Positioning method, communication system and electronic equipment

Abstract

The invention provides a positioning method, a communication system and electronic equipment, and relates to the field of communication.The positioning method comprises the steps that the communication system can determine the Doppler frequency shift change rate and the positioning basic measurement quantity when a terminal in a moving state moves relative to network equipment, and then the positioning basic measurement quantity is calculated according to the Doppler frequency shift change rate and the positioning basic measurement quantity; and estimating the position of the terminal based on the positioning basic measurement quantity and the Doppler frequency shift change rate. Next, the communication system may correct the estimated position of the terminal. Wherein the Doppler frequency shift change rate and the positioning basic measurement quantity can be used for reducing position calculation errors caused by reasons such as the moving speed of the terminal and the transmission time delay of related parameters, so that the positioning precision of the terminal is improved.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to a positioning method, a communication system, and an electronic device. Background Technology

[0002] With the development of communication technology, the demand for high-precision positioning of electronic devices (such as smartphones and smartwatches) is becoming increasingly common. However, in some application scenarios, when a communication system calculates the position of a moving electronic device, errors often occur due to the device's speed and the transmission delay of relevant parameters, resulting in a significant discrepancy between the calculated position and the actual position of the electronic device. Therefore, improving the positioning accuracy of moving electronic devices has become an urgent problem to be solved. Summary of the Invention

[0003] This application provides a positioning method, a communication system, and an electronic device, which reduces the position calculation error caused by the moving speed of the terminal 100 and the transmission delay of related parameters, thereby improving the positioning accuracy of the terminal 100.

[0004] Firstly, this application provides a positioning method applied to a first server. The method includes: receiving a first basic positioning measurement, the time corresponding to the first basic positioning measurement, and a first Doppler frequency shift rate of change. The first Doppler frequency shift rate of change is the Doppler frequency shift rate of change between the terminal and a first network device in motion. Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the first Doppler frequency shift rate of change, a first position of the terminal and the velocity vector of the terminal at a first moment are determined. A positioning result report is sent, wherein the positioning result report carries the first position of the terminal at the first moment and the velocity vector of the terminal. This reduces position calculation errors caused by the terminal's moving speed and transmission delays of related parameters, thereby improving the positioning accuracy of the terminal.

[0005] In one possible implementation, the first basic positioning measurement is a first Doppler frequency shift, and the time corresponding to the first basic positioning measurement is a second moment. The first Doppler frequency shift is the Doppler frequency shift between the terminal and the first network device in motion. Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the rate of change of the first Doppler frequency shift, the first position of the terminal at the first moment and the velocity vector of the terminal are determined. Specifically, this includes: determining a first time difference between the first moment and the second moment; determining the first Doppler frequency shift at the first moment based on the first time difference, the first Doppler frequency shift at the second moment, and the rate of change of the first Doppler frequency shift; and determining the first position of the terminal at the first moment and the velocity vector of the terminal based on the first Doppler frequency shift at the first moment. In this way, by using the Doppler frequency shift and the rate of change of the Doppler frequency shift to calculate and correct the terminal's position, the position calculation error of the terminal is reduced, and the positioning accuracy of the terminal is improved.

[0006] In one possible implementation, the first basic positioning measurement is a first distance, and the time corresponding to the first basic positioning measurement is a third moment. The first distance is the distance between the terminal and the first network device when in motion. Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the first Doppler frequency shift rate, the first position of the terminal and the velocity vector of the terminal at the first moment are determined. Specifically, this includes: determining a second time difference between the first moment and the third moment; determining the first distance at the first moment based on the second time difference, the first distance at the third moment, and the first Doppler frequency shift rate; and determining the first position of the terminal and the velocity vector of the terminal at the first moment based on the first distance at the first moment. In this way, by using the Doppler frequency shift rate to correct the distance between the terminal and the network device, the position calculation error of the terminal is reduced, and the positioning accuracy of the terminal is improved.

[0007] In one possible implementation, the first basic positioning measurement is a first angle of arrival, and the time corresponding to the first basic positioning measurement is a fourth moment. The first angle of arrival is the angle of arrival between the terminal and the first network device while they are in motion. Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the first Doppler frequency shift rate, the first position of the terminal and the velocity vector of the terminal at the first moment are determined. Specifically, this includes: determining a third time difference between the first moment and the fourth moment; determining the first angle of arrival at the first moment based on the third time difference, the first angle of arrival at the fourth moment, and the first Doppler frequency shift rate; and determining the first position of the terminal and the velocity vector of the terminal at the first moment based on the first angle of arrival at the first moment. In this way, by using the Doppler frequency shift rate to correct the angle of arrival between the terminal and the network device, the position calculation error of the terminal is reduced, and the positioning accuracy of the terminal is improved.

[0008] Secondly, this application provides a positioning method applied to a terminal. The method includes: receiving a first reference signal sent by a first network device; determining a first Doppler frequency shift rate of change of the terminal based on the first reference signal; sending the first Doppler frequency shift rate of change to a first server; receiving a positioning result report, the positioning result report carrying a second position of the terminal, the time corresponding to the second position, and the velocity vector of the terminal; and determining a third position of the terminal at a fifth moment based on the positioning result report. This reduces position calculation errors caused by the terminal's moving speed and the transmission delay of related parameters, thereby improving the positioning accuracy of the terminal.

[0009] In one possible implementation, the first Doppler frequency shift change rate of the terminal is determined based on the first reference signal sent by the first network device. Specifically, this includes determining the first Doppler frequency shift and the first Doppler frequency shift change rate of the terminal based on the first reference signal sent by the first network device. The first Doppler frequency shift change rate is then sent to the first server, specifically including sending the first Doppler frequency shift, the first Doppler frequency shift change rate, and the time corresponding to the first Doppler frequency shift to the first server. In this way, by using the Doppler frequency shift and the Doppler frequency shift change rate to calculate and correct the terminal's position, the position calculation error of the terminal is reduced, and the positioning accuracy of the terminal is improved.

[0010] In one possible implementation, the second location of the terminal is the first location of the terminal determined by the first server, and the time corresponding to the second location is the first moment. Thus, when the terminal receives the positioning result from the first server, it corrects the positioning result, improving the terminal's positioning accuracy.

[0011] In one possible implementation, the terminal's second location is the terminal's fourth location determined by the first network device, and the time corresponding to this second location is the sixth moment. Thus, when the terminal receives the positioning result from the first network device, it corrects the positioning result, improving the terminal's positioning accuracy.

[0012] Thirdly, this application provides a positioning method applied to a first network device. The method includes: sending a first basic positioning measurement, a first Doppler frequency shift rate, and the time corresponding to the first basic positioning measurement to a first server; receiving a positioning result report from the first server, the positioning result report carrying the terminal's first position at a first moment and the terminal's velocity vector; determining the terminal's fourth position at a sixth moment based on the positioning result report from the first server; and sending the fourth position and the value at the sixth moment to the terminal. This reduces position calculation errors caused by the terminal's moving speed and the transmission delay of related parameters, thereby improving the terminal's positioning accuracy.

[0013] In one possible implementation, the first basic positioning measurement is a first Doppler frequency shift, or a first distance between the terminal and the first network device, or a first angle of arrival between the terminal and the first network device. In this way, different types of basic positioning measurements can be combined with the Doppler frequency shift rate of change to calculate and correct the terminal's position, improving the terminal's positioning accuracy and broadening its application scenarios.

[0014] Fourthly, this application provides a communication system including a terminal, a first network device, and a first positioning server, wherein the first positioning server executes the method of any possible implementation of the first aspect, the terminal executes the method of any possible implementation of the second aspect, and the first network device executes the method of any possible implementation of the third aspect.

[0015] Fifthly, this application provides an electronic device including one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, and the one or more memories are used to store a computer program. When the one or more processors execute the computer program, the electronic device performs the method as described in any of the possible implementations of any of the above aspects. This reduces position calculation errors caused by factors such as the terminal's movement speed and the transmission delay of related parameters, thereby improving the terminal's positioning accuracy.

[0016] Sixthly, this application provides a chip system including a processing circuit and an interface circuit. The interface circuit receives instructions and transmits them to the processing circuit, which executes the instructions to perform a method as described in any of the possible implementations of any of the above aspects. This reduces position calculation errors caused by factors such as the terminal's movement speed and the transmission delay of related parameters, thereby improving the terminal's positioning accuracy.

[0017] Seventhly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method as described in any of the possible implementations of any of the above aspects. This reduces position calculation errors caused by factors such as the terminal's movement speed and the transmission delay of related parameters, thereby improving the terminal's positioning accuracy.

[0018] Eighthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the method as described in any of the possible implementations of any of the above aspects. This reduces position calculation errors caused by factors such as the terminal's movement speed and the transmission delay of related parameters, thereby improving the terminal's positioning accuracy. Attached Figure Description

[0019] Figure 1A This application provides a schematic diagram of the architecture of a communication system. Figure 1B A schematic diagram illustrating the position change of a terminal 100 in a mobile state, provided as an embodiment of this application; Figure 2A A schematic diagram illustrating the specific implementation flow of a positioning method provided in an embodiment of this application; Figure 2B A schematic diagram illustrating the specific implementation flow of another positioning method provided in this application embodiment; Figure 3A This is a schematic diagram illustrating a scenario where a terminal moves relative to a network device, as provided in an embodiment of this application. Figure 3B This is a schematic diagram illustrating a scenario where a terminal moves relative to multiple network devices, as provided in an embodiment of this application. Figure 3C A schematic diagram illustrating the correction of a terminal position provided in an embodiment of this application; Figure 4A A schematic diagram illustrating the specific implementation flow of a positioning method provided in an embodiment of this application; Figure 4B A schematic diagram illustrating a scenario where a terminal 100 moves relative to a network device, as provided in an embodiment of this application. Figure 4CA schematic diagram illustrating another scenario where a terminal 100 moves relative to a network device, as provided in an embodiment of this application. Figure 5A A schematic diagram illustrating the specific implementation flow of another positioning method provided in this application embodiment; Figure 5B A schematic diagram illustrating another scenario where a terminal 100 moves relative to a network device, as provided in an embodiment of this application. Figure 6A A schematic diagram of a system functional module architecture provided for an embodiment of this application; Figure 6B A schematic diagram of another system functional module architecture provided in an embodiment of this application; Figure 6C A schematic diagram of the overall flow of a positioning method provided in an embodiment of this application; Figure 7A A schematic diagram of the hardware structure of a terminal 100 provided in an embodiment of this application; Figure 7B This is a schematic diagram of the hardware structure of a network device 2000 provided in an embodiment of this application. Detailed Implementation

[0020] The technical solutions in the embodiments of this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; the word "and / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0021] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0022] Figure 1A This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application.

[0023] In this embodiment of the application, the communication system may include: a terminal, one or more network devices, and a positioning server, etc.

[0024] like Figure 1AAs shown, the communication system 10 may include: a terminal 100, a network device 200, a network device 300, a network device 400, and a positioning server 500. Wherein: Terminal 100 can be user equipment (UE), access terminal, UE unit, UE station, mobile station, mobile station, remote station, remote terminal, mobile device, UE terminal, wireless communication equipment, UE agent, or UE device, etc. Access terminal can be cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device or other processing device connected to wireless modem, vehicle-mounted device, wearable device, terminal in 5G network or terminal in future evolved public land mobile network (PLMN) network, etc., and this application does not limit this.

[0025] Network devices (including network devices 200, 300, and 400) can be transmission reception points (TRPs), base stations, relay stations, nodes, or access points. Network devices can be network devices in 5G communication systems or network devices in future evolved networks. Network devices can be base transceiver stations (BTS) in Global System for Mobile Communication (GSM) or Code Division Multiple Access (CDMA) networks, base stations (NodeBs, NBs) in Wideband Code Division Multiple Access (WCDMA), evolutionary NodeBs (eNBs) in Long Term Evolution (LTE), or gNodeBs (gNBs) in New Radio (NR). Network devices can also be radio controllers in cloud radio access network (CRAN) scenarios; this application does not impose any limitations on this.

[0026] Terminal 100 can establish wireless communication connections with network device 200, network device 300, network device 400, and positioning server 500, so that terminal 100 can perform data communication with each of the network devices and positioning server 500 based on the above wireless communication connections; network device 200, network device 300, and network device 400 can each establish wireless communication connections with positioning server 500, so that each network device can perform data communication with positioning server 500 based on the above wireless communication connections.

[0027] It is understood that the present application shows Figure 1A This is merely an illustrative diagram and does not constitute any limitation on the applicable scenarios of the technical solutions provided in this application. For example, in practical communication systems, it may also include [other components]. Figure 1A The application may include more or fewer terminals, network devices and positioning servers, and may also include other electronic devices besides terminals, network devices and positioning servers; this application does not limit this.

[0028] The above Figure 1A The communication system 10 shown can be used to calculate the position of terminal 100. In some application scenarios, when the communication system 10 calculates the position of terminal 100 in a moving state, errors often occur due to the moving speed of terminal 100 and the transmission delay of related parameters, resulting in a large difference between the position of terminal 100 calculated by the communication system 10 and the actual position of terminal 100.

[0029] Figure 1B This is a schematic diagram illustrating the position change of a terminal 100 in a mobile state, as provided in an embodiment of this application.

[0030] like Figure 1B As shown, terminal 100 is in a moving state. At time t01, the position of terminal 100 is P1; at time t02, the position of terminal 100 is P2; and at time t03, the position of terminal 100 is P3.

[0031] At time t01, the communication system 10 can calculate relevant parameters of the terminal 100 (such as basic positioning measurements as described in subsequent embodiments).

[0032] At time t02, the relevant references of terminal 100 can be transmitted to positioning server 500.

[0033] At time t03, the positioning server 500 can use the relevant parameters of the terminal 100 to calculate the position of the terminal 100.

[0034] However, since the positioning server 500 uses the parameters of terminal 100 calculated at time t01, the position of terminal 100 calculated by the positioning server 500 is the position P1 of terminal 100 at time t01. However, because terminal 100 is constantly moving, when the positioning server 500 calculates the position of terminal 100 at time t03, terminal 100 is already at position P3. It can be seen that the calculation result of the positioning server 500 has a large error compared to the actual position of terminal 100.

[0035] Therefore, this application provides a positioning method in which the communication system 10 can determine the Doppler frequency shift rate and basic positioning measurements of the terminal 100 in a moving state relative to the network device. These Doppler frequency shift rate and basic positioning measurements can be used to reduce position calculation errors caused by the moving speed of the terminal 100 and transmission delays of related parameters, thereby improving the positioning accuracy of the terminal 100. The Doppler frequency shift rate can be determined by the terminal 100 or by the network device, thus expanding the capabilities of the communication system 10.

[0036] The following will describe in detail how the communication system 10 implements the positioning method provided in this application.

[0037] Since the communication system 10 may include multiple network devices (e.g., network device 200, network device 300, and network device 400), the terminal 100 in a mobile state can have different basic positioning measurements and Doppler frequency shift rates calculated compared to different network devices. For example: When terminal 100 moves relative to network device 200, a first basic positioning measurement and a first Doppler frequency shift rate of change can be calculated; when terminal 100 moves relative to network device 300, a second basic positioning measurement and a second Doppler frequency shift rate of change can be calculated; when terminal 100 moves relative to network device 400, a third basic positioning measurement and a third Doppler frequency shift rate of change can be calculated. The values ​​of the first, second, and third basic positioning measurements can be the same or different. The values ​​of the first, second, and third Doppler frequency shift rates of change can also be the same or different.

[0038] The following embodiments illustrate the determination of a first basic positioning measurement quantity when the terminal 100 moves relative to the network device 200, and a first Doppler frequency shift change rate when the terminal 100 moves relative to the network device 200. The determination methods for the second and third basic positioning measurements can refer to the determination method for the first basic positioning measurement quantity; the determination methods for the second and third Doppler frequency shift change rates can refer to the determination method for the first Doppler frequency shift change rate, and will not be repeated here.

[0039] Example 1. The basic positioning measurement is the Doppler frequency shift of terminal 100. The first basic positioning measurement is the first Doppler frequency shift when terminal 100 moves relative to network device 200. The first Doppler frequency shift and the rate of change of the first Doppler frequency shift are determined by terminal 100.

[0040] Figure 2A This is a schematic diagram illustrating the specific implementation process of a positioning method provided in an embodiment of this application.

[0041] like Figure 2A As shown, the specific implementation process of the positioning method provided in Embodiment 1 may include: S201. Network device 200 sends a positioning reference signal (PRS) to terminal 100.

[0042] Specifically, multiple network devices send their respective positioning reference signals to terminal 100. Among these multiple network devices is network device 200.

[0043] S202. Terminal 100 determines the first Doppler frequency shift at time t1 based on the positioning reference signal of network device 200.

[0044] Specifically, based on the positioning reference signals of multiple network devices, terminal 100 determines the Doppler frequency shift (including the first Doppler frequency shift at time t1) between terminal 100 and each of the multiple network devices. The implementation logic of this step will be explained in detail later and will not be elaborated here.

[0045] In one possible implementation, time t1 can be understood as the time at which the first Doppler frequency shift calculation is performed. However, this application is not limited to this; time t1 can also be a specific time.

[0046] In one possible implementation, since the positioning reference signals of each network device arrive at the terminal 100 at different times, the time at which the terminal 100 determines the Doppler frequency shift with each network device can be the same or different. For example, the terminal 100 can determine the first Doppler frequency shift, the second Doppler frequency shift, and the third Doppler frequency shift at time t1, that is, the terminal 100 calculates the Doppler frequency shift with each network device at a unified time; or, the terminal 100 can determine the first Doppler frequency shift at time t1, the second Doppler frequency shift at time t12, and the third Doppler frequency shift at time t13, that is, the terminal 100 calculates the Doppler frequency shift with each network device at different times. This application does not impose any restrictions on this.

[0047] S203. Terminal 100 determines the first Doppler frequency shift rate based on the first Doppler frequency shift.

[0048] Specifically, terminal 100 determines the Doppler frequency shift change rate (including the first Doppler frequency shift) of terminal 100 and each network device based on the Doppler frequency shift (including the first Doppler frequency shift) of each of the multiple network devices. The implementation logic of this step will be explained in detail later and will not be elaborated here.

[0049] S204. Terminal 100 sends a first positioning measurement report to positioning server 500. The first positioning measurement report carries the first Doppler frequency shift at time t1, the value at time t1, and the rate of change of the first Doppler frequency shift.

[0050] Specifically, the first positioning measurement report may carry the aforementioned determined multiple Doppler frequency shifts (including the first Doppler frequency shift at time t1), the value of each Doppler frequency shift at the corresponding time (e.g., the value at time t1 corresponding to the first Doppler frequency shift), and multiple Doppler frequency shift change rates (including the first Doppler frequency shift change rate).

[0051] The first positioning measurement report can be in the message format of the LTE positioning protocol (LPP). However, it is not limited to this; the first positioning measurement report can also be in other message formats, and this application does not impose any restrictions.

[0052] S205. The positioning server 500 determines the velocity vector and position Pt1 of the terminal 100 at time t2 based on the first Doppler frequency shift at time t1, the value at time t1, and the rate of change of the first Doppler frequency shift.

[0053] Specifically, the positioning server 500 determines the velocity vector and position Pt1 of the terminal 100 at time t2 based on multiple Doppler frequency shifts (including the first Doppler frequency shift at time t1), the value of each Doppler frequency shift at the corresponding time (e.g., the value at time t1), and multiple Doppler frequency shift change rates (including the first Doppler frequency shift change rate). The implementation logic of this step will be explained in detail later and will not be elaborated here.

[0054] In one possible implementation, time t2 can be understood as the moment when the positioning server 500 performs the calculation of the velocity vector and position Pt1 of the terminal 100. However, this is not a limitation; time t2 can also be a specific time, and this application does not impose any restrictions.

[0055] S206. The positioning server 500 sends a first positioning result report to the terminal 100. The first positioning result report carries the velocity vector of the terminal 100, the position Pt1 of the terminal 100, and the value at time t2.

[0056] S207. Based on the velocity vector of terminal 100, the position Pt1 of terminal 100 and the value at time t2, terminal 100 determines the position Pt2 of terminal 100 at time t3.

[0057] In one possible implementation, time t3 can be understood as the time when terminal 100 performs the calculation of position Pt2. However, this application does not limit the specific time t3 to.

[0058] It is understandable that time t1 is before time t2, and time t2 is before time t3, that is, time t1... <t2<t3。

[0059] Example 2. The basic positioning measurement is the Doppler frequency shift of terminal 100. The first basic positioning measurement is the first Doppler frequency shift when terminal 100 moves relative to network device 200. The first Doppler frequency shift and the rate of change of the first Doppler frequency shift are determined by network device 200.

[0060] Figure 2B This is a schematic diagram illustrating the specific implementation process of another positioning method provided in an embodiment of this application.

[0061] like Figure 2B As shown, the specific implementation process of the positioning method provided in Embodiment 2 may include: S301. Terminal 100 sends an uplink reference signal (SRS) to network device 200.

[0062] Specifically, terminal 100 sends uplink reference signals to multiple network devices, including network device 200.

[0063] S302. Network device 200 determines the first Doppler frequency shift at time t1 based on the uplink reference signal of terminal 100.

[0064] Specifically, each network device (including network device 200) determines the Doppler frequency shift (including the first Doppler frequency shift at time t1) between terminal 100 and its own network device based on the uplink reference signal of terminal 100. The implementation logic of this step will be explained in detail later and will not be elaborated here.

[0065] The description of time t1 can be found in the explanation in S202, and will not be repeated here.

[0066] In one possible implementation, since the uplink reference signal of terminal 100 arrives at each network device at different times, the time at which each network device calculates the Doppler frequency shift can be the same or different. For example, network device 200 can determine the first Doppler frequency shift at time t1, network device 300 can determine the second Doppler frequency shift at time t1, and network device 400 can determine the third Doppler frequency shift at time t1, that is, each network device calculates the Doppler frequency shift relative to terminal 100 at the same time; or, network device 200 can determine the first Doppler frequency shift at time t1, network device 300 can determine the second Doppler frequency shift at time t12, and network device 400 can determine the third Doppler frequency shift at time t13, that is, each network device calculates the Doppler frequency shift relative to terminal 100 at different times, and this application does not impose any restrictions on this.

[0067] Understandably, network device 200 determines the first Doppler frequency shift, network device 300 determines the second Doppler frequency shift, network device 400 determines the third Doppler frequency shift, and so on.

[0068] S303. Network device 200 determines the first Doppler frequency shift change rate based on the first Doppler frequency shift.

[0069] Specifically, each network device (including network device 200) determines the Doppler frequency shift change rate (including the first Doppler frequency shift) of terminal 100 and the network device based on the Doppler frequency shift (including the first Doppler frequency shift) determined by the network device. The implementation logic of this step will be explained in detail later and will not be elaborated here.

[0070] It is understandable that network device 200 determines the first Doppler frequency shift rate, network device 300 determines the second Doppler frequency shift rate, network device 400 determines the third Doppler frequency shift rate, and so on.

[0071] S304. Network device 200 sends a second positioning measurement report to positioning server 500. The second positioning measurement report carries the first Doppler frequency shift at time t1, the value at time t1, and the rate of change of the first Doppler frequency shift.

[0072] Specifically, each network device sends its own positioning measurement report (including a second positioning measurement report) to the positioning server 500. Each network device's positioning measurement report carries: the Doppler frequency shift determined by the network device, the value of the Doppler frequency shift at the corresponding time determined by the network device, and the rate of change of the Doppler frequency shift determined by the network device.

[0073] The positioning measurement reports of each network device can be in the format of New Radio Positioning Protocol a (NRPPa) or other message formats, and this application does not impose any restrictions.

[0074] S305. The positioning server 500 determines the velocity vector and position Pt1 of the terminal 100 at time t2 based on the first Doppler frequency shift at time t1, the value at time t1, and the rate of change of the first Doppler frequency shift.

[0075] For details on this step, please refer to S205.

[0076] The description of time t2 can be found in S205, and will not be repeated here.

[0077] S306. The positioning server 500 sends a second positioning result report to the network device 200. The second positioning result report carries the velocity vector of the terminal 100, the position Pt1 of the terminal 100, and the value at time t2.

[0078] Specifically, the positioning server 500 can send a second positioning result report to one of the network devices. This network device can be the one that initiated the positioning request, or it can be another network device; this application does not impose any restrictions. This embodiment of the application uses the example of the positioning server 500 sending a second positioning result report to the network device 200 for illustration.

[0079] S307. Network device 200 determines the position Pt11 of terminal 100 at time t21 based on the velocity vector of terminal 100, the position Pt1 of terminal 100 and the value at time t2.

[0080] The specific implementation logic of this step will be explained in detail later, and will not be elaborated here.

[0081] In one possible implementation, time t21 can be understood as the time when network device 200 performs the calculation of the position Pt11 of terminal 100. However, it is not limited to this; time t21 can also be a specific time, and this application does not impose any restrictions.

[0082] S308. Network device 200 sends a third positioning result report to terminal 100. The third positioning result report carries the velocity vector of terminal 100, the position of terminal 100 Pt11, and the value at time t21.

[0083] S309. Based on the velocity vector of terminal 100, the position Pt11 of terminal 100 and the value at time t21, terminal 100 determines the position Pt2 of terminal 100 at time t3.

[0084] The explanation of time t3 can be found in the description of S207 above, and will not be repeated here.

[0085] It is understandable that time t1 is before time t2, time t2 is before time t21, and time t21 is before time t3, that is, time t1... <t2<t21<t3。

[0086] Furthermore, the implementation logic of each step in Embodiment 1 and Embodiment 2 is described in detail.

[0087] A). The specific implementation logic for determining the Doppler frequency shift in S202 and S302 is as follows: The determination of the first Doppler frequency shift of network device 200 is used as an example for illustration. The determination method of Doppler frequency shift of other network devices can be used as a reference.

[0088] There are two ways to implement the logic for determining the first Doppler frequency shift, which will be described separately below.

[0089] Implementation Method 1. Taking PRS-based signals as an example, the first Doppler frequency shift is determined by the phase difference change rate.

[0090] After receiving the PRS signal sent by the network device 200, the terminal 100 can calculate the channel frequency response H(K) = R(K) / P(K) based on the PRS signal sequence R(k) and the local reference signal sequence P(K).

[0091] Then, terminal 100 can perform an inverse fast fourier transform (IFFT) on the channel frequency response H(K) to obtain the channel impulse response. Terminal 100 determines the phase at time t(n) based on the channel impulse response. Among them, phase This can be understood as the nth phase calculation value, and time t(n) can be understood as the phase. The acquisition time.

[0092] Next, terminal 100 can calculate the phase change rate to obtain the first Doppler frequency shift, using the following formula:

[0093] Where, t(n) and The description is as described above. For the first Doppler frequency shift, This can be understood as the (n-1)th phase calculation value. Time t(n-1) can be understood as the phase. The acquisition time.

[0094] It is understandable that network device 200 can also determine the first Doppler frequency shift based on the SRS signal of terminal 100 using the phase difference change rate. The specific calculation method can be found in the implementation logic of terminal 100 described above, and will not be elaborated upon here.

[0095] Implementation Method 2. Taking SRS-based signals as an example, the first Doppler frequency shift is determined by the received sampled signal y(n).

[0096] SRS signal reference sequence transmitted by terminal 100 It can be as follows: n=

[0097] Where N represents the number of subcarriers (i.e., the number of FFT points), Ncp is the length of the cyclic prefix (CP), and the value of n can be in the range of... to .

[0098] Network device 200 samples the SRS signal, and the received sampled signal y(n) is obtained as follows: n=

[0099]

[0100] Wherein, N and Ncp can be explained as described above, fd is the Doppler frequency shift (in this embodiment, it is the first Doppler frequency shift, which is an unknown quantity), Ts is the sampling interval, Fsc is the subcarrier interval, h is the channel gain without Doppler frequency shift, w(n) is Gaussian white noise, x(n) is the local reference signal, and the value of n can be within the range of... to .

[0101] Then, network device 200 performs correlation operations on the received sampled signal y(n) and the local reference signal x(n) to obtain the sequence Z(n): =

[0102] Where, x * (n) is the complex conjugate sequence of x(n). For explanations of fd, Ts, h, x(n), and w(n), please refer to the above description.

[0103] Next, 200 pairs of network devices The time-delay autocorrelation calculation is as follows:

[0104] =

[0105] Where D is an integer delay parameter, representing the number of sample points for which the sequence Z(n) is delayed. * (nD) represents the sequence obtained by delaying Z(n) by D samples and taking the complex conjugate, and x(nD) represents the sequence obtained by delaying x(n) by D samples. h * is the complex conjugate sequence of h. w * (n) is the complex conjugate sequence of w(n). fd, Ts, h, x(n), x * For an explanation of w(n) and w(n), please refer to the above description.

[0106] Then, network device 200 sums the sequence C(n,D) to eliminate noise terms, resulting in the Doppler frequency shift expression:

[0107] in, To perform a summation operation on the C(n,D) sequence, the value of n can range from 0 to N-1.

[0108] Indicates to Take the phase. For explanations of Ts, D, and N, please refer to the preceding description.

[0109] Therefore, network device 200 can determine the first Doppler frequency shift based on the above Doppler frequency shift expression.

[0110] It is understandable that the implementation method of determining the Doppler frequency shift between terminal 100 and other network devices can be referred to the above description, and will not be repeated here.

[0111] It is understandable that terminal 100 can also determine the first Doppler frequency shift based on the PRS signal of network device 200 using this second implementation method. The specific calculation method can be found in the implementation logic described above, and will not be elaborated upon here.

[0112] B). The specific implementation logic for determining the first Doppler frequency shift rate in S203 and S303 is as follows: When determining the Doppler frequency shift of terminal 100 and each network device, terminal 100 / each network device can mark the timestamp of this Doppler frequency shift determination through a timing stamp module. The following explanation uses the timestamp of marking the first Doppler frequency shift as an example; the marking of timestamps for other Doppler frequency shifts can be referenced here.

[0113] When terminal 100 / network device 200 determines the first Doppler frequency shift, it can mark the timestamp of this determination using a timer marker module. Wherein: a) Timestamps can be marked using absolute time. For example, if the absolute time of the first Doppler shift is determined to be time t1, then it is marked as time t1. Absolute time refers to a unified, high-precision, continuously flowing physical time reference across the entire network, such as 10:00:00.000000000 UTC on May 27, 2024.

[0114] b) Timestamps can also be marked through the system's synchronization timing mechanism. For example, the frame number / subframe number / time slot number corresponding to the determination of the first Doppler frequency shift can be marked, and the absolute time corresponding to the frame number / subframe number / time slot number is time t1.

[0115] It should be noted that when marking the frame number, it represents the Lth communication frame; when marking the subframe number, the subframe number information can include the subframe number M and the communication frame number L in which the subframe number belongs, that is, it represents the Mth subframe of the Lth communication frame; when marking the time slot number, the time slot number information can include the time slot number N, the subframe number M in which the time slot belongs, and the communication frame number L in which the time slot belongs, that is, it represents the Nth time slot of the Mth subframe in the Lth communication frame.

[0116] Then, the terminal 100 / network device 200 determines the first Doppler frequency shift rate based on the first Doppler frequency shift and the marked timestamp.

[0117] The formula for calculating the first Doppler frequency shift rate can be as follows:

[0118] Where △fd,td is the first Doppler frequency shift rate at time td.

[0119] Among them, fd2 is the first Doppler frequency shift at time td2, fd1 is the first Doppler frequency shift at time td1, and td1 < td2. It can be understood that fd2 is the first Doppler frequency shift determined this time, and fd1 is the first Doppler frequency shift determined last time. In the embodiments of the present application, fd2 is the first Doppler frequency shift at the aforementioned time t1, and fd1 is the first Doppler frequency shift at the time closest to t1 in the historical record. That is to say, at this time, td1 is the time t0, and the time t0 is the time closest to the time t1, and t0 < t1. In the embodiments of the present application, td = td2 = t1.

[0120] △t is the difference between the determination time of fd2 and the determination time of fd1. The determination time of fd2 and the determination time of fd1 can be determined by the marked timestamps. According to different marking methods of timestamps, then: (1). If the timing marking module uses absolute time to mark the timestamp, for example, the timestamp of fd2 is marked as the time td2, and the timestamp of fd1 is marked as the time td1, then △t = td2 - td1. In the embodiments of the present application, for example, td2 = t1, td1 = t0, so △t = t1 - t0.

[0121] (2). If the timing marking module uses a system-synchronized timing mechanism to mark the timestamp, the timestamp of fd2 is frame number A11 / sub-frame number A12 / slot number A13, and the timestamp of fd1 is frame number B11 / sub-frame number B12 / slot number B13. The duration of one frame is C11, the duration of one sub-frame is C12, and the duration of one slot is C13. Then △t is: a). When the timestamp is the frame number, △t = C11 x (A11 - B11) b). When the timestamp is the sub-frame number, △t = C12 x (A12 - B12) c). When the timestamp is the slot number, △t = C13 x (A13 - B13) It can be understood that the specific values of the durations of the frame / sub-frame / slot depend on the system design. For example, in the 5G NR system, the duration of one slot can be set to 0.5 milliseconds.

[0122] The terminal 100 / network device 200 can obtain the timestamp of the first Doppler frequency shift through the timing marking module, and can also obtain the time td for calculating the change rate of the first Doppler frequency shift this time.

[0123] Generally, since the terminal 100 / network device 200 has a fast calculation speed, the value at time td can be considered the same as the value at time t1, that is, td = t1. This means the calculated first Doppler frequency shift rate is the same as the first Doppler frequency shift rate at time t1. If the timestamp marking the determination of the first Doppler frequency shift fd2 is the frame number / subframe number / time slot number, the terminal 100 / network device 200 can calculate the absolute time corresponding to that frame number / subframe number / time slot number. This calculated absolute time is time td.

[0124] It is understandable that the method for determining the Doppler frequency shift rate of terminal 100 and other network devices, as well as the time for obtaining the Doppler frequency shift rate of other network devices in this calculation, can be referred to the above description, and will not be repeated here.

[0125] In one possible implementation, the value of the Doppler frequency shift corresponding to the time carried in the positioning measurement report transmitted in S204 and S304 can be indicated by the aforementioned timestamp. Alternatively, regardless of the method of timestamp marking, the positioning measurement report uses absolute time to indicate the value of the Doppler frequency shift corresponding to the time.

[0126] C). The specific implementation logic for positioning servers 500 (S205, S305) to determine the velocity vector and position Pt1 of terminal 100 at time t2 can be as follows: 1) Determine the relationship between the Doppler frequency shift rate and the relative motion angle rate of each network device.

[0127] Figure 3A This is a schematic diagram illustrating a scenario where a terminal moves relative to a network device, as provided in an embodiment of this application.

[0128] like Figure 3A As shown, taking network device 200 as an example, the relationship between the first Doppler frequency shift rate of change and the first relative motion angle rate of change is determined. The method for determining the relationship between the Doppler frequency shift rate of change and the relative motion angle rate of change for other network devices can refer to [the relevant documentation / reference]. Figure 3A The relevant descriptions of the embodiments will not be repeated here.

[0129] The formula for calculating the first Doppler frequency shift can be expressed as follows (1): Formula (1) in, The first Doppler frequency shift is given by Fc, where Fc is the carrier frequency and Vue is the speed of terminal 100. Let C be the angle between the velocity vector of terminal 100 and the line connecting terminal 100 and network device 200 (i.e., the first relative motion angle), and let C be the speed of light. Terminal 100 can be referred to as the point to be located, and network device 200 can be referred to as the location reference point.

[0130] Taking the derivative of both sides of equation (1) with respect to time t, we can obtain the rate of change of the Doppler frequency shift as: Formula (2) Therefore, the calibration expression for the first relative motion angle (i.e., formula (3)), the calibration expression for the first Doppler frequency shift (i.e., formula (4)), and the calculation formula for the rate of change of the first relative motion angle (i.e., formula (5)) can be as follows: Formula (3) Formula (4) Formula (5) In formula (3), The first relative motion angle at time t1, The first relative motion angle at time t2, Let t2 be the rate of change of the first relative motion angle, t2 be the time when the positioning server 500 determines the position Pt1 of the terminal 100, and t1 be the time when the first Doppler frequency shift is determined.

[0131] In formula (4), fd is the first Doppler frequency shift at time t1. Δfd is the first Doppler frequency shift at time t2, and Δfd is the rate of change of the first Doppler frequency shift at time t1. The times t1 and t2 can be referred to the description in formula (3).

[0132] In formula (5), Δfd is the first Doppler frequency shift rate at time t1. The rate of change of the first relative motion angle, Let t1 be the first relative motion angle, and Vue be the velocity magnitude of terminal 100. The descriptions of Fc and C can be found in the aforementioned formula (1).

[0133] 2) Based on the Doppler frequency shift rate and relative motion angle change rate of multiple network devices, determine the velocity vector and position Pt1 of terminal 100 at time t2.

[0134] This application uses three network devices as an example for illustration, but it does not limit the method. In practical applications, there may be more or fewer network devices, and the implementation method can refer to this embodiment, which will not be elaborated here.

[0135] Figure 3BThis is a schematic diagram illustrating a scenario in which a terminal moves relative to multiple network devices, as provided in an embodiment of this application.

[0136] like Figure 3B As shown, with the connection between network devices 200 and 300 as the X-axis, terminal 100 can move relative to network devices 200, 300 and 400.

[0137] Among them, network device 200 can be called the first network device, network device 300 can be called the second network device, and network device 400 can be called the third network device. The angle between the velocity vector of terminal 100 and the line connecting terminal 100 and network device 200 (i.e., the first relative motion angle); The angle between the velocity vector of terminal 100 and the line connecting terminal 100 and network device 300 (i.e., the second relative motion angle); The angle between the velocity vector of terminal 100 and the connection line between terminal 100 and network device 400 (i.e., the third relative motion angle); The direction angle of the velocity vector of terminal 100 (that is, the angle between the velocity vector of terminal 100 and the X-axis).

[0138] The Doppler frequency shift between terminal 100 and the nth network device can be expressed as formula (6): Formula (6) in, Let t2 be the Doppler frequency shift between terminal 100 and the nth network device. Let t2 be the angle between the velocity vector of terminal 100 and the connection between terminal 100 and the nth network device. Fc is the carrier frequency, Vue is the velocity magnitude of terminal 100, and C is the speed of light.

[0139] The relationship between the velocity vector of terminal 100 at time t2 and the angle between the connection between terminal 100 and the nth network device, the direction angle of the velocity vector of terminal 100, the position of terminal 100 and the position of the network device can be expressed by the following formula (7): Formula (7) In formula (7), ( , Let t2 be the coordinates (i.e., the position) of the nth network device at time t2. , ) represents the coordinates of terminal 100 at time t2. Let t2 be the angle between the velocity vector of terminal 100 and the connection between terminal 100 and the nth network device. Let t2 be the direction angle of the velocity vector of terminal 100 at time t2.

[0140] The relationship between the rate of change of the relative motion angle between terminal 100 and the nth network device and the rate of change of Doppler frequency shift can be expressed by formula (8): Formula (8) in, Let be the rate of change of the relative motion angle between terminal 100 and the nth network device. Let be the Doppler frequency shift rate between terminal 100 and the nth network device. Let Fc be the velocity vector of terminal 100 at time t1 and the angle between the connection between terminal 100 and the nth network device. For explanations of Fc, Vue, and C, please refer to the description in formula (6).

[0141] The calibration expressions for the relative motion angles of each network device (i.e., formula (9)) and the calibration expressions for the Doppler frequency shift (i.e., formula (10)) are as follows: Formula (9) Formula (10) In formula (9), Let t2 be the angle between the velocity vector of terminal 100 and the connection line between terminal 100 and the nth network device. Let tfn be the angle between the velocity vector of terminal 100 and the connection between terminal 100 and the nth network device; Let t2 be the rate of change of the relative motion angle between terminal 100 and the nth network device. Here, time t2 is the time when the positioning server 500 determines the position Pt1 of terminal 100, and time tfn is the time when the Doppler shift between terminal 100 and the nth network device is determined. For example, for network device 200, tfn is time t1, which is also the time when the first Doppler shift between terminal 100 and network device 200 is determined.

[0142] In formula (10), The Doppler shift between terminal 100 and the nth network device at time t2; The Doppler shift between terminal 100 and the nth network device at time tfn; Let be the Doppler frequency shift rate between terminal 100 and the nth network device. The explanations of time t2 and tfn can be found in the description of the aforementioned formula (9).

[0143] For n network devices (this embodiment takes 3 network devices as an example), by combining and solving equations (6), (7), (8), (9), and (10), we can determine that: The velocity vector of terminal 100 at time t2 ( , ). Let t2 be the speed of terminal 100. Let t2 be the direction angle of the velocity vector of terminal 100 at time t2.

[0144] The position Pt1 of terminal 100 at time t2 is given by coordinates ( )express.

[0145] D). The specific implementation method for S206 terminal 100 to determine the position Pt2 of terminal 100 at time t3 is as follows: Because the information sent from the positioning server 500 to the terminal 100 has a time delay, the terminal 100 needs to correct the received result.

[0146] Generally, because the location server 500 has a fast calculation speed, although time t2 is the time when the location server 500 performs the calculation of the location Pt1 of the terminal 100, it can also be regarded as the time when the location Pt1 of the terminal 100 is calculated. Similarly, because the terminal 100 also has a fast calculation speed, although time t3 is the time when the terminal 100 performs the calculation of the location Pt2, it can also be regarded as the time when the location Pt2 of the terminal 100 is calculated.

[0147] Figure 3C This is a schematic diagram illustrating the correction of a terminal position as provided in an embodiment of this application.

[0148] like Figure 3C As shown, the position of terminal 100 at time t2 is Pt1, and the position of terminal 100 at time t3 is Pt2.

[0149] The time delay between time t3 and time t2 for:

[0150] Where t3 is the time when terminal 100 performs location calculation, and t2 is the time when the location Pt1 of terminal 100 is obtained.

[0151] The formula for calculating position Pt2 based on the velocity vector and position Pt1 at time t2 is as follows:

[0152] The explanations of each parameter can be found in the preceding descriptions, and will not be repeated here.

[0153] E). The specific implementation method of S307 network device 200 determining the position Pt11 of terminal 100 at time t21 is as follows: Because the information sent from the positioning server 500 to the network device 200 has a time delay, the network device 200 needs to correct the received results.

[0154] Generally, since the network device 200 has a relatively fast calculation speed, although time t21 is the time when the network device 200 performs the calculation of location Pt11, it can also be regarded as the time when the location terminal 100 is calculated.

[0155] The time delay between time t21 and time t2 for:

[0156] The formula for calculating position Pt11 based on the velocity vector and position Pt1 at time t2 is as follows:

[0157] The explanations of each parameter can be found in the preceding descriptions, and will not be repeated here.

[0158] F). The specific implementation method for S309 terminal 100 to determine the position Pt2 of terminal 100 at time t3 is as follows: Because the information sent from network device 200 to terminal 100 has a time delay, terminal 100 needs to correct the received result.

[0159] The time delay between time t3 and time t21 for:

[0160] Based on the velocity vector at time t2 and the position Pt11 at time t21, the formula for calculating the position Pt2 is as follows:

[0161] The explanations of each parameter can be found in the preceding descriptions, and will not be repeated here.

[0162] Generally, since the time delay between t2, t21 and t3 is small, the speed of terminal 100 will not change too quickly. Therefore, when network device 200 and terminal 100 calibrate their positions, they still use the speed vector calculated by positioning server 500 at time t2.

[0163] Example 3. The basic positioning measurement is the distance between terminal 100 and network device, and the first basic positioning measurement is the first distance between terminal 100 and network device 200.

[0164] Figure 4A This is a schematic diagram illustrating the specific implementation process of a positioning method provided in an embodiment of this application.

[0165] like Figure 4A As shown, the specific implementation process of the positioning method provided in this embodiment three may include: S401. Network device 200 and terminal 100 jointly calculate the first distance at time t4.

[0166] Specifically, terminal 100 can work with multiple network devices (including network device 200) to calculate the distance between terminal 100 and each network device (including the first distance at time t4).

[0167] In one possible implementation, network device 200 can also calculate the speed of terminal 100 (i.e., the absolute speed) and then send the speed of terminal 100 to location server 500.

[0168] In one possible implementation, terminal 100 can also calculate the speed of terminal 100 (i.e., the absolute speed) and then send the speed of terminal 100 to positioning server 500.

[0169] Two methods for measuring the speed of terminal 100 are described as examples: Method 1: Terminal 100 obtains its speed through sensors and then reports the speed of terminal 100 to network devices and / or positioning server 500.

[0170] Method 2: Based on the first Doppler frequency shift fd2 calculated this time, the first Doppler frequency shift fd1 calculated in the previous calculation, the time t1 corresponding to the first Doppler frequency shift calculated this time, the time t0 corresponding to the first Doppler frequency shift calculated in the previous calculation, the distance df2 corresponding to the first Doppler frequency shift calculated this time, and the distance df1 corresponding to the first Doppler frequency shift calculated in the previous calculation, network device 200 / terminal 100 calculates the speed of terminal 100. The formula for calculating the speed of terminal 100 is as follows:

[0171] in, The speed of terminal 100, This represents the relative velocity magnitude corresponding to the first Doppler frequency shift in this calculation. This represents the relative velocity magnitude corresponding to the previous calculation of the first Doppler frequency shift. The result can be obtained by substituting the first Doppler frequency shift calculated in this study into the Doppler frequency shift formula. It can be calculated by substituting the first Doppler frequency shift from the previous calculation into the Doppler frequency shift formula.

[0172] Other methods can be used to measure the speed of terminal 100, which will not be elaborated here.

[0173] S402. Terminal 100 and network device 200 work together to determine the first Doppler frequency shift rate.

[0174] Specifically, terminal 100 can work with multiple network devices (including network device 200) to determine the Doppler frequency shift rate (including the first Doppler frequency shift rate) between terminal 100 and each network device. The specific implementation method can be referred to the above description, and will not be repeated here.

[0175] S403. Network device 200 sends a first distance measurement report to positioning server 500. The first distance measurement report carries the first distance at time t4 and the value at time t4.

[0176] Specifically, after each network device calculates the distance to the terminal 100, each network device can send its own distance measurement report (including the first distance measurement report) to the positioning server 500. The distance measurement report of each network device can carry: the calculated distance between the terminal 100 and the network device (e.g., the first distance at time t4), and the time when the distance between the terminal 100 and the network device was calculated (e.g., the value at time t4).

[0177] Here, time t4 can be understood as the time when the first distance is calculated.

[0178] In one possible implementation, distance measurement reports from each network device can also be sent by terminal 100, and this application does not limit this.

[0179] S404. Terminal 100 sends the first Doppler frequency shift rate to positioning server 500.

[0180] Specifically, if the first Doppler frequency shift rate is calculated by terminal 100, then terminal 100 sends the first Doppler frequency shift rate to positioning server 500. In one possible implementation, if the first Doppler frequency shift rate is calculated by network device 200, then network device 200 sends the first Doppler frequency shift rate to positioning server 500. The transmission of Doppler frequency shift rates between other network devices and terminal 100 follows the same principle.

[0181] S405. The positioning server 500 determines the first distance at time t5 based on the first distance at time t4, the first Doppler frequency shift rate, and the value at time t4.

[0182] Specifically, the positioning server 500 can determine the distance between the terminal 100 and each network device 100 at time t5 based on the received distances between each network device and the terminal 100 (including the first distance at time t4), the Doppler frequency shift change rate between each network device and the terminal 100 (including the first Doppler frequency shift change rate), and the determination time of the distance between the terminal 100 and each network device (including the value at time t4). The specific implementation method will be described in subsequent embodiments.

[0183] The time t5 can be understood as the moment when the location server 500 performs the location calculation for terminal 100.

[0184] Not limited to this, time t5 can also be other specified times, and this application does not impose any restrictions on this.

[0185] S406. The positioning server 500 determines the position Pt1 of the terminal 100 at time t5 based on the first distance at time t5.

[0186] Specifically, the positioning server 500 can determine the position Pt1 of terminal 100 at time t5 based on the distance between each network device and terminal 100 at time t5 (including the first distance at time t5).

[0187] S407. Positioning server 500 sends a fourth positioning result report to terminal 100. The fourth positioning result report carries the position Pt1 of terminal 100 at time t5.

[0188] Specifically, if the location request is initiated by terminal 100, the location server 500 will directly send the fourth location result report to terminal 100.

[0189] In one possible implementation, if the location request is initiated by a network device, the location server 500 sends the fourth location result report to the terminal 100 through the network device. That is, the location server 500 sends the fourth location result report to the network device, and then the network device sends the fourth location result report to the terminal 100.

[0190] In one possible implementation, if the Doppler frequency shift rate is reported by the terminal 100, the positioning server 500 directly sends the fourth positioning result report to the terminal 100.

[0191] In one possible implementation, if the Doppler frequency shift rate is reported by a network device, the positioning server 500 sends a fourth positioning result report to one of the network devices, which then sends the fourth positioning result report to the terminal 100.

[0192] Furthermore, the document details how the positioning server 500 in S405 determines the distance between the terminal 100 and each network device at time t5.

[0193] This application uses the example of determining the first distance at time t5 as an illustration. The method for determining the distance of other network devices and terminals 100 at time t5 can be referred to here.

[0194] Because of the time delay between the network devices and the positioning server 500 during data interaction, when the positioning server 500 needs to determine the location of terminal 100 based on the distance between the network devices and terminal 100, due to the time delay and the fact that terminal 100 is still moving, the terminal 100 has already traveled a certain distance between the time the network devices determine the distance and the time the positioning server 500 calculates the location. Therefore, the distance between terminal 100 and the network devices has changed. Thus, the positioning server 500 needs to calibrate the distance between terminal 100 and the network devices; that is, it needs to determine the distance between terminal 100 and each network device at the time the positioning server 500 performs the location calculation for terminal 100.

[0195] To calibrate the distance between terminal 100 and each network device, the relationship between the Doppler frequency shift rate of change and the distance rate of change needs to be calculated. Taking network device 200 as an example, the relationship between the first Doppler frequency shift rate of change and the first distance rate of change will be explained below.

[0196] Figure 4B This is a schematic diagram of a scenario in which a terminal 100 moves relative to a network device, as provided in an embodiment of this application.

[0197] like Figure 4B As shown, a coordinate system is established with network device 200 as the origin. Terminal 100 can move past network device 200 at a speed of magnitude v. If the speed of terminal 100 is parallel to the x-axis and the trajectory intercept is K, then the coordinates of terminal 100 changing with time are (vt, K). Therefore, the first distance d between terminal 100 and network device 200 is:

[0198] The first Doppler frequency shift fd of terminal 100 relative to network device 200 can be:

[0199] For an explanation of Fc and C, please refer to the foregoing explanation. This refers to the relative velocity between terminal 100 and network device 200 (i.e., the component of the velocity vector of terminal 100 along the line connecting terminal 100 and network device 200 when terminal 100 is in motion). The relationship between v and v can be summarized as follows:

[0200] The explanations of d and K can be found in the preceding description.

[0201] The first Doppler frequency shift rate Δfd can be:

[0202] For an explanation of Fc and C, please refer to the foregoing explanation.

[0203] from The relationship between v and v can be deduced as follows:

[0204] Therefore, the relationship between the first Doppler frequency change rate and the first distance change rate can be as follows:

[0205] in, That is, the first Doppler frequency shift rate of change Δfd. This is the first distance change rate Δd.

[0206] Figure 4C This is a schematic diagram illustrating a scenario where a terminal 100 moves relative to a network device, as provided in an embodiment of this application.

[0207] like Figure 4C As shown, a coordinate system is established with network device 200 as the origin. Terminal 100 can move past network device 200 at a speed of magnitude v. If the angle between the speed of terminal 100 and the x-axis is... If the trajectory intercept is K, then the first distance d between terminal 100 and network device 200 is:

[0208] =

[0209] The explanations of each parameter can be found in the preceding descriptions, and will not be repeated here.

[0210] in, The relationship between v and v can be summarized as follows:

[0211] =

[0212] Therefore, the relationship between the first Doppler frequency shift rate and the first distance rate can be expressed as follows:

[0213] The explanations of each parameter can be found in the preceding descriptions, and will not be repeated here.

[0214] It can be seen that regardless of the angle formed by the velocity of terminal 100 and the x-axis, the relationship between the first Doppler frequency shift rate and the first distance rate is the same.

[0215] Then, the positioning server 500 can determine the first distance at time t5 based on the relationship between the first Doppler frequency shift rate of change and the first distance rate of change, as calculated as follows:

[0216]

[0217] in, The first distance at time t5. This represents the first distance at time t4; other parameters can be found in the previous explanation.

[0218] Understandable, The first distance calculated collaboratively by network device 200 and terminal 100. The first distance for calibrating the positioning server 500.

[0219] The relationships between the Doppler frequency shift rate and distance change rate between other network devices and terminal 100 can be found in the description of network device 200 above. Therefore, the relationship between the Doppler frequency shift rate and distance change rate between the nth network device and terminal 100 can be as follows:

[0220] in, The Doppler frequency shift rate of terminal 100 relative to the nth network device. The distance from terminal 100 to the nth network device is calculated collaboratively by terminal 100 and the nth network device. This represents the rate of change of distance between terminal 100 and the nth network device. Other parameters can be found in the preceding description.

[0221] The location server 500 determines the distances between each network device and terminal 100 at time t5 as follows:

[0222] in, Let be the distance between the nth network device and terminal 100 at time t5. To collaboratively calculate the distance between terminal 100 and the nth network device The time. Other parameters can be found in the preceding description.

[0223] Understandable The distance from terminal 100 to the nth network device is calculated collaboratively by terminal 100 and the nth network device. The distance between terminal 100 and the nth network device is calculated by the location server 500.

[0224] Example 4. The basic positioning measurement is the angle of arrival between terminal 100 and network device 200, and the first basic positioning measurement is the first angle of arrival between terminal 100 and network device 200.

[0225] Figure 5A This is a schematic diagram illustrating the specific implementation process of another positioning method provided in an embodiment of this application.

[0226] like Figure 5A As shown, the specific implementation process of the positioning method provided in Embodiment 4 may include: S501. Network device 200 and terminal 100 jointly calculate the first angle of arrival at time t6.

[0227] Specifically, terminal 100 can work with multiple network devices (including network device 200) to calculate the angle of arrival between terminal 100 and each network device (including the first angle of arrival at time t6).

[0228] The angle of arrival can be understood as the angle between the connection between terminal 100 and the network device and the reference direction.

[0229] In one possible implementation, network device 200 can also calculate the speed of terminal 100 (i.e., the absolute speed) and then send the speed of terminal 100 to location server 500.

[0230] In one possible implementation, terminal 100 can also calculate the speed of terminal 100 (i.e., the absolute speed) and then send the speed of terminal 100 to positioning server 500.

[0231] The calculation method for the speed of terminal 100 can be found in the description in S401.

[0232] S502. Terminal 100 and network device 200 work together to determine the first Doppler frequency shift rate.

[0233] Specifically, terminal 100 can work with multiple network devices (including network device 200) to determine the Doppler frequency shift rate (including the first Doppler frequency shift rate) between terminal 100 and each network device. The specific implementation method can be referred to the above description, and will not be repeated here.

[0234] S503. Network device 200 sends a first angle of arrival measurement report to positioning server 500. The first angle of arrival measurement report carries the first angle of arrival at time t6 and the value at time t6.

[0235] Specifically, after each network device calculates the angle of arrival between itself and the terminal 100, each network device can send its own angle of arrival measurement report (including the first angle of arrival measurement report) to the positioning server 500. The angle of arrival measurement report of each network device can carry: the calculated angle of arrival between the terminal 100 and the network device (e.g., the first angle of arrival at time t6), and the time at which the angle of arrival between the terminal 100 and the network device was calculated (e.g., the value at time t6).

[0236] Here, time t6 can be understood as the time when the first angle of arrival is calculated.

[0237] In one possible implementation, the angle of arrival measurement reports of each network device can also be sent from the terminal 100 to the positioning server 500, and this application does not limit this.

[0238] S504. Terminal 100 sends the first Doppler frequency shift rate to positioning server 500.

[0239] Specifically, if the first Doppler frequency shift rate is calculated by terminal 100, then terminal 100 sends the first Doppler frequency shift rate to positioning server 500. In one possible implementation, if the first Doppler frequency shift rate is calculated by network device 200, then network device 200 sends the first Doppler frequency shift rate to positioning server 500. The transmission of Doppler frequency shift rates between other network devices and terminal 100 follows the same principle.

[0240] S505. The positioning server 500 determines the first angle of arrival at time t7 based on the first angle of arrival, the first Doppler frequency shift rate, and the value at time t6.

[0241] Specifically, the positioning server 500 can determine the angle of arrival between the terminal 100 and each network device 100 at time t7 (including the first angle of arrival at time t6) based on the received angle of arrival between each network device and the terminal 100 (including the first Doppler frequency shift rate) and the determination time of the angle of arrival between the terminal 100 and each network device (including the value at time t6). The specific implementation method will be described in subsequent embodiments.

[0242] The time t7 can be understood as the moment when the location server 500 performs the location calculation for terminal 100.

[0243] Not limited to this, time t7 can also be other specified times, and this application does not impose any restrictions on this.

[0244] S506. The positioning server 500 determines the position Pt1 of the terminal 100 at time t7 based on the first angle of arrival at time t7.

[0245] Specifically, the positioning server 500 can determine the position Pt1 of terminal 100 at time t7 based on the angle of arrival (including the first angle of arrival at time t7) between each network device and terminal 100.

[0246] S507. Positioning server 500 sends a fifth positioning result report to terminal 100. The fifth positioning result report carries the position Pt1 of terminal 100 at time t7.

[0247] Specifically, if the location request is initiated by terminal 100, the location server 500 will directly send the fifth location result report to terminal 100.

[0248] In one possible implementation, if the location request is initiated by a network device, the location server 500 sends the fifth location result report to the terminal 100 through the network device. That is, the location server 500 sends the fifth location result report to the network device, and then the network device sends the fifth location result report to the terminal 100.

[0249] In one possible implementation, if the Doppler frequency shift rate is reported by the terminal 100, the positioning server 500 directly sends the fifth positioning result report to the terminal 100.

[0250] In one possible implementation, if the Doppler frequency shift rate is reported by a network device, the positioning server 500 sends a fifth positioning result report to one of the network devices, which then sends the fifth positioning result report to the terminal 100.

[0251] Furthermore, the document details how the positioning server 500 in S505 determines the angle of arrival of terminal 100 and each network device at time t7.

[0252] This application uses the example of determining the first angle of arrival at time t7 to illustrate the method for determining the angle of arrival of other network devices and terminals 100 at time tt7.

[0253] Because of the time delay between the network devices and the positioning server 500 during data interaction, when the positioning server 500 needs to determine the location of terminal 100 based on the angle of arrival of the network devices and terminal 100, due to the time delay and the fact that terminal 100 is still moving, the terminal 100 has already traveled a certain distance during the time difference between the time the network devices determine the angle of arrival and the time the positioning server 500 calculates the location. Therefore, the angle of arrival between terminal 100 and the network devices has changed. Thus, the positioning server 500 needs to calibrate the angle of arrival between the terminal and the network devices, which means it needs to determine the time when the positioning server 500 performs the location calculation for terminal 100, and the angle of arrival between terminal 100 and each network device.

[0254] To calibrate the angle of arrival between terminal 100 and each network device, the relationship between the Doppler frequency shift rate of change and the angle of arrival rate of change needs to be calculated. Taking network device 200 as an example, the relationship between the first Doppler frequency shift rate of change and the first angle of arrival rate of change will be explained below.

[0255] Figure 5B This is a schematic diagram illustrating a scenario where a terminal 100 moves relative to a network device, as provided in an embodiment of this application.

[0256] like Figure 5B As shown, a coordinate system is established with network device 200 as the origin and the Y-axis as the reference direction. Terminal 100 can move past network device 200 at a speed of magnitude v. The speed of terminal 100 is parallel to the X-axis, and the trajectory intercept is K. The coordinates of terminal 100 as a function of time are (vt, K). Therefore, the first angle of arrival for terminal 100 and network device 200 is:

[0257] in, The first angle of arrival is vt. For an explanation of vt, please refer to the previous description.

[0258] in, The relationship between v and v can be summarized as follows:

[0259] The formula for calculating the first Doppler frequency shift can be:

[0260] The parameters in the formula for calculating the first Doppler frequency shift can be referred to the above description.

[0261] The relationship between the first Doppler frequency shift rate and the first angle of arrival rate can be expressed as: =

[0262] in, That is, the first Doppler frequency shift rate of change Δfd. That is, the rate of change of the first angle of arrival Δ .

[0263] Then, the positioning server 500 can determine the first angle of arrival at time t7 based on the relationship between the first Doppler frequency shift rate of change and the first angle of arrival rate of change, as calculated as follows:

[0264]

[0265] in, The first angle of arrival at time t7. This is the first angle of arrival at time t6. Other parameters can be found in the previous description.

[0266] Understandable, The first angle of arrival calculated collaboratively by network device 200 and terminal 100. The first angle of arrival calibrated for the positioning server 500.

[0267] The relationships between the Doppler frequency shift rate and angle of arrival rate between other network devices and terminal 100 can be found in the description of network device 200 above. Therefore, the relationship between the Doppler frequency shift rate and angle of arrival rate between the nth network device and terminal 100 can be as follows:

[0268] in, The Doppler frequency shift rate of terminal 100 relative to the nth network device. The angle of arrival from terminal 100 to the nth network device is calculated collaboratively between terminal 100 and the nth network device. This represents the rate of change of the angle of arrival for terminal 100 and the nth network device. Other parameters can be found in the preceding description.

[0269] The location server 500 determines the angle of arrival between each network device and terminal 100 at time t7 as follows:

[0270] in, Let t7 be the angle of arrival (angle of 100) for each network device and terminal. To collaboratively calculate the angle of arrival between terminal 100 and the nth network device The time. Other parameters can be found in the preceding description.

[0271] Understandable, The angle of arrival from terminal 100 to the nth network device is calculated collaboratively by terminal 100 and the nth network device. The angle of arrival between terminal 100 and the nth network device is calculated by the positioning server 500.

[0272] The above content elaborates on the positioning method provided by this application. In order to facilitate better implementation of the above-mentioned solutions of the embodiments of this application, the embodiments of this application also provide a corresponding system functional module architecture.

[0273] This application embodiment can divide the corresponding device or equipment into functional modules according to the above method examples. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods. The following will combine... Figure 6A and Figure 6B The communication device of the embodiments of this application is described in detail.

[0274] Figure 6A This is a schematic diagram of a system functional module architecture provided in an embodiment of this application.

[0275] In the case of using integrated units, see Figure 6A The system's functional modules can be distributed across different devices, such as network devices, terminal 100, and positioning server 500. These modules can be components or chips within the network devices, terminal 100, or positioning server 500. Figure 6A As shown, Figure 6A The system functional modules can be applied in Embodiment 1 and Embodiment 2. The system functional module architecture includes: a Doppler frequency shift measurement module 1000, a Doppler frequency shift change rate calculation module 1001, a Doppler frequency shift reporting module 1002, a timing marker module 1003, a positioning parameter correction module 1004, and a positioning calculation module 1005, etc. Among them: The Doppler frequency shift measurement module 1000 is used to determine the Doppler frequency shift between the terminal 100 and the network device.

[0276] The Doppler frequency shift change rate calculation module 1001 is used to calculate the Doppler frequency shift change rate between the terminal 100 and the network device based on the Doppler frequency shift between the terminal 100 and the network device.

[0277] The Doppler frequency shift reporting module 1002 is used to report one or more of the following: the determined Doppler frequency shift, the rate of change of the Doppler frequency shift, and the determination time of the Doppler frequency shift.

[0278] The timing marker module 1003 is used to mark the time when the data in each module is determined, the time when each module performs calculations, etc., such as marking the time when the Doppler frequency shift is determined, marking the time when the positioning calculation module 1005 performs the position calculation of the terminal 100, etc.

[0279] The positioning parameter correction module 1004 is used to determine the calibration values ​​of relevant positioning parameters based on the Doppler frequency shift change rate, such as the calibration value of the Doppler frequency shift (e.g., the Doppler frequency shift at time t2 in the aforementioned embodiment) and the calibration value of the relative motion angle (e.g., the relative motion angle at time t2 in the aforementioned embodiment).

[0280] The positioning calculation module 1005 can be installed in the terminal 100, network device, and positioning server 500. Specifically: The positioning calculation module 1005 of the positioning server 500 is used to determine the position and velocity vector of the terminal 100 at a specified time T11 based on calibration values ​​of relevant positioning parameters. For example, the specified time T11 can be the time when the positioning server 500 performs the position calculation of the terminal 100.

[0281] The positioning calculation module 1005 in the network device is used to determine the position of the terminal 100 at a specified time T12 based on the position and velocity vector of the terminal 100 determined by the positioning server 500. Here, the specified time T12 is greater than the specified time T11. For example, the specified time T12 can be the time when the network device performs the position calculation of the terminal 100.

[0282] The positioning calculation module 1005 in terminal 100 is used to determine the position of terminal 100 at a specified time T13 based on the position and velocity vector of terminal 100 determined by positioning server 500. Alternatively, it can determine the position of terminal 100 at a specified time T13 based on the position of terminal 100 determined by network device and the velocity vector of terminal 100 determined by positioning server 500. Wherein, specified time T13 > specified time T11, and specified time T13 > specified time T12. For example, specified time T13 can be the time when terminal 100 performs position calculation.

[0283] Understandable, Figure 6A This is for illustrative purposes only and does not constitute any limitation on this application.

[0284] Figure 6B This is a schematic diagram of another system functional module architecture provided in the embodiments of this application.

[0285] In the case of using integrated units, see Figure 6BThe system's functional modules can be distributed across different devices, such as network devices, terminal 100, and positioning server 500. These modules can be components or chips within the network devices, terminal 100, or positioning server 500. Figure 6B As shown, Figure 6B The system functional modules can be applied in Embodiment 1 and Embodiment 2. The system functional module architecture includes: Doppler frequency shift measurement module 1000, Doppler frequency shift change rate calculation module 1001, Doppler frequency shift reporting module 1002, timing marker module 1003, positioning parameter correction module 1004, positioning calculation module 1005, basic positioning measurement acquisition module 1006, and basic positioning measurement reporting module 1007, etc. Among them: The descriptions of the Doppler frequency shift measurement module 1000, the Doppler frequency shift change rate calculation module 1001, and the Doppler frequency shift reporting module 1002 can be found in the foregoing. Figure 6A Description of the illustrated embodiment.

[0286] The timing marker module 1003 is used to mark the time when data is determined in each module, the time when each module performs calculations, etc. For example, it marks the time when the Doppler frequency shift is determined, the time when the positioning calculation module 1005 performs the position calculation of the terminal 100, and the time when the basic positioning measurement is acquired.

[0287] The positioning parameter correction module 1004 is used to determine the calibration values ​​of relevant positioning parameters based on the Doppler frequency shift rate, such as the calibration values ​​of the distance between the terminal 100 and each network device (as in the previous embodiment at time t5), the calibration values ​​of the angle of arrival between the terminal 100 and each network device (as in the previous embodiment at time t7), etc.

[0288] The positioning calculation module 1005 can be referred to the above. Figure 6A Description of the illustrated embodiment.

[0289] The positioning basic measurement acquisition module 1006 is used to calculate the distance / angle of arrival between the terminal 100 and each network device.

[0290] The positioning basic measurement reporting module 1007 is used to report the calculated distance / angle of arrival between the terminal 100 and each network device, as well as the calculation time of the distance / angle of arrival between the terminal 100 and each network device.

[0291] Understandable, Figure 6B This is for illustrative purposes only and does not constitute any limitation on this application.

[0292] Implementing the positioning method provided in this application, such as Figure 6CAs shown, the communication system 10 can acquire basic positioning measurements through the terminal 100 and network devices, and calculate the Doppler frequency shift rate. Then, the communication system 10 can estimate the position of the terminal 100 based on the Doppler frequency shift rate and the basic positioning measurements through the positioning server 500. Finally, the communication system 10 can correct the estimated position of the terminal 100 through the network devices and / or the terminal 100, thus improving the positioning accuracy of the terminal 100.

[0293] In this embodiment, the positioning server 500 can be referred to as the first server, the network device 200 can be referred to as the first network device, time t2, time t5, and time t7 can be referred to as the first time, position Pt1 can be referred to as the first position, and position Pt2 can be referred to as the third position. Time t1 can be referred to as the second time, time t4 can be referred to as the third time, time t6 can be referred to as the fourth time, time t3 can be referred to as the fifth time, the PRS signal sent by the network device 200 can be referred to as the first reference signal sent by the first network device, time t21 can be referred to as the sixth time, and position Pt11 can be referred to as the fourth position.

[0294] Figure 7A This is a schematic diagram of the hardware structure of a terminal 100 provided in an embodiment of this application.

[0295] like Figure 7A As shown, terminal 100 may include processor 101, memory 102, and communication module 103. These modules can be connected via a bus. Processor 101 may include one or more processor units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors. The controller can generate operation control signals based on instruction opcodes and timing signals to control instruction fetching and execution.

[0296] The processor 101 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 101 is a cache memory. This memory can store instructions or data that the processor 101 has just used or that are used repeatedly. If the processor 101 needs to use the instruction or data again, it can directly retrieve it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 101, and thus improves the efficiency of the system.

[0297] In some embodiments, the processor 101 may include one or more interfaces. Interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a USB interface, etc.

[0298] The memory 102 is coupled to the processor 101 and is used to store various software programs and / or multiple sets of instructions. In specific implementations, the memory 102 may include volatile memory, such as random access memory (RAM); it may also include non-volatile memory, such as ROM, flash memory, hard disk drive (HDD), or solid state drive (SSD); the memory 102 may also include combinations of the above types of memory. The memory 102 may also store some program code so that the processor 101 can call the program code stored in the memory 102 to implement the implementation method of the present application embodiment in the terminal 100. The memory 102 may store an operating system, such as uCOS, VxWorks, RTLinux, or other embedded operating systems.

[0299] The communication module 103 can provide wireless communication solutions for use on the terminal 100, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies. The communication module 103 can be one or more devices integrating at least one communication processing module. The communication module 103 receives electromagnetic waves via an antenna, performs frequency modulation and filtering of the electromagnetic wave signals, and sends the processed signal to the processor 101. The communication module 103 can also receive signals to be transmitted from the processor 101, perform frequency modulation and amplification, and convert them into electromagnetic waves for radiation via the antenna. In some embodiments, the terminal 100 can also communicate via the Bluetooth module in the communication module 103 (… Figure 7A (not shown), WLAN module ( Figure 7A (Not shown) The device transmits signals to detect or scan for devices near terminal 100 and establishes wireless communication connections with those devices to transmit data. The Bluetooth module can provide solutions for one or more Bluetooth communication methods, including basic rate / enhanced data rate (BR / EDR) or Bluetooth Low Energy (BLE), and the WLAN module can provide solutions for one or more WLAN communication methods, including Wi-Fi Direct, Wi-Fi LAN, or Wi-Fi SoftAP.

[0300] In one possible implementation, the communication module 103 may further include a communication interface, such as a USB interface. The terminal 100 can establish a wired communication connection with other electronic devices via the USB interface and transmit data to each other based on the aforementioned wired communication connection.

[0301] It is understood that the structure illustrated in the embodiments of this application does not constitute a specific limitation on terminal 100. In other embodiments of this application, terminal 100 may also include more than Figure 7A This may involve more or fewer components, or combining certain components, or splitting certain components, or different component arrangements. Figure 7A The components shown can be implemented in hardware, software, or a combination of both.

[0302] Figure 7BThis is a schematic diagram of the hardware structure of a network device 2000 provided in an embodiment of this application.

[0303] Figure 7B The network device 2000 shown can be the network device / location server described in the embodiments of this application, or it can be a component in the network device / location server that implements the above method, or it can be a chip applied in the network device / location server. The chip can be a system-on-a-chip (SOC) or a baseband chip with communication functions, etc.

[0304] like Figure 7B As shown, the network device 2000 includes a processor 2001 and a transceiver 2002 that communicates internally with the processor. Optionally, the network device 2000 may also include an antenna 2003 and / or a radio frequency unit (RF unit). Figure 7B (Not illustrated). Optionally, the network device 2000 may include one or more memories 2004, which may store instructions, which may be computer programs, that can be executed on the network device 2000 to cause the network device 2000 to perform the methods described in the above method embodiments.

[0305] In this embodiment of the application, the relevant instructions for implementing the above positioning method can be stored in memory 2004 and / or processor 2001.

[0306] In this embodiment of the application, the network device 2000 can transmit / receive basic positioning measurements, Doppler frequency shift rate of change, determined position of terminal 100, determined velocity vector of terminal 100, etc., through transceiver 2002, antenna 2003 and / or radio frequency unit.

[0307] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0308] This application also provides a computer program product, including a computer program that, when run on a processor, can implement the steps executed by the electronic device in the above-described method embodiments.

[0309] This application also provides a chip system, which includes a processing circuit interface circuit. The interface circuit receives instructions and transmits them to the processing circuit, which executes the instructions to cause the chip system to perform the steps executed by the electronic device in any of the method embodiments of this application. The chip system can be a single chip or a chip module composed of multiple chips.

[0310] The term "user interface (UI)" used in the specification and accompanying drawings of this application refers to the medium through which an application or operating system interacts and exchanges information with the user. It converts the internal form of information into a form acceptable to the user. The user interface of an application is source code written in a specific computer language such as Java or Extensible Markup Language (XML). This source code is parsed and rendered on the terminal device, ultimately presenting user-recognizable content, such as images, text, buttons, and other controls. Controls, also known as widgets, are the basic elements of the user interface. Typical controls include toolbars, menu bars, text boxes, buttons, scroll bars, images, and text. The attributes and content of controls in the interface are defined through tags or nodes, such as in XML. <textview> 、 <imgview> 、 <videoview>Nodes define the controls contained in the interface. A node corresponds to a control or property in the interface, and after parsing and rendering, the node is presented as the content visible to the user. In addition, many applications, such as hybrid applications, often contain web pages within their interfaces. A web page, also known as a page, can be understood as a special control embedded in the application interface. Web pages are source code written in a specific computer language, such as Hypertext Markup Language (HTML), Cascading Style Sheets (CSS), JavaScript, etc. The source code of a web page can be loaded and displayed as user-readable content by a browser or a web page display component with browser-like functionality. The specific content contained in a web page is also defined through tags or nodes in the web page's source code; for example, HTML uses tags or nodes to define the content. 、 、 <video> 、 <canvas>Used to define the elements and attributes of a webpage.

[0311] The most common form of user interface is the graphical user interface (GUI), which refers to a user interface related to computer operation displayed graphically. It can be an interface element such as an icon, window, or control displayed on the screen of an electronic device. The control can include visual interface elements such as icons, buttons, menus, tabs, text boxes, dialog boxes, status bars, navigation bars, and widgets.

[0312] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0313] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0314] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.< / canvas> < / video> < / videoview> < / imgview> < / textview>

Claims

1. A positioning method, characterized by, Applied to a first server, the method includes: Receive a first basic positioning measurement, the time corresponding to the first basic positioning measurement, and a first Doppler frequency shift rate; wherein, the first Doppler frequency shift rate is the Doppler frequency shift rate between the terminal in motion and the first network device; Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the first Doppler frequency shift rate, the first position of the terminal at the first moment and the velocity vector of the terminal are determined. A positioning result report is sent, wherein the positioning result report carries the first position of the terminal at the first moment and the velocity vector of the terminal.

2. The method of claim 1, wherein, The first basic positioning measurement is the first Doppler frequency shift, and the time corresponding to the first basic positioning measurement is the second moment; wherein, the first Doppler frequency shift is the Doppler frequency shift between the terminal and the first network device when they are in motion; Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the first Doppler frequency shift rate, the first position of the terminal at the first moment and the velocity vector of the terminal are determined, specifically including: Determine the first time difference between the first time point and the second time point; The first Doppler frequency shift at the first moment is determined based on the first time difference, the first Doppler frequency shift at the second moment, and the rate of change of the first Doppler frequency shift. Based on the first Doppler frequency shift at the first moment, the first position of the terminal at the first moment and the velocity vector of the terminal are determined.

3. The method of claim 1, wherein, The first basic positioning measurement is a first distance, and the time corresponding to the first basic positioning measurement is a third moment; wherein, the first distance is the distance between the terminal and the first network device when the terminal is in motion; Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the first Doppler frequency shift rate, the first position of the terminal at the first moment and the velocity vector of the terminal are determined, specifically including: Determine the second time difference between the first time point and the third time point; The first distance at the first moment is determined based on the second time difference, the first distance at the third moment, and the first Doppler frequency shift rate. Based on the first distance at the first moment, determine the first position of the terminal at the first moment and the velocity vector of the terminal.

4. The method of claim 1, wherein, The first basic positioning measurement is the first angle of arrival, and the time corresponding to the first basic positioning measurement is the fourth moment; wherein, the first angle of arrival is the angle of arrival between the terminal and the first network device when they are in motion; Based on the first basic positioning measurement, the time corresponding to the first basic positioning measurement, and the first Doppler frequency shift rate, the first position of the terminal at the first moment and the velocity vector of the terminal are determined, specifically including: Determine the third time difference between the first time point and the fourth time point; The first angle of arrival at the first moment is determined based on the third time difference, the first angle of arrival at the fourth moment, and the first Doppler frequency shift rate. Based on the first angle of arrival at the first moment, the first position of the terminal at the first moment and the velocity vector of the terminal are determined.

5. A positioning method, characterized in that, Applied to a terminal, the method includes: Receive the first reference signal sent by the first network device; Based on the first reference signal, the first Doppler frequency shift rate of the terminal is determined; Send the first Doppler frequency shift rate to the first server; Receive a positioning result report, the positioning result report carrying the second location of the terminal, the time corresponding to the second location, and the velocity vector of the terminal; Based on the positioning result report, the third position of the terminal at the fifth moment is determined.

6. The method according to claim 5, characterized in that, Based on the first reference signal sent by the first network device, the first Doppler frequency shift rate of the terminal is determined, specifically including: Based on the first reference signal sent by the first network device, the first Doppler frequency shift and the first Doppler frequency shift change rate of the terminal are determined; Sending the first Doppler frequency shift rate to the first server specifically includes: Send the first Doppler frequency shift, the first Doppler frequency shift change rate, and the time corresponding to the first Doppler frequency shift to the first server.

7. The method according to claim 5, characterized in that, The second position of the terminal is the first position of the terminal determined by the first server, and the time corresponding to the second position is the first moment.

8. The method according to claim 5, characterized in that, The second position of the terminal is the fourth position of the terminal determined by the first network device, and the time corresponding to the second position is the sixth moment.

9. A positioning method, characterized in that, Applied to a first network device, the method includes: Send the first basic positioning measurement, the first Doppler frequency shift change rate, and the time corresponding to the first basic positioning measurement to the first server; Receive the positioning result report from the first server, the positioning result report carrying the terminal's first position at a first moment and the terminal's velocity vector; Based on the positioning result report from the first server, the fourth position of the terminal at the sixth moment is determined; The values ​​of the fourth position and the sixth time are sent to the terminal.

10. The method according to claim 9, characterized in that, The first basic positioning measurement is a first Doppler frequency shift, or a first distance between the terminal and the first network device, or a first angle of arrival between the terminal and the first network device.

11. A communication system, characterized in that, The device includes a terminal, a first network device, and a first positioning server, wherein the first positioning server performs the method according to claims 1-4, the terminal performs the method according to claims 5-8, and the first network device performs the method according to claims 9-10.

12. An electronic device, characterized in that, It includes one or more processors and one or more memories; wherein the one or more memories are coupled to the one or more processors, and the one or more memories are used to store a computer program that, when the one or more processors execute the computer program, causes the electronic device to perform the method as described in any one of claims 1-10.

13. A chip system, characterized in that, It includes a processing circuit and an interface circuit, the interface circuit being used to receive instructions and transmit them to the processing circuit, the processing circuit being used to execute the instructions to perform the method as described in any one of claims 1-10.

14. A computer-readable storage medium, characterized in that, The device contains a computer program that, when executed by a processor, implements the method as described in any one of claims 1-10.

15. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-10.

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