Positioning method and device and computer readable storage medium

Abstract

The invention provides a positioning method and device and a computer readable storage medium. The method comprises the steps that first positioning information of terminal equipment is acquired; a first request is sent to a perception function network element, the first request is used for requesting perception information corresponding to a first perception area, and the first perception area is associated with the terminal device; receiving sensing information corresponding to a first sensing area from the sensing function network element; and determining second positioning information of the terminal device based on the sensing information corresponding to the first sensing area and the first positioning information. According to the embodiment of the invention, in the positioning process, interaction between the positioning function network element and the sensing function network element is added, so that when the position of the terminal equipment is determined, related sensing information can be combined, and the positioning precision of the terminal equipment can be improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a positioning method, apparatus and computer-readable storage medium. Background Technology

[0002] With the continuous development of communication technology, the demand for terminal device positioning is increasing, and higher requirements are being placed on the positioning accuracy of terminal devices. For example, high-precision positioning is required in fields such as drones, intelligent driving, automated guided vehicles (AGVs), and intelligent manufacturing.

[0003] At the same time, how to improve the positioning accuracy of communication networks for terminal devices is a concern in the industry. Summary of the Invention

[0004] This application discloses a positioning method, apparatus, and computer-readable storage medium, which can improve the positioning accuracy of terminal devices.

[0005] The first aspect discloses a positioning method, which can be applied to a positioning function network element, a module (e.g., a processor) within the positioning function network element, or a logic module or software capable of implementing all or part of the positioning function network element's functions. The following description uses an application to a positioning function network element as an example. The positioning method may include: acquiring first positioning information of a terminal device; sending a first request to a sensing function network element, the first request being used to request sensing information corresponding to a first sensing area associated with the terminal device; receiving the sensing information corresponding to the first sensing area from the sensing function network element; and determining second positioning information of the terminal device based on the sensing information corresponding to the first sensing area and the first positioning information.

[0006] In this embodiment, during the positioning process, the positioning function network element can interact with the sensing function network element to obtain sensing information corresponding to the first sensing area associated with the terminal device. Then, based on the sensing information corresponding to the first sensing area and the first positioning information of the terminal device, the position of the terminal device (second positioning information) can be determined. Since the sensing information corresponding to the first sensing area includes electromagnetic information related to the propagation environment, such as non-line-of-sight (NLoS) and line-of-sight (LoS) path information, the deviation between the terminal device position determined by combining the sensing information corresponding to the first sensing area and the actual position of the terminal device can be smaller compared to the first positioning information, thus improving the positioning accuracy of the terminal device.

[0007] For example, the first sensing area associated with the terminal device may be a sensing area within a certain range near the terminal device (such as a sensing area determined based on the first positioning information of the terminal device), or it may be the serving cell of the terminal device, etc.

[0008] In conjunction with the first aspect, in one possible implementation, the first request includes the first location information or the first sensing area.

[0009] In this embodiment, the positioning function network element can directly indicate the first sensing area to the sensing function network element, or it can indicate the first positioning information to the sensing function network element, allowing the sensing function network element to determine the first sensing area based on the first positioning information, which provides high flexibility.

[0010] In conjunction with the first aspect, in one possible implementation, the method further includes: determining the first sensing area based on the first positioning information.

[0011] In this embodiment of the application, determining the sensing area based on the first positioning information can make the determined sensing area more accurate, thereby ensuring that the sensing information corresponding to the first sensing area obtained from the sensing function network element is more accurate. For example, it can be ensured that the sensing information corresponding to the first sensing area includes electromagnetic information of the propagation environment of the positioning signal used to locate the terminal device, thereby enabling higher precision positioning of the terminal device.

[0012] In conjunction with the first aspect, in one possible implementation, if the first request includes the first sensing area, the first request further includes first indication information, which is used to instruct the sensing function network element to return sensing information corresponding to the first sensing area.

[0013] In this embodiment of the application, the positioning function network element can trigger the sensing function network element to obtain the sensing information corresponding to the first sensing area by carrying the first indication information and the first sensing area in the first request, and return the sensing information corresponding to the first sensing area to the positioning function network element, so as to improve the positioning accuracy of the terminal device based on the sensing information corresponding to the first sensing area.

[0014] In conjunction with the first aspect, in one possible implementation, if the first request includes the first location information, the first request further includes second indication information, which is used to instruct the sensing function network element to return sensing information corresponding to the first sensing area based on the first location information.

[0015] In this embodiment of the application, the positioning function network element can trigger the SF to determine the first sensing area based on the first positioning information carried in the first request by carrying the second indication information in the first request. Then, it can obtain the sensing information corresponding to the first sensing area based on the first sensing area and return the sensing information corresponding to the first sensing area to the positioning function network element, so as to improve the positioning accuracy of the terminal device based on the sensing information corresponding to the first sensing area.

[0016] In conjunction with the first aspect, in one possible implementation, the method further includes: receiving a location service request from an access and mobility management network element, the location service request being used to request location information of the terminal device; the location service request including third indication information, the third indication information being used to indicate the use of sensing information to assist in positioning; the sending of the first request to the sensing function network element includes: sending the first request to the sensing function network element based on the third indication information.

[0017] In this embodiment, if the location service request received from the access and mobility management network element includes third indication information, the location function network element may send a first request to the sensing function network element to obtain relevant sensing information. If the location service request received from the access and mobility management network element does not include third indication information, the location function network element may not need to send a first request to the sensing function network element, which can save sensing resources, transmission resources, processing resources, etc.

[0018] In conjunction with the first aspect, in one possible implementation, the location service request further includes quality of service information, and the first request also includes the quality of service information.

[0019] In this embodiment, the positioning service request received by the positioning function network element may include quality of service information, and the first request may also include the quality of service information, so that the sensing network element can determine the first sensing area and / or sensing requirements (such as sensing accuracy and sensing resolution) based on the quality of service information. Among them, the first sensing area and sensing requirements determined based on the quality of service information are more accurate / appropriate, which can save sensing resources, transmission resources, processing resources, etc. while ensuring positioning accuracy.

[0020] In conjunction with the first aspect, in one possible implementation, the location service request further includes quality of service information, and the method further includes: determining a perception requirement based on the quality of service information, wherein the first request further includes the perception requirement, and the perception requirement is used to obtain perception information corresponding to the first perception area.

[0021] In this embodiment, the location service request received by the location function network element may include quality of service information, and the location function network element can determine the sensing requirements based on the quality of service information. Furthermore, determining the sensing requirements based on the quality of service information can make the sensing requirements more accurate and appropriate, thus saving sensing resources, transmission resources, and processing resources while ensuring positioning accuracy.

[0022] In conjunction with the first aspect, in one possible implementation, determining the first sensing area based on the first location information includes: determining the first sensing area based on the first location information and the quality of service information.

[0023] In this embodiment, different service quality requirements may correspond to different sensing area sizes. For example, the higher the service quality requirement, the larger the corresponding sensing area can be. Therefore, determining the sensing area based on the first positioning information and service quality information can make the determined sensing area more accurate / appropriate, and can save sensing resources, transmission resources, processing resources, etc. while ensuring positioning accuracy.

[0024] In conjunction with the first aspect, in one possible implementation, the first request further includes first identification information, which is used to identify the first sensing area or the terminal device; receiving sensing information corresponding to the first sensing area from the sensing function network element includes receiving a response to the first request from the sensing function network element, the response to the first request including the sensing information corresponding to the first sensing area and the first identification information.

[0025] In this embodiment of the application, the first request may also include first identification information. In this way, after the positioning function network element receives the first identification information and the sensing information from the sensing function network element, it can determine that the sensing information is the first sensing area, the first request, or the sensing information corresponding to the terminal device.

[0026] The second aspect discloses a positioning method, which can be applied to a sensing function network element, a module within the sensing function network element (e.g., a processor), or a logic module or software capable of implementing all or part of the functions of the sensing function network element. The following description uses an application to a sensing function network element as an example. The positioning method may include: receiving a first request from a positioning function network element, the first request requesting sensing information corresponding to a first sensing area, the first sensing area being associated with a terminal device; and sending the sensing information corresponding to the first sensing area to the positioning function network element, the sensing information corresponding to the first sensing area being used to determine second positioning information of the terminal device in conjunction with the first positioning information of the terminal device.

[0027] In conjunction with the second aspect, in one possible implementation, the first request includes the first location information or the first sensing area; if the first request includes the first location information, the method further includes: determining the first sensing area based on the first location information.

[0028] In conjunction with the second aspect, in one possible implementation, if the first request includes the first sensing area, the first request further includes first indication information, which is used to instruct the sensing function network element to return sensing information corresponding to the first sensing area; sending the sensing information corresponding to the first sensing area to the positioning function network element includes: sending the sensing information corresponding to the first sensing area to the positioning function network element based on the first indication information.

[0029] In conjunction with the second aspect, in one possible implementation, where the first request includes the first location information, the first request further includes second indication information, which instructs the sensing function network element to return sensing information corresponding to the first sensing area based on the first location information; determining the first sensing area based on the first location information includes: determining the first sensing area based on the second indication information and the first location information; sending the sensing information corresponding to the first sensing area to the positioning function network element includes: sending the sensing information corresponding to the first sensing area to the positioning function network element based on the second indication information.

[0030] In conjunction with the second aspect, in one possible implementation, the first request further includes quality of service information, and determining the first sensing area based on the first location information includes: determining the first sensing area based on the first location information and the quality of service information.

[0031] In conjunction with the second aspect, in one possible implementation, the first request further includes quality of service information, and the method further includes: determining a perception requirement based on the quality of service information; and obtaining perception information corresponding to the first perception area based on the perception requirement.

[0032] In conjunction with the second aspect, in one possible implementation, the first request further includes a perception requirement, and the method further includes: obtaining perception information corresponding to the first perception area based on the perception requirement.

[0033] In conjunction with the second aspect, in one possible implementation, the first request further includes first identification information, which is used to identify the first request or the terminal device; sending the sensing information corresponding to the first sensing area to the positioning function network element includes sending a response to the first request to the positioning function network element, the response to the first request including the sensing information corresponding to the first sensing area and the first identification information.

[0034] It should be noted that the technical solution of the second aspect of this application may correspond to the solution of the first aspect, and the relevant beneficial effects can be referred to the beneficial effects of the first aspect.

[0035] The third aspect discloses a positioning method, which can be applied to a positioning function network element, a module (e.g., a processor) within the positioning function network element, or a logic module or software capable of implementing all or part of the positioning function network element's functions. The following description uses an application to a positioning function network element as an example. This positioning method can include: acquiring first positioning information of a terminal device; sending a positioning information request to a sensing function network element, the positioning information request being used to request second positioning information of the terminal device, the positioning information request including the first positioning information of the terminal device; determining the second positioning information of the terminal device based on sensing information corresponding to a first sensing area and the first positioning information, the first sensing area being associated with the terminal device; and receiving the second positioning information of the terminal device from the sensing function network element.

[0036] In this embodiment, during the positioning process, the positioning function network element can interact with the sensing function network element, requesting the sensing function network element to obtain sensing information corresponding to the first sensing area associated with the terminal device. Then, based on the sensing information corresponding to the first sensing area and the first positioning information of the terminal device, the location of the terminal device (second positioning information) is determined, and the determined location of the terminal device is returned. Since the sensing information corresponding to the first sensing area includes electromagnetic information related to the propagation environment, such as non-line-of-sight (NLoS) path and line-of-sight (LoS) path information, the deviation between the terminal device location determined by combining the sensing information corresponding to the first sensing area and the actual location of the terminal device can be smaller, thus improving the positioning accuracy of the terminal device.

[0037] In conjunction with the third aspect, in one possible implementation, the location information request also includes the first sensing area.

[0038] In conjunction with the third aspect, in one possible implementation, the method further includes: determining the first sensing area based on the first positioning information.

[0039] In conjunction with the third aspect, in one possible implementation, the location information request further includes fourth indication information, which instructs the sensing function network element to return the second location information of the terminal device based on the first location information.

[0040] In this embodiment of the application, the positioning function network element can trigger the SF to determine the first sensing area based on the first positioning information carried in the first request by carrying the fourth indication information in the first request. Then, it can obtain the sensing information corresponding to the first sensing area based on the first sensing area. Then, it can determine the second positioning information of the terminal device based on the sensing information corresponding to the first sensing area and the first positioning information, and return the second positioning information to the positioning function network element.

[0041] In conjunction with the third aspect, in one possible implementation, the location information request further includes fifth indication information, which instructs the sensing function network element to return second location information of the terminal device based on the first sensing area.

[0042] In this embodiment of the application, the positioning function network element can trigger the SF to obtain the sensing information corresponding to the first sensing area based on the first sensing area carried in the first request by carrying the fifth indication information in the first request. Then, based on the sensing information corresponding to the first sensing area and the first positioning information, the second positioning information of the terminal device is determined and returned to the positioning function network element.

[0043] In conjunction with the third aspect, in one possible implementation, the method further includes: receiving a location service request from an access and mobility management network element, the location service request being used to request location information of the terminal device; the location service request including third indication information, the third indication information being used to indicate the use of sensing information to assist in positioning; the sending of the location information request to the sensing function network element includes: sending the location information request to the sensing function network element based on the third indication information.

[0044] In conjunction with the third aspect, in one possible implementation, the location service request further includes quality of service information, and the location information request further includes the quality of service information.

[0045] In conjunction with the third aspect, in one possible implementation, the location service request further includes quality of service information, and the method further includes: determining a perception requirement based on the quality of service information, wherein the location information request also includes the perception requirement, and the perception requirement is used to obtain perception information corresponding to the first perception area.

[0046] In conjunction with the third aspect, in one possible implementation, determining the first sensing area based on the first location information includes: determining the first sensing area based on the first location information and the quality of service information.

[0047] In conjunction with the third aspect, in one possible implementation, the location information request further includes second identification information, which is used to identify the first location information request or the terminal device; receiving the second location information of the terminal device from the sensing function network element includes receiving a response to the location information request from the sensing function network element, the response to the location information request including the second location information of the terminal device and the second identification information.

[0048] It should be noted that the beneficial effects of the third aspect are similar to those of the first aspect, and the beneficial effects of the first aspect can be referenced.

[0049] The fourth aspect discloses a positioning method, which can be applied to a sensing function network element, a module within the sensing function network element (e.g., a processor), or a logic module or software capable of implementing all or part of the functions of the sensing function network element. The following description uses an application to a sensing function network element as an example. The positioning method may include: receiving a positioning information request from a positioning function network element, the positioning information request requesting second positioning information of a terminal device, the positioning information request including first positioning information of the terminal device; determining the second positioning information of the terminal device based on sensing information corresponding to a first sensing area and the first positioning information; associating the first sensing area with the terminal device; and sending the second positioning information of the terminal device to the positioning function network element.

[0050] In conjunction with the fourth aspect, in one possible implementation, the method further includes: determining the first sensing area based on the first positioning information.

[0051] In conjunction with the fourth aspect, in one possible implementation, the location information request further includes fourth indication information, which instructs the sensing function network element to return the second location information of the terminal device based on the first location information; determining the first sensing area based on the first location information includes: determining the first sensing area based on the fourth indication information and the first location information; sending the second location information of the terminal device to the positioning function network element includes: sending the second location information of the terminal device to the positioning function network element based on the fourth indication information.

[0052] In conjunction with the fourth aspect, in one possible implementation, the location information request also includes the first sensing area.

[0053] In conjunction with the fourth aspect, in one possible implementation, the location information request further includes fifth indication information, which instructs the sensing function network element to return the second location information of the terminal device based on the first sensing area; sending the second location information of the terminal device to the positioning function network element includes: sending the second location information of the terminal device to the positioning function network element based on the fifth indication information.

[0054] In conjunction with the fourth aspect, in one possible implementation, the location information request further includes quality of service information, and determining the first sensing area based on the first location information includes: determining the first sensing area based on the first location information and the quality of service information.

[0055] In conjunction with the fourth aspect, in one possible implementation, the location information request further includes quality of service information, and the method further includes: determining a perception requirement based on the quality of service information; and obtaining perception information corresponding to the first perception area based on the perception requirement.

[0056] In conjunction with the fourth aspect, in one possible implementation, the location information request further includes a perception requirement, and the method further includes: obtaining perception information corresponding to the first perception area based on the perception requirement.

[0057] In conjunction with the fourth aspect, in one possible implementation, the location information request further includes second identification information, which is used to identify the first location information or the terminal device; the sending of the second location information of the terminal device to the location function network element includes: sending a response to the location information request to the location function network element, the response to the location information request including the second location information of the terminal device and the second identification information.

[0058] It should be noted that the beneficial effects related to the fourth aspect are similar to those of the first aspect, and the beneficial effects of the first aspect can be referred to.

[0059] The fifth aspect discloses a communication device / positioning device that has the functions of the first aspect described above. For example, the communication device / positioning device includes a module or unit that performs the method of the first aspect or any possible implementation of the first aspect. The module or unit can be implemented by software, hardware, or a combination of software and hardware.

[0060] For example, the communication device / positioning device may be a positioning function network element or a component (e.g., a processor, chip, chip system, circuit or functional module) within the positioning function network element.

[0061] The sixth aspect discloses a communication device / positioning device that has the functions of the second aspect described above. For example, the communication device / positioning device includes a module or unit that performs the methods of the second aspect or any possible implementation of the second aspect. The module or unit can be implemented by software, hardware, or a combination of software and hardware.

[0062] For example, the communication device / positioning device may be a sensing function network element or a component in the sensing function network element (e.g., a processor, chip, chip system, circuit or functional module).

[0063] The seventh aspect discloses a communication device / positioning device that has the functions of the third aspect described above. For example, the communication device / positioning device includes a module or unit that performs the methods of the third aspect or any possible implementation of the third aspect. The module or unit can be implemented by software, hardware, or a combination of software and hardware.

[0064] For example, the communication device / positioning device may be a positioning function network element or a component (e.g., a processor, chip, chip system, circuit or functional module) within the positioning function network element.

[0065] The eighth aspect discloses a communication device / positioning device that has the functions of the fourth aspect described above. For example, the communication device / positioning device includes a module or unit that performs the methods of the fourth aspect or any possible implementation of the fourth aspect. The module or unit can be implemented by software, hardware, or a combination of software and hardware.

[0066] For example, the communication device / positioning device may be a sensing function network element or a component in the sensing function network element (e.g., a processor, chip, chip system, circuit or functional module).

[0067] The ninth aspect discloses a communication system comprising a positioning function network element and a sensing function network element, the positioning function network element being used to implement the method provided in the first aspect and any possible implementation thereof; the sensing function network element being used to implement the method provided in the second aspect and any possible implementation thereof.

[0068] The tenth aspect discloses a communication system comprising a positioning function network element and a sensing function network element, the positioning function network element being used to implement the method provided in the third aspect and any possible implementation thereof; the sensing function network element being used to implement the method provided in the fourth aspect and any possible implementation thereof.

[0069] The eleventh aspect discloses a communication device, including a processor and a communication interface; the communication interface is used to receive and / or transmit data; the processor invokes a computer program or computer instructions stored in a memory to implement the method provided in the first aspect and any possible implementation of the first aspect, or to implement the method provided in the second aspect and any possible implementation of the second aspect, or to implement the method provided in the third aspect and any possible implementation of the third aspect, or to implement the method provided in the fourth aspect and any possible implementation of the fourth aspect.

[0070] As one possible implementation, the communication device disclosed in the eleventh aspect above may include one or more processors.

[0071] Optionally, the communication device disclosed in the eleventh aspect above further includes one or more memories.

[0072] The twelfth aspect discloses a computer-readable storage medium storing a computer program or computer instructions that, when executed, implement the methods provided in the first aspect and any possible embodiments thereof, or implement the methods provided in the second aspect and any possible embodiments thereof, or implement the methods provided in the third aspect and any possible embodiments thereof, or implement the methods provided in the fourth aspect and any possible embodiments thereof.

[0073] The thirteenth aspect discloses a chip including a processor for executing a program stored in a memory, wherein when the program is executed, the chip performs the methods provided in the first aspect and any possible embodiments thereof, or performs the methods provided in the second aspect and any possible embodiments thereof, or performs the methods provided in the third aspect and any possible embodiments thereof, or performs the methods provided in the fourth aspect and any possible embodiments thereof.

[0074] As one possible implementation, the memory is located outside the chip.

[0075] The fourteenth aspect discloses a computer program product comprising computer program code that, when executed, causes the methods provided in the first aspect and any possible embodiments thereof to be performed, or causes the methods provided in the second aspect and any possible embodiments thereof to be performed, or causes the methods provided in the third aspect and any possible embodiments thereof to be performed, or causes the methods provided in the fourth aspect and any possible embodiments thereof to be performed.

[0076] It should be understood that the implementation and beneficial effects of the above-mentioned aspects or any possible implementation methods of this application can be referred to each other. Attached Figure Description

[0077] The accompanying drawings are provided to more clearly illustrate the technical solutions of the embodiments of this application. The drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0078] Figure 1 This is a schematic diagram of a service-oriented architecture for a network disclosed in an embodiment of this application;

[0079] Figure 2 This is a schematic diagram of a reference point architecture of a network disclosed in an embodiment of this application;

[0080] Figure 3 This is a flowchart illustrating a positioning method disclosed in an embodiment of this application;

[0081] Figure 4 This is a flowchart illustrating another positioning method disclosed in an embodiment of this application;

[0082] Figure 5 This is a schematic diagram of the structure of a communication device disclosed in an embodiment of this application;

[0083] Figure 6 This is a schematic diagram of the hardware structure of a communication device disclosed in an embodiment of this application. Detailed Implementation

[0084] This application discloses a positioning method, apparatus, and computer-readable storage medium, which can improve the positioning accuracy of terminal devices. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0085] To better understand the embodiments of this application, the relevant content, terms or nouns involved in this application will be briefly introduced below.

[0086] I. Perception

[0087] Sensing primarily utilizes the transmission of electromagnetic waves to perceive the environment in which these waves propagate. This includes detecting, locating, identifying, and imaging targets within this environment. For instance, a sensing signal transmitter can send electromagnetic waves, which are then reflected by a target object. The reflected signal is received by a sensing signal receiver. Processing equipment can then extract features and analyze the reflected signal and its related data (such as reception time) to obtain the sensing results. These results can reveal information such as the size and outline of the target object. The reflected signal can also be called an echo signal.

[0088] With the development of communication technology, base stations are using increasingly higher frequency bands, such as millimeter-wave bands. Higher frequency bands offer higher sensing resolution (e.g., spatial resolution) and stronger anti-interference capabilities. Therefore, when base stations possess the sensing capabilities provided by millimeter-wave bands, wireless communication systems / networks can perceive and identify specific areas, objects, or events, addressing sensing needs in many scenarios (such as autonomous driving and drone monitoring). Based on this, sensing capabilities will become a crucial capability and characteristic of future communication networks, and the integration of communication and sensing (referred to as sensor-communication integration) or sensor-communication fusion is also a future development direction for communication networks.

[0089] For example, the sensing capabilities of wireless communication networks can be applied in scenarios such as autonomous / assisted driving, vehicle-to-everything (V2X) communication, intelligent transportation, 3D map reconstruction, smart industry, drone monitoring and management, intelligent interaction, environmental monitoring, and posture detection and recognition. For instance, high-precision dynamic maps can be generated based on sensing to assist drones / intelligent vehicles in autonomous driving. Another example is that during the operation of intelligent vehicles / drones, dangerous events (such as the sudden appearance of people or objects) can be identified based on sensing, and the intelligent vehicle / drone can be notified to perform emergency operations. Yet another example is that violations of driving rules can be identified based on sensing, such as vehicles occupying emergency lanes, drones leaving their flight paths, or drones entering no-fly zones (e.g., airports). Yet another example is that abnormal postures can be identified based on sensing and alerts can be issued, such as when a person falls. Furthermore, weather monitoring, pollution monitoring, and pest and disease monitoring can be performed based on sensing. Finally, electromagnetic maps can be generated based on sensing to assist communication between terminal devices and access network devices.

[0090] II. Perception Performance Indicators and Perception Modes

[0091] Common performance metrics for sensing include sensing accuracy, sensing resolution, coverage, and false alarm probability. Sensing accuracy generally represents the deviation between the perceived result and the actual result, and can include distance accuracy, velocity accuracy, and angular accuracy. Sensing resolution refers to the ability to distinguish different sensed targets, and can include distance resolution, velocity resolution, and angular resolution. Distance resolution is the ability to distinguish nearby targets by distance, usually measured by the smallest resolvable distance interval. Velocity resolution is the ability to distinguish targets by radial velocity, usually measured by the smallest resolvable velocity. Angular resolution / angle measurement accuracy is the ability to distinguish nearby targets by angle, usually measured by the smallest resolvable angle. Coverage generally refers to the distance and field of view limitations of detectable targets, such as the horizontal field of view (FOV). Horizontal FOV refers to the area that the sensing device can cover, and can also be understood as the sensing angle in the horizontal direction (e.g., 120°). False alarm probability generally refers to the probability of detecting a target when it does not exist.

[0092] It should be understood that an access network device or a terminal device can act as both a transmitter and a receiver of sensing signals. Therefore, there are multiple combinations of transmitters and receivers of sensing signals. Based on these different combinations, sensing methods (sensing modes) can be categorized into the following six types: Access network device self-transmission and self-reception (access network device self-transmits sensing signals and receives reflected signals), terminal device self-transmission and self-reception (terminal device self-transmits sensing signals and receives reflected signals), cooperation between access network devices (one access network device transmits a sensing signal, another receives a reflected signal), access network device transmits and terminal device receives (access network device transmits a sensing signal, terminal device receives a reflected signal), terminal device transmits and access network device receives (terminal device transmits a sensing signal, access network device receives a reflected signal), and cooperation between terminal devices (one terminal device transmits a sensing signal, another terminal device receives a reflected signal).

[0093] To better understand the embodiments of this application, the system architecture of the embodiments of this application will be described below.

[0094] Some scenarios in this application embodiment are illustrated using a fifth-generation (5G) communication network as an example. However, it should be understood that the solutions in this application embodiment can also be applied to other communication networks, such as future communication networks, and the corresponding device / network element names can be replaced by the names of corresponding functions / devices in other communication networks.

[0095] Please see Figure 1 , Figure 1 This is a schematic diagram of a service-oriented architecture for a network disclosed in an embodiment of this application. For example... Figure 1As shown, the service-based architecture can include user devices and various network entities. It can also include service-based architecture (SBA) interfaces such as Nnssf, Nausf, Nnef, Namf, Npcf, Nsmf, Nudm, and Naf.

[0096] The naming convention for service interfaces can be to add an "N" before the name of the functional entity. For example, Namf could be a service interface provided by the access and mobility management function (AMF), and Nsmf could be a service interface provided by the session management function (SMF).

[0097] It should be understood that various functional entities in the core network can interact with each other through the SBA interface. For example, the application function (AF) can interact with the network exposure function (NEF) through the Nnef interface to use the services provided by the NEF. Similarly, the NEF can interact with the unified data management (UDM) through the Nudm interface to use the services provided by the UDM.

[0098] The following section introduces the user equipment and various network entities.

[0099] User equipment (UE), also known as terminal equipment, terminal, mobile station (MS), mobile terminal (MT), customer premises equipment (CPE), etc., is a device with wireless communication capabilities that can provide voice and / or data connectivity services to users. Terminal devices can include handheld terminals, laptops, RSUs (roadside units), subscriber units, cellular phones, smartphones, wireless data cards, personal digital assistant (PDA) computers, tablet computers, tags, wireless modems, other processing devices connected to wireless modems, handheld devices, laptop computers, cordless phones or wireless local loop (WLL) stations, machine-type communication (MTC) terminals, wearable devices (such as smartwatches, smart bracelets, pedometers, etc.), in-vehicle equipment (such as cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed trains, etc.), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, smart home devices (such as refrigerators, televisions, air conditioners, electricity meters, etc.), intelligent robots, workshop equipment, wireless terminals in self-driving vehicles, and remote surgery. Wireless terminals in medical surgery, smart grids, transportation safety, smart cities, or smart homes; flying devices (such as intelligent robots, hot air balloons, drones, airplanes, etc.); or other devices capable of accessing a network. Terminal devices can be fixed or mobile, deployed on land (including indoors or outdoors, handheld, wearable, or vehicle-mounted); deployed on water (such as ships); or deployed in the air (e.g., on airplanes, balloons, and satellites). In this embodiment, the UE can transmit and receive sensing signals.For example, a UE can receive a sensing request from a sensing function network element, and then send and / or receive sensing signals based on the sensing request to obtain relevant sensing data.

[0100] A Radio Access Network (R)AN can be a network composed of multiple RAN nodes, used to implement radio physical layer functions, resource scheduling and radio resource management, radio access control, and mobility management functions. The R)AN can connect to the User Plane Function (UPF) via the User Plane Interface (N3) to transmit data from terminal devices. The R)AN can also establish control plane signaling connections with the Access and AMF via the Control Plane Interface (N2) to implement functions such as radio access bearer control. It should be understood that RAN nodes are also access network devices, primarily providing access for terminal devices. Access network devices can include radio access network (RAN) devices and access node (AN) devices. RAN devices are mainly radio network devices in the 3rd Generation Partnership Project (3GPP) network, while AN devices can be access network devices not defined by 3GPP. RAN devices can include various types of base stations, such as macro base stations, micro base stations (also known as small cells), relay stations, access points, and balloon stations. For example, RAN equipment can be a next-generation NodeB (gNB) or ng-eNB (a 4G base station accessing the 5G core network) in a 5th generation (5G) mobile communication system. Radio access network equipment can also be a radio controller in a cloud radio access network (CRAN) scenario, base station equipment in future networks (such as 6G, 7G, etc.), radio access network equipment in a future evolved public land mobile network (PLMN) network, wearable devices, vehicle-mounted equipment, transmission and reception points (TRPs), radio network controllers (RNCs), home base stations (e.g., home evolved NodeBs, or homeNode Bs, HNBs), base band units (BBUs), and access points (APs) in wireless fidelity (WiFi) systems. In this embodiment, the access network equipment can both transmit and receive sensing signals. For example, an access network device can receive a sensing request from a sensing function network element, and then send and / or receive sensing signals based on the sensing request to obtain relevant sensing data.

[0101] AMF is primarily responsible for UE access and mobility management, such as UE authentication and authorization, UE mobility state management, and allocation of temporary user identity identifiers.

[0102] SMF is primarily responsible for UE session management, including the selection of user plane function (UPF), Internet protocol (IP) address allocation, session quality of service (QoS) management, acquisition policy and charging control (PCC) policy, and bearer establishment, modification, and release.

[0103] UPF is primarily responsible for transmitting data from user equipment and supports all or some of the following functions: interconnecting PDU sessions with the data network, packet routing and forwarding (e.g., supporting uplink classification of traffic before forwarding to the data network), packet inspection, packet filtering, rate control, and generating billing information.

[0104] The Unified Data Management (UDM) network element is primarily used to manage and control user data, such as subscription information management. This includes retrieving subscription information from the Unified Data Repository (UDR) and providing it to other network elements (such as the AMF); generating 3GPP authentication credentials for the UE; and registering and maintaining the network elements currently serving the UE, such as the AMF currently serving the UE. The UDR is also one of the network elements in the core network, mainly used to store user data, including subscription data accessed by the UDM, policy information accessed by the Policy Control Function (PCF), structured data used for capability provisioning, and application data accessed by the NEF, etc.

[0105] The Application Front-end (AF) is primarily used to provide various service operations, such as location services. The AF can interact with core network elements, for example, through the Network Provider Framework (NEF). The AF can also interact with the policy management framework for policy management. For instance, the AF can interact with the policy and control function (PCF) for service policy control, interact with the NEF to obtain network capability information or provide application information to the network, and provide data network access point information to the PCF to generate corresponding data service routing information.

[0106] The authentication server function (AUSF) is used to perform security authentication or authorization on the UE when it accesses the network.

[0107] The network slice selection function (NSSF) can select a set of slice instances for the UE, determine the AMF set for the UE, and allow NSSAI, etc.

[0108] The PCF is primarily responsible for policy control. For example, it provides configuration policy information to the UE and provides policy information for managing the UE to the network control plane elements (e.g., AMF, SMF).

[0109] Data network (DN) elements are used to provide a network for transmitting data.

[0110] Network exposure function (NEF) network elements are primarily used to provide frameworks, authentication, and interfaces related to network capability exposure. NEF can be used for interaction between other internal network elements in the core network and external application servers (such as AF) to provide network capability information to external application servers, or to provide information from external application servers to core network elements.

[0111] The location management function (LMF) is primarily used to provide location services, including locating the UE and providing auxiliary data to the UE. The LMF can be used for overall coordination and resource scheduling of terminal positioning, as well as for calculating the location of the positioning terminal and estimating the achievable positioning accuracy. For example, the LMF can use the Nlmf interface to receive location requests from the target UE from the AMF, and can interact with the RAN, AMF, or UE to obtain the target UE's location information. In this embodiment, the positioning function network element can be the LMF.

[0112] The Gateway Mobile Location Centre (GMLC) is the gateway node for external location services (LCS) clients; that is, it is the first node that external LCS clients access in the public land mobile network (PLMN). AF (Action Function) and network function (NF) can also access the GMLC directly or through NEF (Network Function).

[0113] In some possible implementations, the aforementioned AMF, SMF, UPF, UDM, AF, AUSF, NSSF, PCF, NEF, LMF, GMLC, etc., can be collectively referred to as core network elements. The core network can include a user plane (UP) and a control plane (CP). The user plane can include the UPF, and the control plane can include AMF, SMF, PCF, UDM, NEF, AF, etc. The user plane is mainly responsible for packet forwarding, QoS control, and billing information statistics. The control plane is mainly responsible for service process interaction, issuing packet forwarding policies and QoS control policies to the user plane, etc.

[0114] The above Figure 1 This section provides a brief overview of network architecture based on service-oriented interfaces. Please refer to the following sections for further information. Figure 2 , Figure 2 This is a schematic diagram of a reference point architecture for a network disclosed in an embodiment of this application. For example... Figure 2 As shown, the reference point between UE and AMF is N1, between (R)AN and AMF is N2, between (R)AN and UPF is N3, between SMF and UPF is N4, and between UDM and AUSF is N13, etc. Reference points between other network elements are not detailed here; please refer to [link to relevant documentation]. Figure 2 For a detailed description of these reference points, please refer to the relevant definitions in the 5G standard.

[0115] In this embodiment of the application, the above-mentioned Figure 1 and Figure 2 The network architecture shown may also include sensing function (SF) network elements. SF network elements are primarily responsible for processing sensing services, such as providing sensing services, performing calculations based on sensing data, and sharing sensing results with third parties. SF network elements can also be called SF functional units / SF functional entities. For example, an SF network element can receive sensing requests / sensing information requests from within the network (e.g., UE, NF) or outside the network (e.g., external servers), and based on these requests, the RAN network element performs sensing, obtains the sensing results, and then returns the sensing results to the requesting party.

[0116] It should be noted that the SF network element can be one of the network elements in the core network or a non-core network element; this application does not impose any particular limitation on this. When the SF network element is one of the network elements in the core network, it can connect to other network elements in the core network through the SBA interface, that is, it can communicate with other network elements in the core network through the SBA interface. However, when the SF network element is a non-core network element, it may need to interact with core network elements through NEF relay. Optionally, the SF network element can be implemented by other network elements in the core network.

[0117] It should be understood that Figure 1 and Figure 2 This is just a schematic diagram. Figure 1 and Figure 2 The architecture shown can also include other devices or other network elements (NFs), such as network repository function (NRF) and network data analytics function (NWDAF). NRF can be responsible for the registration and discovery of network elements and maintain the information of network elements (such as network element type, IP address, network element capabilities, supported services, etc.). NWDAF can provide data analysis functions for other network elements in the core network. For details, please refer to the relevant content in the 5G standard.

[0118] It should also be understood that the aforementioned network elements or functions can be implemented in the form of hardware, computer software, or a combination of hardware and computer software. For example, the aforementioned network elements or functions can be implemented by a single device, by multiple devices working together, or by a functional module within a single device; this application embodiment does not specifically limit this.

[0119] Furthermore, the aforementioned "network element" can also be referred to as an entity, device, or module, etc., and this application does not limit it in this way. Also, for ease of description, the term "network element" is omitted in some of the following descriptions. For example, a NEF network element may be abbreviated as NEF. In this case, "NEF" should be understood as either a NEF network element or a NEF entity. A similar understanding should be applied to other network elements or functions. That is to say, function, functional network element, and functional entity can be equivalent, such as UDM, UDM network element, and UDM entity.

[0120] It should be understood that the technical solutions provided in the embodiments of this application can be applied to communication systems using various radio access technologies (RATs), such as: fifth-generation (5G) communication systems, transitional systems between 5G and 6G communication systems (which can also be called 5.5G communication systems), networks integrating multiple systems, etc.; of course, they can also be future communication systems, such as sixth-generation (6G) or even seventh-generation (7G) communication systems, etc.

[0121] It should be noted that the system architecture, network architecture, and business scenarios (or application scenarios) described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of communication network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0122] To better understand the embodiments of this application, the overall concept of the embodiments of this application will be described by way of example below.

[0123] In this embodiment, to improve the positioning accuracy of the terminal device, the functionality of the SF network element is considered, that is, the inherent sensing capability of the future network is taken into account. When the future network has inherent sensing capability, the existing LMF positioning can be enhanced by increasing interaction with the SF network element, so that the network can combine the sensing information (such as electromagnetic map) of the area where the terminal device to be located is located to determine the location of the terminal device. Since the sensing information of the area where the terminal device to be located is located includes electromagnetic information related to the propagation environment, such as non-line-of-sight (NLoS) path and line-of-sight (LoS) path information, combining the sensing information of the area where the terminal device to be located is located can enable the network to perform higher-precision positioning of the terminal device. In this embodiment, this method of positioning the terminal device by combining sensing information can be called sensing-assisted positioning.

[0124] To facilitate understanding of the embodiments of this application, a brief introduction to the relevant content of the embodiments of this application is provided below. In the embodiments of this application, in order to achieve perception-assisted positioning, the perception area associated with the terminal device can be determined first, then the perception information corresponding to the perception area associated with the terminal device can be obtained, and finally, the positioning result of the terminal device can be obtained by combining the perception information corresponding to the perception area associated with the terminal device and the positioning information of the terminal device. Specifically, the "determining the perception area associated with the terminal device" can be performed by either the LMF or the SF. Similarly, the "obtaining the positioning result of the terminal device based on the perception information corresponding to the perception area associated with the terminal device and the positioning information of the terminal device" can also be performed by either the LMF or the SF.

[0125] Furthermore, the execution conditions for perception-assisted positioning can include several scenarios, as illustrated below. Scenario 1: The location service request sent to the LMF carries a perception-assisted positioning indication. In this case, the LMF will only interact with the SF if the location service request received by the LMF carries this indication, allowing for a more accurate positioning result by combining relevant perception information. If the location service request received by the LMF does not carry a perception-assisted positioning indication, the LMF will not interact with the SF. Scenario 2: Perception-assisted positioning is performed by default for each location service request. In this case, the LMF will interact with the SF for each location service request, allowing for a more accurate positioning result by combining relevant perception information. Two scenarios are simply illustrated here, but it should be understood that other possibilities exist. For example, authorization checks may be performed on sensing-assisted positioning (such as authorization checks performed by UDM or LMF). In this case, if sensing-assisted positioning is authorized, it can interact with SF to obtain more accurate positioning results by combining relevant sensing information. Conversely, if sensing-assisted positioning is not authorized, it will not interact with SF. This application does not limit this aspect.

[0126] It should be understood that the above-mentioned situations (determining the sensing area + determining the positioning result based on sensing information and positioning information) can be combined in different ways, and the overall process of sensing-assisted positioning may differ under different combinations. Therefore, to more clearly illustrate the technical solution provided in this application, the combinations of the above-mentioned situations can be divided into two types: one is that the LMF requests sensing information associated with the terminal device from the SF, and then the LMF determines the positioning result based on the sensing information associated with the terminal device and the positioning information of the terminal device, that is... Figure 3 Another corresponding technical solution is that the LMF directly requests the SF to determine the positioning result based on the sensing information associated with the terminal device and the positioning information of the terminal device, and then returns the positioning result to the LMF. Figure 4 The corresponding technical solution.

[0127] Figure 3 The process involves the LMF requesting sensing information corresponding to the first sensing area associated with the terminal device from the SF, and then determining the positioning result based on the sensing information corresponding to the first sensing area associated with the terminal device and the positioning information of the terminal device. Figure 3In this process, after the LMF receives a location service request (such as a location service request from the AMF), if it determines to use perception-assisted positioning, the LMF can request perception information corresponding to the first perception area associated with the terminal device from the SF. Then, based on the perception information corresponding to the first perception area associated with the terminal device and the terminal device's location information, the LMF can determine the terminal device's location result. In specific implementations, this can be further divided into either the LMF determining the first perception area associated with the terminal device, or the SF determining the first perception area associated with the terminal device. For details, please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a flowchart illustrating a positioning method disclosed in an embodiment of this application. Figure 3 As shown, the method may include, but is not limited to, the following steps:

[0128] 301. Location Request Direction sends a location service request to GMLC.

[0129] For example, when a location requester obtains the location information of a terminal device, it can send a location service request to the GMLC. This location service request can be used to request the location information of a specific terminal device. Correspondingly, the GMLC can receive the location service request from the location requester. The location service request may carry the identifier of the target terminal device (targetUE), that is, the identifier of the terminal device requesting location information, such as the generic public subscription identifier (GPSI) and / or subscription permanent identifier (SUPI) of the target terminal device. In this embodiment, location service can also be referred to as location service, and location information can also be referred to as location information.

[0130] Optionally, the location service request may also include quality of service information and / or perception-assisted positioning indications. The quality of service information may include one or more of the following: location services QoS class (LCS QoS Class), positioning accuracy, and response time. Positioning accuracy may include horizontal accuracy and / or vertical accuracy. A more detailed description of the quality of service information can be found in the relevant 3GPP standards, and will not be elaborated upon here. It should be understood that the quality of service information in the embodiments of this application may also be referred to as location service quality information.

[0131] The perception-assisted positioning indication is used to indicate the use of perception information for positioning, or to indicate the positioning method of perception-assisted positioning, or to indicate the use of perception-assisted positioning to obtain the location information of the terminal device. In other words, the positioning requester can trigger the use of perception-assisted positioning to obtain the location information of the terminal device in subsequent positioning processes by including the perception-assisted positioning indication in the positioning service request.

[0132] In some possible implementations, the perception-assisted positioning indicator can be quality of service (QoS) information, in which case the QoS information can implicitly indicate whether perception-assisted positioning is used. For example, in one possible implementation, the positioning accuracy in the QoS information can indicate whether perception-assisted positioning is used. For instance, the positioning accuracy can support 20 cm, 30 cm, 50 cm, 1 m, 2 m, 5 m, and 10 m. Perception-assisted positioning is used for the 20 cm, 30 cm, and 50 cm cases, while it is not used for the 1 m, 2 m, 5 m, and 10 m cases. As another example, a threshold for using perception-assisted positioning (e.g., threshold 1) can be configured. Perception-assisted positioning is used when the required positioning accuracy in the positioning service request is less than or equal to threshold 1, and not used when the required positioning accuracy is greater than threshold 1. It should be understood that the positioning accuracy achievable without perception-assisted positioning can be greater than threshold 1; that is, perception-assisted positioning is necessary to meet the positioning accuracy requirements when the positioning accuracy is less than or equal to threshold 1. As another example, in another possible implementation, the service quality information may include a service quality level or a service quality class, which can indicate whether sensing information is used to assist positioning. For example, the service quality level may include five levels from level 1 to level 5. Levels 1 and 2 have higher requirements for positioning accuracy and require sensing information to assist positioning, while levels 3, 4, and 5 have relatively lower requirements for positioning accuracy and do not require sensing information to assist positioning.

[0133] In this embodiment, the location requester can be an AF (Agent Requester), a location service client (LCSClient), or an NF (Non-WDAF, NEF), etc. The LCSClient can be located in the terminal device. It should be understood that, when the location requester is an AF, in some possible implementations, the AF can send a location service request to the GMLC through the NEF.

[0134] It should be noted that the location service request sent by the aforementioned location requesting party to the GMLC may also include other content, such as the location service client identity (LCS Client identity) or AF ID, etc., which is not limited in this embodiment of the application.

[0135] 302.GMLC retrieves the address of the AMF.

[0136] After receiving a location service request from the requester, the GMLC can obtain the address of the serving AMF (Agent Families Serving Families) of the terminal device based on the identifier of the terminal device carried in the location service request. For example, the GMLC can interact with the UDM (User Device Manager) based on the identifier of the terminal device (such as GPSI, SUPI, etc.) carried in the location service request to obtain the address of the serving AMF of the terminal device from the UDM.

[0137] 303. GMLC sends a location service request to AMF.

[0138] After obtaining the address of the serving AMF of the terminal device, the GMLC can send a location service request to the serving AMF based on that address. This location service request can be used to request the location information of the terminal device. Correspondingly, the AMF can receive the location service request from the GMLC.

[0139] The location service request sent by the GMLC to the AMF may include relevant information received by the GMLC from the location service requester, such as one or more of the following: the terminal device identifier (e.g., SUPI), quality of service information, and perception-assisted positioning indication. For example, the location service request sent by the GMLC to the AMF may also include the client type, etc., but this embodiment of the application does not limit this.

[0140] 304.AMF performs LMF selection.

[0141] After receiving a location service request from the GMLC, the AMF can perform LMF selection. For example, when selecting an LMF, one or more of the following factors can be considered: LCS client type, requested quality of service information (such as positioning accuracy, response time, etc.), RAN configuration information, LMF capabilities, LMF load, LMF location, and whether a sense-assisted positioning method is used.

[0142] For example, assuming the LMF capability includes whether it supports perception-assisted positioning, if the AMF receives a positioning service request from the GMLC carrying a perception-assisted positioning indication, the AMF can select an LMF that supports perception-assisted positioning when selecting an LMF. Furthermore, in some possible implementations, among the LMFs that support perception-assisted positioning, the AMF can select the LMF with the lighter load to achieve load balancing.

[0143] 305.AMF sends a location service request to LMF.

[0144] After selecting an LMF, the AMF can send a location service request to the selected LMF. This location service request can be used to request the location information of the terminal device. Correspondingly, the LMF can receive location service requests from the AMF.

[0145] The location service request sent by the AMF to the LMF may include a location service correlation identifier (LCScorrelation identifier), or relevant information received by the AMF from the GMLC in the location service request, such as quality of service information and perception-assisted positioning indication. For example, the location service request sent by the AMF to the LMF may also include client type and UE positioning capability, but this embodiment does not limit this.

[0146] Understandably, the location service association identifier can be used to identify terminal devices or to identify location service requests sent by the AMF to the LMF.

[0147] In some possible implementations, when the AMF determines to use perception-assisted positioning, the positioning service request sent by the AMF to the LMF may include third indication information, which can be used to indicate the use of perception-assisted positioning. For example, the third indication information may be a perception-assisted positioning indication, or it may be quality of service information or one of the quality of service information (such as positioning accuracy or quality of service level).

[0148] It should be understood that steps 301-305 are optional, and the embodiments of this application do not limit the process of triggering LMF to use perception-assisted localization.

[0149] 306.LMF triggers the location of the terminal device and obtains the first location information of the terminal device.

[0150] After receiving a location service request from the AMF, the LMF can trigger a location check on the terminal device based on the request to obtain the terminal device's initial location information. For example, the LMF can interact with one or more of the AMF, RAN, and the terminal device to obtain the terminal device's initial location information. The specific interaction process is not limited in this embodiment but can be found in the descriptions in relevant 3GPP standards.

[0151] The first positioning information can be the first location of the terminal device. The first location of the terminal device can be an absolute location (such as latitude and longitude information) or a relative location (such as its location relative to a base station). In some possible implementations, the first positioning information can also be information used to determine the first location of the terminal device, such as positioning measurements related to the terminal device. It should be understood that the first location here is calculated based on positioning measurements related to the terminal device and may deviate from the actual or true location of the terminal device. A more detailed description of the first positioning information can be found in the relevant 3GPP standards.

[0152] 307. The LMF sends a first request to the SF. The first request is used to request the sensing information corresponding to the first sensing area, which is associated with the terminal device.

[0153] When sensing information is needed to assist in localization, the LMF can send a first request to the SF. Correspondingly, the SF can receive the first request from the LMF. In this embodiment, the first request may also be referred to as a sensing information request, a sensing information acquisition request, or a sensing request, etc.

[0154] It is understood that there are two possible ways to trigger perception-assisted positioning in the embodiments of this application, that is, there are two ways to trigger the interaction between LMF and SF to obtain perception information. The first way is to trigger it through the third indication information, and the second way is to trigger it without the need for relevant indication information. LMF defaults to using perception-assisted positioning for positioning service requests.

[0155] Regarding the first triggering method described above, the LMF can determine whether to use perception-assisted positioning based on the relevant information in the received positioning service request. If it is determined that perception-assisted positioning is to be used, the LMF can send a first request to the SF. If it is determined that perception-assisted positioning is not to be used, the LMF does not need to send a first request to the SF and can directly return a positioning service response to the AMF. This positioning service response may include the first location of the terminal device obtained in step 306, such as first positioning information. In one possible implementation, the positioning service request received by the LMF may include third indication information. The LMF can send a first request to the sensing function network element based on the third indication information. For example, the third indication information may be a perception-assisted positioning indication. In this case, the LMF can determine whether to use perception-assisted positioning based on the perception-assisted positioning indication and can send a first request to the SF to obtain relevant sensing information. For another example, the third indication information can be service quality information or one of the service quality information (such as positioning accuracy or service quality level). In this case, the LMF can determine whether to use perception-assisted positioning based on the service quality information or one of the service quality information. If it is determined that perception-assisted positioning should be used based on the service quality information or one of the service quality information, the LMF can send a first request to the SF to obtain relevant perception information. Otherwise, the LMF can directly return a positioning service response to the AMF without sending a first request to the SF. For another example, the LMF can determine whether the positioning accuracy required in the positioning service request is less than or equal to a threshold of 1 (such as 50cm). If it is determined that the positioning accuracy required in the positioning service request is less than or equal to the threshold of 1, perception-assisted positioning can be used, and the LMF can send a first request to the SF to obtain relevant perception information. If it is determined that the positioning accuracy required in the positioning service request is greater than the threshold of 1, perception-assisted positioning can be discontinued, and the LMF can directly return a positioning service response to the AMF without sending a first request to the SF. It should be understood that the initial positioning accuracy achievable by the terminal device is greater than a threshold of 1. In other words, when the positioning accuracy is less than or equal to the threshold of 1, perception-assisted positioning is required to meet the positioning accuracy requirements. The threshold of 1 can be pre-configured or obtained from the AMF, RAN, or UE. For example, assuming the positioning service request received by the LMF includes a positioning accuracy of 20cm in its quality of service information, the LMF can determine that this positioning accuracy is less than the threshold of 1. Therefore, perception-assisted positioning can be used, and a first request can be sent to the SF to obtain relevant perception information.

[0156] The first request may include first location information or a first sensing area. If the first request includes a first sensing area, in one possible implementation, the LMF (Local Position Filter) may determine the first sensing area based on the first location information. For example, assuming the first location information is the first location of the terminal device, the LMF may define a region surrounding the first location as the first sensing area. The first sensing area may be a rectangular area, a circular area, a hexagonal area, an elliptical area, or other geometrical area. It should be understood that the first sensing area in the first request may be information used to indicate the first sensing area. For example, assuming the first sensing area is a rectangular area surrounding the first location, in this case, the first sensing area in the first request may include the position information (such as latitude and longitude) of the four vertices of the rectangular area. In some possible implementations, the first sensing area may also be a tracking area or cell, such as the serving cell of the terminal device, or other areas related to the positioning of the terminal device. It should be understood that if the first request includes first location information, the first location information can be used by the SF (Local Position Filter) to determine the first sensing area.

[0157] Furthermore, if the location service request received by the LMF from the AMF includes quality of service (QoS) information, the LMF can also determine the first sensing area by combining the QoS information. In other words, the LMF can determine the first sensing area based on the first positioning information and the QoS information. For example, the higher the positioning accuracy requirement, the more comprehensive the sensing information needed to assist positioning (such as including all multipath information of the terminal device), which means a larger sensing area is required. Conversely, if the positioning accuracy requirement is relatively low, then more comprehensive sensing information (such as including some multipath information of the terminal device) is sufficient, meaning a smaller sensing area is sufficient. For instance, with a positioning accuracy of 20cm, the area centered at the first location with a radius of r1 can be determined as the first sensing area. With a positioning accuracy of 30cm, the area centered at the first location with a radius of r2 can be determined as the first sensing area. With a positioning accuracy of 50cm, the area centered at the first location with a radius of r3 can be determined as the first sensing area. Here, r1 > r2 > r3. In some possible implementations, the LMF can also determine the first sensing area based on quality of service information. For example, the LMF can determine the first sensing area by combining the location and quality of service information of the serving base station of the terminal device, or by combining the range and quality of service information of the serving cell of the terminal device. It should be understood that determining the sensing area based on the first positioning information and quality of service information can make the sensing area more accurate / appropriate, and can save sensing resources, transmission resources, processing resources, etc. while ensuring positioning accuracy.

[0158] Optionally, the first request may also include quality of service information and / or sensing requirements. Specifically, in the case where the positioning service request received by the LMF from the AMF includes quality of service information, the first request may include such quality of service information. Further, in the case where the first request includes sensing requirements, in one possible implementation, the LMF may determine the sensing requirements based on the quality of service information, and the sensing requirements may be used to obtain sensing information corresponding to the first sensing area. Exemplarily, the higher the positioning accuracy requirement, the higher the quality requirement for the sensing information may be, and correspondingly, the higher the sensing requirements may be (e.g., the requirements for sensing accuracy and sensing resolution may be higher). In contrast, if the positioning accuracy requirement is relatively low, the quality requirement for the sensing information may also be relatively low, and correspondingly, the sensing requirements may also be relatively low. That is to say, the sensing requirements will affect the quality of the obtained sensing information (such as the quality of the obtained electromagnetic map), thereby affecting the positioning accuracy. For example, when the positioning accuracy is 20 cm, the sensing accuracy may be a1 and the sensing resolution may be d1. When the positioning accuracy is 30 cm, the sensing accuracy may be a2 and the sensing resolution may be d2. When the positioning accuracy is 50 cm, the sensing accuracy may be a3 and the sensing resolution may be d3. Among them, a1 < a2 < a3. Exemplarily, taking the distance accuracy as an example, a1 may be 5 cm, a2 may be 10 cm, and a3 may be 20 cm. d1 < d2 < d3. Taking the distance resolution as an example, exemplarily, d1 may be 10 cm, d2 may be 20 cm, and d3 may be 30 cm. It should be understood that determining the sensing requirements based on the quality of service information can make the sensing requirements more accurate / suitable, while ensuring the positioning accuracy, it can save sensing resources, transmission resources, processing resources, etc. It should be understood that when the first sensing area is not included in the first request, the quality of service information in the first request may be used by the SF to determine the first sensing area. Similarly, when the sensing requirements are not included in the first request, the quality of service information in the first request may also be used by the SF to determine the sensing requirements. It should be understood that the sensing requirements may include one or more of sensing accuracy, sensing resolution, coverage, etc. The sensing accuracy may include one or more of distance accuracy, speed accuracy, angle accuracy, etc., and the sensing resolution may include one or more of distance resolution, speed resolution, angle resolution, etc.

[0159] In some possible implementation manners, the sensing requirements may also be indicated by the positioning requester. For example, the positioning service request sent by the positioning requester to the GMLC may include the sensing requirements, and subsequently, the sensing requirements may be carried in the positioning service request and sent to the AMF, and the AMF may carry it in the positioning service request and send it to the LMF. It can be understood that the first request may further include other relevant information in the positioning service request received by the LMF from the AMF, and the embodiments of the present application do not limit this.

[0160] Optionally, the first request may also include first identification information, which can be used to identify the first sensing area or terminal device, or the first identification information can be used to identify the first request. The first identification information may be a location service association identifier received by the LMF from the AMF, or it may be newly defined identification information; this embodiment of the application does not limit this.

[0161] It is understood that the operations performed by the SF may differ depending on whether the first request includes a first sensing area or includes first location information. Therefore, relevant instruction information can be included in the first request to distinguish between the two scenarios. For example, if the first request includes a first sensing area, it may also include first instruction information, which can be used to instruct the sensing function network element to return the sensing information corresponding to the first sensing area. In this case, it is equivalent to the LMF directly requesting the sensing information corresponding to the sensing area from the SF after determining the sensing area. If the first request includes first location information, it may also include second instruction information, which can be used to instruct the sensing function network element to return the sensing information corresponding to the first sensing area based on the first location information. In this case, it is equivalent to the LMF instructing the SF to determine the sensing area and return the sensing information corresponding to that sensing area.

[0162] 308.SF sends the sensing information corresponding to the first sensing area to LMF.

[0163] After receiving the first request from the LMF, the SF can obtain the sensing information corresponding to the first sensing area based on the first request, and then send the sensing information corresponding to the first sensing area to the LMF. Correspondingly, the LMF can receive the sensing information corresponding to the first sensing area from the SF. The sensing information corresponding to the first sensing area can be used to determine the second positioning information of the terminal device in conjunction with the terminal device's first positioning information.

[0164] It should be understood that, depending on the information included in the first request, the specific process by which SF obtains the sensing information corresponding to the first sensing area based on the first request may differ, and will be explained separately below.

[0165] Specifically, if the first request includes a first sensing area, the SF can obtain the sensing information corresponding to the first sensing area. If the first request includes first location information, the SF can first determine the first sensing area based on the first location information, and then obtain the sensing information corresponding to the first sensing area. Furthermore, if the first request also includes quality of service information, the SF can also determine the first sensing area by combining the quality of service information. In other words, the SF can determine the first sensing area based on the first location information and the quality of service information. For details, please refer to the relevant description in step 307 above, which will not be repeated here.

[0166] If the first request includes a perception requirement, the SF can obtain perception information corresponding to the first perception area based on the perception requirement. In some possible implementations, if the first request does not include a perception requirement but includes quality of service information, the SF can determine the perception requirement based on the quality of service information, and then obtain the perception information corresponding to the first perception area based on the perception requirement.

[0167] It is understandable that the operations performed by the SF may differ depending on whether the first request includes a first sensing area or includes first location information. The first request can carry relevant indication information to distinguish between these two cases. For example, if the first request includes a first sensing area, it can also include first indication information. In this case, the SF can determine, based on the first indication information, that it should return the corresponding sensing information to the LMF based on the first sensing area carried in the first request. The SF can obtain the sensing information corresponding to the first sensing area based on the first indication information, and then send the sensing information corresponding to the first sensing area to the LMF based on the first indication information. That is, after determining that the first request includes first indication information, the SF can trigger the acquisition of the sensing information corresponding to the first sensing area and return it to the LMF. If the first request includes first location information, it can also include second indication information. In this case, the SF can determine, based on the second indication information, that it should return the corresponding sensing information to the LMF based on the first location information carried in the first request. The SF can determine the first sensing area based on the second indication information and the first location information, then obtain the sensing information corresponding to the first sensing area based on the second indication information, and finally send the sensing information corresponding to the first sensing area to the LMF based on the second indication information. In other words, after SF determines that the first request includes the second instruction information, it can trigger the determination of the first sensing area based on the first positioning information, obtain the sensing information corresponding to the first sensing area, and return the sensing information corresponding to the first sensing area to LMF.

[0168] When the first request includes first identification information, the SF may carry the first identification information when sending the sensing information corresponding to the first sensing area to the LMF, so that the LMF can determine that the sensing information is the sensing information corresponding to the first sensing area associated with the terminal device based on the first identification information. For example, when the SF returns the sensing information corresponding to the first sensing area to the LMF, it may send a response to the first request to the LMF. The response to the first request may include the sensing information corresponding to the first sensing area and the first identification information. Accordingly, the LMF can receive the response to the first request from the SF and can determine that the sensing information in the response is the sensing information corresponding to the first sensing area associated with the terminal device based on the first identification information in the response. In this embodiment, the response to the first request may also be called a sensing information request response, a sensing information acquisition request response, or a sensing request response, etc.

[0169] It should be noted that the embodiments of this application do not limit the method by which the SF obtains the sensing information corresponding to the first sensing area. For example, in one scenario, the SF can locally store the sensing information corresponding to the first sensing area, and the SF can directly obtain the sensing information corresponding to the first sensing area. For instance, the sensing devices related to the first sensing area can periodically perform sensing tasks to obtain sensing data, and can periodically report the sensing data corresponding to the first sensing area to the SF. The sensing data corresponding to the first sensing area can be the sensing information corresponding to the first sensing area, or the SF can process the sensing data corresponding to the first sensing area to obtain the sensing information corresponding to the first sensing area. As another example, after receiving a first request, the SF can issue a sensing task to the sensing devices related to the first sensing area based on the first request. After the sensing devices related to the first sensing area perform the relevant sensing task and obtain the sensing data corresponding to the first sensing area, they can report the sensing data corresponding to the first sensing area to the SF. It should be understood that when issuing a sensing task, the SF can also indicate relevant sensing requirements.

[0170] In this embodiment, the sensing information corresponding to the first sensing area may include an electromagnetic map corresponding to the first sensing area. The electromagnetic map corresponding to the first sensing area may include electromagnetic information within the first sensing area, such as reference signal received power (RSRP), reference signal received quality (RSRQ), spatial eigenvalues, channel matrix, large-scale fading information, small-scale fading information, multipath information (such as NLoS and LoS path information), first-order scattering path information, second-order scattering path information, interference information, and other electromagnetic information related to the propagation environment. The electromagnetic map corresponding to the first sensing area can be used to understand the signal propagation environment of the first sensing area. Further, the electromagnetic map corresponding to the first sensing area may be an electromagnetic map associated with the target terminal device. In some possible cases, the electromagnetic map may also be called a radio frequency map (RF map). It should be understood that the sensing area can be a geographical area. Optionally, the sensing information corresponding to the first sensing area may also include the speed information of the terminal device.

[0171] 309. The LMF determines the second positioning information of the terminal device based on the sensing information corresponding to the first sensing area and the first positioning information.

[0172] After receiving the sensing information corresponding to the first sensing area from the SF, the LMF can determine the second positioning information of the terminal device based on the sensing information corresponding to the first sensing area and the first positioning information. The second positioning information can be the second location of the terminal device, that is, the positioning result of the terminal device. The second location of the terminal device can be an absolute location (such as latitude and longitude information) or a relative location (such as the location relative to the base station). It should be understood that the positioning error of the second location of the terminal device is smaller than that of the first location of the terminal device.

[0173] For example, assuming the first positioning information is the first location of the terminal device, the LMF can correct the first location based on the sensing information corresponding to the first sensing area to obtain a more accurate second location. For instance, the sensing information corresponding to the first sensing area may include an electromagnetic map of the first sensing area, which may include NLoS and / or LoS path-related information of the terminal device. The LMF can correct the first location based on the NLoS and / or LoS path-related information of the terminal device to obtain the second location. As another example, assuming the first positioning information is information used to determine the first location of the terminal device, such as positioning measurements related to the terminal device, in this case, the LMF can determine the second location based on the sensing information corresponding to the first sensing area and the positioning measurements related to the terminal device. For example, the sensing information corresponding to the first sensing area may include an electromagnetic map of the first sensing area. This electromagnetic map may include NLoS and LoS path information of the terminal device. Assuming that the positioning measurement of the terminal device is obtained based on the NLoS path of the terminal device, and the positioning algorithm requires by default that the positioning measurement of the terminal device is obtained based on the LoS path of the terminal device, in this case, LMF can correct the relevant positioning measurement based on the NLoS and LoS path information of the terminal device, so that the corrected positioning measurement meets the requirements of the positioning algorithm, thereby calculating a more accurate position of the terminal device.

[0174] 310. The LMF sends a location service response to the AMF, which includes the second location information of the terminal device.

[0175] After determining the second location information of the terminal device, the LMF can send a location service response to the AMF, which includes the second location information of the terminal device. For example, the location service response may also include a location service association identifier.

[0176] 311. The AMF sends a location service response to the GMLC, which includes the second location information of the terminal device.

[0177] After receiving a location service response from the LMF, the AMF can send a location service response to the GMLC, which includes the second location information of the terminal device.

[0178] 312. GMLC sends a location service response to the location requester, which includes second location information of the terminal device.

[0179] After receiving a location service response from the AMF, the GMLC can send a location service response to the location requester, which includes secondary location information of the terminal device. In some possible implementations, the GMLC can send the location service response to the location requester via the NEF.

[0180] It should be understood that steps 310-312 are optional. This application embodiment does not limit the process of LMF returning the second location information to the location requester after obtaining the second location information of the terminal device.

[0181] In the above processing flow, during the network positioning process, the LMF can request sensing information corresponding to the first sensing area associated with the terminal device from the SF. Then, it can determine the location of the terminal device by combining this sensing information with the first sensing area associated with the terminal device. Specifically, based on the sensing information corresponding to the first sensing area associated with the terminal device, the signal propagation environment of the first sensing area can be determined, thereby understanding the propagation of relevant positioning signals, such as LoS path, NLoS path, and interference conditions, thus improving the positioning accuracy of the terminal device.

[0182] Figure 4 The process involves the LMF requesting the SF to determine the positioning result based on the sensing information corresponding to the first sensing area associated with the terminal device and the positioning information of the terminal device, and then returning the positioning result. Figure 4 In this process, after the LMF receives a location service request (such as a location service request from the AMF), if it determines to use perception-assisted positioning, the LMF can request the SF to determine the location result of the terminal device based on the perception information corresponding to the first perception area associated with the terminal device and the location information of the terminal device. In specific implementations, this can be further divided into either the LMF determining the first perception area associated with the terminal device, or the SF determining the first perception area associated with the terminal device. For details, please refer to [link to relevant documentation]. Figure 4 , Figure 4 This is a flowchart illustrating another positioning method disclosed in an embodiment of this application. Figure 4 As shown, the method may include, but is not limited to, the following steps:

[0183] 401. Location Request Direction sends a location service request to GMLC.

[0184] 402.GMLC retrieves the address of the AMF.

[0185] 403. GMLC sends a location service request to AMF.

[0186] 404.AMF performs LMF selection.

[0187] 405.AMF sends a location service request to LMF.

[0188] It should be understood that steps 401-405 are optional, and the embodiments of this application do not limit the process of triggering LMF to use perception-assisted localization.

[0189] 406.LMF triggers the location of the terminal device and obtains the first location information of the terminal device.

[0190] Steps 401-406 are similar to steps 301-306 above, and can be referred to the relevant descriptions in steps 301-306 above, which will not be repeated in detail here.

[0191] 407. The LMF sends a location information request to the SF. The location information request is used to request the second location information of the terminal device. The location information request includes the first location information of the terminal device. The second location information of the terminal device is determined based on the sensing information corresponding to the first sensing area and the first location information. The first sensing area is associated with the terminal device.

[0192] When sensing information is needed to assist in positioning, the LMF can send a positioning information request to the SF. Correspondingly, the SF can receive the positioning information request from the LMF. In this embodiment, the positioning information request can also be referred to as a positioning correction request, positioning information correction request, etc.

[0193] It is understood that there are two possible ways to trigger perception-assisted positioning in the embodiments of this application, that is, there are two ways to trigger the interaction between LMF and SF to obtain the second positioning information of the terminal device. The first way is to trigger it through the third indication information, and the second way is not triggered without the relevant indication information. LMF defaults to using perception-assisted positioning for positioning service requests.

[0194] Regarding the first triggering method described above, the LMF can determine whether to use perception-assisted positioning based on the relevant information in the received positioning service request. If perception-assisted positioning is determined to be used, the LMF can send a positioning information request to the SF. If perception-assisted positioning is not determined to be used, the LMF does not need to send a positioning information request to the SF and can directly return a positioning service response to the AMF. This positioning service response may include the first location of the terminal device obtained in step 406, such as first positioning information. In one possible implementation, the positioning service request received by the LMF may include third indication information. The LMF can send a positioning information request to the perception function network element based on the third indication information. For example, the third indication information may be a perception-assisted positioning indication. In this case, the LMF can determine whether to use perception-assisted positioning based on the perception-assisted positioning indication and can send a positioning information request to the SF to obtain the second positioning information of the terminal device. For another example, the third indication information can be service quality information or one of the service quality information (such as positioning accuracy or service quality level). In this case, the LMF can determine whether to use perception-assisted positioning based on the service quality information or one of the service quality information. If it is determined that perception-assisted positioning should be used based on the service quality information or one of the service quality information, the LMF can send a positioning information request to the SF to obtain the second positioning information of the terminal device. Otherwise, the LMF can directly return a positioning service response to the AMF without sending a positioning information request to the SF. For another example, the LMF can determine whether the positioning accuracy required in the positioning service request is less than or equal to a threshold of 1 (such as 50cm). If it is determined that the positioning accuracy required in the positioning service request is less than or equal to the threshold of 1, perception-assisted positioning can be used, and the LMF can send a first request to the SF to obtain relevant perception information. If it is determined that the positioning accuracy required in the positioning service request is greater than the threshold of 1, perception-assisted positioning can be discontinued, and the LMF can directly return a positioning service response to the AMF without sending a first request to the SF. It should be understood that the initial positioning accuracy achievable by the terminal device is greater than a threshold of 1. In other words, when the positioning accuracy is less than or equal to the threshold of 1, perception-assisted positioning is required to meet the positioning accuracy requirements. The threshold of 1 can be pre-configured or obtained from the AMF, RAN, or UE. For example, assuming the positioning service request received by the LMF includes a positioning accuracy of 20cm, the LMF can determine that this positioning accuracy is less than the threshold of 1. Therefore, perception-assisted positioning can be used, and a positioning information request can be sent to the SF to obtain the terminal device's second positioning information.

[0195] The location information request may also include a first sensing area. In one possible implementation, the LMF can determine the first sensing area based on the first location information. For example, assuming the first location information is the first location of the terminal device, the LMF can determine a region surrounding the first location as the first sensing area. The first sensing area can be a rectangular area, a circular area, a hexagonal area, an elliptical area, or other geometrical area. It should be understood that the first sensing area in the location information request can be information used to indicate the first sensing area. For example, assuming the first sensing area is a rectangular area surrounding the first location, the first sensing area in the location information request can include the position information (such as latitude and longitude) of the four vertices of the rectangular area. In some possible implementations, the first sensing area can also be a tracking area or cell, such as the serving cell of the terminal device, or other areas related to the positioning of the terminal device. It should be understood that when the location information request includes the first location information but does not include the first sensing area, the first location information can be used by the SF to determine the first sensing area.

[0196] Furthermore, if the location service request received by the LMF from the AMF includes quality of service information, the LMF can also determine the first sensing area by combining the quality of service information. In other words, the LMF can determine the first sensing area based on the first location information and the quality of service information. A more detailed description of determining the first sensing area based on the first location information and the quality of service information can be found in the relevant description in step 307 above, and will not be repeated here.

[0197] Optionally, the location information request may also include quality of service information and / or sensing requirements. Specifically, if the location service request received by the LMF from the AMF includes quality of service information, the location information request may include that quality of service information. Further, in one possible implementation, the LMF may determine sensing requirements based on the quality of service information, which can be used to obtain sensing information corresponding to the first sensing area. A more detailed description of determining sensing requirements based on quality of service information can be found in the relevant description in step 307 above, and will not be repeated here. It should be understood that when the location information request does not include the first sensing area, the quality of service information in the location information request can be used by the SF to determine the first sensing area. Similarly, when the location information request does not include sensing requirements, the quality of service information in the location information request can also be used by the SF to determine the sensing requirements. It should be understood that sensing requirements may include one or more of sensing accuracy, sensing resolution, coverage, etc. Sensing accuracy may include one or more of distance accuracy, velocity accuracy, angle accuracy, etc., and sensing resolution may include one or more of distance resolution, velocity resolution, angle resolution, etc.

[0198] In some possible implementations, the perception request may also be indicated by the location requester. For example, the location service request sent by the location requester to the GMLC may include the perception request, which can then be carried in the location service request and sent to the AMF. The AMF can then carry this perception request in the location service request and send it to the LMF. It is understood that the location information request may also include other relevant information received by the LMF from the location service request from the AMF, but this application embodiment does not limit this.

[0199] Optionally, the location information request may also include second identification information. This second identification information can be used to identify the terminal device, the location information request itself, or the first location information. The second identification information can be a location service association identifier received by the LMF from the AMF, or it can be newly defined identification information; this embodiment does not limit this.

[0200] It is understood that the operations performed by the SF may differ depending on whether the location information request includes the first location information and the first sensing area, or whether the location information request includes the first location information but does not include the first sensing area. Therefore, relevant indication information can be included in the location information request to distinguish between these two scenarios. For example, when the location information request includes the first location information but does not include the first sensing area, the location information request may also include fourth indication information. This fourth indication information can be used to instruct the SF to return the second location information of the terminal device based on the first location information. In this case, it is equivalent to the LMF instructing the SF to determine the sensing area, and based on the sensing information corresponding to that sensing area and the first location information, determine the second location information of the terminal device, and then return the second location information. When the location information request includes both the first location information and the first sensing area, the location information request may also include fifth indication information. This fifth indication information can be used to instruct the SF to return the second location information of the terminal device based on the first sensing area. In this case, it is equivalent to the LMF determining the sensing area, directly requesting the SF to determine the second location information of the terminal device based on the sensing information corresponding to that sensing area and the first location information, and then returning the second location information.

[0201] 408.SF determines the second positioning information of the terminal device based on the sensing information and the first positioning information corresponding to the first sensing area, and the first sensing area is associated with the terminal device.

[0202] After receiving a location information request from the LMF, the SF can obtain the sensing information corresponding to the first sensing area based on the location information request. Then, based on the sensing information corresponding to the first sensing area and the first location information, it can determine the second location information of the terminal device and then send the second location information of the terminal device to the LMF. Correspondingly, the LMF can receive the second location information of the terminal device from the SF.

[0203] It should be understood that, depending on the information included in the location information request, the specific process by which SF obtains the sensing information corresponding to the first sensing area based on the location information request may differ, and will be explained separately below.

[0204] Specifically, if the location information request includes a first sensing area, the SF can directly obtain the sensing information corresponding to the first sensing area. If the location information request does not include a first sensing area, the SF can determine the first sensing area based on the first location information, and then obtain the corresponding sensing information based on the first sensing area. Furthermore, if the location information request also includes quality of service (QoS) information, the SF can also determine the first sensing area by combining the QoS information. In other words, the SF can determine the first sensing area based on the first location information and the QoS information. For details, please refer to the relevant description in step 307 above, which will not be repeated here.

[0205] When the location information request includes a perception requirement, the SF can obtain the perception information corresponding to the first perception area based on the perception requirement. In some possible implementations, when the location information request does not include a perception requirement but includes quality of service information, the SF can determine the perception requirement based on the quality of service information, and then obtain the perception information corresponding to the first perception area based on the perception requirement.

[0206] It is understandable that the operations performed by the SF (Secure Detector) may differ depending on whether the location information request includes first location information and a first sensing area, or includes first location information but does not include a first sensing area. The location information request can carry relevant indication information to distinguish between these two cases. For example, when the location information request includes first location information but does not include a first sensing area, the location information request may also include fourth indication information. In this case, the SF can determine, based on the fourth indication information, that it should return the second location information of the terminal device to the LMF (Local Management Detector) based on the first location information carried in the location information request. The SF can determine the first sensing area based on the fourth indication information and the first location information, then obtain the sensing information corresponding to the first sensing area based on the fourth indication information, then determine the second location information of the terminal device based on the sensing information corresponding to the first sensing area and the first location information, and finally send the second location information of the terminal device to the LMF based on the fourth indication information. In other words, after determining that the location information request includes the fourth indication information, the SF can trigger the determination of the first sensing area based on the first location information, obtain the sensing information corresponding to the first sensing area, then determine the second location information of the terminal device based on the sensing information corresponding to the first sensing area and the first location information, and return the second location information of the terminal device to the LMF. When the location information request includes first location information and a first sensing area, the location information request may also include fifth indication information. In this case, the SF can determine, based on the fifth indication information, that it should return the second location information of the terminal device to the LMF based on the first sensing area carried in the location information request. The SF can obtain the sensing information corresponding to the first sensing area based on the fifth indication information and the first sensing area, and then determine the second location information of the terminal device based on the sensing information corresponding to the first sensing area and the first location information. Finally, it can send the second location information of the terminal device to the LMF based on the fifth indication information. In other words, after the SF determines that the location information request includes the fifth indication information, it can trigger the acquisition of the sensing information corresponding to the first sensing area, then determine the second location information of the terminal device based on the sensing information corresponding to the first sensing area and the first location information, and return the second location information of the terminal device to the LMF.

[0207] It should be noted that the embodiments of this application do not limit the method by which the SF obtains the sensing information corresponding to the first sensing area. For example, in one scenario, the SF can locally store the sensing information corresponding to the first sensing area, and the SF can directly obtain the sensing information corresponding to the first sensing area. For instance, the sensing devices related to the first sensing area can periodically perform sensing tasks, obtain sensing data, and periodically report the sensing data corresponding to the first sensing area to the SF. The sensing data corresponding to the first sensing area can be the sensing information corresponding to the first sensing area, or the SF can process the sensing data corresponding to the first sensing area to obtain the sensing information corresponding to the first sensing area. As another example, after receiving a location information request, the SF can issue a sensing task to the sensing devices related to the first sensing area based on the location information request. After the sensing devices related to the first sensing area perform the relevant sensing task and obtain the sensing data corresponding to the first sensing area, they can report the sensing data corresponding to the first sensing area to the SF. It should be understood that when issuing a sensing task, the SF can also indicate relevant sensing requirements.

[0208] In this embodiment, the sensing information corresponding to the first sensing area may include an electromagnetic map corresponding to the first sensing area. The electromagnetic map corresponding to the first sensing area may include electromagnetic information within the first sensing area, such as reference signal received power (RSRP), reference signal received quality (RSRQ), spatial eigenvalues, channel matrix, large-scale fading information, small-scale fading information, multipath information, interference information, and other electromagnetic information related to the propagation environment. The electromagnetic map corresponding to the first sensing area can be used to understand the signal propagation environment of the first sensing area. The electromagnetic map can also be called a radio frequency map (RF map). It should be understood that the sensing area can be a geographical area.

[0209] It is understandable that after SF obtains the sensing information corresponding to the first sensing area, it can determine the second positioning information of the terminal device based on the sensing information and the first positioning information. The second positioning information can be the second location of the terminal device, that is, the positioning result of the terminal device. The second location of the terminal device can be an absolute location (such as latitude and longitude information) or a relative location (such as the location relative to the base station). It should be understood that the positioning error of the second location of the terminal device is smaller than that of the first location of the terminal device.

[0210] For example, assuming the first positioning information is the first location of the terminal device, the LMF can correct the first location based on the sensing information corresponding to the first sensing area to obtain a more accurate second location.

[0211] 409.SF sends the second location information of the terminal device to LMF.

[0212] After determining the second location information of the terminal device based on the sensing information and the first location information corresponding to the first sensing area, the SF can send the second location information of the terminal device to the LMF. Correspondingly, the LMF can receive the second location information of the terminal device from the SF.

[0213] When the location information request includes second identification information, the SF may include the second identification information when sending the second location information of the terminal device to the LMF, so that the LMF can determine, based on the second identification information, that the location information is the location information of the target terminal device, or that the location information is the location information requested in step 407. For example, when the SF sends the second location information of the terminal device to the LMF, it may also send a response to the location information request, which may include the second location information and the second identification information of the terminal device. Accordingly, the LMF can receive the response to the location information request from the SF and can determine, based on the second identification information in the response, that the location information in the response is the location information of the target terminal device or the location information requested in step 407. In this embodiment, the response to the location information request may also be called a location correction request response, location information correction request response, etc.

[0214] 410. The LMF sends a location service response to the AMF, which includes the second location information of the terminal device.

[0215] After receiving the second location information from the terminal device at the SF, the LMF can send a location service response to the AMF, which includes the second location information of the terminal device. For example, the location service response may also include a location service association identifier.

[0216] 411. The AMF sends a location service response to the GMLC, which includes the second location information of the terminal device.

[0217] After receiving a location service response from the LMF, the AMF can send a location service response to the GMLC, which includes the second location information of the terminal device.

[0218] 412. GMLC sends a location service response to the location requester, which includes second location information of the terminal device.

[0219] After receiving a location service response from the AMF, the GMLC can send a location service response to the location requester, which includes secondary location information of the terminal device. In some possible implementations, the GMLC can send the location service response to the location requester via the NEF.

[0220] It should be understood that steps 410-412 are optional. This application embodiment does not limit the process of LMF returning the second location information to the location requester after obtaining the second location information of the terminal device.

[0221] In the above processing flow, during the network positioning process, the LMF can request the SF to determine the location of the terminal device based on the sensing information corresponding to the first sensing area associated with the terminal device and the terminal device's first positioning information, and then return the determined location of the terminal device. Specifically, the sensing information corresponding to the first sensing area associated with the terminal device reveals the signal propagation environment of the first sensing area, thus revealing the propagation status of relevant positioning signals, such as LoS path, NLoS path, and interference conditions, thereby improving the positioning accuracy of the terminal device.

[0222] It should be noted that the relevant information (i.e., the same or similar information) and related descriptions in the different embodiments described above can be referenced from each other.

[0223] Understandably, based on Figure 3 The illustrated embodiments and Figure 4 The embodiments shown can be used to obtain other embodiments, which should also be included within the scope of protection of this application. For example, Figure 3 The illustrated embodiments and Figure 4 The illustrated embodiments can be combined or separated.

[0224] The foregoing mainly describes the positioning method provided in the embodiments of this application. It is understood that, in order to achieve the corresponding functions, the LMF and SF may include hardware structures and / or software modules corresponding to the execution of each function. Based on the units and steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this application.

[0225] This application embodiment can divide LMF and SF 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 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.

[0226] When dividing each function into modules according to its corresponding function. Figure 5 A possible structural schematic diagram of a communication device 500 is shown. The communication device 500 includes a processing unit 501 and a communication unit 502. Optionally, the communication unit 502 may also be referred to as a transceiver unit, an output unit, or an interface unit, etc. In one possible implementation, the communication unit 502 includes at least one of a transmitting unit or a receiving unit. The transmitting unit and the receiving unit may be integrated together, or they may be two independent units, etc. In one possible design, the communication device 500 may be the aforementioned LMF, or it may be a component within the LMF (e.g., a processor, chip, chip system, circuit, or functional module), or it may be a processing system within the LMF, etc.

[0227] When the communication device 500 is used in the above Figure 3 In the illustrated embodiment, the function of LMF is specifically as follows:

[0228] Processing unit 501 is used to acquire the first positioning information of the terminal device;

[0229] Communication unit 502 is used to send a first request to a sensing function network element, the first request being used to request sensing information corresponding to a first sensing area, the first sensing area being associated with the terminal device;

[0230] The communication unit 502 is used to receive sensing information from the sensing function network element corresponding to the first sensing area;

[0231] The processing unit 501 is further configured to determine the second positioning information of the terminal device based on the sensing information corresponding to the first sensing area and the first positioning information.

[0232] For example, the processing unit 501 may obtain the first location information of the terminal device through the communication unit 502, or through the communication unit 502 and the communication unit 502.

[0233] In one possible implementation, the first request includes the first location information or the first sensing area.

[0234] In one possible implementation, the processing unit 501 is further configured to determine the first sensing area based on the first positioning information.

[0235] In one possible implementation, if the first request includes the first sensing area, the first request also includes first indication information, which is used to instruct the sensing function network element to return sensing information corresponding to the first sensing area.

[0236] In one possible implementation, if the first request includes the first location information, the first request also includes second indication information, which is used to instruct the sensing function network element to return the sensing information corresponding to the first sensing area based on the first location information.

[0237] In one possible implementation, the communication unit 502 is further configured to receive a location service request from an access and mobility management network element, the location service request being used to request location information of the terminal device; the location service request includes third indication information, the third indication information being used to indicate the use of sensing information to assist in positioning; the communication unit 502 is specifically configured to send a first request to a sensing function network element based on the third indication information.

[0238] In one possible implementation, the location service request may also include quality of service information, and the first request may also include the quality of service information.

[0239] In one possible implementation, the location service request also includes quality of service information. The processing unit 501 is further configured to determine a perception requirement based on the quality of service information. The first request also includes the perception requirement, which is used to obtain perception information corresponding to the first perception area.

[0240] In one possible implementation, the processing unit 501 determines the first sensing area based on the first positioning information by: determining the first sensing area based on the first positioning information and the quality of service information.

[0241] In one possible implementation, the first request further includes first identification information, which is used to identify the first sensing area or the terminal device; the communication unit 502 receiving sensing information corresponding to the first sensing area from the sensing function network element includes receiving a response to the first request from the sensing function network element, the response to the first request including the sensing information corresponding to the first sensing area and the first identification information.

[0242] For details on the operation of each unit in the aforementioned communication device 500, please refer to the above. Figure 3 The description of the LMF in the illustrated embodiment will not be repeated here.

[0243] When the communication device 500 is used in the above Figure 4 In the illustrated embodiment, the function of LMF is specifically as follows:

[0244] Processing unit 501 is used to acquire the first positioning information of the terminal device;

[0245] Communication unit 502 is used to send a location information request to a sensing function network element. The location information request is used to request the second location information of the terminal device. The location information request includes the first location information of the terminal device. The second location information of the terminal device is determined based on the sensing information corresponding to the first sensing area and the first location information. The first sensing area is associated with the terminal device.

[0246] The communication unit 502 is used to receive second positioning information from the terminal device of the sensing function network element.

[0247] In one possible implementation, the location information request may also include the first sensing area.

[0248] In one possible implementation, the processing unit 501 is further configured to determine the first sensing area based on the first positioning information.

[0249] In one possible implementation, the location information request further includes fourth indication information, which instructs the sensing function network element to return the second location information of the terminal device based on the first location information.

[0250] In one possible implementation, the location information request further includes a fifth indication, which instructs the sensing function network element to return the second location information of the terminal device based on the first sensing area.

[0251] In one possible implementation, the communication unit 502 is further configured to receive a location service request from an access and mobility management network element, the location service request being used to request location information of the terminal device; the location service request includes third indication information, the third indication information being used to indicate the use of sensing information to assist in positioning; the communication unit 502 is specifically configured to send a location information request to a sensing function network element based on the third indication information.

[0252] In one possible implementation, the location service request may also include quality of service information, and the location information request may also include the quality of service information.

[0253] In one possible implementation, the location service request also includes quality of service information. The processing unit 501 is further configured to determine a perception requirement based on the quality of service information. The location information request also includes the perception requirement, which is used to obtain perception information corresponding to the first perception area.

[0254] In one possible implementation, the processing unit 501 determines the first sensing area based on the first positioning information by: determining the first sensing area based on the first positioning information and the quality of service information.

[0255] In one possible implementation, the location information request further includes second identification information, which is used to identify the first location information request or the terminal device; the communication unit 502 receiving the second location information of the terminal device from the sensing function network element includes receiving a response to the location information request from the sensing function network element, the response to the location information request including the second location information of the terminal device and the second identification information.

[0256] For details on the operation of each unit in the aforementioned communication device 500, please refer to the above. Figure 4 The description of the LMF in the illustrated embodiment will not be repeated here.

[0257] In one possible design, the communication device 500 may be the aforementioned SF, or a component of the SF (e.g., a processor, chip, chip system, circuit or functional module), or a processing system of the SF, etc.

[0258] When the communication device 500 is used in the above Figure 3 In the illustrated embodiment, the function of SF is specifically as follows:

[0259] Communication unit 502 is used to receive a first request from a positioning function network element, the first request being used to request sensing information corresponding to a first sensing area, the first sensing area being associated with a terminal device;

[0260] The communication unit 502 is used to send the sensing information corresponding to the first sensing area to the positioning function network element. The sensing information corresponding to the first sensing area is used to determine the second positioning information of the terminal device in combination with the first positioning information of the terminal device.

[0261] In one possible implementation, the communication device 500 may further include a processing unit 501, wherein the first request includes the first location information or the first sensing area; if the first request includes the first location information, the processing unit 501 is used to determine the first sensing area based on the first location information.

[0262] In one possible implementation, if the first request includes the first sensing area, the first request also includes first indication information, which is used to instruct the sensing function network element to return sensing information corresponding to the first sensing area; the communication unit 502 is specifically used to send the sensing information corresponding to the first sensing area to the positioning function network element based on the first indication information.

[0263] In one possible implementation, if the first request includes the first location information, the first request further includes second indication information, which is used to instruct the sensing function network element to return sensing information corresponding to the first sensing area based on the first location information; the processing unit 501 determines the first sensing area based on the first location information by: determining the first sensing area based on the second indication information and the first location information; the communication unit 502 sends the sensing information corresponding to the first sensing area to the positioning function network element by: sending the sensing information corresponding to the first sensing area to the positioning function network element based on the second indication information.

[0264] In one possible implementation, the first request further includes quality of service information, and the processing unit 501 determines the first sensing area based on the first location information by: determining the first sensing area based on the first location information and the quality of service information.

[0265] In one possible implementation, the first request further includes quality of service information, and the processing unit 501 is further configured to determine a perception requirement based on the quality of service information; the processing unit 501 is further configured to obtain perception information corresponding to the first perception area based on the perception requirement.

[0266] In one possible implementation, the first request further includes a perception requirement, and the processing unit 501 is further configured to obtain perception information corresponding to the first perception area based on the perception requirement.

[0267] In one possible implementation, the first request further includes first identification information, which is used to identify the first request or the terminal device; the communication unit 502 sending the sensing information corresponding to the first sensing area to the positioning function network element includes sending a response to the first request to the positioning function network element, the response to the first request including the sensing information corresponding to the first sensing area and the first identification information.

[0268] For details on the operation of each unit in the aforementioned communication device 500, please refer to the above. Figure 3 The description of SF in the illustrated embodiments will not be repeated here.

[0269] When the communication device 500 is used in the above Figure 4 In the illustrated embodiment, the function of SF is specifically as follows:

[0270] The communication unit 502 is configured to receive a location information request from a positioning function network element. The location information request is used to request second location information of the terminal device, and the location information request includes the first location information of the terminal device.

[0271] Processing unit 501 is configured to determine second positioning information of the terminal device based on the sensing information corresponding to the first sensing area and the first positioning information; the first sensing area is associated with the terminal device;

[0272] The communication unit 502 is used to send the second positioning information of the terminal device to the positioning function network element.

[0273] In one possible implementation, the processing unit 501 is further configured to determine the first sensing area based on the first positioning information.

[0274] In one possible implementation, the location information request further includes fourth indication information, which instructs the sensing function network element to return the second location information of the terminal device based on the first location information; the processing unit 501 determines the first sensing area based on the first location information by: determining the first sensing area based on the fourth indication information and the first location information; the communication unit 502 sends the second location information of the terminal device to the positioning function network element by: sending the second location information of the terminal device to the positioning function network element based on the fourth indication information.

[0275] In one possible implementation, the location information request may also include the first sensing area.

[0276] In one possible implementation, the location information request further includes a fifth indication, which instructs the sensing function network element to return the second location information of the terminal device based on the first sensing area; the communication unit 502 sending the second location information of the terminal device to the positioning function network element includes sending the second location information of the terminal device to the positioning function network element based on the fifth indication.

[0277] In one possible implementation, the location information request also includes quality of service information, and the processing unit 501 determines the first sensing area based on the first location information by: determining the first sensing area based on the first location information and the quality of service information.

[0278] In one possible implementation, the location information request also includes quality of service information, and the processing unit 501 is further configured to determine the perception requirement based on the quality of service information; the processing unit 501 is further configured to obtain the perception information corresponding to the first perception area based on the perception requirement.

[0279] In one possible implementation, the location information request also includes a perception requirement, and the processing unit 501 is further configured to obtain perception information corresponding to the first perception area based on the perception requirement.

[0280] In one possible implementation, the location information request further includes second identification information, which is used to identify the first location information or the terminal device; the communication unit 502 sending the second location information of the terminal device to the location function network element includes sending a response to the location information request to the location function network element, the response to the location information request including the second location information of the terminal device and the second identification information.

[0281] For details on the operation of each unit in the aforementioned communication device 500, please refer to the above. Figure 4 The description of SF in the illustrated embodiments will not be repeated here.

[0282] In one possible implementation, Figure 5 In the communication device shown, the processing unit can be one or more processors / logic circuits, and the communication unit can be a transceiver. Alternatively, the communication unit can also be a transmitting unit and a receiving unit. The transmitting unit can be a transmitter, and the receiving unit can be a receiver. The transmitting unit and the receiving unit are integrated into one device, such as a transceiver. In the embodiments of this application, the processor and the transceiver can be coupled, etc. The connection method between the processor and the transceiver is not limited in the embodiments of this application. During the execution of the above method, the process of sending information (such as sending a first request) in the above method can be understood as the process of the processor outputting the above information. When outputting the above information, the processor outputs the above information to the transceiver so that the transceiver can transmit it. After the above information is output by the processor, it may need to undergo other processing before reaching the transceiver. Similarly, the process of receiving information (such as receiving a first request) in the above method can be understood as the process of the processor receiving the input information. When the processor receives the input information, the transceiver receives the above information and inputs it into the processor. Furthermore, after the transceiver receives the above information, the above information may need to undergo other processing before being input into the processor.

[0283] In another possible implementation Figure 5 In the communication device shown, the processing unit can be one or more processors / logic circuits. The communication unit can be an input / output interface, or it can be both an input interface and an output interface. The input / output interface can also be called a communication interface, an interface circuit, or an interface, etc.

[0284] Figure 6The diagram illustrates a possible hardware structure of a communication device 600 provided in an embodiment of this application. The communication device 600 may include a communication interface 604 and at least one processor 602. Optionally, it may also include a bus 603. Further optionally, it may include at least one memory 601, wherein the memory 601, processor 602, and communication interface 604 can be connected via the bus 603.

[0285] The memory 601 provides storage space, which can store data such as the operating system and computer programs. The memory 601 can be one or a combination of several of the following: random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0286] Processor 602 is a module that performs arithmetic and / or logical operations. Specifically, it can be one or a combination of processing modules such as a central processing unit (CPU), graphics processing unit (GPU), microprocessor unit (MPU), application specific integrated circuit (ASIC), field programmable gate array (FPGA), complex programmable logic device (CPLD), coprocessor (to assist the central processing unit in completing corresponding processing and applications), and microcontroller unit (MCU).

[0287] The communication interface 604 is used to receive and / or send data to external sources. It may include a wired link interface such as an Ethernet cable, or a wireless link interface (Wi-Fi, Bluetooth, general wireless transmission, etc.). Optionally, the communication interface 604 may also include a transmitter (such as an RF transmitter, antenna, etc.) or a receiver coupled to the interface.

[0288] In one design, the communication device 600 can be used to perform the aforementioned Figure 3The embodiment shown illustrates the function of the LMF. For details, please refer to the above. Figure 3 The relevant descriptions of LMF in Chinese will not be elaborated here.

[0289] In another design, the communication device 600 can be used to perform the aforementioned... Figure 3 The embodiment shown illustrates the function of SF. For details, please refer to the above. Figure 3 The relevant descriptions of SF in China will not be elaborated here.

[0290] In another design, the communication device 600 can be used to perform the aforementioned... Figure 4 The embodiment shown illustrates the function of the LMF. For details, please refer to the above. Figure 4 The relevant descriptions of LMF in Chinese will not be elaborated here.

[0291] In another design, the communication device 600 can be used to perform the aforementioned... Figure 4 The embodiment shown illustrates the function of SF. For details, please refer to the above. Figure 4 The relevant descriptions of SF in China will not be elaborated here.

[0292] In one possible design, memory 601 may store instructions, which may be computer programs. These computer programs run on processor 602 and cause communication device 600 to perform operations executed by LMF or SF in any of the above method embodiments. For details, please refer to the above description. Figure 3 or Figure 4 The relevant descriptions in the document will not be repeated here.

[0293] It should be noted that, Figure 6 The communication device 600 shown is merely one implementation of the embodiments of this application. In actual applications, the communication device 600 may include more or fewer components, which is not limited here.

[0294] This application also discloses a communication system, which may include a positioning function network element and a sensing function network element. The sensing function network element can be used to perform the above-described functions. Figure 3 In the illustrated embodiment, the positioning function network element performs the operation described above, and the second communication device can be used to perform the operation described above. Figure 3 The operations performed by the sensing function network element in the illustrated embodiment.

[0295] This application also discloses a communication system, which may include a positioning function network element and a sensing function network element. The sensing function network element can be used to perform the above-described functions. Figure 4 In the illustrated embodiment, the positioning function network element performs the operation described above, and the second communication device can be used to perform the operation described above. Figure 4 The operations performed by the sensing function network element in the illustrated embodiment.

[0296] This application also discloses a chip, which includes a processor, wherein the processor is used to execute a computer program or computer instructions stored in a memory, causing the chip to perform the above-described actions. Figure 3 The operation performed by the positioning function network element in the illustrated embodiment, or causing the chip to perform the above-mentioned operations. Figure 3 The operation performed by the sensing function network element in the illustrated embodiment, or causing the chip to perform the above-mentioned operations. Figure 4 The operation performed by the positioning function network element in the illustrated embodiment, or causing the chip to perform the above-mentioned operations. Figure 4 The operations performed by the sensing function network element in the illustrated embodiment.

[0297] As one possible implementation, the memory is located outside the chip.

[0298] This application also discloses a computer-readable storage medium storing instructions thereon, which, when executed, perform the above-described actions. Figure 3 The operation performed by the positioning function network element in the illustrated embodiment, or the above-mentioned Figure 3 The operations performed by the sensing function network element in the illustrated embodiment, or the above-mentioned Figure 4 The operation performed by the positioning function network element in the illustrated embodiment, or the above-mentioned Figure 4 The operations performed by the sensing function network element in the illustrated embodiment.

[0299] This application also discloses a computer program product including instructions that, when executed, perform the above-described... Figure 3 The operation performed by the positioning function network element in the illustrated embodiment, or the above-mentioned Figure 3 The operations performed by the sensing function network element in the illustrated embodiment, or the above-mentioned Figure 4 The operation performed by the positioning function network element in the illustrated embodiment, or the above-mentioned Figure 4 The operations performed by the sensing function network element in the illustrated embodiment.

[0300] It should be understood that the transmission in the embodiments of this application can be direct or indirect. Direct transmission means that one device or module directly sends information / data to the corresponding device or module, while indirect transmission means that one device or module sends information / data to the corresponding device or module through other devices or modules.

[0301] Obviously, the embodiments described above are only some embodiments of this application, and not all embodiments. The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described herein can be combined with other embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application. The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects and are not used to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, it may include a series of steps or units, or optionally, steps or units not listed, or optionally other steps or units inherent to these processes, methods, products, or devices. It is understood that in some embodiments, the equal sign in the above conditional judgment can be either greater than or less than one side. For example, the above conditional judgment of a threshold being greater than, less than, or equal to can be changed to a conditional judgment of the threshold being greater than or equal to, or less than. This is not limited here. It is also understood that, for an architecture with multiple devices or modules, if one device or module generates information and another device or module uses that information, there are multiple ways for the other device to obtain that information. For example, the device or module that generated the information can directly send the information to the device or module that used the information (equivalent to direct sending), or the device or module that generated the information can send the information to the device or module that used the information through other devices or modules (equivalent to indirect sending).

[0302] It is understood that the accompanying drawings show only the parts relevant to this application and not all of them. It should be understood that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0303] The terms “component,” “module,” “system,” “unit,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a unit can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, a thread of execution, a program, and / or distributed between two or more computers. Furthermore, these units can be executed from various computer-readable media on which various data structures are stored. For example, a unit can communicate via local and / or remote processes based on signals having one or more data packets (e.g., data from a second unit interacting with another unit between a local system, a distributed system, and / or a network; for example, the Internet interacting with other systems via signals).

[0304] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only a specific embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this application should be included within the scope of protection of this application.

Claims

1. A positioning method, characterized in that, Applied to a positioning function network element, the method includes: Obtain the first location information of the terminal device; Send a first request to the sensing function network element. The first request is used to request sensing information corresponding to the first sensing area. The first sensing area is associated with the terminal device. Receive sensing information from the sensing function network element corresponding to the first sensing area; Based on the sensing information corresponding to the first sensing area and the first positioning information, the second positioning information of the terminal device is determined.

2. The method according to claim 1, characterized in that, The first request includes the first location information or the first sensing area.

3. The method according to claim 2, characterized in that, The method further includes: The first sensing area is determined based on the first positioning information.

4. The method according to claim 2 or 3, characterized in that, If the first request includes the first sensing area, the first request also includes first indication information, which is used to instruct the sensing function network element to return sensing information corresponding to the first sensing area.

5. The method according to claim 2 or 3, characterized in that, If the first request includes the first location information, the first request further includes second indication information, which is used to instruct the sensing function network element to return the sensing information corresponding to the first sensing area based on the first location information.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The system receives a location service request from an access and mobility management network element, the location service request being used to request location information from the terminal device; the location service request includes third indication information, the third indication information being used to indicate the use of sensing information to assist in positioning. Sending the first request to the sensing function network element includes: Based on the third indication information, a first request is sent to the sensing function network element.

7. The method according to claim 6, characterized in that, The location service request also includes quality of service information, and the first request also includes the quality of service information.

8. The method according to claim 6, characterized in that, The location service request also includes quality of service information, and the method further includes: The perception requirement is determined based on the service quality information. The first request further includes the perception requirement, which is used to obtain perception information corresponding to the first perception area.

9. The method according to claim 7 or 8, characterized in that, Determining the first sensing area based on the first positioning information includes: The first sensing area is determined based on the first location information and the service quality information.

10. The method according to any one of claims 1-9, characterized in that, The first request also includes first identification information, which is used to identify the first sensing area or the terminal device; The receiving of sensing information corresponding to the first sensing area from the sensing function network element includes: The system receives a response to the first request from the sensing function network element. The response to the first request includes sensing information corresponding to the first sensing area and the first identification information.

11. A positioning method, characterized in that, Applied to sensing function network elements, the method includes: Receive a first request from a positioning function network element, the first request being used to request sensing information corresponding to a first sensing area, the first sensing area being associated with a terminal device; The sensing information corresponding to the first sensing area is sent to the positioning function network element. The sensing information corresponding to the first sensing area is used to determine the second positioning information of the terminal device in combination with the first positioning information of the terminal device.

12. The method according to claim 11, characterized in that, The first request includes the first location information or the first sensing area; if the first request includes the first location information, the method further includes: The first sensing area is determined based on the first positioning information.

13. The method according to claim 12, characterized in that, If the first request includes the first sensing area, the first request further includes first indication information, which is used to instruct the sensing function network element to return the sensing information corresponding to the first sensing area. Sending the sensing information corresponding to the first sensing area to the positioning function network element includes: Based on the first indication information, the sensing information corresponding to the first sensing area is sent to the positioning function network element.

14. The method according to claim 12, characterized in that, If the first request includes the first location information, the first request further includes second indication information, which is used to instruct the sensing function network element to return the sensing information corresponding to the first sensing area based on the first location information. Determining the first sensing area based on the first positioning information includes: The first sensing area is determined based on the second indication information and the first positioning information; Sending the sensing information corresponding to the first sensing area to the positioning function network element includes: Based on the second indication information, the sensing information corresponding to the first sensing area is sent to the positioning function network element.

15. The method according to any one of claims 12-14, characterized in that, The first request also includes quality of service information, and determining the first sensing area based on the first location information includes: The first sensing area is determined based on the first location information and the service quality information.

16. The method according to any one of claims 11-14, characterized in that, The first request also includes quality of service information, and the method further includes: Based on the service quality information, the perceived requirements are determined; Based on the aforementioned perception requirements, obtain the perception information corresponding to the first perception area.

17. The method according to any one of claims 11-15, characterized in that, The first request also includes a perception requirement, and the method further includes: Based on the aforementioned perception requirements, obtain the perception information corresponding to the first perception area.

18. The method according to any one of claims 11-17, characterized in that, The first request further includes first identification information, which is used to identify the first request or the terminal device; sending the sensing information corresponding to the first sensing area to the positioning function network element includes: The response to the first request is sent to the positioning function network element. The response to the first request includes the sensing information corresponding to the first sensing area and the first identification information.

19. A communication system, characterized in that, It includes a positioning function network element and a sensing function network element, wherein the positioning function network element is used to implement the method described in any one of claims 1-10; and the sensing function network element is used to implement the method described in any one of claims 11-18.

20. A communication device, characterized in that, It includes a processor and a communication interface; the communication interface is used to receive and / or send data; the processor calls a computer program or computer instructions stored in memory to implement the method as described in any one of claims 1-10, or to implement the method as described in any one of claims 11-18.

21. A communication device, characterized in that, It includes one or more functional modules, which are used to implement the method as described in any one of claims 1-10, or to implement the method as described in any one of claims 11-18.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or computer instructions that are executed by a processor to implement the method as claimed in any one of claims 1-10, or to implement the method as claimed in any one of claims 11-18.

23. A computer program product, characterized in that, The computer program product includes computer program code or computer instructions, which, when executed, implement the method described in any one of claims 1-10, or the method described in any one of claims 11-18.

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