Position information acquisition method, device and equipment

Abstract

The invention discloses a position information obtaining method, device and equipment, and belongs to the technical field of communication, and the position information obtaining method comprises the steps that first equipment obtains measurement information used for calculating position information, and the position information is the position information of a measurement target; the measurement information comprises at least one of the following items: arrival angle information of a target diameter of the measurement signal; angle of arrival information of a reference diameter of the measurement signal; the difference value information between the target diameter and the reference diameter; distance-related information between the measurement target and a receiving device of the measurement signal; the propagation time delay or propagation distance information of the target path; the propagation time delay or propagation distance information of the reference path; position information of a transmitting device of the measurement signal; position information of a receiving device of the measurement signal; wherein the target path is a signal path associated with the measurement target in the measurement signal.

Description

Technical Field

[0001] This application belongs to the field of communication technology, and specifically relates to a method, apparatus and device for obtaining location information. Background Technology

[0002] In many scenarios, it is necessary to obtain the location information of a target, that is, to locate the target. In some related technologies, the device can only use sensors or the Global Navigation Satellite System (GNSS) to obtain location-related information, resulting in relatively poor positioning performance. Summary of the Invention

[0003] This application provides a method, apparatus, and device for obtaining location information, which can solve the problem of poor positioning performance of the device.

[0004] Firstly, a method for obtaining location information is provided, including:

[0005] The first device acquires measurement information for calculating location information, wherein the location information is the location information of the measurement target, and the measurement information includes at least one of the following:

[0006] The angle of arrival information of the target path of the measurement signal;

[0007] The angle of arrival information of the reference path of the measurement signal;

[0008] The difference information between the target path and the reference path;

[0009] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0010] The propagation delay or propagation distance information of the target path;

[0011] The propagation delay or propagation distance information of the reference path;

[0012] The location information of the device transmitting the measurement signal;

[0013] The location information of the receiving device for the measurement signal;

[0014] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0015] Secondly, a method for obtaining location information is provided, including:

[0016] The second device acquires measurement information used to calculate location information, wherein the location information is the location information of the measurement target;

[0017] The second device sends the measurement information to the first device;

[0018] The measurement information includes at least one of the following:

[0019] The angle of arrival information of the target path of the measurement signal;

[0020] The angle of arrival information of the reference path for measuring the signal;

[0021] The difference information between the target path and the reference path;

[0022] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0023] The propagation delay or propagation distance information of the target path;

[0024] The propagation delay or propagation distance information of the reference path;

[0025] The location information of the device transmitting the measurement signal;

[0026] The location information of the receiving device for the measurement signal;

[0027] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0028] Thirdly, a location information acquisition device is provided, comprising:

[0029] The processing module is configured to acquire measurement information for calculating location information, wherein the location information is the location information of the measurement target, and the measurement information includes at least one of the following:

[0030] The angle of arrival information of the target path of the measurement signal;

[0031] The angle of arrival information of the reference path of the measurement signal;

[0032] The difference information between the target path and the reference path;

[0033] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0034] The propagation delay or propagation distance information of the target path;

[0035] The propagation delay or propagation distance information of the reference path;

[0036] The location information of the device transmitting the measurement signal;

[0037] The location information of the receiving device for the measurement signal;

[0038] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0039] Fourthly, a location information acquisition device is provided, comprising:

[0040] The processing module is used to acquire measurement information for calculating location information, wherein the location information is the location information of the measurement target;

[0041] The sending module is used to send the measurement information to the first device;

[0042] The measurement information includes at least one of the following:

[0043] The angle of arrival information of the target path of the measurement signal;

[0044] The angle of arrival information of the reference path for measuring the signal;

[0045] The difference information between the target path and the reference path;

[0046] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0047] The propagation delay or propagation distance information of the target path;

[0048] The propagation delay or propagation distance information of the reference path;

[0049] The location information of the device transmitting the measurement signal;

[0050] The location information of the receiving device for the measurement signal;

[0051] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0052] Fifthly, a location information acquisition device is provided, the device being configured to perform the steps of the location information acquisition method of the first device as provided in the embodiments of this application.

[0053] In a sixth aspect, a location information acquisition device is provided, the device being configured to perform the steps of the location information acquisition method of the second device as provided in the embodiments of this application.

[0054] In a seventh aspect, an apparatus is provided, the apparatus including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the location information acquisition method of the first device provided in the embodiments of this application.

[0055] Eighthly, a device is provided, including a processor and a communication interface, wherein the communication interface or the processor is used to acquire measurement information for calculating position information, the position information being position information of a measurement target, the measurement information including at least one of the following: angle of arrival information of the target path of the measurement signal; angle of arrival information of the reference path of the measurement signal; difference information between the target path and the reference path; distance-related information between the measurement target and a receiving device of the measurement signal; propagation delay or propagation distance information of the target path; propagation delay or propagation distance information of the reference path; position information of the transmitting device of the measurement signal; and position information of the receiving device of the measurement signal; wherein the target path is the signal path in the measurement signal associated with the measurement target.

[0056] In a ninth aspect, an apparatus is provided, the apparatus including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the location information acquisition method of the second device as provided in the embodiments of this application.

[0057] In a tenth aspect, a device is provided, including a processor and a communication interface, wherein the communication interface or the processor is used to acquire measurement information for calculating position information, the position information being the position information of a measurement target, and the communication interface is used to send the measurement information to a first device; wherein the measurement information includes at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance-related information between the measurement target and a receiving device of the measurement signal; propagation delay or propagation distance information of the target path; propagation delay or propagation distance information of the reference path; position information of the transmitting device of the measurement signal; and position information of the receiving device of the measurement signal; wherein the target path is the signal path in the measurement signal associated with the measurement target.

[0058] Eleventhly, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the location information acquisition method of the first device provided in the embodiments of this application, or implement the steps of the location information acquisition method of the first device provided in the embodiments of this application.

[0059] In a twelfth aspect, a wireless communication system is provided, comprising: a first device and a second device, wherein the first device is configured to perform the steps of the location information acquisition method of the first device as provided in the embodiments of this application, and the second device is configured to perform the steps of the location information acquisition method of the second device as provided in the embodiments of this application.

[0060] In a thirteenth aspect, a chip is provided, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the location information acquisition method for a first device as provided in the embodiments of this application, or to implement the location information acquisition method for a second device as provided in the embodiments of this application.

[0061] In a fourteenth aspect, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the steps of the location information acquisition method for a first device as provided in the embodiments of this application, or the computer program / program product is executed by at least one processor to implement the steps of the location information acquisition method for a second device as provided in the embodiments of this application.

[0062] In this embodiment, a first device acquires measurement information for calculating location information. The location information is the location information of a measurement target. The measurement information includes at least one of the following: the angle of arrival (AHA) of the target path of the measurement signal; the AHA of the reference path of the measurement signal; the difference between the target path and the reference path; distance-related information between the measurement target and the receiving device of the measurement signal; the propagation delay or propagation distance information of the target path; the propagation delay or propagation distance information of the reference path; the location information of the transmitting device of the measurement signal; and the location information of the receiving device of the measurement signal. Wherein, the target path is the signal path in the measurement signal associated with the measurement target. Since the above measurement information is used to calculate the location information of the measurement target, this supports obtaining location information based on the measurement signal, thereby improving the positioning performance of the device. Attached Figure Description

[0063] Figure 1 This is a schematic diagram of a system provided in an embodiment of this application;

[0064] Figure 2 This is a schematic diagram of a sensing and measurement scenario provided in an embodiment of this application;

[0065] Figure 3 This is a schematic diagram of another sensing measurement scenario provided in an embodiment of this application;

[0066] Figure 4 This is a flowchart of a location information acquisition method provided in an embodiment of this application;

[0067] Figure 5a and Figure 5b These are schematic diagrams of two coordinate systems provided in the embodiments of this application;

[0068] Figure 6a and Figure 6bThis is a schematic diagram illustrating the positional relationship of spatial nodes provided in an embodiment of this application;

[0069] Figure 7a and Figure 7b This is a schematic diagram illustrating another spatial node positional relationship provided in an embodiment of this application;

[0070] Figure 8 This is a flowchart of another location information acquisition method provided in an embodiment of this application;

[0071] Figure 9 This is a schematic diagram illustrating a location sensing method provided in an embodiment of this application;

[0072] Figure 10 This is a schematic diagram of a signal path provided in an embodiment of this application;

[0073] Figure 11 This is a schematic diagram of another signal path provided in an embodiment of this application;

[0074] Figure 12 This is a structural diagram of a location information acquisition device provided in an embodiment of this application;

[0075] Figure 13 This is a structural diagram of another location information acquisition device provided in an embodiment of this application;

[0076] Figure 14 This is a structural diagram of a communication device provided in an embodiment of this application;

[0077] Figure 15 This is a structural diagram of a terminal provided in an embodiment of this application;

[0078] Figure 16 This is a structural diagram of a network-side device provided in an embodiment of this application. Detailed Implementation

[0079] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0080] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, the scope of protection for "A or B" covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. In addition, the terms "A and / or B," "at least one of A and B," and "at least one of A or B" also cover at least the above three scenarios. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0081] The term "instruction" in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction). A direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc., in the instruction sent. An indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.

[0082] It is worth noting that the technology described in the embodiments of this application is not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as 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.

[0083] The terms "system" and "network" used in the embodiments of this application are often used interchangeably, and the described technologies can be used with respect to the systems and radio technologies mentioned above, as well as other systems and radio technologies. The following description describes a New Radio (NR) system for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) systems. th Generation 6G communication system.

[0084] Figure 1 This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 11 and a network-side device 12.

[0085] Terminal 11 can be a mobile phone, tablet computer, laptop computer, notebook computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR), virtual reality (VR) device, robot, wearable device, flight vehicle, vehicle user equipment (VUE), shipboard equipment, pedestrian user equipment (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart earphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among these, in-vehicle devices can also be referred to as in-vehicle terminals, in-vehicle controllers, in-vehicle modules, in-vehicle components, in-vehicle chips, or in-vehicle units, etc. It should be noted that the specific type of terminal 11 is not limited in the embodiments of this application.

[0086] Network-side equipment 12 may include access network equipment or core network equipment. Access network equipment may also be referred to as Radio Access Network (RAN) equipment, radio access network function, radio access network unit, or satellite. Access network equipment may include base stations, Wireless Local Area Network (WLAN) access points (AS), or Wireless Fidelity (WiFi) nodes, etc. In this context, a base station may be referred to as a Node B (NB), Evolved Node B (eNB), Next Generation Node B (gNB), New Radio Node B (NR Node B), Access Point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), Radio Base Station, Radio Transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home Evolved Node B, Transmit / Receive Point (TRP), or any other suitable term in the relevant field, as long as the same technical effect is achieved. The base station is not limited to any specific technical terminology. It should be noted that in this application embodiment, only a base station in an NR system is used as an example for introduction, and the specific type of base station is not limited.

[0087] Core network equipment, also known as core network nodes, core network functions, or core network elements, includes, but is not limited to, at least one of the following: Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), and Binding Support Function. Support Functions (BSF), Application Functions (AF), Location Management Functions (LMF), Gateway Mobile Location Centres (GMLC), and Network Data Analytics Functions (NWDAF), etc. It should be noted that this application embodiment only uses core network equipment in the NR system as an example and does not limit the specific type of core network equipment. If the name of the core network equipment mentioned in this application embodiment changes in subsequent protocol versions (e.g., 6G), it will still be within the scope of protection of this application.

[0088] Optionally, the core network equipment can be implemented by one or more functional modules in a single device, or by multiple devices working together; this application does not specifically limit this. It is understood that the aforementioned functional modules can be network elements in hardware devices, software functional modules running on dedicated hardware, or virtualized functional modules instantiated on a platform (e.g., a cloud platform).

[0089] In some embodiments, network-side devices and terminals, in addition to communication capabilities, may possess sensing capabilities. Sensing capabilities refer to the ability of one or more devices to sense information such as the location, distance, and speed of a target object through the transmission and reception of wireless signals, or to detect, track, identify, and image target objects, events, or environments. Some sensing functions and application scenarios are shown in Table 1.

[0090] Table 1

[0091]

[0092]

[0093] It should be noted that the perception categories shown in Table 1 above are merely illustrative examples, and the categories of perception measurements are not limited in this application embodiment.

[0094] Furthermore, the embodiments of this application can be applied to integrated communication and sensing scenarios. Integrated communication and sensing refers to the integrated design of communication and sensing functions in the same system through spectrum sharing and hardware sharing. While transmitting information, the system can sense information such as location, distance, and speed, and detect, track, and identify target devices or events. The communication system and the sensing system complement each other, thereby improving overall performance and bringing a better service experience.

[0095] For example, the integration of communication and radar is a typical application of communication and sensing integration (communication and sensing fusion). The integration of communication and radar systems can bring many advantages, such as cost savings, size reduction, power consumption reduction, improved spectrum efficiency, and reduced mutual interference, thereby improving the overall system performance.

[0096] In this embodiment, depending on the different sensing signal transmitting and receiving nodes, it may include, but is not limited to, [other possibilities]. Figure 2 The six sensing links shown are... It should be noted that... Figure 2 Each sensing link in the example is illustrated with one sending node and one receiving node. In a real system, different sensing links can be selected according to different sensing requirements. Each sensing link can have one or more sending and receiving nodes, and a real sensing system can include multiple different sensing links. Figure 2The perception targets in this example are people and vehicles, and it is assumed that neither people nor vehicles carry or have signal receiving / transmitting equipment installed. In reality, the perception targets will be much richer.

[0097] Sensing Link 1: Base station self-transmitting and self-receiving sensing. In this method, the base station sends sensing signals and obtains the sensing results by receiving the echo of these signals;

[0098] Sensing Link 2: Inter-base station air interface sensing. In this mode, base station 2 receives sensing signals sent by base station 1 and obtains the sensing results.

[0099] Sensing Link 3: Uplink air interface sensing. In this mode, the base station receives sensing signals sent by the terminal and obtains the sensing results.

[0100] Sensing Link 4: Downlink Air Interface Sensing. In this mode, the terminal receives sensing signals sent by the base station and obtains the sensing results.

[0101] Sensing Link 5: Terminal Self-Sending and Receiving Sensing. In this mode, the terminal sends a sensing signal and obtains the sensing result by receiving the echo of the sensing signal.

[0102] Sensing Link 6: Sidelink sensing between terminals. For example, terminal 2 receives a sensing signal sent by terminal 1 and obtains a sensing result, or terminal 1 receives a sensing signal sent by terminal 2 and obtains a sensing result.

[0103] Radars can be classified into monostatic radars and bistatic / multistatic radars based on whether the transmitter and receiver are separate. Bistatic radars generally require a long distance between the transmitting and receiving antennas, comparable to the radar's effective range.

[0104] Among them, external radiation source radar is a special case of bistatic radar. It uses relevant electromagnetic wave detection theory and signal processing technology to obtain non-cooperative electromagnetic signals emitted by a third party (such as a communication base station) to achieve target detection, positioning, tracking and identification. It is also called passive radar, bistatic / multistatic passive radar, passive radar, non-cooperative illumination source radar or non-cooperative passive detection system.

[0105] The calculation of bistatic radar sensing results generally requires the use of a reference channel (direct path) signal and a monitoring channel (reflection path) signal. A typical bistatic radar architecture diagram is shown below. Figure 3 As shown, the left side represents two-dimensional space, and the right side represents three-dimensional space. Where R... T R is the distance from the signal transmitter (Tx) to the target. R Rx is the distance from the signal receiver to the target, L is the baseline distance, and β is the bistatic angle.

[0106] In some embodiments, signaling transmission between radio access network devices and terminals, and between different terminals, may be via Radio Resource Control (RRC) signaling, Medium Access Control Control Element (MAC CE), Layer 1 signaling, or other newly defined sensing signaling; signaling transmission between sensing network functions and terminals may be via Non-Access-Stratum (NAS) signaling (forwarded via AMF), or via RRC signaling, MAC CE, Layer 1 signaling, or other newly defined sensing signaling; interaction between sensing network functions and base stations may be via AMF forwarding to the radio access network through the N2 interface; or the core network sensing network function may send the signal to the UPF, which in turn sends it to the radio access network through the N3 interface; or the signal may be sent to the radio access network (e.g., a base station) through a newly defined interface; signaling transmission between radio access network devices may be via the Xn interface.

[0107] In some embodiments, the sensing network function can also be called a sensing network element or sensing management function (Sensing MF). It can be located on the RAN side or the core network side. It refers to a network node in the core network or RAN that is responsible for at least one of the following functions: sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing. It can be an upgrade based on the AMF or LMF in the mobile communication network, or it can be other network nodes or newly defined network nodes. Specifically, the functional characteristics of the sensing network function / sensing network element may include at least one of the following:

[0108] It interacts with wireless signal transmitting equipment or wireless signal measuring equipment (including the target terminal or the serving base station of the target terminal or the base station associated with the target area) to exchange target information. The target information includes sensing processing requests, sensing capabilities, sensing auxiliary data, sensing measurement type, sensing resource configuration information, etc., in order to obtain the value of the target sensing result or sensing measurement (uplink measurement or downlink measurement) sent by the wireless signal measuring equipment. The wireless signal can also be referred to as the sensing signal.

[0109] The sensing method used is determined based on factors such as the type of sensing service, the information of sensing service consumers, the required Quality of Service (QoS) requirements, the sensing capabilities of the wireless signal transmitting equipment, and the sensing capabilities of the wireless signal measuring equipment. The sensing method may include: wireless access network device A transmitting and wireless access network device B receiving, or wireless access network device transmitting and terminal receiving, or wireless access network device A transmitting and receiving, or terminal transmitting and receiving, or terminal A transmitting and terminal B receiving, etc.

[0110] The sensing equipment serving the sensing service is determined based on factors such as the type of sensing service, information about the sensing service consumers, the required sensing QoS requirements, the sensing capabilities of the wireless signal transmitting equipment, and the sensing capabilities of the wireless signal measuring equipment. The sensing equipment includes wireless signal transmitting equipment or wireless signal measuring equipment.

[0111] The overall coordination and scheduling of resources required for managing sensing services, such as configuring sensing resources for wireless access network devices or terminals accordingly;

[0112] The values ​​of the sensed measurements are processed or calculated to obtain the sensing results. Further, the sensing results are verified, and the sensing accuracy is estimated.

[0113] To better understand the technical solutions provided in the embodiments of this application, the definitions of measurement-related information elements in the embodiments of this application can be as follows:

[0114]

[0115]

[0116]

[0117] The following description, in conjunction with the accompanying drawings, details a method, apparatus, and device for obtaining location information provided in this application, through some embodiments and application scenarios.

[0118] Please see Figure 4 , Figure 4 This is a flowchart of a location information acquisition method provided in an embodiment of this application, such as... Figure 4 As shown, it includes the following steps:

[0119] Step 401: The first device acquires measurement information for calculating location information, wherein the location information is the location information of the measurement target, and the measurement information includes at least one of the following:

[0120] The angle of arrival information of the target path of the measurement signal;

[0121] The angle of arrival information of the reference path of the measurement signal;

[0122] The difference information between the target path and the reference path;

[0123] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0124] The propagation delay or propagation distance information of the target path;

[0125] The propagation delay or propagation distance information of the reference path;

[0126] The location information of the device transmitting the measurement signal;

[0127] The location information of the receiving device for the measurement signal;

[0128] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0129] The aforementioned first device can be a terminal or a network-side device.

[0130] In some implementations, the acquisition of measurement information may be a first device receiving measurement information sent by a second device, where the second device may be a terminal or a network-side device.

[0131] In some embodiments, the measurement information described above can be obtained by the first device measuring the measurement signal.

[0132] In some implementations, the aforementioned acquisition of measurement information may be the measurement information obtained by the first device measuring the aforementioned measurement signal and based on the measurement result; that is, the aforementioned measurement information may be an intermediate measurement result.

[0133] The aforementioned measurement target can be a target object, such as a vehicle or obstacle, or it can be a pedestrian. In some embodiments, the aforementioned measurement target can be a passive target, that is, the location information of a passive measurement target can be obtained.

[0134] In this embodiment of the application, the measurement can be sensing, that is, obtaining the position of the target through sensing, such as passively sensing the position information of the target.

[0135] The aforementioned measurement signals can be dedicated signals used for sensing services, or communication signals, such as reference signals or synchronization signals.

[0136] Among them, the dedicated signal for sensing services can be a sensing signal generated based on chirp or frequency-modulated continuous wave (FMCW) signals, or a sensing signal generated based on pseudo-random (PN) sequences or ZC sequences, etc.

[0137] The reference signal can be a demodulation reference signal (DMRS), a channel state information reference signal (CSI-RS), a sounding reference signal (SRS), or a positioning reference signal (PRS), etc.

[0138] The aforementioned synchronization signal can be a primary synchronization signal (PSS) or a secondary synchronization signal (SSS), etc.

[0139] The aforementioned signals carrying communication data can be Physical downlink shared channel (PDSCH), Physical uplink shared channel (PUSCH), Physical downlink control channel (PDCCH), or Physical uplink control channel (PUCCH), etc.

[0140] The signal path associated with the measurement target in the above-mentioned measurement signal can be the signal path affected by the measurement target or the signal path that passes through the measurement target, or the signal path associated with the portion of the measurement signal reflected by the measurement target during propagation.

[0141] The aforementioned reference path can be a pre-specified or protocol-agreed signal path. For example, the reference path includes at least one of the following:

[0142] Line of sight (LOS) path, the path of the signal reflected by a known target.

[0143] In some implementations, the aforementioned LOS path can be the first-to-reach path, such as when the signal transceivers meet the LOS conditions, in which case the aforementioned LOS path is the first-to-reach path.

[0144] In some implementations, the signal path reflected by the known target may be a signal path reflected by a reconfigurable intelligence surface (RIS), backscatter, or other known passive targets.

[0145] The aforementioned angle of arrival information can be either the azimuth angle of arrival (AoA) or the zenith angle of arrival (ZoA).

[0146] The difference between the target path and the reference path can be the difference in propagation delay or the difference in propagation distance between the target path and the reference path.

[0147] The distance-related information between the aforementioned measurement target and the receiving device of the measurement signal can be information that represents the distance between the measurement target and the receiving device of the measurement signal.

[0148] The aforementioned propagation delay can be understood as propagation time, time of flight (ToF), absolute arrival time, or absolute delay, etc.

[0149] The propagation delay and propagation distance information of the target path or reference path can be matched one-to-one. For example, the propagation distance of the target path is c·(Δτ+τ). L ), where (Δτ+τ L ) represents the propagation delay of the target path, c represents the speed of light, and the propagation distance of the reference path is c·τ. L , where τ L The propagation delay is used as a reference path.

[0150] In this embodiment of the application, the above measurement information can also be referred to as measurement results.

[0151] The receiving device for the aforementioned measurement signal may be either the first device or the second device.

[0152] The device that transmits the aforementioned measurement signals can be a third-party device, such as a terminal or a network-side device.

[0153] The receiving device for the aforementioned measurement signal can be either the first device or the second device, specifically a terminal or a network-side device.

[0154] In some implementations, the second device may send a measurement signal to the first device, the first device receives the measurement signal and performs measurements to obtain the aforementioned measurement information, and the first device reports the measurement information or location information to the second or third device. The location information reported by the first device may be the location or trajectory information of the measured target, i.e., the first device calculates the target location information; or, the measurement information reported by the first device may be intermediate measurement results used to calculate the location or trajectory information of the measured target, and the second or third device calculates the target location information. The first and second devices may be terminals or network devices (such as base stations or TRPs). Specifically, the second device may be a base station and the first device may be a terminal; or, the second device may be a terminal and the first device may be a base station; or, both the first and second devices may be base stations; or, both the first and second devices may be terminals. The third device may be a core network sensing network function or sensing network element, or other core network network functions or network elements, or other base stations or terminals. In some implementations, the third device and the second device may also refer to the same device.

[0155] In this embodiment of the application, the aforementioned measurement information, including at least one of the above-mentioned items, can be understood as the ability to calculate the location information of the measurement target based on at least one of the above-mentioned items. Specifically, the location information of the measurement target can be calculated based on any one or a combination of the above-mentioned items. This can be achieved by finding the location information of the measurement target based on a pre-configured mapping relationship between each item and the location information of the measurement target, or by calculating the location information of the measurement target based on a pre-configured formula, where the variables of the formula are one or more of the above-mentioned items. For example, the location information of the measurement target can be calculated based on the angle of arrival information of the target path, such as by calculating the location information of the measurement target based on a pre-configured calculation formula, where the variables of the calculation formula include the angle of arrival of the target path, or by finding the location information of the measurement target based on a pre-configured mapping relationship between the angle of arrival of the target path and the location information of the measurement target. Another example is the calculation of the location information of the measurement target based on distance-related information between the measurement target and the receiving device of the measurement signal, such as by calculating the location information of the measurement target based on a pre-configured calculation formula, where the variables of the calculation formula include the aforementioned distance-related information, or by finding the location information of the measurement target based on a pre-configured mapping relationship between the aforementioned distance-related information and the location information of the measurement target. For example, the propagation delay or propagation distance of the target path can be calculated based on the location information of the transmitting device and the receiving device of the measurement signal, and then the location information of the measured target can be calculated based on the propagation delay or propagation distance of the target path.

[0156] It should be noted that the embodiments of this application do not limit the specific method of calculating the location information of the above-mentioned measurement target; the above calculation method is only an example.

[0157] In some implementations, the measurement information used to calculate the location information may be that the first device calculates the location information of the measurement target based on the measurement information, or the first device sends the measurement information to other devices, such as network-side devices or servers, and the other devices calculate the location information of the measurement target based on the measurement information, so as to realize the acquisition of location information based on measurement signals and improve the positioning performance of the device.

[0158] In this embodiment of the application, since the measurement information is used to calculate the location information of the measurement target, it is possible to support the acquisition of location information based on the measurement signal, thereby improving the positioning performance of the device.

[0159] In some implementations, each of the above-mentioned measurement information may include one or more pieces of information. For example, the target diameter angle of arrival information may include one or more AoA information. For instance, multiple AoA information can be calculated based on the antenna spacing of the first device. If the antenna spacing of the first device is dλ, where λ is the wavelength, then the target diameter AoA... Multiple angles can be obtained based on the value of d, among which:

[0160] k is an integer.

[0161] Similarly, this also applies to the arrival angle information of the reference path, as well as the difference in arrival angle between the target path and the reference path, which will not be elaborated here.

[0162] By acquiring multiple measurement information, the location information of the target can be calculated. The location information with higher accuracy or reliability can be selected from the multiple measurement information to avoid measurement ambiguity and improve the accuracy or reliability of positioning.

[0163] As an optional implementation, the angle of arrival information includes at least one of the following:

[0164] Azimuth of arrival based on the Local Coordinate System (LCS);

[0165] Zenith angle based on local coordinate system;

[0166] Azimuth of arrival based on the Global Coordinate System (GCS);

[0167] Zenith angle based on global coordinate system.

[0168] The aforementioned azimuth angle based on the local coordinate system can be understood as the azimuth angle in the local coordinate system or the azimuth angle relative to the local coordinate system. Similarly, the aforementioned zenith angle based on the local coordinate system can be understood as the zenith angle in the local coordinate system or the zenith angle relative to the local coordinate system.

[0169] The local coordinate system can be a reference coordinate system defined with the terminal antenna array as a reference, or a reference coordinate system defined with the terminal itself as a reference, for example: Figure 5a As shown, the horizontal direction of the terminal screen is the x' axis, the vertical direction of the terminal screen is the y' axis, and the normal direction of the terminal screen is the z' axis.

[0170] The aforementioned azimuth angle based on the global coordinate system can be understood as the azimuth angle in the global coordinate system or the azimuth angle relative to the global coordinate system. Similarly, the aforementioned zenith angle based on the global coordinate system can be understood as the zenith angle in the global coordinate system or the zenith angle relative to the global coordinate system.

[0171] The global coordinate system can be an East-North-Sky reference coordinate system, for example: Figure 5b The global coordinate system shown.

[0172] In this embodiment, the specific transformation relationship between the local coordinate system and the global coordinate system is that the angle of arrival information of the global coordinate system can be calculated based on the angle of arrival information of the local coordinate system, and vice versa. For example: Figure 5b As shown, the transformation relationship information between the local coordinate system and the global coordinate system includes: the rotation angle α around the z-axis, the rotation angle β around the y-axis, and the rotation angle γ around the x-axis between the local and global coordinate systems.

[0173] In this implementation, arrival angle information in global or local coordinate systems can be provided, which can be applied to more location information calculation scenarios to improve the compatibility of positioning.

[0174] As an optional implementation, the difference information between the target path and the reference path includes at least one of the following:

[0175] The propagation delay difference between the target path and the reference path;

[0176] The propagation distance difference between the target path and the reference path;

[0177] The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path;

[0178] The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path;

[0179] The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

[0180] The propagation delay difference between the target path and the reference path can be understood as the relative delay of the target path with respect to the reference path, and can be expressed as Δτ.

[0181] The propagation distance difference and propagation delay difference between the target path and the reference path can be in one-to-one correspondence. For example, the propagation distance difference between the target path and the reference path is ΔL = c·Δτ, where c represents the speed of light.

[0182] In some implementations, the position information of the measurement target can be calculated directly based on the propagation delay difference or propagation distance difference between the target path and the reference path. Alternatively, the distance between the measurement target and the receiving device of the measurement signal can be calculated based on the propagation delay difference or propagation distance difference between the target path and the reference path, and then the position information of the measurement target can be calculated based on the distance between the measurement target and the receiving device of the measurement signal.

[0183] In some implementations, the position information of the measurement target can be calculated directly based on the difference in azimuth angle between the target path and the reference path, or the cosine value of the difference in azimuth angle. Alternatively, the position information of the measurement target can be calculated directly based on the difference in zenith angle between the target path and the reference path, or the cosine value of the difference in zenith angle.

[0184] In some implementations, the angle of arrival or the cosine of the azimuth difference between the target diameter and the reference diameter can be calculated based on the azimuth difference between the target diameter and the reference diameter, and then the position information of the measured target can be calculated based on the angle of arrival or the cosine of the angle of arrival.

[0185] In some implementations, the angle of arrival or the cosine of the difference in zenith angle between the target diameter and the reference diameter can be calculated based on the difference in zenith angle between the target diameter and the reference diameter, and then the position information of the target can be calculated based on the angle of arrival or the cosine of the angle of arrival.

[0186] In some implementations, the angle of arrival or the cosine of the angle of arrival between the target path and the reference path can be calculated based on the azimuth and zenith angle of arrival of the target path and the reference path, and then the position information of the measured target can be calculated based on the angle of arrival or the cosine of the angle of arrival.

[0187] The aforementioned angle of arrival can be understood as the difference in arrival angles on the dual-base plane, or the angle between the line connecting the target to the receiving device and the line connecting the transmitting device to the receiving device in three-dimensional (3D) space.

[0188] In this implementation, different difference information can be provided to support the calculation of the target's position information in multiple ways.

[0189] As an optional approach, the distance-related information includes at least one of the following:

[0190] The distance information between the measurement target and the receiving device of the measurement signal;

[0191] The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

[0192] The distance information between the target and the receiving device of the measurement signal represents the distance between them. In some embodiments, the position information of the target can be calculated by directly measuring the distance between the target and the receiving device of the measurement signal.

[0193] The propagation delay information associated with the distance between the target and the receiving device of the measurement signal represents the propagation delay corresponding to the distance between the target and the receiving device of the measurement signal. In some embodiments, the position information of the target can be calculated by directly measuring the propagation delay between the target and the receiving device of the measurement signal.

[0194] In this embodiment, the position information of the target can be calculated based on the distance information between the target and the receiving device of the measurement signal. This saves computation because it eliminates the need to measure the distance between the receiving devices of the signal based on other information.

[0195] As an optional implementation, the first device acquires measurement information for calculating location information, including:

[0196] The first device measures the measurement signal to obtain measurement information used to calculate position information; or

[0197] The first device receives measurement information sent by the second device for calculating location information.

[0198] The first device can measure the measurement signal by measuring the measurement signal sent by the third device to obtain the measurement information.

[0199] It should be noted that the method of obtaining the above measurement information is not limited in the embodiments of this application. For example, the above measurement information can be obtained by a method defined by the protocol, or by a method newly defined by the subsequent protocol.

[0200] The measurement information obtained through the above measurements enables the receiving device of the measurement signal to acquire the measurement information.

[0201] The measurement information sent by the second device for calculating location information can be obtained by the second device measuring the measurement signal sent by the third device and then sending the measurement information to the first device. This allows the measurement information to be obtained by other devices, thus saving the power consumption of the first device.

[0202] Optionally, the method further includes:

[0203] The first device sends a first instruction message to the second device; or

[0204] The first device receives the first instruction information;

[0205] Wherein, the first indication information is used to indicate the acquisition of the measurement information, or the first indication information is used to indicate the reporting of the measurement information.

[0206] In this embodiment, the first device may send the first instruction information to the second device after the first device has obtained the measurement information sent by the second device, such as sending the first instruction information to the second device before obtaining the measurement information.

[0207] In this embodiment, when the first device obtains the above-mentioned measurement information through measurement, it may receive first instruction information, such as receiving first instruction information sent by the second device, to instruct the first device to perform measurement to obtain the above-mentioned measurement information.

[0208] In this embodiment, the measurement information can be obtained based on the first indication information to achieve on-demand acquisition, thereby avoiding the situation where the measurement information is not used due to the acquisition of measurement information without indication, and thus saving the power consumption of the first device.

[0209] In some implementations, the first instruction information may not be transmitted, for example, the measurement information may be acquired at a specific time or place by pre-configuration or by default.

[0210] Optionally, the first indication information includes at least one of the following:

[0211] Configuration information of the measurement signal;

[0212] Measurement configuration information;

[0213] Report configuration information;

[0214] Measurement requirements information.

[0215] The configuration information for the aforementioned measurement signals can be used to configure the type of the aforementioned measurement signals, such as dedicated sensing signals, reference signals, synchronization signals, or signals carrying communication data.

[0216] The configuration information of the above measurement signals enables the first or second device to perform more reliable measurements, thereby improving measurement performance.

[0217] The above measurement configuration information can be used to configure measurement resources, measurement quantities, and other measurement-related settings.

[0218] For example, the above measurement configuration information includes at least one of the following:

[0219] Angle measurement;

[0220] Expected angle measurement range;

[0221] Time delay measurement;

[0222] Distance measurement.

[0223] The aforementioned angle measurement may include at least one of the following:

[0224] AoA, where if the first device is a terminal, then AoA is downlink AoA (DL-AoA), and if the first device is a network-side device, then it is uplink AoA (UL-AoA);

[0225] ZoA: If the first device is a terminal, then ZoA is DL-ZoA; if the first device is a network-side device, then ZoA is UL-ZoA.

[0226] Target path AoA;

[0227] Reference path AoA;

[0228] Target diameter ZoA;

[0229] Reference path ZoA;

[0230] Arrival angle difference, such as the arrival angle difference between the target diameter and the reference diameter in a bistatic plane.

[0231] The aforementioned expected angle measurement range can be the reference diameter AoA range, the target diameter AoA range, etc. In this way, by using the expected angle measurement range, the first or second device only needs to measure the angle of arrival within this range during the measurement process, thereby saving measurement costs.

[0232] The aforementioned time delay measurement may include at least one of the following: time difference of arrival, time of arrival;

[0233] The aforementioned distance measurement may include at least one of the following: propagation distance and propagation distance difference.

[0234] In some implementations, the above-mentioned measurement quantity is associated with measurement requirements (such as sensing requirements). The second or third device sends sensing requirement information (target positioning requirement information) to the first device. The first device determines the corresponding measurement quantity based on the target positioning requirement information, that is, it may not need to send the above-mentioned measurement configuration information.

[0235] The above-mentioned measurement configuration information enables the first or second device to perform more accurate measurements, thereby improving the reliability of the measurements and saving measurement costs.

[0236] The aforementioned reporting configuration information is used to configure how the first device reports measurement information, i.e., the criteria for reporting measurement information, which may specifically include at least one of the following:

[0237] Reported time-frequency domain resource allocation;

[0238] The reporting cycle can be based on the coherent processing time of the sensed data, and the measurement results are reported. The coherent processing time refers to the time corresponding to each calculation of the sensed measurement result. For example, the first or second device performs a two-dimensional fast Fourier transform (FFT) operation to obtain the signal duration corresponding to the time delay-Doppler graph. One coherent processing time can contain multiple time slots or symbols.

[0239] The reporting trigger condition can be a pre-defined event, including but not limited to at least one of the following:

[0240] The event of entering a specific area (e.g., a residential community);

[0241] An event that occurs at a specific time;

[0242] An event in which a certain type of measurement signal reaches a certain threshold;

[0243] An event in which the device moves from its previous position beyond a certain predefined (linear) distance;

[0244] An event in which the orientation of a device changes beyond a certain predefined angle. The orientation of a device can be the orientation of a component of the device, the orientation of a screen, or the orientation of an antenna, etc.

[0245] Events where the device's speed exceeds certain predefined speed thresholds;

[0246] Events where changes in environmental information (such as temperature, humidity, or light intensity) measured by the device's sensors exceed a certain range.

[0247] The above-mentioned reporting configuration information can be used to ensure that reporting is only required under specific conditions, thereby saving reporting costs.

[0248] The aforementioned measurement requirement information is used to represent the requirement information corresponding to the aforementioned measurement behavior, specifically including target positioning requirements, 3D positioning requirements, or 2D positioning requirements.

[0249] In some implementations, the measurement demand information may be perceived demand information, which is described in the corresponding description of the embodiments below.

[0250] The above measurement requirements information enables on-demand measurement, thereby saving measurement costs.

[0251] It should be noted that, in the embodiments of this application, at least one of the items indicated by the first instruction information may also be agreed upon by the protocol or pre-configured, that is, it may not be configured in the first instruction information.

[0252] As an optional implementation, the measurement information further includes at least one of the following:

[0253] The number of the measured targets detected;

[0254] The number of target paths;

[0255] The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

[0256] The number of measurement targets detected above refers to the number of measurement target signals detected during the measurement process of the above measurement signals.

[0257] The number of target paths mentioned above refers to the number of target paths detected during the measurement of the aforementioned measurement signals.

[0258] The number of measurement targets or target paths can be used to report the number of measurement targets. In the case of multiple measurement targets, the measurement information of multiple measurement targets can be indicated separately to realize the calculation of the position information of multiple measurement targets and improve the positioning performance.

[0259] The aforementioned auxiliary information is used to assist in calculating the location information. This can be understood as enabling the location information to be calculated more accurately or more quickly based on the aforementioned auxiliary information, thereby improving positioning performance.

[0260] In some implementations, the aforementioned auxiliary information may include at least one of the following:

[0261] Timestamp information;

[0262] Measurement performance indication information;

[0263] Measurement accuracy information;

[0264] The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal;

[0265] Coordinate system transformation information;

[0266] The device information of the second device.

[0267] The timestamp information mentioned above can represent the timestamp corresponding to the measurement information. This timestamp information can be used to calculate the time corresponding to the location information when calculating the location information of the measurement target, thereby improving the positioning performance.

[0268] The aforementioned measurement performance indication information can be used to indicate measurement performance. This indication information can indirectly reflect the performance of location information, so that when applying location information, it can be applied to matching scenarios based on this performance.

[0269] The aforementioned measurement accuracy information may include at least one of the following:

[0270] Angle accuracy information, angle difference accuracy information, cosine value of angle difference accuracy information, arrival time difference accuracy information, and distance accuracy information.

[0271] For example, the auxiliary information mentioned above includes the accuracy information of each angle measurement result. This accuracy information can be uncertain, such as the value of the target diameter AoA. and the uncertainty range of the target path AoA The actual result of the target path AoA can be considered as

[0272] Alternatively, common accuracy information for at least one angle measurement result, such as providing the common uncertainty range of AoA (including target diameter AoA or reference diameter AoA).

[0273] The aforementioned measurement accuracy information enables the first or third device to consider this accuracy information when calculating the position information of the measurement target, thereby making the calculated position information more reliable.

[0274] The aforementioned propagation mode indication information can be a LOS / NLOS indication, such as indicating whether the relationship between the first device and the second device is LOS or NLOS, or indicating the probability information of LOS or NLOS between the first device and the second device.

[0275] The aforementioned propagation method indicates that the first or third device can consider the propagation method when calculating the location information of the target, so as to make the calculated location information more reliable.

[0276] The coordinate system transformation information mentioned above refers to the coordinate system transformation relationship between LCS and GCS, and may include at least one of the following:

[0277] The rotation angle α between LCS and GCS;

[0278] The rotation angle β between LCS and GCS;

[0279] The rotation angle γ between LCS and GCS;

[0280] The accuracy information of coordinate system transformation relationships, i.e., the uncertainty of rotation angles, can be provided by giving the accuracy information (uncertainty range) of the three rotation angles individually, or by providing common accuracy information. For example, based on the measured rotation angle α and the rotation angle accuracy information Δα, the actual result of the rotation angle between LCS and GCS about the z-axis can be considered as follows:

[0281] In some implementations, when the angle in the above measurement information is a local coordinate system angle, the measurement information includes coordinate system transformation information.

[0282] The coordinate system transformation information described above enables the first or third device to calculate the position information of the measurement location more easily and quickly.

[0283] The device information of the second device may include: the motion information of the second device. For example, the motion information of the second device includes whether the device is stationary, the magnitude of the second device's speed, and the direction of the second device's movement.

[0284] In some implementations, the aforementioned device information may be location information, such as Cartesian coordinates (x, y) relative to a known reference point. Rx y Rx , z Rx ).

[0285] The location information of the second device allows the first or third device to consider the device information of the second location when calculating the location information of the target, which helps to improve the reliability of the location information.

[0286] In some implementations, the aforementioned auxiliary information may include device information of the first device.

[0287] As an optional implementation, the method further includes:

[0288] The first device calculates the location information of the measurement target based on the measurement information.

[0289] In this embodiment, the first device can directly calculate the position information of the target to improve the positioning performance of the first device.

[0290] In some implementations, the first device may send the above measurement information to the third device, which then calculates the location information of the measurement target.

[0291] In some implementations, the first device calculating the location information based on the measurement information may include:

[0292] The first device calculates the position information of the measurement target based on the distance between the measurement target and the receiving device of the measurement signal, and the angle of arrival information of the target diameter.

[0293] The position information of the measurement target can be calculated by first calculating the relative position coordinates of the measurement coordinates with respect to the receiving device of the measurement signal based on the distance between the measurement target and the receiving device of the measurement signal, and the angle of arrival of the target path, and then calculating the position information of the measurement target based on the relative position coordinates and the position coordinates of the receiving device of the measurement signal.

[0294] For example, in a 3D positioning scenario, position information can be calculated in the following two ways:

[0295] Method 1: Based on the target diameter AoA in the global coordinate system T ZoA T R R Calculate the relative position coordinates (x, y) of the target object and the receiving device of the measurement signal in the global coordinate system. Target-Rx y Target-Rx , z Target-Rx ), where AoA T ZoA represents the azimuth angle of arrival of the target path. T R represents the zenith angle of the target path. R This indicates the distance between the target being measured and the receiving device of the measurement signal;

[0296] x Target-Rx =R R ·sin(ZoA T )·cos(AoA T ), y Target-Rx =R R ·sin(ZoA T )·sin(AoA T ), zTarget-Rx =R R ·cos(ZoA T );

[0297] Then, based on the relative position coordinates of the target and the receiving device of the measurement signal in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y, y) of the target in the global coordinate system are calculated. Target y Target , z Target )=(x Target-Rx y Target-Rx , z Target-Rx )+(x Rx y Rx , z Rx ).

[0298] Method 2: Based on the angle AoA′ of the target diameter in the local coordinate system T ZoA′ T R R Calculate the target's position coordinates (x′) in the local coordinate system. Target ,Y′ Target , z′ Target ), AoA′ T ZoA′ represents the azimuth angle of arrival of the target path. T Indicates the zenith angle of the target path;

[0299] x′ Target-Rx =R R ·sin(ZoA′ T )·cos(AoA′ T ), y′ Target-Rx =R R ·sin(ZoA′ T )·sin(AoA′ T ), Z′ Target-Rx =R R ·cos(ZoA′ T );

[0300] Then, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system are obtained. Target-Rx y Target-Rx , z Target-Rx Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (X) in the global coordinate system are calculated. Target y Target , z Target ).

[0301] It should be noted that in some implementations, what needs to be obtained is not the position coordinates of the target in the global coordinate system, but rather the position information of the target relative to the receiving device. This position information can be the position coordinates of the target in a local coordinate system with the receiving device as the reference, or it can be the distance R of the target relative to the receiving device. R And the angle AoA′ relative to the receiving device T ZoA′ T .

[0302] For example, in a two-dimensional positioning scenario, location information can be calculated in the following two ways:

[0303] Method 1: Based on the angle AoA of the target diameter in the global coordinate system. T ZoA T R R Calculate the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system. Target-Rx y Target-Rx , z Target-Rx ), where X Target-Rx =R R ·cos(AoA T ), y Target-Rx =R R ·sin(AoA T ), z Target-Rx =0;

[0304] Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x, y) of the measurement target in the global coordinate system are calculated. Target y Target , z Target )=(x Target-Rx y Target-Rx , z Target-Rx )+(x Rx y Rx , z Rx ).

[0305] Method 2: Based on the angle ZoA′ of the target diameter in the local coordinate system T R R Calculate the target's position coordinates (x′) in the local coordinate system. Target y′ Target , z′ Target Then, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system are obtained. Target-Rx y Target-Rx , z Target-RxThen, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (x, y) in the global coordinate system are calculated. Target y Target , z Target ).

[0306] It should be noted that, in this embodiment of the application, the method of calculating the position information of the measurement target based on the above-mentioned distance and the angle of arrival information of the target path is not limited. For example, in some embodiments, the position information of the measurement target can also be found directly based on the mapping relationship between the above-mentioned distance, the angle of arrival information of the target path and the position information.

[0307] The above calculation of the target's position information based on the distance and the target's angle of arrival can improve the reliability of the position information.

[0308] It should be noted that the embodiments of this application are not limited to calculating the position information of the measured target based on the aforementioned distance and the angle of arrival information of the target path. For example, in some embodiments, the position information of the measured target can be directly calculated based on the difference in the angle of arrival or azimuth angle, propagation delay difference, or propagation distance difference between the target path and the reference path. For example, the position information of the measured target can be found based on a pre-configured mapping relationship between the angle of arrival or azimuth angle difference, propagation delay difference, or propagation distance difference and the position information of the measured target. Alternatively, in some embodiments, the position of the measured target may not be specific position coordinates. For example, the position information may be the distance between the measured target and the receiving device of the measured signal, or the angle of the measured target relative to the receiving device.

[0309] Optionally, the method further includes:

[0310] The first device calculates the distance between the target being measured and the receiving device of the measurement signal based on the angle of arrival or the cosine value of the angle of arrival between the reference diameter and the target diameter.

[0311] Wherein, the angle of arrival or the cosine value of the angle of arrival is calculated based on the angle of arrival information of the target path and the angle of arrival information of the reference path; or

[0312] The measurement information includes the angle of arrival or the cosine value of the angle of arrival.

[0313] The aforementioned wave angle or cosine value can be calculated by the first device based on the above measurement information. For example, the wave angle can be calculated in the following way:

[0314] Method 1: Calculate the angle θ between the reference path and the target path based on their arrival angles.R =cos -1 (sin(ZoA T sin(ZoA) L )cos(AoA L -AoA T )+cos(ZoA T )cos(ZoA L )).

[0315] Method 2: Calculate the angle θ between the reference path and the target path. R =|ZoA′ L -ZoA′ T |(Calculated in the local coordinate system); Optionally, if the target and the signal transceiver are located on the same horizontal plane, it can also be θ. R =|AoA L -AoA T | mod180°

[0316] (Calculated in the global coordinate system);

[0317] Among them, ZoA T ZoA represents the zenith angle of the target path in the global coordinate system. L AoA represents the zenith angle of the reference path in the global coordinate system. L AoA represents the azimuth angle of arrival of the reference path in the global coordinate system. T ZoA′ represents the azimuth angle of the target path in the global coordinate system. L ZoA′ represents the azimuth angle of arrival of the reference path in the local coordinate system. T This represents the azimuth angle of the target's path in the local coordinate system.

[0318] Alternatively, the above measurement information may directly include the angle of arrival or the cosine value of the angle of arrival.

[0319] In some embodiments, the first device calculates the distance between the target being measured and the receiving device of the measurement signal based on the angle of arrival, including:

[0320] The first device calculates the distance between the measurement target and the receiving device of the measurement signal based on the angle of arrival, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path. The difference information includes at least one of the following: the propagation time delay difference between the target path and the reference path; the propagation distance difference between the target path and the reference path; or

[0321] The first device calculates the distance between the measurement target and the receiving device of the measurement signal based on the angle of arrival and the time delay or propagation distance information of the target path.

[0322] For example, the distance between the target being measured and the receiving device of the measurement signal can be calculated using the following formula:

[0323]

[0324] Among them, R T +R R =ΔL+L=c·(ΔT+TL), where L represents the propagation distance of the reference path, i.e., the distance between the transmitting and receiving devices of the measurement signal, and Δτ+T L τ represents the propagation delay of the target path, Δτ represents the propagation delay difference between the target path and the reference path, and τ L θ represents the propagation delay of the reference path. R This represents the angle between the target path and the reference path.

[0325] In some implementations, it is not limited to calculating the distance between the target and the receiving device of the measurement signal based on the angle of arrival of the reference path and the target path or the cosine value of the angle of arrival. For example, the distance is directly included in the measurement information, so it is not necessary to calculate the distance between the target and the receiving device of the measurement signal. Or, for example, the distance can be found based on the mapping relationship between the pre-configured angle of arrival information of the target path, the angle of arrival information of the reference path and the distance.

[0326] It should be noted that the embodiments of this application do not limit the specific calculation of the above parameters, which can be calculated based on the spatial positional relationship between the parameters.

[0327] For example: In a 3D positioning scene, the positional relationships of the parameters are as follows: Figure 6a and Figure 6b As shown, the x, y, and z axes are global coordinate system (GCS) axes, and the x', y', and z' axes are local coordinate system (LCS) axes. Where AoA′ T Let AoA be the target's path in the local coordinate system, which is the angle of the projection of the target's direction vector in the local coordinate system onto the x'Oy' plane relative to the x' axis, and ZoA′ be the target's path. T ZoA represents the target path in the local coordinate system, i.e., the angle of the target path's direction vector relative to the z' axis in the local coordinate system. AoA′ represents the azimuth angle of the reference path in the local coordinate system. L And the zenith angle ZoA′L and the azimuth angle AoA of the target trajectory in the global coordinate system T Reaching the zenith angle (ZoA) TThe azimuth angle AoA of the LOS path in the global coordinate system L Reaching the zenith angle (ZoA) L The definition is similar and will not be repeated here.

[0328] Where, θ R The angle between the reference path and the target path is the angle between the line connecting the transceiver of the measurement signal and the line connecting the receiver of the measurement signal and the target. This angle is reflected on the plane determined by the transmitting device, the receiving device, and the target. This plane can also be called the bistatic plane.

[0329] For example, in a two-dimensional positioning scenario, the positional relationships of the parameters are as follows: Figure 7a and Figure 7b As shown, the definitions of the coordinate system and angle information are similar to those in a 3D positioning scenario, and will not be repeated here. Specifically, θ... R The angle between the reference path and the target path is the angle between the line connecting the transceiver of the measurement signal and the line connecting the receiver of the measurement signal and the target. This angle is reflected on the plane defined by the signal transmitting device, the signal receiving device, and the target. When the target and the transceiver are on the same horizontal plane, this angle is reflected on the xOy plane of the global coordinate system. In this case, the xOy plane is the bistatic plane.

[0330] The following examples illustrate the calculation of the position information of the measurement target in both 3D and 2D positioning scenarios:

[0331] The calculation process for the target position information in three-dimensional space under bistatic sensing mode is as follows:

[0332] The first or third device performing the calculation of the target's location information acquires one or more of the following information:

[0333] Target path AoA T ;

[0334] Target diameter ZoA T ;

[0335] LOS Path AoA L ;

[0336] LOS path ZoA L ;

[0337] The time delay difference Δτ between the target path and the LOS path (or the initial path or the reference path reflected by a known target) (or the propagation distance difference ΔL = c·ΔT between the target path and the LOS path, where c represents the speed of light);

[0338] LOS path (or initial path or reference path reflected by a known target) absolute time delay TI (or the distance between signal transceivers L = c·τ) L (i.e., the path distance of LOS).

[0339] In this context, the LOS path (where the signal transceiver meets the LOS condition) can generally be considered the first path, while the target path refers to the path associated with the portion of the signal propagation that is reflected by the sensing target. The specific definition of the path is explained below.

[0340] Among them, AoA L ZoA L , τ L It can be LOS path-related information obtained through signal measurement, or it can be based on the location information of the signal transmitting device (x). Tx y Tx , z Tx ), signal receiving device location information (x Rx y Rx , z Rx ) Calculated, for example:

[0341] AoA L =atan2(y Tx -y Rx x Tx -x Rx ), atan2 represents finding the arctangent function value in the four quadrants;

[0342]

[0343] acos represents finding the value of the inverse cosine function.

[0344] Among them, the target path AoA T Target path ZoA T LOS path AoA L LOS path ZoA L for;

[0345] Angle information in the global coordinate system (GCS), or;

[0346] Angle information in the local coordinate system (LCS).

[0347] If the obtained angle information is the local coordinate system (LCS) angle information, i.e., the target diameter AoA′ T Target path ZoA′ T ,LOS Path AoA′ L ,LOS Path ZoA′ L Then, the angle information of the global coordinate system can be calculated based on the transformation relationship between the local coordinate system and the global coordinate system.

[0348] Based on the arrival angle information of the LOS path and the target path, calculate the angle θ between the incoming waves of the LOS path and the target path. R =cos -1 (sin(ZoA T sin(ZoA) L )cos(AoA L -AoA T )+cos(ZoA T )cos(ZoA L )).

[0349] Calculate the distance between the target and the signal receiving device. Where R T +R R =ΔL+L=c·(Δτ+τ) L ), where Δτ+τ L That is, the absolute time delay of the target path.

[0350] The target position information is calculated based on the distance between the target and the signal receiving device and the angle information of the target's diameter. For example:

[0351] Based on the target diameter angle AoA in the global coordinate system T ZoA T R R Calculate the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system. Target-Rx y Target-Rx , z Target-Rx ), where X Target-Rx =RR·sin(zoA) T )·cos(AoA T ), y Target-Rx =R R ·sin(ZoA T )·sin(AoA T ), z Target-Rx =R R ·cos(ZoA T );

[0352] Then, based on the relative position coordinates of the target and the receiving device of the measurement signal in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target in the global coordinate system are calculated. Target y Target , z Target )=(x Target-Rx y Target-Rx , z Target-Rx )+(x Rx y Rx , z Rx ).

[0353] Alternatively, it can be based on the angle AoA′ of the target diameter in the local coordinate system. T ZoA′ T R R Calculate the target's position coordinates (x′) in the local coordinate system. Target y′ Target , z′ Target ), where x′ Target-Rx =R R ·sin(ZoA′ T )·cos(AoA′ T ), Y′ Target-Rx =R R ·sin(ZoA′ T )·sin(AoA′ T ), z′ Target-Rx =R R ·cos(ZoA′ T );

[0354] Then, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system are obtained. Target-Rx y Target-Rx , z Target-Rx Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (x, y) in the global coordinate system are calculated. Target y Target , z Target ).

[0355] It should be noted that in some implementations, what needs to be obtained is not the position coordinates of the target in the global coordinate system, but rather the position information of the target relative to the receiving device. This position information can be the position coordinates of the target in a local coordinate system with the receiving device as the reference, or it can be the distance R of the target relative to the receiving device. R And the angle AoA′ relative to the receiving device T ZoA′ T .

[0356] The calculation process for target location information in two-dimensional space under bistatic sensing mode is as follows:

[0357] In some sensing scenarios, only two-dimensional positioning is required. For example, when the transceiver and the target are on the same or approximately on the same horizontal plane, or when the signal receiving device only supports a linear antenna array, calculating the target position based on a single-dimensional angle and time delay can only yield two-dimensional position coordinates. Specifically, the calculation process for target position information in two-dimensional space is as follows:

[0358] The device that performs target location information calculations acquires the following information:

[0359] Target path AoA T v

[0360] LOS Path AoA L ;

[0361] Target diameter ZoA T (Optional)

[0362] LOS path ZoA L (Optional)

[0363] The time delay difference Δτ between the target path and the LOS path (or the initial path or the reference path reflected by a known target) (or the propagation distance difference ΔL = c·ΔT between the target path and the LOS path, where c represents the speed of light);

[0364] LOS path (or initial path or reference path reflected by a known target) absolute time delay τ I (or the distance between signal transceivers L = c·T) L (i.e., the path distance of LOS).

[0365] Among them, AoA L τL can be LOS path-related information obtained by measuring the signal, or it can be based on the location information of the signal transmitting device (x). Tx y Tx , z Tx ), signal receiving device location information (x Rx y Rx , z Rx ) Calculated, for example:

[0366] AoA L =atan2(y Tx -y Rx x Tx -x Rx ), atan2 represents finding the arctangent function value in the four quadrants;

[0367]

[0368] Among them, the target diameter ZoA T (Optional), LOS path ZoA L (Optional) In scenarios where the target being measured and the signal transceiver are on the same horizontal plane, the default angle can be 90°, meaning no measurement is required.

[0369] Among them, the target path AoA T LOS path AoA LThis refers to angle information in the global coordinate system (GCS). If the angle information obtained is in the local coordinate system (LCS), such as the target diameter ZoA′, then this is incorrect. T ,LOS Path ZoA′ L (For receivers that support linear arrays, LCS uses the linear array axis as the z' axis to measure the ZoA angle information in the local coordinate system. In scenarios where the target and the signal transceiver are on the same horizontal plane, AoA in the local coordinate system can be set to 0° by default, or left unmeasured, i.e., no measurement is required.) Then, the global coordinate system angle information can be calculated based on the transformation relationship between the local and global coordinate systems.

[0370] Based on the arrival angle information of the LOS path and the target path, calculate the angle θ between the incoming waves of the LOS path and the target path. R =|ZoA′ L -ZoA′ T |(Calculated in the local coordinate system); Optionally, if the target and the signal transceiver are located on the same horizontal plane, it can also be θ. R =|AoA L -AoA T | mod 180° (calculated in the global coordinate system).

[0371] Calculate the distance between the target and the signal receiving device. Where R T +R R =ΔL+L=c·(Δτ+τ) L ), where Δτ+τ L That is, the absolute time delay of the target path.

[0372] The target position information is calculated based on the distance between the target and the signal receiving device and the angle information of the target diameter.

[0373] Based on the target reflection radius angle AoA in the global coordinate system T ZoA T R R Calculate the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system. Target-Rx y Target-Rx , z Target-Rx ), where x Target-Rx =R R ·cos(AoA T ), y Target-Rx =R R ·sin(AoA T ), z Target-Rx =0;

[0374] Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (x, y) in the global coordinate system are calculated. Target y Target , z Target )=(X Target-Rx y Target-Rx , z Target-Rx )+(x Rx y Rx , z Rx ).

[0375] Alternatively, it can be based on the target reflection radius angle ZoA′ in the local coordinate system. T R R Calculate the target's position coordinates (x′) in the local coordinate system. Target y′ Target , z′ Target Then, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system are obtained. Target-Rx y Target-Rx , z Target-Rx Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (x, y) in the global coordinate system are calculated. Target y Target , z Target ).

[0376] Through the above-described various implementation methods, the embodiments of this application can realize the calculation methods of passive sensing target location information in different scenarios under dual-base sensing mode, as well as the calculation methods of various intermediate measurement results and message interaction processes involved, so as to improve positioning performance.

[0377] In this embodiment, a first device acquires measurement information for calculating location information. The location information is the location information of a measurement target. The measurement information includes at least one of the following: the angle of arrival (AHA) of the target path of the measurement signal; the AHA of the reference path of the measurement signal; the difference between the target path and the reference path; distance-related information between the measurement target and the receiving device of the measurement signal; the propagation delay or propagation distance information of the target path; the propagation delay or propagation distance information of the reference path; the location information of the transmitting device of the measurement signal; and the location information of the receiving device of the measurement signal. Wherein, the target path is the signal path in the measurement signal associated with the measurement target. Since the above measurement information is used to calculate the location information of the measurement target, this supports obtaining location information based on the measurement signal, thereby improving the positioning performance of the device.

[0378] Please see Figure 8 , Figure 8 This is a flowchart of another location information acquisition method provided in an embodiment of this application, such as... Figure 8 As shown, it includes the following steps:

[0379] Step 801: The second device acquires measurement information for calculating location information, wherein the location information is the location information of the measurement target;

[0380] Step 802: The second device sends the measurement information to the first device;

[0381] The measurement information includes at least one of the following:

[0382] The angle of arrival information of the target path of the measurement signal;

[0383] The angle of arrival information of the reference path for measuring the signal;

[0384] The difference information between the target path and the reference path;

[0385] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0386] The propagation delay or propagation distance information of the target path;

[0387] The propagation delay or propagation distance information of the reference path;

[0388] The location information of the device transmitting the measurement signal;

[0389] The location information of the receiving device for the measurement signal;

[0390] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0391] Optionally, the reference path includes at least one of the following:

[0392] Line-of-sight (LOS) path, signal path reflected by a known target.

[0393] Optionally, the angle of arrival information includes at least one of the following:

[0394] Azimuth of arrival based on local coordinate system;

[0395] Zenith angle based on local coordinate system;

[0396] Azimuth of arrival based on the global coordinate system;

[0397] Zenith angle based on global coordinate system.

[0398] Optionally, the difference information between the target path and the reference path includes at least one of the following:

[0399] The propagation delay difference between the target path and the reference path;

[0400] The propagation distance difference between the target path and the reference path;

[0401] The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path;

[0402] The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path;

[0403] The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

[0404] Optionally, the distance-related information includes at least one of the following:

[0405] The distance information between the measurement target and the receiving device of the measurement signal;

[0406] The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

[0407] Optionally, the second device acquires measurement information for calculating location information, including:

[0408] The second device measures the measurement signal to obtain measurement information used to calculate location information; or

[0409] The second device measures the measurement signal to obtain first measurement information for calculating location information, and obtains second measurement information based on the first measurement information, wherein the measurement information for calculating location information includes the second measurement information.

[0410] Optionally, the first measurement information includes at least one of the following:

[0411] The angle of arrival information of the target path;

[0412] The angle of arrival information of the reference path;

[0413] The difference information between the target path and the reference path;

[0414] The propagation delay or propagation distance information of the reference path;

[0415] The location information of the device transmitting the measurement signal;

[0416] The location information of the receiving device for the measurement signal;

[0417] The second measurement information includes at least one of the following:

[0418] The angle of arrival information of the target path;

[0419] The angle of arrival information of the reference path;

[0420] The difference information between the target path and the reference path;

[0421] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0422] The propagation delay or propagation distance information of the target path.

[0423] Optionally, the method further includes:

[0424] The second device receives a first indication message, which is used to indicate the acquisition of the measurement information, or the first indication message is used to indicate the reporting of the measurement information.

[0425] Optionally, the first indication information includes at least one of the following:

[0426] Configuration information of the measurement signal;

[0427] Measurement configuration information;

[0428] Report configuration information;

[0429] Measurement requirements information.

[0430] Optionally, the measurement configuration information includes at least one of the following:

[0431] Angle measurement;

[0432] Expected angle measurement range;

[0433] Time delay measurement;

[0434] Distance measurement.

[0435] Optionally, the measurement information further includes at least one of the following:

[0436] The number of the measured targets detected;

[0437] The number of target paths;

[0438] The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

[0439] Optionally, the auxiliary information includes at least one of the following:

[0440] Timestamp information;

[0441] Measurement performance indication information;

[0442] Measurement accuracy information;

[0443] The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal;

[0444] Coordinate system transformation information;

[0445] The device information of the second device.

[0446] Optionally, the device information of the second device includes at least one of the following:

[0447] The motion information of the second device.

[0448] It should be noted that this embodiment is used as a reference for... Figure 4 The implementation method of the second device corresponding to the illustrated embodiment can be found in the following examples. Figure 4 To avoid repetition, the relevant descriptions of the embodiments shown will not be repeated in this embodiment.

[0449] The following uses measurement as an example to illustrate the method provided in the embodiments of this application through multiple examples:

[0450] Example 1:

[0451] In this embodiment, device c (sensing network function) calculates location information, that is, device c is the first device in the above embodiment.

[0452] In this embodiment, the process by which device b (the signal receiving device, i.e., the second device in the above embodiment) acquires measurement information (such as measurement results) and feeds it back to device c, and then device c calculates the location information, is described below. Figure 9 As shown. In this embodiment, device b lacks the location information of device a (i.e., the device transmitting the measurement signal) or the distance information between the transmitting and receiving devices, and therefore cannot calculate the distance from the measurement target to device b, nor the target's specific location information. Device c can obtain the location information of device a and device b, or the distance information between the transmitting and receiving devices, thereby completing the calculation of the target's location information.

[0453] Step 1: Device c (taking SensingMF as an example) acquires sensing requirements. These requirements include target localization requirements, specifically 3D or 2D localization requirements. Sources of sensing requirements can include the following:

[0454] Method 1: The sensing requirement comes from an external application. In this case, the Application Function (AF) sends the sensing requirement to the NEF, which then sends it to the AMF. The AMF selects SensingMF and sends the sensing requirement to SensingMF. Alternatively, the AF directly sends the sensing requirement to SensingMF.

[0455] Method 2: The sensing requirements can also come from the base station and / or UE. In this case, the base station and / or UE send the information to the AMF, the AMF selects SensingMF, and sends the sensing requirements to SensingMF; or, the base station and / or UE directly send the sensing requirements to SensingMF.

[0456] Method 3: Sensing requirements can also come from core network elements. The core network element sends the sensing requirements to the AMF; the AMF selects SensingMF and sends the sensing requirements to SensingMF; or the core network element directly sends the sensing requirements to SensingMF.

[0457] It should be noted that the method of forwarding sensing requirements through AMF may occur, but is not limited to, scenarios where multiple sensing network elements are deployed in the network, and the AMF needs to select a suitable sensing network element from multiple sensing network elements based on information such as the location of the sensing object, the type of sensing service, or the sensing QoS requirements; the method of forwarding sensing requirements without AMF may occur, but is not limited to, scenarios where one or fewer SensingMFs are deployed in the network.

[0458] If device c is a base station or terminal, it can acquire sensing requirements by receiving sensing requirement information sent by the sensing network function. Specifically, if device c and device a are the same device, then device a acquires the sensing requirement information.

[0459] Step 2: Device c sends a first instruction message to device a or device b, or device a sends a first instruction message to device b, to instruct device a to acquire and / or report measurement data. The first instruction message includes at least one of the following:

[0460] Measurement signal configuration information, wherein the measurement signal is a signal used for sensing, including at least one of the following: dedicated sensing signal; reference signal; synchronization signal; signal carrying communication data.

[0461] Report configuration;

[0462] Measurement configuration information;

[0463] The measurement configuration information includes at least one of the following: signal resource indication information for measurement, such as the identifier of the measurement signal; measurement quantity indication information;

[0464] The measurement indication information includes at least one of the following:

[0465] Angle measurements include at least one of the following: angle of arrival (AoA) (DL-AoA if device b is a terminal, UL-AoA if device b is a base station), ZoA (DL-ZoA if device b is a terminal, UL-ZoA if device b is a base station), and angle difference of arrival; (target path AoA, LOS path AoA, target path ZoA, LOS path ZoA, and angle difference of arrival between the target path and LOS path in a bistatic plane).

[0466] Expected angle measurement range, such as the LOS diameter AoA range, the target diameter AoA range, etc.

[0467] Time delay measurement includes at least one of the following: time difference of arrival, time of arrival;

[0468] Distance measurement includes at least one of the following: propagation distance, propagation distance difference.

[0469] Alternatively, the measurement quantity can be associated with the sensing requirement. Device c or device a sends sensing requirement information to device b. The sensing requirement information is the positioning requirement information. Further, the positioning requirement information includes the positioning requirement type, namely, three-dimensional positioning requirement or two-dimensional positioning requirement (the measurement quantities associated with three-dimensional positioning requirement and two-dimensional positioning requirement are different). Device b determines the corresponding measurement quantity based on the target positioning requirement information.

[0470] Optionally, the measurement configuration information may also include sensing requirement information, which may be related to the measurement quantity and sensing requirement. Device c or device a sends sensing requirement information (target positioning requirement information) to device b, and device b determines the corresponding measurement quantity based on the target positioning requirement information; or, device b determines the accuracy requirements, delay requirements, or signal configuration information related to the measurement result based on the sensing requirement information; or, device b determines the signal processing method based on the sensing requirement information, such as whether to perform static clutter cancellation, target path detection method, etc.

[0471] It should be noted that the items in the first instruction information mentioned above can be sent by the same signaling message or by different signaling messages.

[0472] Step 3: Device a sends a measurement signal to device b.

[0473] Step 4: Device a executes the measurement process according to the first instruction information, that is, it receives the measurement signal sent by device a and measures to obtain the first measurement data.

[0474] Step 5: Device a sends measurement information to device c, which includes at least one of the following:

[0475] Measurement results and related auxiliary information;

[0476] The measurement result, i.e., the value of the measured quantity, includes at least one of the following:

[0477] The number of targets detected, or the number of target paths;

[0478] Target diameter AoA (including global coordinate system angle AoA) T , or local coordinate system angle AoA′ T );

[0479] Target radius ZoA (including global coordinate system angle ZoA) T , or local coordinate system angle ZoA′ T );

[0480] The difference θ between the target's radius and its LOS radius on the bistatic plane R That is, the difference in the angle of arrival of the target path and the LOS path;

[0481] The cosine value of the difference in the angle of arrival between the target radius and the LOS radius on the bistatic plane, cos(θ) R );

[0482] The arrival time difference Δτ between the target path and the LOS path (or the initial path or the reference path reflected by a known target);

[0483] The difference in propagation distance ΔL between the target diameter and the LOS diameter (or the initial diameter or the reference diameter reflected by a known target);

[0484] LOS radius AoA (including global coordinate system angle AoA) L , or local coordinate system angle AoA′ L );

[0485] LOS radius ZoA (including global coordinate system angle ZoA) L , or local coordinate system angle ZoA′ L );

[0486] The difference between the LOS diameter AoA and the target diameter AoA;

[0487] The difference between the LOS diameter ZoA and the target diameter ZoA.

[0488] If there are multiple detected targets, or multiple target diameters, then the above values ​​in the measurement results can be multiple.

[0489] Ancillary information associated with the measurement results includes at least one of the following:

[0490] Timestamp information;

[0491] Measure performance indicators;

[0492] Precision information;

[0493] LOS / NLOS indication: Whether the relationship between device a and device b is LOS or NLOS (can be LOS / NLOS probability information);

[0494] Coordinate system transformation information;

[0495] Device information, including at least one of the following: device b location information, such as Cartesian coordinates (x, y, x) relative to a known reference point. Rx y Rx , z Rx The motion information of device b includes whether the device is stationary, the speed of device b, and the direction of device b's movement.

[0496] Step 6: Device c receives the measurement information and calculates the position information of the measurement target.

[0497] The calculation of the location information of the measurement target includes the following methods:

[0498] Method 1: Device c acquires the location information of devices a and b, or the distance information (absolute time of arrival) between devices a and b. For example, the location information of devices a and b can be stored as known prior information on the core network side; or the distance information (absolute time of arrival) between devices a and b can be obtained by performing measurements such as RTT measurements on devices a and b. In this case, device c also needs to acquire the corresponding receive-transmit time difference of device a and receive-transmit time difference of device b. The focus of this embodiment is on the calculation of the perceived target location information, therefore, the specific method of acquiring device location information or distance is not limited.

[0499] Method 2: Device c calculates the target location information based on the location information of devices a and b, or the distance information (absolute time of arrival information) between devices a and b, and the measurement result in the first measurement data sent by device a. The specific calculation method can be found in the methods provided in the previous embodiments. The target location information includes at least one of the following:

[0500] The global coordinate system's Cartesian coordinates relative to a reference point, i.e., the values ​​of x, y, and z, also include the units of x, y, and z (mm, cm, dm, m, etc.). For example, the coordinates of a target relative to a signal receiving device in the global coordinate system (x, y, z). Target-Rx y Target-Rx , z Target-Rx ), or the coordinates (x, y) of the target relative to the origin of the coordinate system (a known reference position) in the global coordinate system. Target y Target , z Target );

[0501] The Cartesian coordinates of a target relative to a reference point in a local coordinate system, i.e., the values ​​of x, y, and z, also include the units of x, y, and z (mm, cm, dm, m, etc.). For example, the coordinates (x′) of the target relative to the origin (a known reference position) of the local coordinate system of device b. Target y′ Target , z′ Target );

[0502] The measurement includes the longitude, latitude, and altitude information of the target, including absolute longitude, latitude, and altitude information, or relative longitude, latitude, and altitude information relative to a certain reference point.

[0503] Measure the distance and angle information of the target relative to a reference point, such as the distance from the target to the receiving device and the angle information of the target relative to the receiving device.

[0504] Optionally, if the sensing requirement is initiated by device b, it also includes device c sending the location information of the measurement target to device b.

[0505] Example 2:

[0506] In this embodiment, device c (sensing network function) calculates location information, that is, device c is the first device mentioned above.

[0507] In this embodiment, the process of device b (signal receiving device) acquiring measurement results and feeding them back to device c, i.e., device b is the second device mentioned above, and device c performs position information calculation is described.

[0508] In this embodiment, device b can obtain the location information of device a (signal transmitting device), or the location information of device b, or the distance information between the transmitting and receiving devices, thereby calculating the distance from the target to device b. Device c obtains the measurement results from device b and completes the calculation of the target location information.

[0509] For detailed procedures, please refer to [link / reference]. Figure 9 The difference from Example 1 is that device b also needs to obtain the location information of device a, or the location information of device b, or the distance information between the transmitting and receiving devices. Specifically, it can be as follows:

[0510] The location information of devices a and b is stored as known prior information on the core network side, and device c sends it to device b through the first indication information or other signaling.

[0511] Alternatively, measurements can be performed using devices a and b, such as RTT measurements, to obtain distance information L (or absolute time of arrival information τ) between devices a and b. L Device c obtains the corresponding receive-transmit time difference of device a and device b respectively, calculates the distance information or absolute arrival time information between device a and device b, and sends it to device b through the first indication information or other signaling.

[0512] Alternatively, distance information (or absolute time of arrival information) between device a and device b can be obtained by performing measurements such as RTT through device a and device b. Device b can obtain the corresponding receive-transmit time difference of device a, and combine it with the receive-transmit time difference of device b obtained by its own measurement to calculate the distance information or absolute time of arrival information between device a and device b.

[0513] Device b receives a measurement signal and measures to obtain first measurement information, including at least one of the following:

[0514] The number of targets detected, or the number of target paths;

[0515] Target diameter AoA (including global coordinate system angle AoA) T , or local coordinate system angle AoA′ T );

[0516] Target radius ZoA (including global coordinate system angle ZoA) T , or local coordinate system angle ZoA′ T );

[0517] The difference θ between the target's radius and its LOS radius on the bistatic plane R ;

[0518] The cosine value of the difference in the angle of arrival between the target radius and the LOS radius on the bistatic plane, cos(θ) R );

[0519] The time difference of arrival between the target path and the LOS path (or the initial path or the reference path reflected by a known target);

[0520] The difference in propagation distance between the target diameter and the LOS diameter (or the initial diameter or the reference diameter reflected by a known target);

[0521] LOS radius AoA (including global coordinate system angle AoA) L , or local coordinate system angle AoA′ L );

[0522] LOS radius ZoA (including global coordinate system angle ZoA) L , or local coordinate system angle ZoA′ L );

[0523] The difference between the LOS diameter AoA and the target diameter AoA;

[0524] The difference between the LOS diameter ZoA and the target diameter ZoA.

[0525] Based on the first measurement information, the distance information between device a and device b already acquired, or the absolute time of arrival information, device b calculates the second measurement information, which includes at least one of the following:

[0526] The number of targets detected, or the number of target paths;

[0527] Distance R from target to receiving device R ;

[0528] Absolute time of arrival associated with the distance from the target to the receiving device

[0529] The difference θ between the target's radius and its LOS radius on the bistatic plane R ;

[0530] The cosine value of the difference in the angle of arrival between the target radius and the LOS radius on the bistatic plane, cos(θ) R );

[0531] The absolute arrival time of the target path, i.e., Δτ+τ L ;

[0532] Propagation distance R of the target path T +R R =ΔL+L=c·(Δτ+τ) L );

[0533] Device b sends measurement information to device c. The measurement information includes at least one of the following: second measurement information, and auxiliary information associated with the measurement result. The specific definition of the auxiliary information associated with the measurement result is given in the previous embodiment.

[0534] Device c receives measurement information and calculates the target location information. The specific definition of the target location information is given in the previous embodiment, and the method for calculating the target measurement location information is as described in the previous embodiment.

[0535] Example 3:

[0536] Device b (signal receiving device) calculates the location information, that is, device b is the first device mentioned above.

[0537] This embodiment describes the process by which device b (signal receiving device) acquires measurement information, calculates location information, and then feeds it back to device c. The specific process is as follows: Figure 9 As shown. In this embodiment, device b can obtain the location information of device a, or the location information of device b, or the distance information between the transmitting and receiving devices, thereby calculating the distance from the target to device b, and further calculating the target location information, and then feeding back the target location information to device c.

[0538] Similarly, the specific process can be found by referring to [link / reference]. Figure 9 In Example 1, device b also needs to obtain the location information of device a, or the location information of device b, or the distance information between the transmitting and receiving devices. For details, please refer to Example 2.

[0539] Specifically, device c sends a first indication message to device b, and the measurement indication message in the first indication message further includes at least one of the following:

[0540] Position measurement;

[0541] The measurement format is used to indicate whether the location measurement uses Cartesian coordinates or latitude and longitude, or absolute position or relative position, or to provide reference point position information corresponding to the relative position, or to indicate whether the location measurement is a three-dimensional location measurement or a two-dimensional location measurement.

[0542] Device b receives the measurement signal and obtains measurement information. The specific content of the measurement information is described in the previous embodiment. Based on the measurement information, the distance information between device a and device b, or the absolute time of arrival information, device b calculates the measurement result. The measurement result includes at least one of the following:

[0543] The number of targets detected, or the number of target paths;

[0544] The target location information is the same as in Example 1.

[0545] Device b sends measurement data to device c. The measurement data includes at least one of the following: the above measurement result, auxiliary information associated with the measurement result, the specific definition of which is given in the previous embodiment; wherein, the accuracy information in the auxiliary information associated with the measurement result also includes position accuracy information, such as uncertainty and confidence level associated with position information in the horizontal or vertical dimension; wherein, if the position information in the above measurement result is position information in a local coordinate system, the auxiliary information associated with the measurement result includes coordinate system transformation relationship information.

[0546] Device c receives the above measurement data and obtains the location information of the measurement target. Optionally, device c further obtains the trajectory information of the measurement target based on the location information of the measurement target.

[0547] Example 4:

[0548] This embodiment mainly describes the definition of the target path and the LOS path.

[0549] The signal receiving device performs channel estimation based on the transmitted measurement signal X(k) and the corresponding received signal Y(k) to obtain channel response information H(k) = Y(k) / X(k), where k = 0, 1, 2, ..., K-1 represents the resource unit index. After the terminal obtains the channel response H(k), it transforms it to a first domain and determines the target path and LOS path in the first domain. The target path or LOS path can also refer to a specific sampling point in the first domain. The LOS path (where the LOS condition is met between the signal transceiver devices) is generally considered the first-arrival path, while the target path refers to the path associated with the portion of the signal propagation that is reflected by the sensing target. The process of transforming the channel response H(k) to the first domain after obtaining it also includes specific preprocessing of the channel data in the first domain (e.g., clutter cancellation, smoothing filtering, etc.) before determining the target path in the first domain.

[0550] The first domain includes one of the following:

[0551] Delay domain;

[0552] Doppler domain;

[0553] Azimuth domain;

[0554] Pitch angle domain (zenith angle domain);

[0555] A domain that combines at least two of the time-delay, Doppler, azimuth, and elevation domains. For example, a time-delay-Doppler domain, a time-delay-Doppler-angle domain, etc.

[0556] For example, H(f) is the channel response, where f = 0, 1, 2, ..., N-1 represents the frequency domain sampling points (e.g., subcarrier indices). Then, by performing an inverse Fourier transform on H(f), it can be transformed to the time delay domain (the first domain). As another example, H(f,t) is the channel response, where f = 0, 1, 2, ..., N-1 represents the frequency domain sampling points (e.g., subcarrier indices), and t = 0, 1, 2, ..., M-1 represents the time domain sampling points (e.g., OFDM symbol indices). Then, by performing an inverse Fourier transform along the frequency domain and a Fourier transform along the time domain on H(f,t), it can be transformed... The channel response can be transformed to the time-delay-Doppler domain (first domain). For example, H(f,t,s) is the channel response, where f = 0, 1, 2, ..., N-1 represents the frequency domain sampling points (e.g., subcarrier index), t = 0, 1, 2, ..., M-1 represents the time domain sampling points (e.g., OFDM symbol index), and s = 0, 1, 2, ..., P-1 represents the spatial domain sampling points (antenna index or port index). Then, by performing an inverse Fourier transform along the frequency domain, a Fourier transform along the time domain, and a Fourier transform along the antenna domain on H(f,t,s), it can be transformed to the time-delay-Doppler-angle domain (first domain).

[0557] The target path refers to the path associated with the portion of the signal propagation that is reflected by the perceived target. Specifically, it can be determined based on paths satisfying a first condition from the channel information of the first domain. The first condition includes at least one of the following:

[0558] The amplitude or power of the path exceeds a preset threshold or falls within a preset range; for example, the preset threshold is y times the noise threshold, or the preset threshold is the constant false alarm rate (CFAR) detection threshold; optionally, paths that meet the condition of exceeding the preset threshold or falling within a preset range can be further screened, for example, by performing clustering processing, selecting at least one path as the target path from multiple paths reflected by the same target, or merging multiple paths belonging to the same target, for example, by weighted merging to obtain the target path;

[0559] The amplitude or power of a path is greater than the amplitude or power of other paths within a specific interval of the first domain. That is, the peak or relative peak is searched in the first domain as the target path, or it is described as the X (X≥1) paths with the largest amplitude or power within a specific interval of the first domain.

[0560] The Doppler amplitude of the path exceeds the preset threshold or falls within the preset range;

[0561] The path delay exceeds a preset threshold or falls within a preset range;

[0562] The angle of the radius exceeds the preset threshold or falls within the preset range;

[0563] The difference in amplitude or power between the first-reaching path (e.g., the LOS path) and the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter / other known passive targets)) exceeds a preset threshold or falls within a preset range.

[0564] The Doppler difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive targets, etc.)) exceeds a preset threshold or is within a preset range;

[0565] The time delay difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive targets, etc.)) exceeds a preset threshold or is within a preset range;

[0566] The angle difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive targets)) exceeds a preset threshold or is within a preset range;

[0567] The amplitude, power, or phase of the path satisfies a specific modulation rule, which is the modulation rule of the Tag / backscatter device or RIS. That is, the path associated with the sensed target can be a path that has been modulated and reflected by the Tag / backscatter device or RIS.

[0568] It should be noted that the first condition of each of the above can also be based on the results of statistics over a period of time; for example, the proportion of the above indicators (such as Doppler of the path, delay of the path, etc.) exceeding the preset threshold or falling within the preset range within the preset time window reaches the preset proportion, or the number of times the above indicators (such as Doppler of the path, delay of the path, etc.) exceed the preset threshold or fall within the preset range within the preset time window reaches the preset number.

[0569] The preset threshold or set range is sent to the receiving device by other devices, and determined by those other devices based on prior sensing information or sensing requirements. Alternatively, the preset threshold or set range is determined by the receiving device based on prior sensing information or sensing requirements.

[0570] Among them, prior information for perception or perception needs includes the following information:

[0571] Sensing services or types of sensing services, such as detecting the presence of a target, localization, trajectory tracking, speed detection, distance detection, angle detection, acceleration detection, material analysis, composition analysis, shape detection, category classification, and radar cross section (RCS). The sensing services include: Section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading, gait recognition, facial expression recognition, respiration monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather condition monitoring, environmental reconstruction, terrain and landform, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density, vehicle density detection, etc. The sensing service types can be classified according to certain characteristics, such as by function (detection-type sensing services, including intrusion detection and fall detection), parameter estimation-type sensing services (distance, angle, and speed calculation), and recognition-type sensing services (action recognition, identity recognition), etc. They can also be classified by sensing range (near-range sensing, medium-range sensing, and long-range sensing), by sensing fineness (coarse-grained sensing, fine-grained sensing, etc.), by power consumption / energy consumption, and by resource usage, etc. If the sensing service is respiratory monitoring, the corresponding normal breathing rate can be determined based on the person's gender and age (e.g., male: 13-21 breaths / minute, female: 15-20 breaths / minute; adult: 12-20 breaths / minute, child: approximately 30-40 breaths / minute), which can be used as prior information for sensing. For example, if the corresponding service in the sensing requirement is target detection in a highway scene, the target speed should be in the range of 60km / h to 150km / h, which can be used as prior information for sensing.

[0572] Perception target area: refers to the location area of ​​the perceived object, or the location area that needs to be imaged or reconstructed; for example, the preset range of the time delay of the perception target association path is determined based on the approximate location / distance of the perceived object.

[0573] Sensing object type: Sensing objects are classified according to their possible motion characteristics. Each sensing object type contains information such as the typical motion velocity range, motion acceleration range, and typical RCS range of the sensing object.

[0574] The number of perceived targets; for example, the number of perceived targets can be obtained from the camera's perception results as a priori information.

[0575] Perceived QoS: Performance metrics for sensing target areas or objects, including at least one of the following:

[0576] Perception resolution (which can be further divided into: ranging resolution, angle measurement resolution, velocity measurement resolution, imaging resolution, etc.);

[0577] Sensing accuracy (which can be further divided into: ranging accuracy, angle measurement accuracy, velocity measurement accuracy, positioning accuracy, etc.);

[0578] Sensing range (which can be further divided into: ranging range, velocity measuring range, angle measuring range, imaging range, etc.);

[0579] Sensing latency (the time interval from the sending of a sensing signal to the acquisition of a sensing result, or the time interval from the initiation of a sensing demand to the acquisition of a sensing result);

[0580] Perception update rate (the time interval between two consecutive perception operations and obtaining perception results);

[0581] Detection probability (the probability of correctly detecting an object given its presence);

[0582] False alarm probability (the probability of falsely detecting a target when it does not exist);

[0583] The maximum number of targets that can be perceived.

[0584] Taking target path selection in the time delay domain as an example, such as Figure 10 As shown, based on the first condition 1, the paths that satisfy the amplitude exceeding the preset threshold are clustered and further filtered to obtain target paths 0, 1, and 2;

[0585] Alternatively, multiple paths belonging to the same objective after clustering can be merged, for example, by weighted merging, to obtain the target path;

[0586] Alternatively, based on the first condition 2, local peak detection can be performed to obtain target paths 0, 1, 2, 3, that is, to find the path with the largest amplitude or power compared with its neighboring X (X≥1) paths as the target path; optionally, before performing local peak detection, the channel data in the time delay domain can be preprocessed such as smoothing filtering or clutter cancellation.

[0587] Or, taking the selection of target paths in the time-delay-Doppler domain as an example, such as... Figure 11 As shown, the target diameter 0 and 1 are obtained by local peak detection according to the first condition 2.

[0588] Example 5:

[0589] This embodiment mainly describes the definition of signal configuration information.

[0590] Signal configuration information, including at least one of the following:

[0591] Signal resource identifier (ID) is used to distinguish different signal resource configurations;

[0592] The purpose of the signal indicates whether it is used for communication (e.g., channel measurement, channel estimation, synchronization, carrying data information, etc.), for sensing, or for both communication and sensing. More specifically, it can also specify which sensing service the signal is used for, or which type of sensing service it is used for.

[0593] Waveforms, such as orthogonal frequency division multiplex (OFDM), single-carrier frequency-division multiple access (SC-FDMA), orthogonal time-frequency space (OTFS), frequency-modulated continuous wave (FMCW), pulse signals, etc.

[0594] Subcarrier spacing, for example, 30 kHz in an OFDM system.

[0595] The guard interval is the time interval between the end of signal transmission and the latest echo signal of the signal being received; this parameter is proportional to the maximum sensing distance; for example, it can be expressed as c / (2R). max )Calculations show that R max For the maximum sensing distance (belonging to sensing demand information), such as for spontaneously generated and received sensing signals, R max This represents the maximum distance between the sensing signal transceiver point and the signal transmission point; in some cases, the OFDM signal cyclic prefix (CP) can serve as a minimum guard interval; c is the speed of light.

[0596] The starting frequency domain position, i.e., the starting frequency point, can also be the starting RE or RB index;

[0597] The starting time domain position, i.e. the starting time point, can also be the starting symbol index, time slot index, or frame index;

[0598] The terminating frequency domain position, i.e., the terminating frequency point, can be represented by the terminating RE and RB indices;

[0599] The termination time domain position, i.e. the termination time point, can be represented using the termination RE and RB indices;

[0600] Frequency domain resource length, i.e. frequency domain bandwidth, is inversely proportional to distance resolution. The frequency domain bandwidth B of each measured signal is ≥ c / (2ΔR), where c is the speed of light and ΔR is the distance resolution.

[0601] The temporal resource length, also known as the burst duration, is inversely proportional to the Doppler resolution.

[0602] Frequency domain resource spacing represents the spacing between adjacent signal frequency domain resource units. It can be represented by the number of REs or RBs, or by a density value (Density). For example, Density = 1 means that one RE in each RB is used to carry a signal. The frequency domain resource spacing is inversely proportional to the maximum unambiguous distance / delay. For OFDM systems, when subcarriers are continuously mapped, the frequency domain spacing is equal to the subcarrier spacing.

[0603] The time-domain resource interval is the time interval between two adjacent signal resource units, and the time-domain resource interval is associated with the maximum unambiguous Doppler frequency shift or the maximum unambiguous velocity.

[0604] Time-domain resource characteristics: periodic transmission, semi-persistent transmission, and non-periodic transmission.

[0605] The time-domain burst resource interval or time-domain burst sending cycle is related to the refresh frequency of the sensing results.

[0606] Signal power, for example, taking a value every 2dBm from -20dBm to 23dBm.

[0607] Sequence information, including sequence type information (ZC sequence, PN sequence, etc.), sequence generation method, sequence length, etc.

[0608] Signal direction, the angle information or beam information of signal transmission.

[0609] Quasi-co-location (QCL) relationships, such as sensing signals comprising multiple resources, each resource being associated with a Synchronization Signal Block (SSB) QCL, where the QCL can be of type A, type B, type C, or type D.

[0610] Cyclic prefix (CP) information, including CP type, CP length, etc., where the CP type can be a normal cyclic prefix (NCP), an extended cyclic prefix (ECP), or a newly designed CP specifically for sensing and measurement.

[0611] This application provides a complete target localization method under bistatic sensing mode, including methods for calculating passive sensing target location information for different scenarios, as well as methods for calculating various intermediate measurement results and message interaction processes, which can cope with different positioning-type sensing application scenarios and improve sensing and positioning performance.

[0612] The location information acquisition method provided in this application can be executed by a location information acquisition device. This application uses the example of a location information acquisition device executing the location information acquisition method to illustrate the location information acquisition device provided in this application.

[0613] This application provides a location information acquisition device. As an example, the location information acquisition device may be a communication device or a component within a communication device, such as a chip. The communication device may be a terminal, a network-side device, or a server, etc. Exemplarily, the terminal may include, but is not limited to, the type of terminal 11 listed above, and the network-side device may include, but is not limited to, the type of network-side device 12 listed above. This application does not impose specific limitations.

[0614] A location information acquisition device may include a receiving module, a transmitting module, and a processing module. These modules can be implemented in software or hardware. When implemented in hardware, the processing module can be implemented by a processor. For example, the processor may include a general-purpose processor, a special-purpose processor, such as a Central Processing Unit (CPU), a microprocessor, a Digital Signal Processor (DSP), an Artificial Intelligence (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, gate circuits, transistors, discrete hardware components, etc. The receiving and transmitting modules can be implemented by a communication interface, which may include one or more of the following: a transceiver, pins, circuits, a bus, and a radio frequency unit.

[0615] For details, see Figure 12When the location information acquisition device is a terminal or a component within a terminal, or when the location information acquisition device is a network-side device or a component within a network-side device, the location information acquisition device 1200 includes:

[0616] Processing module 1201 is configured to acquire measurement information for calculating location information, wherein the location information is the location information of the measurement target, and the measurement information includes at least one of the following:

[0617] The angle of arrival information of the target path of the measurement signal;

[0618] The angle of arrival information of the reference path of the measurement signal;

[0619] The difference information between the target path and the reference path;

[0620] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0621] The propagation delay or propagation distance information of the target path;

[0622] The propagation delay or propagation distance information of the reference path;

[0623] The location information of the device transmitting the measurement signal;

[0624] The location information of the receiving device for the measurement signal;

[0625] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0626] Optionally, the reference path includes at least one of the following:

[0627] Line-of-sight (LOS) path, signal path reflected by a known target.

[0628] Optionally, the angle of arrival information includes at least one of the following:

[0629] Azimuth of arrival based on local coordinate system;

[0630] Zenith angle based on local coordinate system;

[0631] Azimuth of arrival based on the global coordinate system;

[0632] Zenith angle based on global coordinate system.

[0633] Optionally, the difference information between the target path and the reference path includes at least one of the following:

[0634] The propagation delay difference between the target path and the reference path;

[0635] The propagation distance difference between the target path and the reference path;

[0636] The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path;

[0637] The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path;

[0638] The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

[0639] Optionally, the distance-related information includes at least one of the following:

[0640] The distance information between the measurement target and the receiving device of the measurement signal;

[0641] The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

[0642] Optionally, obtaining the measurement information used to calculate the location information includes:

[0643] The measurement signal is measured to obtain measurement information used to calculate position information; or

[0644] Receive measurement information sent by the second device for calculating location information.

[0645] Optionally, the device further includes:

[0646] The sending module is used to send first indication information to the second device; or

[0647] The receiving module is used to receive the first indication information;

[0648] Wherein, the first indication information is used to indicate the acquisition of the measurement information, or the first indication information is used to indicate the reporting of the measurement information.

[0649] Optionally, the first indication information includes at least one of the following:

[0650] Configuration information of the measurement signal;

[0651] Measurement configuration information;

[0652] Report configuration information;

[0653] Measurement requirements information.

[0654] Optionally, the measurement configuration information includes at least one of the following:

[0655] Angle measurement;

[0656] Expected angle measurement range;

[0657] Time delay measurement;

[0658] Distance measurement.

[0659] Optionally, the measurement information further includes at least one of the following:

[0660] The number of the measured targets detected;

[0661] The number of target paths;

[0662] The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

[0663] Optionally, the auxiliary information includes at least one of the following:

[0664] Timestamp information;

[0665] Measurement performance indication information;

[0666] Measurement accuracy information;

[0667] The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal;

[0668] Coordinate system transformation information;

[0669] The device information of the second device.

[0670] Optionally, the device information of the second device includes:

[0671] The motion information of the second device.

[0672] Optionally, the processing module is further configured to calculate the location information of the measurement target based on the measurement information.

[0673] Optionally, calculating the location information based on the measurement information includes:

[0674] The position information of the measurement target is calculated based on the distance between the measurement target and the receiving device of the measurement signal, and the angle of arrival information of the target diameter.

[0675] Optionally, the processing module is further configured to calculate the distance between the measurement target and the receiving device of the measurement signal based on the angle of arrival or the cosine value of the angle of arrival between the reference diameter and the target diameter;

[0676] Wherein, the angle of arrival or the cosine value of the angle of arrival is calculated based on the angle of arrival information of the target path and the angle of arrival information of the reference path; or

[0677] The measurement information includes the angle of arrival or the cosine value of the angle of arrival.

[0678] Optionally, calculating the distance between the target being measured and the receiving device of the measurement signal based on the angle of arrival includes:

[0679] Based on the angle of arrival, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path, the distance between the measurement target and the receiving device of the measurement signal is calculated. The difference information includes at least one of the following: the propagation time delay difference between the target path and the reference path; the propagation distance difference between the target path and the reference path; or

[0680] The distance between the measurement target and the receiving device of the measurement signal is calculated based on the angle of arrival and the time delay or propagation distance information of the target path.

[0681] The aforementioned location information acquisition device can improve the positioning performance of the equipment.

[0682] The location information acquisition device provided in this application embodiment can achieve... Figure 4 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0683] See Figure 13 When the location information acquisition device is a terminal or a component within a terminal, or when the location information acquisition device is a network-side device or a component within a network-side device, the location information acquisition device 1300 includes:

[0684] Processing module 1301 is used to acquire measurement information for calculating position information, wherein the position information is the position information of the measurement target;

[0685] The sending module 1302 is used to send the measurement information to the first device;

[0686] The measurement information includes at least one of the following:

[0687] The angle of arrival information of the target path of the measurement signal;

[0688] The angle of arrival information of the reference path for measuring the signal;

[0689] The difference information between the target path and the reference path;

[0690] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0691] The propagation delay or propagation distance information of the target path;

[0692] The propagation delay or propagation distance information of the reference path;

[0693] The location information of the device transmitting the measurement signal;

[0694] The location information of the receiving device for the measurement signal;

[0695] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0696] Optionally, the reference path includes at least one of the following:

[0697] Line-of-sight (LOS) path, signal path reflected by a known target.

[0698] Optionally, the angle of arrival information includes at least one of the following:

[0699] Azimuth of arrival based on local coordinate system;

[0700] Zenith angle based on local coordinate system;

[0701] Azimuth of arrival based on the global coordinate system;

[0702] Zenith angle based on global coordinate system.

[0703] Optionally, the difference information between the target path and the reference path includes at least one of the following:

[0704] The propagation delay difference between the target path and the reference path;

[0705] The propagation distance difference between the target path and the reference path;

[0706] The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path;

[0707] The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path;

[0708] The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

[0709] Optionally, the distance-related information includes at least one of the following:

[0710] The distance information between the measurement target and the receiving device of the measurement signal;

[0711] The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

[0712] Optionally, obtaining the measurement information used to calculate the location information includes:

[0713] The measurement signal is measured to obtain measurement information used to calculate position information; or

[0714] The measurement signal is measured to obtain first measurement information for calculating location information, and second measurement information is obtained based on the first measurement information, wherein the measurement information for calculating location information includes the second measurement information.

[0715] Optionally, the first measurement information includes at least one of the following:

[0716] The angle of arrival information of the target path;

[0717] The angle of arrival information of the reference path;

[0718] The difference information between the target path and the reference path;

[0719] The propagation delay or propagation distance information of the reference path;

[0720] The location information of the device transmitting the measurement signal;

[0721] The location information of the receiving device for the measurement signal;

[0722] The second measurement information includes at least one of the following:

[0723] The angle of arrival information of the target path;

[0724] The angle of arrival information of the reference path;

[0725] The difference information between the target path and the reference path;

[0726] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0727] The propagation delay or propagation distance information of the target path.

[0728] Optionally, the device further includes:

[0729] A receiving module is configured to receive first indication information, which indicates that the measurement information be acquired, or that the first indication information is configured to indicate that the measurement information be reported.

[0730] The first indication information includes at least one of the following:

[0731] Configuration information of the measurement signal;

[0732] Measurement configuration information;

[0733] Report configuration information;

[0734] Measurement requirements information.

[0735] Optionally, the measurement configuration information includes at least one of the following:

[0736] Angle measurement;

[0737] Expected angle measurement range;

[0738] Time delay measurement;

[0739] Distance measurement.

[0740] Optionally, the measurement information further includes at least one of the following:

[0741] The number of the measured targets detected;

[0742] The number of target paths;

[0743] The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

[0744] Optionally, the auxiliary information includes at least one of the following:

[0745] Timestamp information;

[0746] Measurement performance indication information;

[0747] Measurement accuracy information;

[0748] The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal;

[0749] Coordinate system transformation information;

[0750] The device information of the second device.

[0751] Optionally, the device information of the second device includes at least one of the following:

[0752] The motion information of the second device.

[0753] The aforementioned location information acquisition device can improve the positioning performance of the equipment.

[0754] The location information acquisition device provided in this application embodiment can achieve... Figure 8 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0755] like Figure 14 As shown in the illustration, this application also provides a communication device 1400, including a processor 1401 and a memory 1402. The memory 1402 stores a program or instructions that can run on the processor 1401. For example, when the communication device 1400 is a first device, the program or instructions executed by the processor 1401 implement the various steps of the location information acquisition method embodiment of the first device described above, and achieve the same technical effect. When the communication device 1400 is a second device, the program or instructions executed by the processor 1401 implement the various steps of the location information acquisition method embodiment of the second device described above, and achieve the same technical effect. To avoid repetition, this will not be repeated here.

[0756] This application embodiment also provides a terminal, 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 4 The steps in the method embodiment shown are illustrated. This terminal embodiment corresponds to the above-described terminal-side method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and achieve the same technical effect. The terminal can be... Figure 12 The location information acquisition device shown. Specifically, Figure 8 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0757] The terminal 1500 includes, but is not limited to, at least some of the following components: radio frequency unit 1501, network module 1502, audio output unit 1503, input unit 1504, sensor 1505, display unit 1506, user input unit 1507, interface unit 1508, memory 1509, and processor 1510.

[0758] Those skilled in the art will understand that the terminal 1500 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 1510 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 15 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0759] It should be understood that, in this embodiment, the input unit 1504 may include a graphics processor 15041 and a microphone 15042. The graphics processor 15041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 1506 may include a display panel 15061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 1507 includes a touch panel 15071 and at least one of other input devices 15072. The touch panel 15071 is also called a touch screen. The touch panel 15071 may include a touch detection device and a touch controller. Other input devices 15072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, power buttons, etc.), trackballs, mice, and joysticks, which will not be described in detail here.

[0760] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 1501 can transmit it to the processor 1510 for processing; in addition, the radio frequency unit 1501 can send uplink data to the network-side device. Typically, the radio frequency unit 1501 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0761] The memory 1509 can be used to store software programs or instructions, as well as various data. The memory 1509 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 1509 may include volatile memory or non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1509 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0762] Processor 1510 may include one or more processing units; optionally, processor 1510 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 1510.

[0763] The radio frequency unit 1501 or the processor 1510 is used to acquire measurement information for calculating location information, wherein the location information is the location information of the measurement target, and the measurement information includes at least one of the following:

[0764] The angle of arrival information of the target path of the measurement signal;

[0765] The angle of arrival information of the reference path of the measurement signal;

[0766] The difference information between the target path and the reference path;

[0767] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0768] The propagation delay or propagation distance information of the target path;

[0769] The propagation delay or propagation distance information of the reference path;

[0770] The location information of the device transmitting the measurement signal;

[0771] The location information of the receiving device for the measurement signal;

[0772] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0773] Optionally, the reference path includes at least one of the following:

[0774] Line-of-sight (LOS) path, signal path reflected by a known target.

[0775] Optionally, the angle of arrival information includes at least one of the following:

[0776] Azimuth of arrival based on local coordinate system;

[0777] Zenith angle based on local coordinate system;

[0778] Azimuth of arrival based on the global coordinate system;

[0779] Zenith angle based on global coordinate system.

[0780] Optionally, the difference information between the target path and the reference path includes at least one of the following:

[0781] The propagation delay difference between the target path and the reference path;

[0782] The propagation distance difference between the target path and the reference path;

[0783] The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path;

[0784] The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path;

[0785] The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

[0786] Optionally, the distance-related information includes at least one of the following:

[0787] The distance information between the measurement target and the receiving device of the measurement signal;

[0788] The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

[0789] Optionally, obtaining the measurement information used to calculate the location information includes:

[0790] The measurement signal is measured to obtain measurement information used to calculate position information; or

[0791] Receive measurement information sent by the second device for calculating location information.

[0792] Optionally, the radio frequency unit 1501 is also used for:

[0793] The first device sends a first instruction message to the second device; or

[0794] The first device receives the first instruction information;

[0795] Wherein, the first indication information is used to indicate the acquisition of the measurement information, or the first indication information is used to indicate the reporting of the measurement information.

[0796] Optionally, the first indication information includes at least one of the following:

[0797] Configuration information of the measurement signal;

[0798] Measurement configuration information;

[0799] Report configuration information;

[0800] Measurement requirements information.

[0801] Optionally, the measurement configuration information includes at least one of the following:

[0802] Angle measurement;

[0803] Expected angle measurement range;

[0804] Time delay measurement;

[0805] Distance measurement.

[0806] Optionally, the measurement information further includes at least one of the following:

[0807] The number of the measured targets detected;

[0808] The number of target paths;

[0809] The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

[0810] Optionally, the auxiliary information includes at least one of the following:

[0811] Timestamp information;

[0812] Measurement performance indication information;

[0813] Measurement accuracy information;

[0814] The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal;

[0815] Coordinate system transformation information;

[0816] The device information of the second device.

[0817] Optionally, the device information of the second device includes:

[0818] The motion information of the second device.

[0819] Optionally, the processor 1510 is also used for:

[0820] The location information of the measurement target is calculated based on the measurement information.

[0821] Optionally, calculating the location information based on the measurement information includes:

[0822] The position information of the measurement target is calculated based on the distance between the measurement target and the receiving device of the measurement signal, and the angle of arrival information of the target diameter.

[0823] Optionally, the processor 1510 is also used for:

[0824] The distance between the target and the receiving device of the measurement signal is calculated based on the angle of arrival or the cosine of the angle of arrival between the reference diameter and the target diameter.

[0825] Wherein, the angle of arrival or the cosine value of the angle of arrival is calculated based on the angle of arrival information of the target path and the angle of arrival information of the reference path; or

[0826] The measurement information includes the angle of arrival or the cosine value of the angle of arrival.

[0827] Optionally, calculating the distance between the target being measured and the receiving device of the measurement signal based on the angle of arrival includes:

[0828] Based on the angle of arrival, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path, the distance between the measurement target and the receiving device of the measurement signal is calculated. The difference information includes at least one of the following: the propagation time delay difference between the target path and the reference path; the propagation distance difference between the target path and the reference path; or

[0829] The distance between the measurement target and the receiving device of the measurement signal is calculated based on the angle of arrival and the time delay or propagation distance information of the target path.

[0830] The aforementioned terminals can improve the positioning performance of the device.

[0831] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the location information acquisition method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be described again here.

[0832] It should be noted that this embodiment uses the first device as the terminal for illustration. In this embodiment, the second device can also be a terminal, that is, the aforementioned terminal can also be implemented. Figure 8 The steps in the method shown.

[0833] 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 8 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.

[0834] Specifically, embodiments of this application also provide a network-side device, which can be... Figure 13 The location information acquisition device shown. Figure 16 As shown, the network-side device 1600 includes: an antenna 1601, a radio frequency (RF) device 1602, a baseband device 1603, a processor 1604, and a memory 1605. The antenna 1601 is connected to the RF device 1602. In the uplink direction, the RF device 1602 receives information through the antenna 1601 and sends the received information to the baseband device 1603 for processing. In the downlink direction, the baseband device 1603 processes the information to be transmitted and sends it to the RF device 1602. The RF device 1602 processes the received information and then transmits it through the antenna 1601.

[0835] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 1603, which includes a baseband processor.

[0836] The baseband device 1603 may, for example, include at least one baseband board on which multiple chips are disposed, such as... Figure 16 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 1605 via a bus interface to call the program in the memory 1605 and execute the network device operation shown in the above method embodiment.

[0837] The network-side device may also include a network interface 1606, such as a Common Public Radio Interface (CPRI).

[0838] Specifically, the network-side device 1600 in this application embodiment further includes: instructions or programs stored in memory 1605 and executable on processor 1604, wherein processor 1604 calls the instructions or programs in memory 1605 to execute. Figure 13 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0839] The radio frequency device 1602 or processor 1604 is used to acquire measurement information for calculating location information, wherein the location information is the location information of the measurement target;

[0840] Radio frequency device 1602 is used to send the measurement information to the first device;

[0841] The measurement information includes at least one of the following:

[0842] The angle of arrival information of the target path of the measurement signal;

[0843] The angle of arrival information of the reference path for measuring the signal;

[0844] The difference information between the target path and the reference path;

[0845] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0846] The propagation delay or propagation distance information of the target path;

[0847] The propagation delay or propagation distance information of the reference path;

[0848] The location information of the device transmitting the measurement signal;

[0849] The location information of the receiving device for the measurement signal;

[0850] Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

[0851] Optionally, the reference path includes at least one of the following:

[0852] Line-of-sight (LOS) path, signal path reflected by a known target.

[0853] Optionally, the angle of arrival information includes at least one of the following:

[0854] Azimuth of arrival based on local coordinate system;

[0855] Zenith angle based on local coordinate system;

[0856] Azimuth of arrival based on the global coordinate system;

[0857] Zenith angle based on global coordinate system.

[0858] Optionally, the difference information between the target path and the reference path includes at least one of the following:

[0859] The propagation delay difference between the target path and the reference path;

[0860] The propagation distance difference between the target path and the reference path;

[0861] The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path;

[0862] The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path;

[0863] The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

[0864] Optionally, the distance-related information includes at least one of the following:

[0865] The distance information between the measurement target and the receiving device of the measurement signal;

[0866] The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

[0867] Optionally, obtaining the measurement information used to calculate the location information includes:

[0868] The measurement signal is measured to obtain measurement information used to calculate position information; or

[0869] The measurement signal is measured to obtain first measurement information for calculating location information, and second measurement information is obtained based on the first measurement information, wherein the measurement information for calculating location information includes the second measurement information.

[0870] Optionally, the first measurement information includes at least one of the following:

[0871] The angle of arrival information of the target path;

[0872] The angle of arrival information of the reference path;

[0873] The difference information between the target path and the reference path;

[0874] The propagation delay or propagation distance information of the reference path;

[0875] The location information of the device transmitting the measurement signal;

[0876] The location information of the receiving device for the measurement signal;

[0877] The second measurement information includes at least one of the following:

[0878] The angle of arrival information of the target path;

[0879] The angle of arrival information of the reference path;

[0880] The difference information between the target path and the reference path;

[0881] The distance-related information between the measurement target and the receiving device of the measurement signal;

[0882] The propagation delay or propagation distance information of the target path.

[0883] Optionally, the radio frequency device 1602 is also used for:

[0884] Receive first indication information, which is used to indicate the acquisition of the measurement information, or the first indication information is used to indicate the reporting of the measurement information.

[0885] Optionally, the first indication information includes at least one of the following:

[0886] Configuration information of the measurement signal;

[0887] Measurement configuration information;

[0888] Report configuration information;

[0889] Measurement requirements information.

[0890] Optionally, the measurement configuration information includes at least one of the following:

[0891] Angle measurement;

[0892] Expected angle measurement range;

[0893] Time delay measurement;

[0894] Distance measurement.

[0895] Optionally, the measurement information further includes at least one of the following:

[0896] The number of the measured targets detected;

[0897] The number of target paths;

[0898] The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

[0899] Optionally, the auxiliary information includes at least one of the following:

[0900] Timestamp information;

[0901] Measurement performance indication information;

[0902] Measurement accuracy information;

[0903] The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal;

[0904] Coordinate system transformation information;

[0905] The device information of the second device.

[0906] Optionally, the device information of the second device includes at least one of the following:

[0907] The motion information of the second device.

[0908] The aforementioned network-side equipment can improve the positioning performance of the devices.

[0909] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the location information acquisition method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be described again here.

[0910] It should be noted that this embodiment uses the second device as a network-side device for illustration. In this application embodiment, the second device can also be a network-side device, that is, the aforementioned network-side device can also be implemented. Figure 4 The steps in the method shown.

[0911] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described location information acquisition method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0912] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0913] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described location information acquisition method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0914] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0915] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described location information acquisition method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0916] This application also provides a wireless communication system, including a first device and a second device. The first device can be used to perform the steps of the location information acquisition method of the first device provided in this application, and the second device can be used to perform the steps of the location information acquisition method of the second device provided in this application.

[0917] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0918] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0919] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A method for acquiring location information, characterized in that, include: The first device acquires measurement information for calculating location information, wherein the location information is the location information of the measurement target, and the measurement information includes at least one of the following: The angle of arrival information of the target path of the measurement signal; The angle of arrival information of the reference path of the measurement signal; The difference information between the target path and the reference path; The distance-related information between the measurement target and the receiving device of the measurement signal; The propagation delay or propagation distance information of the target path; The propagation delay or propagation distance information of the reference path; The location information of the device transmitting the measurement signal; The location information of the receiving device for the measurement signal; Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

2. The method according to claim 1, characterized in that, The reference path includes at least one of the following: Line-of-sight (LOS) path, signal path reflected by a known target.

3. The method according to claim 1 or 2, characterized in that, The angle of arrival information includes at least one of the following: Azimuth of arrival based on local coordinate system; Zenith angle based on local coordinate system; Azimuth of arrival based on the global coordinate system; Zenith angle based on global coordinate system.

4. The method according to any one of claims 1 to 3, characterized in that, The difference information between the target path and the reference path includes at least one of the following: The propagation delay difference between the target path and the reference path; The propagation distance difference between the target path and the reference path; The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path; The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path; The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

5. The method according to any one of claims 1 to 4, characterized in that, The distance-related information includes at least one of the following: The distance information between the measurement target and the receiving device of the measurement signal; The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

6. The method according to any one of claims 1 to 5, characterized in that, The first device acquires measurement information for calculating location information, including: The first device measures the measurement signal to obtain measurement information used to calculate position information; or The first device receives measurement information sent by the second device for calculating location information.

7. The method according to claim 6, characterized in that, The method further includes: The first device sends a first instruction message to the second device; or The first device receives the first instruction information; Wherein, the first indication information is used to indicate the acquisition of the measurement information, or the first indication information is used to indicate the reporting of the measurement information.

8. The method according to claim 7, characterized in that, The first indication information includes at least one of the following: Configuration information of the measurement signal; Measurement configuration information; Report configuration information; Measurement requirements information.

9. The method according to claim 8, characterized in that, The measurement configuration information includes at least one of the following: Angle measurement; Expected angle measurement range; Time delay measurement; Distance measurement.

10. The method according to any one of claims 1 to 9, characterized in that, The measurement information also includes at least one of the following: The number of the measured targets detected; The number of target paths; The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

11. The method according to claim 10, characterized in that, The auxiliary information includes at least one of the following: Timestamp information; Measurement performance indication information; Measurement accuracy information; The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal; Coordinate system transformation information; Equipment information for the second device.

12. The method according to claim 11, characterized in that, The device information of the second device includes: The motion information of the second device.

13. The method according to any one of claims 1 to 12, characterized in that, The method further includes: The first device calculates the location information of the measurement target based on the measurement information.

14. The method according to claim 13, characterized in that, The first device calculates the location information based on the measurement information, including: The first device calculates the position information of the measurement target based on the distance between the measurement target and the receiving device of the measurement signal, and the angle of arrival information of the target diameter.

15. The method according to claim 14, characterized in that, The method further includes: The first device calculates the distance between the target being measured and the receiving device of the measurement signal based on the angle of arrival or the cosine value of the angle of arrival between the reference diameter and the target diameter. Wherein, the angle of arrival or the cosine value of the angle of arrival is calculated based on the angle of arrival information of the target path and the angle of arrival information of the reference path; or The measurement information includes the angle of arrival or the cosine value of the angle of arrival.

16. The method according to claim 15, characterized in that, The first device calculates the distance between the target being measured and the receiving device of the measurement signal based on the angle of arrival, including: The first device calculates the distance between the measurement target and the receiving device of the measurement signal based on the angle of arrival, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path. The difference information includes at least one of the following: the propagation time delay difference between the target path and the reference path; the propagation distance difference between the target path and the reference path; or The first device calculates the distance between the measurement target and the receiving device of the measurement signal based on the angle of arrival and the time delay or propagation distance information of the target path.

17. A method for acquiring location information, characterized in that, include: The second device acquires measurement information used to calculate location information, wherein the location information is the location information of the measurement target; The second device sends the measurement information to the first device; The measurement information includes at least one of the following: The angle of arrival information of the target path of the measurement signal; The angle of arrival information of the reference path for measuring the signal; The difference information between the target path and the reference path; The distance-related information between the measurement target and the receiving device of the measurement signal; The propagation delay or propagation distance information of the target path; The propagation delay or propagation distance information of the reference path; The location information of the device transmitting the measurement signal; The location information of the receiving device for the measurement signal; Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

18. The method according to claim 17, characterized in that, The reference path includes at least one of the following: Line-of-sight (LOS) path, signal path reflected by a known target.

19. The method according to claim 17 or 18, characterized in that, The angle of arrival information includes at least one of the following: Azimuth of arrival based on local coordinate system; Zenith angle based on local coordinate system; Azimuth of arrival based on the global coordinate system; Zenith angle based on global coordinate system.

20. The method according to any one of claims 17 to 19, characterized in that, The difference information between the target path and the reference path includes at least one of the following: The propagation delay difference between the target path and the reference path; The propagation distance difference between the target path and the reference path; The azimuth difference between the target path and the reference path, or the cosine of the azimuth difference between the target path and the reference path; The difference in zenith angle between the target path and the reference path, or the cosine of the difference in zenith angle between the target path and the reference path; The angle between the target diameter and the reference diameter, or the cosine of the angle between the target diameter and the reference diameter.

21. The method according to any one of claims 17 to 20, characterized in that, The distance-related information includes at least one of the following: The distance information between the measurement target and the receiving device of the measurement signal; The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

22. The method according to any one of claims 17 to 21, characterized in that, The second device acquires measurement information for calculating location information, including: The second device measures the measurement signal to obtain measurement information used to calculate location information; or The second device measures the measurement signal to obtain first measurement information for calculating location information, and obtains second measurement information based on the first measurement information, wherein the measurement information for calculating location information includes the second measurement information.

23. The method according to claim 22, characterized in that, The first measurement information includes at least one of the following: The angle of arrival information of the target path; The angle of arrival information of the reference path; The difference information between the target path and the reference path; The propagation delay or propagation distance information of the reference path; The location information of the device transmitting the measurement signal; The location information of the receiving device for the measurement signal; The second measurement information includes at least one of the following: The angle of arrival information of the target path; The angle of arrival information of the reference path; The difference information between the target path and the reference path; The distance-related information between the measurement target and the receiving device of the measurement signal; The propagation delay or propagation distance information of the target path.

24. The method according to claim 22 or 23, characterized in that, The method further includes: The second device receives a first indication message, which is used to indicate the acquisition of the measurement information, or the first indication message is used to indicate the reporting of the measurement information.

25. The method according to claim 24, characterized in that, The first indication information includes at least one of the following: Configuration information of the measurement signal; Measurement configuration information; Report configuration information; Measurement requirements information.

26. The method according to claim 25, characterized in that, The measurement configuration information includes at least one of the following: Angle measurement; Expected angle measurement range; Time delay measurement; Distance measurement.

27. The method according to any one of claims 17 to 26, characterized in that, The measurement information also includes at least one of the following: The number of the measured targets detected; The number of target paths; The measurement information is associated with auxiliary information, which is used to assist in calculating the location information.

28. The method according to claim 27, characterized in that, The auxiliary information includes at least one of the following: Timestamp information; Measurement performance indication information; Measurement accuracy information; The propagation mode indication information is used to indicate the signal propagation mode between the transmitting device and the receiving device of the measurement signal; Coordinate system transformation information; The device information of the second device.

29. The method according to claim 28, characterized in that, The device information of the second device includes at least one of the following: The motion information of the second device.

30. A location information acquisition device, characterized in that, include: The processing module is configured to acquire measurement information for calculating location information, wherein the location information is the location information of the measurement target, and the measurement information includes at least one of the following: The angle of arrival information of the target path of the measurement signal; The angle of arrival information of the reference path of the measurement signal; The difference information between the target path and the reference path; The distance-related information between the measurement target and the receiving device of the measurement signal; The propagation delay or propagation distance information of the target path; The propagation delay or propagation distance information of the reference path; The location information of the device transmitting the measurement signal; The location information of the receiving device for the measurement signal; Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

31. The apparatus according to claim 30, characterized in that, The acquisition of measurement information for calculating location information includes: The measurement signal is measured to obtain measurement information used to calculate position information; or Receive measurement information sent by the second device for calculating location information.

32. The apparatus according to claim 31, characterized in that, The device further includes: The sending module is used to send first indication information to the second device; or The receiving module is used to receive the first indication information; Wherein, the first indication information is used to indicate the acquisition of the measurement information, or the first indication information is used to indicate the reporting of the measurement information.

33. The apparatus according to any one of claims 30 to 32, characterized in that, The processing module is also used to calculate the location information of the measurement target based on the measurement information.

34. A location information acquisition device, characterized in that, include: The processing module is used to acquire measurement information for calculating location information, wherein the location information is the location information of the measurement target; The sending module is used to send the measurement information to the first device; The measurement information includes at least one of the following: The angle of arrival information of the target path of the measurement signal; The angle of arrival information of the reference path for measuring the signal; The difference information between the target path and the reference path; The distance-related information between the measurement target and the receiving device of the measurement signal; The propagation delay or propagation distance information of the target path; The propagation delay or propagation distance information of the reference path; The location information of the device transmitting the measurement signal; The location information of the receiving device for the measurement signal; Wherein, the target path is the signal path in the measurement signal associated with the measurement target.

35. The apparatus according to claim 34, characterized in that, The acquisition of measurement information for calculating location information includes: The measurement signal is measured to obtain measurement information used to calculate position information; or The measurement signal is measured to obtain first measurement information for calculating location information, and second measurement information is obtained based on the first measurement information, wherein the measurement information for calculating location information includes the second measurement information.

36. The apparatus according to claim 35, characterized in that, The device further includes: A receiving module is configured to receive first indication information, which indicates that the measurement information be acquired, or that the first indication information is configured to indicate that the measurement information be reported.

37. A device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, wherein when the program or instructions are executed by the processor, they implement the steps of the location information acquisition method as described in any one of claims 1 to 16, or when the program or instructions are executed by the processor, they implement the steps of the location information acquisition method as described in any one of claims 17 to 29.

38. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the location information acquisition method as described in any one of claims 1 to 16, or implement the steps of the location information acquisition method as described in any one of claims 17 to 29.

39. A computer program product, characterized in that, The computer program product is stored in a storage medium and is executed by at least one processor to implement the steps of the location information acquisition method as claimed in any one of claims 1 to 16, or to implement the steps of the location information acquisition method as claimed in any one of claims 17 to 29.

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