Figure 20 As shown, since the R2D signal is transmitted by device 1, the transmission time of R2D can be obtained relatively accurately. Therefore, the transmission time of R2D can be directly used as the reference time. The transmission time of R2D can be either the transmission time or the reception time.

[0343] For example, for multiple first devices involved in positioning, such as... Figure 20 The devices 1 to n shown represent multiple first devices used to receive D2R Rx, and these multiple first devices can apply the same reference time. Here, all the multiple first devices use the R2D transmission time as the reference time.

[0344] Method 3:

[0345] The reference time is the sum of the R2D transmission time and the time offset relative to the R2D transmission time. Here, R2D refers to the R2D transmission prior to D2R RS, used to trigger the D2R RS transmission.

[0346] For example, for multiple first devices participating in the positioning, such as devices 1 to n as shown in the figure, the multiple first devices are used to receive D2R Rx, and the multiple first devices can apply the same reference time. Here, the multiple first devices all use the R2D transmission time plus the time offset relative to the R2D transmission time as the reference time.

[0347] Since the R2D is sent by device 1, the transmission time of the R2D can be obtained with relatively high accuracy. The transmission time of the R2D can be either the sending time or the receiving time. Furthermore, considering the capability limitations of AIoT devices, the actual time of the D2R RS sent by the AIoT device after receiving the R2D is uncertain.

[0348] In one implementation, the time limit of D2R RS can be relative to a time range [T] of R2D transmission. R2D_min,T R2D_max The data is sent, but the specific time within this time range is uncertain. For example, the reference time is the R2D transmission time plus the time offset relative to the R2D transmission time. Assume time offset 1 is the R2D transmission time offset relative to the SFN start time, and time offset 2 is the reference time offset relative to the R2D transmission time. Because the D2R RS time is limited to a certain time range [T...] R2D_min ,T R2D_max Therefore, the time offset 2 can be sent with respect to [T]. R2D_min ,T R2D_max ]related.

[0349] For example, such as Figure 21 As shown, the time offset 2 can be [T R2D_min ,T R2D_max The corresponding offset value, [T] R2D_min ,T R2D_max The corresponding offset value can be [T] R2D_min ,T R2D_max The center of ], T R2D_min T R2D_max Or satisfy [T] R2D_min ,T R2D_max The value of ], one of the values ​​indicated by the R2D control command.

[0350] For example, such as Figure 22 As shown, the time offset 2 can be [T R2D_min ,T R2D_max Add an extra offset value to the corresponding offset value. [T] R2D_min ,T R2D_max The corresponding offset value can be [T] R2D_min ,T R2D_max The center of ], T R2D_min T R2D_max Or satisfy [T] R2D_min ,T R2D_max The value of ] is one of the values ​​indicated by the R2D control command. For example, the additional offset value here can be an offset value that takes into account the round trip time between the first device and the second device, which can be determined, for example, based on prior information.

[0351] In another implementation, an indication of a time offset is included in the R2D, which is a nominal time offset, i.e. the nominal offset of the D2R RS from the transmission time of the R2D. The actual transmission time of the AIOT does not necessarily coincide with the nominal time offset. Assume that time offset 1 is the time offset of the transmission time of the R2D from the SFN start time, and time offset 2 is the time offset of the reference time from the transmission time of the R2D.

[0352] For example, as shown in FIG. 2A, the time offset 2 is a nominal time offset, i.e. the nominal offset of the D2R RS from the transmission time of the R2D. Figure 23

[0353] For example, as shown in FIG. 2B, the time offset 2 is a nominal time offset + an additional offset value, i.e. the nominal offset of the D2R RS from the transmission time of the R2D + an additional offset value. Exemplarily, the additional offset value here can be an offset value considering the round trip time between the first device and the second device, which can be determined according to prior information, for example. Figure 24

[0354] Embodiment 3:

[0355] In this embodiment, the reference time can be used to determine the search window of the D2R RS.

[0356] If the reference time is the center of the search window, the determination of the search window of the D2R RS can be one of the following manners:

[0357] Manner 1:

[0358] The length of the search window is determined according to the uncertainty of the reference time, i.e. the range of the search window = [the reference time - the uncertainty of the reference time, the reference time + the uncertainty of the reference time].

[0359] Exemplarily, the uncertainty of the reference time can also be expressed as a one-end search window length.

[0360] Exemplarily, the uncertainty of the reference time = the uncertainty parameter value of the reference time x the granularity of the uncertainty of the reference time.

[0361] Exemplarily, the uncertainty parameter value of the reference time can be indicated by other devices, autonomously determined by the first device or agreed by a protocol.

[0362] ​​For example, the granularity of the uncertainty in the reference time is X × target granularity. Here, X is a positive integer. X can be agreed upon by the protocol or indicated by other devices. The target granularity is related to the time granularity of the AIoT's R2D or D2R. A corresponding description of the target granularity can be found in the preceding description of the second time granularity; to avoid repetition, it will not be repeated here.

[0363] Method 2:

[0364] If the reference time is based on [T] R2D_min ,T R2D_max ] center or [T R2D_min ,T R2D_max The center and offset values ​​determine the length of the search window, which can be determined based on T. R2D_max -T R2D_min Confirmed. For example, such as Figure 25 As shown, the range of the search window = [reference time - (T)] R2D_max -T R2D_min ) / 2, Reference time + (T) R2D_max -T R2D_min ) / 2].

[0365] Method 3:

[0366] If the reference time is determined based on the center and offset value of [TR2D_min, TR2D_max], the range of the search window is [reference time - (TR2D_max - TR2D_min) / 2 - boundary uncertainty, reference time + (TR2D_max - TR2D_min) / 2 + boundary uncertainty], that is, the length of the search window is TR2D_max - TR2D_min + 2 × boundary uncertainty.

[0367] For example, the boundary uncertainty is determined according to instructions from other devices, autonomous determination by the first device, or agreement.

[0368] For example, the boundary uncertainty is determined by at least one of the following: the uncertainty of the measurement by the first device, the synchronization error between the first device and other measuring devices of the first signal, the propagation delay difference between the propagation delay of the first device and the second device and the propagation delay between other measuring devices of the first signal and the second device, the synchronization error between the first device and the second device, and the propagation delay between the first device and the second device.

[0369] Specifically, such as Figure 26As shown, Device 1 is the first device to send R2D, which is used to control the transmission of D2R RS. Device 1 and Device n are used to receive / measure D2RRS. Before measuring D2RRS, Device 1 and Device n search for D2RRS in a search window. For Device 1 and Device n, the reference time is the center of the search window. Device 1 and Device n share the same reference time. The reference time is determined based on the center of [TR2D_min, TR2D_max] plus an offset value. Assuming the time offset of the reference time relative to the transmission time of R2D is Time_offset, then Time_offset = (TR2D_max - TR2D_min) / 2 + additional_time_offset, where additional_time_offset represents the additional offset value. The additional offset value can be an offset value that takes into account the round-trip time between Device 1 and the AIoT device.

[0370] For device 1, the length of the search window is equal to TR2D_max - TR2D_min.

[0371] For device n, considering the difference between the propagation delay between device n and the AIOT device and the propagation delay between device 1 and the AIOT device, the synchronization error between device n and device 1, and the uncertainty of the first device's measurement, device n may need a larger search window than device 1 when searching for D2R RS. Therefore, the search window length = TR2D_max + a - (TR2D_min - a). Here, 'a' is a parameter that considers the difference between the propagation delay between device n and the AIOT device and the propagation delay between device 1 and the AIOT device, the synchronization error between device n and device 1, and the uncertainty of the first device's measurement.

[0372] For example, different search window lengths can be used for different first devices; or, the same search window length can be used. If the same search window length is used, multiple first devices can share the longest search window among multiple first devices, ensuring that each first device can search for D2R RS.

[0373] Example 4:

[0374] This embodiment provides a method for taking a model for RTOA measurement.

[0375] For example, such as Figure 27 As shown, T D2R-RX -T RTOA_reference If the result exceeds the range of [-0.5, 0.5] ms, the following formula can be used to determine the measurement result:

[0376] T RTOA =mod(T)D2R-RX -T RTOA_reference +0.5ms, 1ms) -0.5ms

[0377] wherein, T RTOA is the RTOA after the modulo operation, i.e., the measurement result, T D2R-RX is the reception time of the D2R RS, T RTOA_reference is the reference time.

[0378] In this embodiment, according to the formula, the final measurement result can be limited in the range of [-0.5, 0.5] ms.

[0379] The positioning method provided in the embodiments of the present application can be executed by the positioning apparatus. The positioning apparatus provided in the embodiments of the present application is described by taking the positioning apparatus executing the positioning method as an example.

[0380] The positioning apparatus provided in the embodiments of the present application can be a communication device or a component in the communication device, for example, a chip. The communication device can be a terminal, a network-side device or a server, etc. For example, the terminal can include but is not limited to the types of the terminal 11 listed above, the network-side device can include but is not limited to the types of the network-side device 12 listed above, and the embodiments of the present application are not limited in this regard.

[0381] The positioning apparatus includes at least one of a receiving module, a sending module and a processing module. The receiving module, the sending module and the processing module can be implemented by software or hardware. When implemented by hardware, the processing module can be implemented by a processor, for example, a general-purpose processor, a special-purpose processor, etc., such as a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), an artificial intelligent (AI) processor, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a network processor (NP), a field programmable gate array (FPGA) or other programmable logic devices, a gate circuit, a transistor, a discrete hardware component, etc. The receiving module and the sending module can be implemented by a communication interface, which can include one or more of a transceiver, a pin, a circuit, a bus, a radio frequency unit, etc.

[0382] Specifically, referring to Figure 28 When the positioning apparatus is a terminal, a component in the terminal, a network-side device, or a component in the network-side device, the positioning apparatus 600 includes a processing module 601 configured to:

[0383] determine a first measurement result of the first signal based on measurement of the first signal searched in a search window corresponding to a reference time or based on a first difference between a transmission time of the first signal and the reference time;

[0384] The first measurement result is used to determine a position of the first device or a position of a second device, the second device being a device that transmits the first signal.

[0385] In some embodiments, the processing module 601 is specifically configured to perform at least one of the following:

[0386] In a case where the first difference does not exceed a preset value range, the first difference is determined as the first measurement result;

[0387] In a case where the first difference exceeds the preset value range, a second difference is determined as the first measurement result; the second difference is determined according to the first difference, and the second difference is within the preset value range.

[0388] In some embodiments, the second difference is a value obtained by performing a modulo operation on the first difference.

[0389] In some embodiments, the reference time is determined according to at least one of the following: a start time of a first system frame number (SFN) 0 (SFN0), a time offset relative to the SFN0.

[0390] The time offset relative to the SFN0 is determined according to at least one of the following:

[0391] a first time offset corresponding to a first time granularity;

[0392] a second time offset corresponding to a second time granularity;

[0393] The SFN0 includes at least one of the following: a nominal SFN0, an SFN0 associated with the first device, an SFN0 associated with the second device, an SFN0 associated with a device that triggers the second device to transmit the first signal.

[0394] The first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system.

[0395] The second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, and the second time granularity is different from the first time granularity.

[0396] In some embodiments, the reference time is determined according to a start position of a first time unit closest to a transmission time of the first signal.

[0397] In some embodiments, the timing associated with the first time unit is determined according to at least one of:

[0398] a nominal SFN 0;

[0399] an SFN 0 associated with the first device.

[0400] In some embodiments, the reference time is determined according to a transmission time of the first signal or a nominal transmission time of the first signal.

[0401] In some embodiments, the reference time is determined according to at least one of: a transmission time of a second signal, a time offset relative to the transmission time of the second signal;

[0402] wherein the second signal is used to trigger the second device to send the first signal, and / or the second signal is used to locate a position of the first device or a position of the second device.

[0403] The time offset relative to the transmission time of the second signal is determined according to at least one of:

[0404] a third time offset corresponding to a first time granularity;

[0405] a fourth time offset corresponding to a second time granularity;

[0406] a fifth time offset;

[0407] wherein the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system.

[0408] The second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, and the second time granularity is different from the first time granularity.

[0409] In some embodiments, the transmission time of the second signal is determined according to at least one of:

[0410] a start time of transmission of the second signal;

[0411] an end time of transmission of the second signal;

[0412] a start time of a second time unit in which the second signal is located;

[0413] an end time of the second time unit in which the second signal is located.

[0414] In some embodiments, a transmission time of the second signal is determined according to at least one of a start time of a second system frame number (SFN) 0 (second SFN 0) and a time offset relative to the second SFN 0;

[0415] wherein the time offset relative to the second SFN 0 is determined according to at least one of:

[0416] a sixth time offset corresponding to the first time granularity;

[0417] a seventh time offset corresponding to the second time granularity;

[0418] wherein the second SFN 0 comprises at least one of a nominal SFN 0, an SFN 0 associated with the first device, an SFN 0 associated with the second device, and an SFN 0 associated with a sending device of the second signal.

[0419] the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system;

[0420] the second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, and the second time granularity is different from the first time granularity.

[0421] In some embodiments, the fifth time offset is determined according to at least one of:

[0422] a minimum time length between the second signal and the first signal;

[0423] a maximum time length between the second signal and the first signal;

[0424] a first time length;

[0425] an eighth time offset;

[0426] a ninth time offset;

[0427] wherein the first time length is determined according to the minimum time length and the maximum time length, or the first time length is determined according to information carried by the second signal;

[0428] the eighth time offset is determined according to the information carried by the second signal;

[0429] the ninth time offset is determined by the first device, or indicated by another device, or agreed by a protocol.

[0430] In some embodiments, the fifth time offset is equal to the ninth time offset and a sum of one of the following:

[0431] the minimum time length, the maximum time length, the first time length, the eighth time offset.

[0432] In some embodiments, the transmission time of the first signal is associated with a starting position or an ending position of the first signal, or the transmission time of the first signal is associated with a starting time or an ending time of a third time unit in which the first signal is located.

[0433] In some embodiments, the reference time is used to determine one of the following: a center of the search window, a starting point of the search window, an ending point of the search window.

[0434] In some embodiments, the length of the search window is determined by the first device, or indicated by other devices, or agreed by protocol; or

[0435] The length of the search window is determined according to one of the following:

[0436] The minimum time length between the first signal and the second signal;

[0437] The maximum time length between the first signal and the second signal;

[0438] The first parameter;

[0439] The synchronization error between the first device and other measurement devices of the first signal;

[0440] The propagation delay difference between the propagation delay of the first device and the second device and the propagation delay of other measurement devices of the first signal and the second device;

[0441] The synchronization error between the first device and the second device;

[0442] The propagation delay between the first device and the second device;

[0443] The second signal is used to trigger the second device to send the first signal, and / or the second signal is used to locate the position of the first device or the position of the second device;

[0444] The first parameter is used to represent the error of the reference time.

[0445] In some embodiments, the first parameter is determined according to a second parameter and the granularity of the second parameter;

[0446] The second parameter is used to represent the error of the reference time.

[0447] In some embodiments, a granularity of the second parameter is determined according to a third parameter and a target granularity;

[0448] The third parameter is determined by the first device, or indicated by another device, or agreed by a protocol;

[0449] The target granularity is determined according to a second time granularity, the second time granularity being a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device.

[0450] In some embodiments, the first measurement result comprises a time stamp, the time stamp indicating a time when the first device measures the first signal.

[0451] In some embodiments, the time stamp associated timing is determined according to at least one of:

[0452] Timing associated with the first device;

[0453] Timing associated with a global navigation satellite system (GNSS);

[0454] Timing associated with the reference time.

[0455] In some embodiments, the time stamp comprises at least one of:

[0456] A tenth time offset corresponding to a first time granularity;

[0457] An eleventh time offset corresponding to a second time granularity;

[0458] The first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system;

[0459] The second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, the second time granularity being different from the first time granularity;

[0460] Timing information;

[0461] The timing information is used to determine the time stamp associated timing.

[0462] In some embodiments, the second time granularity comprises a chip time unit, or

[0463] The second time granularity is determined according to at least one of:

[0464] A second time length;

[0465] A fourth parameter;

[0466] The second time length is determined according to a clock capture part of a preamble of the second signal.

[0467] The fourth parameter is determined according to information carried by the second signal.

[0468] The second signal is used for triggering the second device to send the first signal, and / or the second signal is used for positioning a position of the first device or a position of the second device.

[0469] In some embodiments, the second time granularity is equal to the second time length multiplied by the fourth parameter.

[0470] In some embodiments, the positioning apparatus further includes a sending module configured to perform at least one of the following:

[0471] sending the first measurement result to a third device;

[0472] sending the first measurement result to an upper layer of the first device.

[0473] The apparatus provided by the embodiments of the present application can implement the method embodiments Figures 7 to 27 The method embodiments achieve the same technical effects, and thus the details are not described herein.

[0474] As shown in Figure 29 The embodiments of the present application also provide a communication device 700, which includes a processor 701 and a memory 702, and the memory 702 stores programs or instructions executable on the processor 701. For example, when the communication device 700 is a terminal, the programs or instructions are executed by the processor 701 to implement the steps of the positioning method embodiments described above, and achieve the same technical effects. When the communication device 700 is a network side device, the programs or instructions are executed by the processor 701 to implement the steps of the positioning method embodiments described above, and achieve the same technical effects. To avoid repetition, the details are not described herein.

[0475] The embodiments of the present application also provide a terminal, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is configured to run programs or instructions to implement the steps in the method embodiments as shown in Figures 7 to 27 The terminal embodiments correspond to the terminal side method embodiments described above. The implementation processes and implementation manners of the method embodiments described above can be applied to the terminal embodiments, and achieve the same technical effects. The terminal can be a positioning apparatus as shown in Figure 28 Specifically, Figure 30 A hardware structure diagram of a terminal for implementing the embodiments of the present application.

[0476] The terminal 800 includes, but is not limited to, at least part of components such as a radio frequency unit 801, a network module 802, an audio output unit 803, an input unit 804, a sensor 805, a display unit 806, a user input unit 807, an interface unit 808, a memory 809, and a processor 810.

[0477] Those skilled in the art can understand that the terminal 800 can further include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 810 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. Figures 7 to 27 The terminal structure shown in the figure does not constitute a limitation on the terminal, and the terminal can include more or fewer components than those shown, or combine certain components, or different component arrangements, which are not described here.

[0478] It should be understood that in the embodiments of the present application, the input unit 804 can include a graphics processor 8041 and a microphone 8042, and the graphics processor 8041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 806 can include a display panel 8061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 807 includes at least one of a touch panel 8071 and other input devices 8072. The touch panel 8071 is also called a touch screen. The touch panel 8071 can include two parts of a touch detection device and a touch controller. The other input devices 8072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), trackballs, mice, joysticks, etc., which are not described here.

[0479] In the embodiments of the present application, the radio frequency unit 801 can transmit the downlink data received from the network side device to the processor 810 for processing, and can send uplink data to the network side device. Generally, the radio frequency unit 801 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0480] The memory 809 can be used to store software programs or instructions and various data. The memory 809 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 809 can include a volatile memory or a non-volatile memory. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable Programmable ROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synchlink DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 809 in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0481] The processor 810 can include one or more processing units; optionally, the processor 810 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 810.

[0482] The processor 810 is configured to determine a first measurement result of the first signal based on a measurement of the first signal searched in a search window corresponding to a reference time or based on a first difference between a transmission time of the first signal and the reference time.

[0483] The first measurement result is used to locate a position of the first device or a position of a second device, and the second device is a device sending the first signal.

[0484] In this embodiment, by introducing a reference time, the impact of the second device's capabilities on the first measurement result can be reduced, thereby improving the positioning accuracy of either the first or second device. In particular, when the first device is a reader / writer and the second device is an AIoT device, the time interval between R2D transmission and subsequent D2R transmission is unstable due to the limited capabilities of the AIoT device. In this embodiment, by introducing a reference time, the impact of this time interval instability on positioning accuracy can be reduced, thereby improving positioning accuracy.

[0485] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above positioning method embodiment and achieve the same or corresponding technical effect. To avoid repetition, it will not be described again here.

[0486] This application embodiment also provides a network-side device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement, for example... Figure 31 The steps of the method embodiment shown are illustrated. This network-side device embodiment corresponds to the above-described network-side device method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this network-side device embodiment and can achieve the same technical effect.

[0487] Specifically, embodiments of this application also provide a network-side device, which can be... Figure 31 The positioning device shown. (As shown) Figure 31 As shown, the network-side device 900 includes: an antenna 91, a radio frequency (RF) device 92, a baseband device 93, a processor 94, and a memory 95. The antenna 91 is connected to the RF device 92. In the uplink direction, the RF device 92 receives information through the antenna 91 and transmits the received information to the baseband device 93 for processing. In the downlink direction, the baseband device 93 processes the information to be transmitted and sends it to the RF device 92. The RF device 92 processes the received information and transmits it through the antenna 91.

[0488] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 93, which includes a baseband processor.

[0489] Baseband device 93 may include, for example, at least one baseband board on which multiple chips are disposed, one of which is, for example, a baseband processor. Figure 28 As shown, the baseband device 93 is connected to the memory 95 via a bus interface to call the program in the memory 95 and execute the network device operation shown in the above method embodiment.

[0490] The network side device can further include a network interface 96, for example, a common public radio interface (CPRI).

[0491] Specifically, the network side device 900 of the embodiment of the present application further includes instructions or programs stored on the memory 95 and executable on the processor 94, and the processor 94 invokes the instructions or programs in the memory 95 to perform the method executed by the modules shown in the above Figure 32 The modules shown perform the method and achieve the same technical effects, and thus details are not repeated here.

[0492] Specifically, the embodiment of the present application further provides a network side device. As shown in the above Figure 28 The network side device 1000 includes a processor 1001, a network interface 1002 and a memory 1003. The network side device can be a positioning device as shown in the above. Figure 28 The network interface 1002 is, for example, a common public radio interface (CPRI).

[0493] Specifically, the network side device 1000 of the embodiment of the present application further includes instructions or programs stored on the memory 1003 and executable on the processor 1001, and the processor 1001 invokes the instructions or programs in the memory 1003 to perform the method executed by the modules shown in the above ​ The modules shown perform the method and achieve the same technical effects, and thus details are not repeated here.

[0494] The embodiment of the present application further provides a readable storage medium, and the readable storage medium stores programs or instructions, which are executed by a processor to implement each process of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not repeated here.

[0495] The processor is the processor in the terminal in the above embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. In some examples, the readable storage medium can be a non-transitory readable storage medium.

[0496] The embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement each process of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not repeated here.

[0497] It should be understood that the chip mentioned in the embodiments of the present application can also be referred to as a system chip, a system chip, a chip system or a system on chip, etc.

[0498] The embodiments of the present application further provide a computer program / program product stored in a storage medium, which is executed by at least one processor to implement the processes of the above positioning method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0499] The embodiments of the present application further provide a communication system, including a terminal and a network side device, wherein the terminal or the network side device can be used to execute the steps of the positioning method as described above.

[0500] It should be noted that in this document, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element. In addition, it should be pointed out that the scope of the methods and apparatus in the embodiments of the present application is not limited to the order of performing the functions shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted or combined. In addition, the features described with reference to certain examples can be combined in other examples.

[0501] From the above description of the embodiments, those skilled in the art can clearly understand that the above method embodiments can be realized by means of computer software product and general hardware platform, of course, also can be realized by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disc, optical disc, etc.), including a plurality of instructions, used to make the terminal or network side device execute the method described in each embodiment of the present application.

[0502] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative, not restrictive. Those skilled in the art can make many forms of embodiments under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims.

Claims

1. A positioning method, characterized by, The method comprises: a first device determines a first measurement result of a first signal based on a measurement of the first signal searched in a search window corresponding to a reference time, or based on a first difference between a transmission time of the first signal and the reference time; wherein the first measurement result is used for positioning a position of the first device or a position of a second device, the second device being a device that transmits the first signal.

2. The method of claim 1, wherein, The first device determines the first measurement result based on the first difference between the transmission time of the first signal and the reference time, comprising at least one of: in a case where the first difference does not exceed a preset value range, the first device determines the first difference as the first measurement result; in a case where the first difference exceeds the preset value range, the first device determines a second difference as the first measurement result; the second difference is determined according to the first difference, and the second difference is within the preset value range.

3. The method of claim 2, wherein, The second difference is a value obtained by performing a modulo operation on the first difference.

4. The method according to any one of claims 1 to 3, characterized in that, The reference time is determined according to at least one of: a starting time of a first system frame number (SFN) 0 (SFN0) whose value is 0, and a time offset relative to the first SFN0; wherein the time offset relative to the first SFN0 is determined according to at least one of: a first time offset corresponding to a first time granularity; a second time offset corresponding to a second time granularity; wherein the first SFN0 comprises at least one of: a nominal SFN0, an SFN0 associated with the first device, an SFN0 associated with the second device, and an SFN0 associated with a device that triggers the second device to transmit the first signal; the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system; the second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, and the second time granularity is different from the first time granularity.

5. The method according to any one of claims 1 to 3, characterized in that, The reference time is determined according to a starting position of a first time unit closest to the transmission time of the first signal.

6. The method of claim 5, wherein, The timing associated with the first time unit is determined according to at least one of: a nominal SFN0; an SFN0 associated with the first device.

7. The method according to any one of claims 1 to 3, characterized in that, The reference time is determined according to the transmission time of the first signal or a nominal transmission time of the first signal.

8. The method according to any one of claims 1 to 3, characterized in that, The reference time is determined according to at least one of: a transmission time of a second signal, and a time offset relative to the transmission time of the second signal; wherein the second signal is used for triggering the second device to transmit the first signal, and / or the second signal is used for positioning the position of the first device or the position of the second device; The time offset relative to the transmission time of the second signal is determined according to at least one of: a third time offset corresponding to a first time granularity; a fourth time offset corresponding to a second time granularity; a fifth time offset; wherein the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system; The second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, and the second time granularity is different from the first time granularity.

9. The method of claim 8, wherein, The transmission time of the second signal is determined according to at least one of the following: a start time of the transmission of the second signal; an end time of the transmission of the second signal; a start time of a second time unit in which the second signal is located; an end time of the second time unit in which the second signal is located.

10. The method of claim 8, wherein, The transmission time of the second signal is determined according to at least one of a start time of a second system frame number (SFN) 0 (second SFN 0) and a time offset relative to the second SFN 0; The time offset relative to the second SFN 0 is determined according to at least one of the following: a sixth time offset corresponding to the first time granularity; a seventh time offset corresponding to the second time granularity; The second SFN 0 includes at least one of the following: a nominal SFN 0, an SFN 0 associated with the first device, an SFN 0 associated with the second device, an SFN 0 associated with a sending device of the second signal. The first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system. The second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, and the second time granularity is different from the first time granularity.

11. The method according to any one of claims 8 to 10, characterized in that, The fifth time offset is determined according to at least one of the following: a minimum time length between the second signal and the first signal; a maximum time length between the second signal and the first signal; a first time length; an eighth time offset; a ninth time offset; The first time length is determined according to the minimum time length and the maximum time length, or the first time length is determined according to information carried by the second signal. The eighth time offset is determined according to information carried by the second signal. The ninth time offset is determined by the first device, indicated by another device, or agreed by a protocol.

12. The method of claim 11, wherein, The fifth time offset is equal to the sum of the ninth time offset and one of the following: the minimum time length, the maximum time length, the first time length, and the eighth time offset.

13. The method according to any one of claims 1 to 12, characterized in that, The transmission time of the first signal is associated with a start position or an end position of the first signal, or the transmission time of the first signal is associated with a start time or an end time of a third time unit in which the first signal is located.

14. The method according to any one of claims 1 to 13, characterized in that, The reference time is used to determine at least one of the following: a center of the search window, a start point of the search window, and an end point of the search window.

15. The method according to any one of claims 1 to 14, characterized in that, The length of the search window is determined by the first device, indicated by another device, or agreed by a protocol; or The length of the search window is determined according to at least one of the following: a minimum time length between the first signal and the second signal; a maximum time length between the first signal and the second signal; a first parameter; a synchronization error between the first device and another measurement device of the first signal; a propagation delay difference between a propagation delay of the first device and the second device and a propagation delay of another measurement device of the first signal and the second device. a synchronization error between the first device and the second device; a propagation delay between the first device and the second device; wherein the second signal is used to trigger the second device to send the first signal, and / or the second signal is used to locate a position of the first device or a position of the second device; the first parameter is used to represent an error of the reference time.

16. The method of claim 15, wherein, the first parameter is determined according to a second parameter and a granularity of the second parameter; wherein the second parameter is used to represent an error of the reference time.

17. The method of claim 16, wherein, the granularity of the second parameter is determined according to a third parameter and a target granularity; wherein the third parameter is determined by the first device, or indicated by another device, or agreed by a protocol; the target granularity is determined according to a second time granularity, the second time granularity being a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device.

18. The method of any one of claims 1 to 17, wherein, the first measurement result comprises a timestamp, the timestamp indicating a time at which the first device measures the first signal.

19. The method of claim 18, wherein, the timing associated with the timestamp is determined according to at least one of the following: timing associated with the first device; timing associated with a global navigation satellite system (GNSS); timing associated with the reference time.

20. The method of claim 18 or 19, wherein, the timestamp comprises at least one of the following: a tenth time offset corresponding to a first time granularity; an eleventh time offset corresponding to a second time granularity; wherein the first time granularity is a time granularity based on an orthogonal frequency division multiplexing (OFDM) system; the second time granularity is a time granularity based on a signal from the first device to the second device or a signal from the second device to the first device, the second time granularity being different from the first time granularity; timing information; wherein the timing information is used to determine the timing associated with the timestamp.

21. The method of claims 4, 8, 10, 17, or 20, wherein, the second time granularity comprises a chip time unit, or the second time granularity is determined according to at least one of the following: a second time length; a fourth parameter; wherein the second time length is determined according to a clock capture part of a preamble of a second signal; the fourth parameter is determined according to information carried by the second signal; the second signal is used to trigger the second device to send the first signal, and / or the second signal is used to locate a position of the first device or a position of the second device.

22. The method of claim 21, wherein, the second time granularity is equal to the second time length multiplied by the fourth parameter.

23. The method of any one of claims 1 to 22, wherein, the method further comprises at least one of the following: the first device sends the first measurement result to a third device; the first device sends the first measurement result to an upper layer of the first device.

24. A positioning device, characterized by comprises: a processing module configured to determine a first measurement result of a first signal based on measurement of the first signal searched within a search window corresponding to a reference time, or based on a first difference between a transmission time of the first signal and the reference time; wherein the first measurement result is used to locate a position of a first device or a position of a second device, the second device being a device sending the first signal.

25. The apparatus of claim 24, wherein, the processing module is configured to perform at least one of the following: In a case where the first difference value does not exceed a preset value range, the first device determines the first difference value as the first measurement result; In a case where the first difference value exceeds the preset value range, the first device determines a second difference value as the first measurement result; The second difference value is determined according to the first difference value, and the second difference value is within the preset value range.

26. The apparatus of claim 25, wherein, The second difference value is a value obtained by performing a modulo operation on the first difference value.

27. A first device, comprising: A processor and a memory are included, the memory stores programs or instructions executable on the processor, and the programs or instructions are executed by the processor to implement the steps of the positioning method according to any one of claims 1 to 23.

28. A readable storage medium, characterized by, The programs or instructions are stored on the readable storage medium, and the programs or instructions are executed by the processor to implement the positioning method according to any one of claims 1 to 23.

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