Positioning method, equipment and device

Abstract

Provided in an embodiment of the present application are a positioning method, device and apparatus, which relate to the technical field of communications, applied to a positioning device, the method comprising: acquiring a CIR of a channel between a terminal to be positioned and a base station, the CIR comprising a plurality of sample points; according to the amplitude of each sample point in the plurality of sample points, selecting a reference sample point from the plurality of sample points, the amplitude of the reference sample point being greater than a preset standard; calculating a reference phase based on the reference sampling point; performing phase alignment on the plurality of sample points based on the reference phase to obtain CIR after phase alignment; and inputting the CIR after phase alignment into the positioning model, and obtaining positioning information output by the positioning model. By applying the scheme provided by the embodiment of the invention, the CIR can be subjected to phase alignment, so that the problem of random initial phase mismatch of the CIR is eliminated, and the positioning accuracy of the positioning model is improved.

Description

Positioning method, device and apparatus TECHNICAL FIELD

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

[0002] In the 5G (5th Generation Mobile Communication Technology) NR (New Radio) positioning technology, a terminal or a base station can measure PRS (Positioning Reference Signal) or SRS (Sounding Reference Signal) to obtain a CIR (Channel Impulse Response) of a channel. Then, an AI (Artificial Intelligence) model or an ML (Machine Learning) model or other positioning model can be used to process the CIR, so as to position the terminal based on positioning information output by the positioning model, thereby realizing 5G NR positioning.

[0003] Since the CIR is obtained by measuring the RS (Reference Signal), there is asynchronism between the RS transmitter and the receiver, which causes a deviation between the time when the transmitter transmits the RS and the time when the receiver receives the RS. Further, the CIR obtained based on the RS measurement with the time deviation has a problem of random initial phase mismatch, that is, each sample point in the measured CIR has a phase offset caused by the random initial phase mismatch. This causes serious ambiguity in the training and inference process of the positioning model on the CIR, and further affects the positioning performance of the positioning model.

[0004] SUMMARY

[0005] Embodiments of the present application aim to provide a positioning method, device and apparatus to align the phase of the CIR, so as to eliminate the problem of random initial phase mismatch of the CIR, and further improve the positioning accuracy of the positioning model. The specific technical solutions are as follows:

[0006] In a first aspect, the embodiments of the present application provide a positioning method applied to a positioning device, and the method comprises:

[0007] obtaining a CIR (Channel Impulse Response) of a channel between a terminal to be positioned and a base station, wherein the CIR includes a plurality of sample points;

[0008] select a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples, the reference sample having an amplitude greater than a preset standard;

[0009] calculate a reference phase based on the reference sample;

[0010] perform phase alignment on the plurality of samples based on the reference phase to obtain a CIR after phase alignment;

[0011] input the CIR after phase alignment into a positioning model to obtain positioning information output by the positioning model.

[0012] In a second aspect, an embodiment of the present application provides a positioning device, which comprises:

[0013] a processor;

[0014] a transceiver;

[0015] a machine readable storage medium, which stores machine executable instructions executable by the processor; the machine executable instructions cause the processor to perform the following steps:

[0016] obtain a channel impulse response (CIR) of a channel between a terminal to be positioned and a base station, the CIR comprising a plurality of samples;

[0017] select a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples, the reference sample having an amplitude greater than a preset standard;

[0018] calculate a reference phase based on the reference sample;

[0019] perform phase alignment on the plurality of samples based on the reference phase to obtain a CIR after phase alignment;

[0020] input the CIR after phase alignment into a positioning model to obtain positioning information output by the positioning model.

[0021] In a third aspect, an embodiment of the present application provides a positioning apparatus applied to a positioning device, which comprises:

[0022] a CIR obtaining module, configured to obtain a channel impulse response (CIR) of a channel between a terminal to be positioned and a base station, the CIR comprising a plurality of samples;

[0023] a sample selecting module, configured to select a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples, the reference sample having an amplitude greater than a preset standard;

[0024] a phase calculating module, configured to calculate a reference phase based on the reference sample.

[0025] a phase alignment module, configured to perform phase alignment on the plurality of samples based on the reference phase, to obtain a CIR after phase alignment;

[0026] input the CIR after phase alignment into a positioning model, and obtain positioning information output by the positioning model.

[0027] In a fourth aspect, an embodiment of the present application provides a machine readable storage medium storing machine executable instructions, which, when invoked and executed by a processor, cause the processor to implement the method in any of the first aspect.

[0028] In a fifth aspect, an embodiment of the present application provides a computer program product, which causes a processor to implement the method in any of the first aspect.

[0029] The embodiment of the present application has the following beneficial effects:

[0030] In the scheme provided by the embodiment of the present application, after obtaining the CIR, the positioning device selects a suitable reference sample with a matched amplitude according to the actual amplitude of the sample in the CIR. And the reference phase is calculated according to the suitable reference sample. Then, the phase alignment is performed on each sample according to the reference phase. Since the reference sample is not a fixed position sample, but a sample with an actual amplitude greater than a preset standard selected according to the amplitude of the sample in the CIR, the selected reference sample is more matched with the actual situation of the CIR, and has a greater amplitude and smaller phase noise. On this basis, the phase alignment can introduce less phase noise into the CIR after phase alignment, so that the CIR after phase alignment is more accurate. The problem of random initial phase mismatch of the CIR can be eliminated, and the positioning accuracy of the positioning model is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other embodiments can be obtained without creative labor on the basis of these drawings.

[0032] FIG. 1 is a flowchart of a first positioning method provided by an embodiment of the present application;

[0033] FIG. 2 is a schematic diagram of a reference sample selection method provided by an embodiment of the present application;

[0034] FIG. 3 is a flowchart of a second positioning method provided by an embodiment of the present application;

[0035] FIG. 4 is a flow diagram of a third positioning method according to an embodiment of the present application;

[0036] FIG. 5 is a signaling interaction flow diagram according to an embodiment of the present application;

[0037] FIG. 6 is a flow diagram of a fourth positioning method according to an embodiment of the present application;

[0038] FIG. 7 is a terminal motion trajectory and confidence region diagram according to an embodiment of the present application;

[0039] FIG. 8 is a flow diagram of a fifth positioning method according to an embodiment of the present application;

[0040] FIG. 9 is a flow diagram of a sixth positioning method according to an embodiment of the present application;

[0041] FIG. 10 is a flow diagram of a seventh positioning method according to an embodiment of the present application;

[0042] FIG. 11 is a flow diagram of an eighth positioning method according to an embodiment of the present application;

[0043] FIG. 12 is a flow diagram of a ninth positioning method according to an embodiment of the present application;

[0044] FIG. 13 is a phase alignment flow diagram according to an embodiment of the present application;

[0045] FIG. 14 is a verification result diagram according to an embodiment of the present application;

[0046] FIG. 15 is a structure diagram of a positioning device according to an embodiment of the present application;

[0047] FIG. 16 is a structure diagram of a positioning apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application.

[0049] In order to reflect the difference between the embodiments of the present application and the related art, the phase alignment method in the related art is described in detail first.

[0050] In a scenario of positioning enhancement using a positioning model such as an AI model or an ML model in 5G NR positioning, a terminal or a base station obtains channel-related information such as CIR or PDP (Power Delay Profile) through measurement of PRS or SRS. Then, the positioning model outputs positioning information for the terminal according to the obtained channel-related information, and implements the positioning function of 5G NR.

[0051] In the related art, positioning based on CIR and PDP has been widely concerned. Among them, CIR is the response of a unit impulse signal after space propagation. After the wireless impulse signal is transmitted by the transmitter antenna to the space, it reaches the receiver through different propagation paths. Under the assumption of linear time invariance, each sample point in the CIR can be represented by the following formula:

[0052] Where a1, θ1 and τ1 are the amplitude attenuation, phase shift and time delay of the 1st signal propagation path, respectively. L is the total number of signal propagation paths. p1(t) represents the unit impulse waveform that reaches the receiver through the 1st signal transmission path with a time delay of t. t represents the time delay. j is the unit of measurement of the imaginary part.

[0053] Therefore, CIR describes the amplitude response and phase response at different time delays when a wireless impulse signal propagates through a channel, and is commonly used to represent the multipath effect of a channel.

[0054] In addition, PDP is obtained by averaging the CIR in the time domain and then calculating the square, and is used to describe the power of the channel at different time delays, i.e. the power of the multipath signal with different arrival times.

[0055] Therefore, the sample points of CIR need to be represented by I and Q, with I representing the in-phase component and Q representing the quadrature component. PDP sample points output only one amplitude. If the bit width of each wireless impulse signal is the same, using CIR as the input of the model will increase the reporting overhead of the network compared to PDP.

[0056] However, because CIR contains more information, it can provide additional phase information about the sample points or paths to the positioning model when performing NR positioning, thereby improving the positioning accuracy of the positioning model. Therefore, the positioning accuracy is higher when CIR is used for NR positioning.

[0057] However, CIR has a random phase mismatch problem, which affects the accuracy of the positioning information obtained by the positioning model processing CIR. Therefore, it is necessary to eliminate the problem of random initial phase mismatch of CIR to avoid the problem of AI / ML positioning accuracy decline caused by CIR as input of the positioning model.

[0058] To this end, a phase alignment manner can be adopted to solve the problem of random initial phase mismatch. The phase alignment manner in the related art can be specifically divided into two categories, namely, double phase difference and relative phase.

[0059] (1) Double phase difference. In this manner, the problem of random initial phase mismatch is eliminated by calculating the CIR phase difference of node A to two synchronization nodes B and C. This is because the random initial phase mismatch of link AB and link AC is the same. Link AB is a link between node A and node B, and link AC is a link between node A and node C. However, this will cause the need to collect data on two links when performing NR positioning, resulting in cumbersome collection of data. In addition, in a complex propagation scenario, two links can experience different propagation, for example, link AB is a LOS (Line of Sight) scenario and link AC is a NLOS (Non Line of Sight). At this time, the random initial phase mismatch of the two links is not the same, and the double phase difference method cannot be used for phase alignment. In other words, the above method can only be used in a LOS scenario, and the scene limitation is large.

[0060] (2) Relative phase. In this manner, a fixed sample point is first selected in the CIR. The phase of the sample point is taken as a reference to calculate the relative phase of other sample points in the CIR to the sample point. This relative phase also carries useful information of channel propagation. Since the initial random phase mismatch affects all sample points / paths in the CIR almost equally, that is, the phase offset of each sample point in the CIR caused by the initial random phase mismatch is almost equal. Therefore, the relative phase between each other sample point and the reference sample point is almost equal, and can be eliminated together. This manner has no limitation on whether the application scenario is a LOS scenario or a NLOS scenario, and is therefore more suitable for NR positioning.

[0061] The relative phase manner will be introduced in more detail below.

[0062] It is assumed that the input CIR is represented as where h input is a set of all sample points in the CIR, h input，1 is a first sample point, h input，2 is a second sample point, is an N t th sample point. Where N t is the total number of sample points.

[0063] The i-th sample point h input , i can be represented as:

[0064] where j is the unit of measurement of the imaginary part, h′i and are the measured values of the amplitude and phase of the ith sample, respectively. h' i can be expressed as the sum of the true value of the amplitude h i and the equivalent amplitude noise h' noise，i . can be expressed as the sum of the true value of the phase θ i , the phase offset θ mismatch caused by the random initial phase mismatch, the equivalent phase noise θ' noise,i . For details, see the following formula (1): h' i = h i + h' noise，i

[0065] When the position of the terminal changes, h i and θ i change accordingly. Therefore, h i and θ i implicitly contain the position information of the terminal. Therefore, the CIR containing h i and θ i can be used as the model input of the positioning model to position the terminal.

[0066] In the related art, a sample at a fixed position is selected from the CIR as a reference sample. Affected by the input order of the samples, the first sample input is often selected as the reference sample to align the phases of the other samples input subsequently. The phase of the reference sample is taken as the reference phase. When the first sample is taken as the reference sample, the reference phase is On this basis, the data of each sample is multiplied by to align the phases. The ith sample h comp,i after phase alignment is calculated and is expressed by the following formula (2):

[0067] Compared with the ith sample h before phase alignment, it can be seen that the phase offset θ mismatch caused by the random initial phase mismatch is eliminated through phase alignment. However, the phase noise of the ith sample after phase alignment is θ' noise，i - θ' noise，1 Compared with the ith sample before phase alignment in the formula (1) above, additional phase noise θ' noise，1 is added.

[0068] In addition, it should be noted that if i = 1, h that is, the first sample after phase alignment can be expressed as h comp，1 = h' iTherefore, the phase information of the first sample is lost after phase alignment. That is, the phase information of the reference sample is lost after phase alignment in a relative phase manner, but since only the phase information of one sample is lost, it is acceptable.

[0069] However, in order to ensure the integrity of the CIR measurement in the time domain, the first sample is generally located at the start position of the first signal propagation path of the CIR, or even in the noise interval before the first signal transmission path. Therefore, the amplitude true value h1 of the first sample is relatively low. Assuming that the noise power remains stable during the measurement, since the amplitude true value h1 of the first sample is small, the noise has a greater impact on h1 and θ1. That is, the equivalent amplitude noise h' noise，1 and the equivalent phase noise θ' noise，1 are large.

[0070] Therefore, compared with h input , the equivalent phase noise of each sample after phase alignment is enhanced due to the additional introduction of θ' noise，1 . Especially for the sample i with a stronger amplitude true value and containing more terminal position information, the phase noise is significantly deteriorated. It can even cause the phase true value θ comp，i in h i to be too small compared with the equivalent phase noise (θ' noise，i - θ' noise，1 ). Further, it affects the position information of the terminal extracted from the phase true value of h comp，i by the positioning model. At this time, whether the CIR before phase alignment is directly input into the positioning model or the CIR after phase alignment is input into the positioning model, the positioning performance is low.

[0071] The above process takes the first sample as an example, but as long as a fixed sample is taken as a reference sample, the reference sample has the possibility of having a small amplitude true value, which further affects the positioning performance.

[0072] It can be seen that the CIR in the related art has a random initial phase mismatch, which causes the positioning information based on the CIR to be inaccurate. In order to solve the above problem, the CIR needs to be phase-aligned. Therefore, the present embodiment provides a positioning method, device and apparatus.

[0073] Referring to FIG. 1, it is a flow diagram of a first positioning method provided by the present embodiment, which is applied to a positioning device, and the positioning device can be a first terminal or a first base station or a LMF (Location Management Function). The above method includes the following steps S101-S105.

[0074] S101: Obtain a CIR of a channel between a terminal to be positioned and a base station.

[0075] The CIR includes multiple samples. In an embodiment of the present application, the CIR can be measured by the positioning device itself or measured by other devices and sent to the positioning device. The terminal can be a user terminal or other network terminal, and the base station can be a gNB (next generation NodeB), an eNB (evolved Node B), or the like.

[0076] In addition, when the execution subject of the embodiment of the present application is the first terminal, the terminal corresponding to the CIR can be the first terminal, and the subsequent steps S102-S105 are executed. The first terminal can be positioned. Alternatively, the terminal corresponding to the CIR can be a terminal other than the first terminal, and the subsequent steps S102-S105 are executed. The first terminal can position a terminal other than itself.

[0077] Further, when the execution subject of the embodiment of the present application is the first base station, the base station corresponding to the CIR can be the first base station, that is, the CIR obtained by the first base station is the CIR of the channel between the first base station and the terminal to be positioned. Alternatively, the base station corresponding to the CIR can not be the first base station, that is, the CIR obtained by the first base station is the CIR of the channel between a base station other than the first base station and the terminal.

[0078] Specifically, the source of the CIR can be referred to the description below, which is not described here in detail.

[0079] S102: Select a reference sample from the multiple samples according to the amplitude of each sample.

[0080] The amplitude of the reference sample is greater than a preset standard.

[0081] In an embodiment of the present application, a sample with an amplitude greater than a preset standard can be selected as a reference sample from the multiple samples. The greater than a preset standard can mean that the amplitude of the reference sample is greater than the amplitude of all other samples, or the amplitude of the reference sample is greater than a set amplitude threshold.

[0082] In an embodiment of the present application, the reference sample can be selected by the first algorithm below, which can be referred to as the "strongest sample method". The specific description can be referred to the description below.

[0083] In another embodiment of the present application, the reference sample can also be selected by the second algorithm below, which can be referred to as the "first satisfied sample method". The specific description can also be referred to the description below.

[0084] S103: Calculate the reference phase based on the reference sample.

[0085] In one embodiment of the present application, the phase of the reference sample is directly taken as the reference phase. The index of the reference sample is denoted as I ref , then wherein θ0 is the reference phase, is the phase of the sample with index I ref .

[0086] In another embodiment of the present application, a sample can be first selected as the reference sample. After that, since the phases of adjacent samples in the CIR generally do not change significantly, after the reference sample is obtained, a sample set composed of a preset number of samples from the reference sample can be extracted. The sample set can also be referred to as a sample vector. In the presence of the sample set, the reference phase is calculated by the samples in the sample set together.

[0087] The embodiments of the present application provide two algorithms for calculating the reference phase, which are the third algorithm and the fourth algorithm. The third algorithm can be referred to as the mean method, and the fourth algorithm can be referred to as the minimum phase angle method. For specific descriptions of the third algorithm and the fourth algorithm, please refer to the following.

[0088] S104: Perform phase alignment on the plurality of samples based on the reference phase to obtain the CIR after phase alignment.

[0089] Specifically, the plurality of samples in the CIR can be phase-aligned according to the following formula:

[0090] wherein h comp，i is the i-th sample after phase alignment, h input，i is the i-th sample before phase alignment, θ0 is the reference phase, and the meanings of other parameters can be referred to the above. The samples after phase alignment together constitute the CIR after phase alignment.

[0091] The CIR after phase alignment can be used to input a positioning model to generate positioning information, or be used for training of the positioning model, or be used for testing of the positioning model. The embodiments of the present application do not limit the CIR after phase alignment.

[0092] S105: Input the CIR after phase alignment into the positioning model to obtain the positioning information output by the positioning model.

[0093] Wherein the positioning model can be an AI model or an ML model. The embodiments of the present application do not limit the specific structure and training method of the positioning model, as long as the positioning information can be obtained after processing the input phase alignment result.

[0094] In addition, the positioning information can be the coordinates of the terminal directly. The positioning information can also be auxiliary positioning information, which is an intermediate value in the process of generating the coordinates of the terminal. Alternatively, the positioning information can also be the coordinates of a reference point fixed in the environment, and the coordinates of the terminal can be further calculated based on the coordinates of the reference point. The process of calculating the coordinates of the terminal based on the coordinates of the reference point can be implemented by related technologies, and details are not described herein.

[0095] In addition, since the terminal often needs to be positioned continuously, the CIR needs to be acquired and phase-aligned continuously. In addition, the number of CIRs that need to be phase-aligned in the process of training and testing the positioning model is often large, so the CIR also needs to be acquired and phase-aligned continuously. Therefore, steps S101-S105 can be executed continuously in a loop.

[0096] As can be seen from the above, in the scheme provided by the embodiments of the present application, after the positioning device acquires the CIR, the appropriate reference sample point that matches the amplitude is selected according to the actual amplitude of the sample point in the CIR. The reference phase is calculated according to the appropriate reference sample point. Each sample point is phase-aligned according to the reference phase. Since the reference sample point is not a fixed position sample point, but an actual selection of a sample point with an amplitude greater than a preset standard according to the amplitude of the sample point in the CIR, the selected reference sample point is more matched to the actual situation of the CIR, and has a larger amplitude and smaller phase noise. Phase alignment on this basis can introduce less phase noise in the phase-aligned CIR, making the phase-aligned CIR more accurate. It can further eliminate the problem of random initial phase mismatch of the CIR, thereby improving the positioning accuracy of the positioning model.

[0097] In an embodiment of the present application, step S102 can be implemented by the following step A.

[0098] Step A: using a first algorithm or a second algorithm, selecting a reference sample point from the plurality of sample points according to the amplitude of each sample point in the plurality of sample points.

[0099] The first algorithm is to select the sample point with the largest amplitude from the plurality of sample points as the reference sample point. The second algorithm is to select the first sample point higher than the amplitude threshold from the plurality of sample points as the reference sample point, and the amplitude threshold is a preset multiple of the noise standard deviation of the CIR.

[0100] In the embodiments of the present application, the amplitudes of the sample points in the CIR can be determined, and the sample point with the highest amplitude is selected as the reference sample point after comparing the amplitudes of the sample points.

[0101] The amplitude of the selected reference sample is the largest and the noise is the smallest. As shown in the foregoing, the larger the amplitude of the reference sample, the smaller the noise, and the smaller the phase noise introduced in the sample after phase alignment. Therefore, after the strongest sample method is used to select the reference sample with the largest amplitude and the smallest noise, the phase noise introduced in the sample after phase alignment is the smallest. Moreover, the reference sample can be selected through simple amplitude comparison, the calculation amount required by the first algorithm is small, and the selection speed of the reference sample is fast.

[0102] In an embodiment of the present application, the noise standard deviation of the CIR can be calculated first, and the noise standard deviation of the CIR can be calculated in any way in the related art, which is not limited in the embodiment of the present application.

[0103] After the noise standard deviation is calculated, if the preset multiple is 1, the noise standard deviation is taken as the amplitude threshold. Or the preset multiple is N, and N>1, N times of the noise standard deviation is taken as the amplitude threshold, and the value of the preset multiple can be set according to the requirement.

[0104] Specifically, the amplitude higher than the amplitude threshold indicates that the amplitude of the sample is much higher than the noise floor, so that the noise of the selected reference sample is smaller, and the phase noise introduced in the sample after phase alignment is smaller.

[0105] According to the acquisition order of the samples, the first sample with the amplitude higher than the amplitude threshold is taken as the reference sample, so that the reference sample can be quickly obtained, and then the phase alignment can be directly performed on the subsequently acquired samples based on the reference sample. Therefore, the second algorithm can also be called the “first satisfied sample method”.

[0106] Moreover, referring to the foregoing, the phase information of the sample selected as the reference sample will be lost after phase alignment. Therefore, in order to retain the phase information of the sample with the strongest amplitude as much as possible, the “first satisfied sample method” can be used to select the reference sample. In this way, the sample with the highest amplitude can not be taken as the reference sample, so as to retain the phase information of the sample with the largest amplitude, and the noise of the selected reference sample can be ensured to be lower, and less phase noise is introduced in the sample after phase alignment.

[0107] Referring to FIG. 2, it is a schematic diagram of a reference sample selection method provided by an embodiment of the present application.

[0108] In the figure, the horizontal coordinate corresponds to each sample, and the vertical coordinate is the amplitude of each sample. The wavy curve represents the CIR waveform, the vertical line represents the amplitude corresponding to each sample, and the circle represents the position of the sample. The horizontal line represents the amplitude threshold.

[0109] In the figure, sample point 1 is a reference sample point selected when phase alignment is performed using a related technology, and it can be seen that the amplitude of the sample point is low and the noise is large. The signal transmission path where the sample point 1 is located is the first path. The first sample point that satisfies the condition is the first sample point whose amplitude is greater than the amplitude threshold. The strongest sample point is the sample point with the highest amplitude. The signal transmission path where the strongest sample point is located is the strongest path.

[0110] In addition, the above step S103 can be implemented through the following step B.

[0111] Step B: using a third algorithm or a fourth algorithm, calculating a reference phase based on the reference sample point.

[0112] The third algorithm is to calculate the average value of the phases of the sample points in the sample point set as the reference phase, and the sample point set includes a plurality of consecutive sample points from the reference sample point.

[0113] Specifically, the reference phase can be calculated according to the following formula:

[0114] Wherein, 00 is the reference phase, L ref is the number of sample points in the sample point set, or is referred to as the length of the sample point set, and angle(*) represents the phase of a complex number. ref，i is the i-th sample point in the sample point set, and i is the number of the sample point in the sample point set.

[0115] The third algorithm is simple to implement, and the reference phase can be quickly obtained through simple average calculation. The third algorithm can also be referred to as the "average method".

[0116] The fourth algorithm is to calculate, for each of a plurality of candidate angles, the sum of the imaginary parts of the sample points in the sample point set after the phases of the sample points in the sample point set are rotated by the candidate angle, and select the candidate angle that minimizes the sum of the imaginary parts as the reference phase.

[0117] Since the sample points in the sample point set are a predetermined number of sample points from the reference sample point, the sample points in the sample point set are adjacent sample points. In theory, the phases of adjacent sample points in the CIR should be substantially the same, so that the imaginary parts of the sample points should all be close to 0 after the phases of the sample points are rotated by the same suitable candidate angle. On this basis, the candidate angle that minimizes the sum of the imaginary parts of the sample points is selected as the reference phase.

[0118] Specifically, the reference phase can be calculated according to the following formula:

[0119] Wherein, imag(*) represents the imaginary part of a complex element. The descriptions of other parameters can be referred to the above.

[0120] Since it is impossible to enumerate all the candidate angles in [0, 2π] to calculate θ0, in actual implementation, a minimum interval between candidate angles can be set Only the candidate angle in the candidate angle set h ref，i e -jθ which makes the sum of imaginary parts of the sample points minimum is needed as the reference phase.

[0121] The fourth algorithm can also be referred to as the minimum phase angle method.

[0122] Compared with the mean value method, the minimum phase angle method has higher complexity and needs more computing resources. However, it considers the amplitudes of the sample points in the sample point set, so that the sample points with larger amplitudes and smaller equivalent noises have larger weights in calculating the reference phase. The calculated reference phase is greatly affected by the sample points with smaller equivalent noises. The finally calculated reference phase is more accurate, so the minimum phase angle method has better reference phase estimation performance.

[0123] Referring to FIG. 3, a flowchart of a second positioning method provided by an embodiment of the present application is shown. Compared with the embodiment shown in FIG. 1, when the positioning device is a first terminal or a first base station, the following step S106 is further included before step S101.

[0124] S106: receiving first signaling sent by an LMF device.

[0125] The first signaling includes a first marker value and a second marker value. The first marker value indicates an algorithm for selecting a reference sample, and the second marker value indicates an algorithm for calculating a reference phase.

[0126] The first signaling can be referred to as phase mismatch elimination configuration signaling. The first signaling is used to indicate the algorithm used by the positioning device when selecting a reference sample and calculating a reference phase.

[0127] Specifically, generally, the algorithm used when selecting a reference sample and calculating a reference phase remains fixed during execution of the embodiment of the present application, so step S106 is usually executed only once.

[0128] Compared with the embodiment shown in FIG. 1, step S102 can be implemented by the following step S102A.

[0129] S102A: selecting a reference sample from the multiple sample points according to the amplitude of each sample point in the multiple sample points by using the algorithm indicated by the first marker value.

[0130] The algorithm represented by the first flag value can be the first algorithm or the second algorithm.

[0131] In one embodiment of the present application, when the first flag value is the first value, the first flag value is used to represent the first algorithm.

[0132] When the first flag value is the second value, the first flag value is used to represent the second algorithm.

[0133] Specifically, the length of the first flag value can be 1 bit. In one case, the first value is 0 and the second value is 1. In another case, the first value is 1 and the second value is 0.

[0134] Compared with the embodiment shown in FIG. 1, the step S103 can be implemented by the following step S103A.

[0135] S103A: using the algorithm represented by the second flag value, calculating the reference phase based on the reference sample.

[0136] The algorithm represented by the second flag value can be the third algorithm or the fourth algorithm.

[0137] When the second flag value is the third value, the second flag value is used to represent the third algorithm.

[0138] When the second flag value is the fourth value, the second flag value is used to represent the fourth algorithm.

[0139] The length of the second flag value can also be 1 bit. In one case, the first value is 0 and the second value is 1. In another case, the first value is 1 and the second value is 0.

[0140] In addition, it should be noted that the present application does not limit the specific values of the first value, the second value, the third value and the fourth value, as long as the first value is not equal to the second value and the third value is not equal to the fourth value. The first value can be equal to or not equal to the third value. The first value can be equal to or not equal to the fourth value. The second value can be equal to or not equal to the third value. The second value can be equal to or not equal to the fourth value.

[0141] In addition, in addition to the first algorithm and the second algorithm provided by the embodiments of the present application, other algorithms can also be used to select reference samples. For example, selecting a sample with an arbitrary phase greater than the noise standard deviation of CIR as a reference sample, etc. In this case, the number of bits contained in the first flag value can be set according to the number of algorithms that can be used to select reference samples, as long as the number of values that the first flag value can take is greater than or equal to the number of algorithms that can be used to select reference samples.

[0142] The number of bits contained in the second flag value can also be set according to the number of optional algorithms for calculating the reference phase, as long as the number of available values of the second flag value is greater than or equal to the number of algorithms for calculating the reference phase, for example, different values of the second flag value can represent the third algorithm, the fourth algorithm, an algorithm directly taking the phase of the reference sample as the reference phase, and the like.

[0143] In order to reduce the space occupied by the first flag value and the second flag value in the first signaling, the number of bits contained in the first flag value can be set such that the number of available values of the first flag value is greater than or equal to the minimum number of bits of the number of optional algorithms of the reference sample. The number of bits contained in the second flag value can be set such that the number of available values of the second flag value is greater than or equal to the minimum number of bits of the number of optional algorithms of the reference phase.

[0144] Based on the above description, in one possible example, the first flag value and the second flag value are both 1 bit. The combined value of the two is 00, which indicates that the "strongest sample method" + "average method" is selected. The combined value of the two is 01, which indicates that the "strongest sample method" + "minimum phase angle method" is selected. The combined value of the two is 10, which indicates that the "first satisfied sample method" + "average method" is selected. The combined value of the two is 11, which indicates that the "first satisfied sample method" + "minimum phase angle method" is selected.

[0145] As can be seen from the above, in the embodiments of the present application, the LMF device can control the algorithm used by the positioning device for reference sample selection and reference phase calculation, thereby controlling the phase alignment process of the positioning device.

[0146] In another embodiment of the present application, the above-mentioned first signaling further includes a first parameter, and the first parameter indicates the number of samples used for calculating the reference phase. If the first parameter is equal to 1, it indicates that there is only one sample used for calculating the reference phase, i.e., the reference sample, and there is no sample set. If the first parameter is greater than 1, it indicates that there are multiple samples used for calculating the reference phase, forming a sample set. In another embodiment of the present application, the length of the first parameter can be 2 bits, and the value range can be [1, 2, 3, 4].

[0147] In the case where the above-mentioned first flag value represents the second algorithm, the above-mentioned first signaling further includes a second parameter, and the second parameter is used to indicate the above-mentioned preset multiple.

[0148] In the case where the above-mentioned first flag value represents the second algorithm, the amplitude threshold in the second algorithm is a preset multiple of the noise standard deviation. In this case, the second parameter can represent the above-mentioned preset multiple. If the second parameter does not exist in the first signaling, the positioning device can also calculate the amplitude threshold based on the default preset multiple.

[0149] In the case that the second flag value indicates the fourth algorithm, the first signaling further comprises a third parameter, and the third parameter is used to indicate a minimum interval between the candidate angles.

[0150] In the case that the second flag value indicates the fourth algorithm, the minimum interval between the candidate angles needs to be set in the fourth algorithm. In this case, the third parameter can indicate the minimum interval between the candidate angles. If the third parameter is not included in the first signaling, the positioning device can also determine the minimum interval between the candidate angles as a default interval.

[0151] In addition, in order to save the bits occupied by the second parameter and the third parameter, the actual meanings represented by different values of the second parameter and the third parameter can be agreed between the sending end and the receiving end of the first signaling.

[0152] For example, it can be agreed in advance that the value of the second parameter of 00 indicates that the preset multiple is 2. The value of the second parameter of 01 indicates that the preset multiple is 4. The value of the second parameter of 10 indicates that the preset multiple is 8. The value of the second parameter of 11 indicates that the preset multiple is 12. If the second parameter is directly set as a normal binary number, 4 bits of binary number “1100” are needed to represent the decimal number 12 when the maximum preset multiple is the decimal number 12. Therefore, the pre-agreed manner can save 2 bits.

[0153] In another example, it can be agreed in advance that the value of the third parameter of 00 indicates that the minimum interval between the candidate angles is 1°. The value of the third parameter of 01 indicates that the minimum interval between the candidate angles is 5°. The value of the third parameter of 10 indicates that the minimum interval between the candidate angles is 10°. The value of the third parameter of 11 indicates that the minimum interval between the candidate angles is 20°. If the third parameter is directly set as a normal binary number, 5 bits of binary number “10100” are needed to represent the decimal number 20 when the maximum minimum interval is the decimal number 20. Therefore, the pre-agreed manner can save 3 bits.

[0154] In another embodiment of the present application, referring to FIG. 4, a flowchart of a third positioning method provided by the embodiment of the present application is shown, and compared with the embodiment shown in FIG. 3, the following step S107 is further included before step S106.

[0155] S107: sending a second signaling to the LMF device.

[0156] The second signaling can be referred to as a provide alignment capabilities signaling.

[0157] The second signaling includes a fourth parameter and a fifth parameter, the fourth parameter is used to indicate an algorithm supported by the positioning device for selecting the reference sample, and the fifth parameter is used to indicate an algorithm supported by the positioning device for calculating the reference phase.

[0158] Different values of the fourth parameter can respectively represent that the positioning device only supports the first algorithm, only supports the second algorithm, supports the first algorithm and the second algorithm, or does not support the first algorithm and the second algorithm. For example, the fourth parameter is 2 bits, a value of 00 represents that the positioning device only supports the first algorithm, a value of 01 represents that the positioning device only supports the second algorithm, a value of 10 represents that neither of the two algorithms is supported, and a value of 11 represents that both of the two algorithms are supported.

[0159] Different values of the fifth parameter can respectively represent that the positioning device only supports the third algorithm, only supports the fourth algorithm, supports the third algorithm and the fourth algorithm, or does not support the third algorithm and the fourth algorithm. For example, the fifth parameter is 2 bits, a value of 00 represents that the positioning device only supports the third algorithm, a value of 01 represents that the positioning device only supports the fourth algorithm, a value of 10 represents that neither of the two algorithms is supported, and a value of 11 represents that both of the two algorithms are supported.

[0160] Correspondingly, the LMF device sets the value of the parameter in the first signaling to the value corresponding to the algorithm that the positioning device can support when generating the first signaling, so as to instruct the positioning device to perform data processing by using the algorithm that it supports. Therefore, the algorithm represented by the first flag value is one of the algorithms supported by the positioning device for selecting the reference sample, and the algorithm represented by the second flag value is one of the algorithms supported by the positioning device for calculating the reference phase.

[0161] In addition, the second signaling can also include a third flag value, the third flag value is used to indicate whether the positioning device supports phase alignment. For example, the third flag value can be 1 bit, a value of 0 of the third flag value represents that phase alignment is not supported, and a value of 1 of the third flag value represents that phase alignment is supported.

[0162] In the case of receiving the second signaling, the first signaling sent by the LMF device to the positioning device can also include a fourth flag value, the fourth flag value is used to indicate whether the positioning device is suitable for phase alignment. The fourth flag value is 1 bit, a value of 0 represents that the device is not suitable for phase alignment, and a value of 1 represents that the device is suitable for phase alignment. Or a value of 1 represents that the device is not suitable for phase alignment, and a value of 0 represents that the device is suitable for phase alignment.

[0163] In this case, the first signaling can be referred to as alignment configuration signaling. If the fourth flag value indicates that the positioning device is not suitable for phase alignment, the device can not perform subsequent steps S101-S105, and the flow of the embodiment of the application ends.

[0164] Referring to FIG. 5, a signaling interaction flow diagram provided by an embodiment of the application is shown.

[0165] The terminal / base station in the figure refers to a first terminal / first base station as a positioning device. The terminal / base station sends the provide alignment capabilities signaling to the LMF device, and the LMF device sends the alignment configuration signaling to the terminal / base station, completing the signaling interaction.

[0166] As can be seen from the above, before the LMF device sends the first signaling to the positioning device, the positioning device can also send the second signaling to the LMF device to notify the LMF device of the capability of the positioning device for reference sample selection and reference phase calculation, so that the LMF device issues the first signaling according to the capability of the positioning device.

[0167] In another embodiment of the application, the second signaling further includes a sixth parameter, and the sixth parameter indicates a value range of the number of samples used for calculating the reference phase.

[0168] In the case where the fourth parameter indicates the second algorithm, the second signaling further includes a seventh parameter.

[0169] The seventh parameter is used to indicate a value range of the preset multiple.

[0170] In the case where the fifth parameter indicates the fourth algorithm, the second signaling further includes an eighth parameter.

[0171] The eighth parameter is used to indicate a value range of the interval between the alternative angles.

[0172] In another embodiment of the application, the positioning device is further configured with a positioning model. In this case, referring to FIG. 6, a flow diagram of a fourth positioning method provided by an embodiment of the application is shown. Compared with the embodiment shown in FIG. 1, the flow further includes steps S108-S110 after step S105.

[0173] S108: According to the obtained positioning information, a confidence region in which the terminal should be at a future target time is predicted.

[0174] Since the location of the terminal can change, the terminal can be continuously positioned periodically in the embodiments of the present application, and continuously obtain positioning information. In this case, the confidence region in which the terminal should be located at the target time in the future can be predicted based on all the obtained positioning information or a fixed number of the most recently obtained positioning information. In one embodiment of the present application, the moving speed of the terminal in the future can be predicted, and the moving route of the terminal in the future can be predicted, and the predicted position to which the terminal can move along the predicted moving route at the predicted moving speed can be calculated. The region with the predicted position as the center and a preset radius as the radius can be determined as the confidence region.

[0175] In another embodiment of the present application, the probability of the terminal being located at each position at the target time in the future can be estimated respectively, and the probability distribution P(x|Xk) of the terminal being located at each position x can be obtained. k (x|X k-1 ). Wherein, k represents the kth time, i.e., the target time in the future, X k-1 is the set of the positions of the terminal determined at the previous k-1 times, X k-1 =[x1, x2,..., x k-1 ]. And the position of the terminal at the kth time is predicted. A preset confidence Γ (0<Γ<1) is set, and the set of positions with the probability greater than Γ is determined as the confidence region.

[0176] Alternatively, the confidence region in which the terminal should be located at the target time in the future can also be predicted according to the determined position of the terminal by other ways in the related art, which is not limited in the embodiments of the present application.

[0177] Referring to FIG. 7, it is a schematic diagram of the terminal motion trajectory and the confidence region provided by the embodiments of the present application.

[0178] The black dots in the figure represent the positions of the terminal indicated by the obtained positioning information at the previous k-1 times, the white dots represent the predicted positions of the terminal at the target time, the dashed lines represent the motion trajectory of the terminal, and the oval in the figure represents the confidence region.

[0179] In theory, the terminal should be located in the confidence region at the target time in the future.

[0180] S109: After reaching the target time, the obtained positioning information at the target time is used to determine the actual position of the terminal at the target time.

[0181] After the time reaches the target time, the actual position of the terminal at the target time can be determined by the steps S101-S105 shown in the foregoing, which will not be described herein.

[0182] S110: Determine whether the actual position corresponding to the target time is located in the current confidence region.

[0183] The target time is a relative concept, i.e., the target time is a time in the future. As the embodiment of the present application continues to execute, the time will reach the target time, in which case the target time will be updated to another time in the future. Different confidence regions can be predicted by predicting the target time at different times. The actual position of the terminal corresponding to the target time is obtained when the target time is reached. That is, each target time corresponds to a confidence region and an actual position, and the two are compared to determine. As the embodiment of the present application continues to execute, multiple determination results can be obtained.

[0184] If the cumulative number of times that the actual position is not located in the confidence region does not reach the preset number, return to step S101.

[0185] If the cumulative number of times does not reach the preset number, it means that the number of times that the actual position is not located in the confidence region is small, indicating that the actual position determined by the scheme provided by the embodiment of the present application is accurate, so it can return to step S101.

[0186] On the contrary, if the cumulative number of times reaches the preset number, it means that the actual position determined at present is not accurate, and this problem can be caused by the inaccurate CIR after phase alignment.

[0187] Since a lot of computing resources are consumed to continuously perform phase alignment on the samples in the CIR, if the accuracy of phase alignment is lower than the preset accuracy, continuing to perform phase alignment will only waste computing resources, so the current phase alignment process can be stopped, i.e., the foregoing steps S102-S104 are no longer executed, reducing resource consumption. In the subsequent positioning process, the obtained CIR is directly input into the positioning model to obtain positioning information.

[0188] In another embodiment of the present application, the cumulative number of times that the actual position is not located in the confidence region reaching the preset number indicates that the current phase alignment manner is not suitable for the current scenario. Therefore, the current phase alignment process can be stopped, and a new phase alignment manner is replaced to continue phase alignment and positioning. For example, the selection manner of the reference sample can be adjusted, and the switching between the "strongest sample method" and the "first sample method" that meets the sample can be performed. Or, the calculation manner of the reference phase can be adjusted, and the switching between the "minimum phase angle method" and the "average method" can be performed. Or, the interval of the smallest candidate angle when the minimum phase angle method is used to calculate the reference phase can be adjusted. Or, the phase alignment manner can be switched from the manner provided in the embodiment of the present application to other manners in the related art. Continue to execute the foregoing steps S101-S105.

[0189] In addition, the actual position of the terminal determined by the positioning information of the target moment is not located in the confidence region, which is also caused by the failure of the positioning model. Therefore, in addition to stopping the current phase alignment process, the positioning model can also be adjusted. For example, retraining the positioning model, adjusting the structure of the positioning model, etc. That is, the embodiments of the present application can also assist in monitoring the positioning model.

[0190] In addition, the preset number of times can be 1, indicating that the single obtained determination result indicates that the actual position of the terminal is not located in the confidence region, that is, it is determined that the current phase alignment is not accurate. Or the preset number of times can be greater than 1, that is, when the determination result obtained multiple times indicates that the actual position of the terminal is not located in the confidence region, it is determined that the current phase alignment is not accurate. Or the preset number of times is greater than 1, and when the determination result obtained continuously for the preset number of times indicates that the actual position of the terminal is not located in the confidence region, it is determined that the current phase alignment is not accurate.

[0191] As can be seen from the above, the scheme provided by the embodiments of the present application can monitor the phase alignment, and only in the case of accurate phase alignment, the phase alignment processing is continued, thereby avoiding the waste of computing resources.

[0192] In addition, according to the selection of the positioning device where the positioning model is deployed and the positioning framework, the scene of NR positioning can be divided into three categories, i.e., five scenes.

[0193] Scene 1: In the framework of directly positioning or auxiliary positioning using a positioning model, the positioning model is deployed in the first terminal, and the first terminal serves as a positioning device. The positioning information output by the positioning model in the first terminal is directly the coordinates of the terminal to be positioned.

[0194] Scene 2a: The positioning model is deployed in the first terminal, and the first terminal serves as a positioning device. The positioning information output by the positioning model in the first terminal is used for auxiliary positioning of the terminal to be positioned, and the final positioning is performed by the LMF device.

[0195] Scene 2b: The positioning model is deployed in the LMF device, and the LMF device serves as a positioning device. The terminal to be positioned is auxiliary positioned, and the positioning information output by the positioning model in the LMF device is directly the coordinates of the terminal to be positioned.

[0196] Scene 3a: The positioning model is deployed in the first base station, and the first base station serves as a positioning device. The NG-RAN (Next Generation Radio Access Network, next generation wireless access network) node is auxiliary positioned, and the positioning information output by the positioning model in the first base station is used for auxiliary positioning of the terminal to be positioned, and the final positioning is performed by the LMF device.

[0197] Scenario 3b: The positioning model is deployed in the LMF device, the LMF device acts as a positioning device, NG-RAN assisted positioning, and the positioning information output by the positioning model in the LMF device is directly the coordinates of the terminal to be positioned.

[0198] The above scenario 1 is a first type of scenario, and the positioning process is mainly completed by the terminal.

[0199] The above scenario 2a and scenario 2b are a second type of scenario, and the positioning process is mainly completed by the interaction between the terminal and the LMF device.

[0200] The above scenario 3a and scenario 3b are a third type of scenario, and the positioning process is mainly completed by the interaction between the base station and the LMF device.

[0201] In addition, the above scenario 3a further includes sub-scenario 1 and sub-scenario 2. In sub-scenario 1, the CIR is measured by the base station itself, and in sub-scenario 2, the CIR is measured by the terminal and then sent to the base station.

[0202] The specific process of NR positioning is described below for different scenarios.

[0203] Referring to FIG. 8, it is a flowchart of a fifth positioning method provided by an embodiment of the present application, which is applicable to the above scenario 1. In this embodiment, the terminal to be positioned is the first terminal, which is simply referred to as the terminal in FIG. 8. The complete positioning process includes steps 0a-4a, a total of five steps.

[0204] The content in the first solid line block in the figure represents step 0a: configuration. That is, the LMF device sends phase mismatch elimination configuration to the terminal, which implements step S106. In the case where the configuration is not abnormal, this step can be executed only once after the positioning is started.

[0205] The second solid line block and the third solid line block in the figure are the processes of two positioning, and the processes of the two times are the same, and the difference is only that there are some steps represented by dashed lines in the third solid line block, which means that this step can not be executed. Therefore, in order to avoid repeated description, only the steps contained in the second solid line block are described here.

[0206] The content in the dashed line block in the second solid line block in the figure represents step 1a: CIR measurement.

[0207] The specific process is that the LMF device sends a positioning information request to the base station. The base station sends a PRS configuration to the terminal and sends a positioning information ack to the LMF device. Then the base station transmits PRS to the terminal. The terminal performs CIR measurement according to the received PRS.

[0208] Step 1a above corresponds to step S101.

[0209] The remaining contents in the second solid block are steps 2a-4a respectively.

[0210] Step 2a: Phase mismatch cancellation. Specifically, phase mismatch cancellation is performed by the terminal to achieve phase alignment. Step 2a corresponds to steps S102-S104.

[0211] Step 3a: Positioning. Specifically, the terminal runs an AI / ML direct positioning model, and the positioning information output by the AI / ML direct positioning model is the position of the terminal. Corresponding to the aforementioned step S105.

[0212] Step 4a: Mismatch cancellation monitoring. Specifically, the terminal performs monitoring, corresponding to the aforementioned steps S108-S110.

[0213] Referring to FIG. 9, a flowchart of a sixth positioning method provided by an embodiment of the present application is shown, which is applicable to the aforementioned scenario 2a. In this embodiment, the terminal to be positioned is the first terminal, which is simply referred to as the terminal in FIG. 9. The complete positioning process includes steps 0b-5b, a total of six steps. The second solid block and the third solid block in the figure are the processes of two positioning, and the two processes are the same, the only difference is that there are some steps in the third solid block represented by a dashed line, indicating that this step can not be executed.

[0214] Compared with the embodiment shown in the aforementioned FIG. 8, step 0b is the same as step 0a, step 1b is the same as step 1a, step 2b is the same as step 2a, and step 4b is the same as step 4a. The difference between the two is step 3b and the added step 5b. Only steps 3b and 5b will be described below.

[0215] Step 3b: Auxiliary information acquisition. Specifically, the terminal runs an AI / ML indirect positioning model, and the positioning information output by the AI / ML indirect positioning model is auxiliary positioning information, which cannot determine the position of the terminal. Corresponding to the aforementioned step S105. In this case, step 5b also needs to be executed.

[0216] Step 5b: Positioning. Specifically, the terminal sends the assistance positioning information to the LMF device, and the LMF device performs the final positioning.

[0217] Referring to FIG. 10, a flowchart of a third positioning method provided by the embodiments of the present application is shown, which is applicable to the aforementioned sub-scenario 1 of scenario 3a. In the present example, the first base station measures the CIR of the channel between itself and the terminal to be positioned by itself. In FIG. 10, the first base station is referred to as a base station for simplicity. The complete flow of positioning includes steps 0c-5c.

[0218] The content in the first solid block in the figure represents step 0c: Configuration. That is, the LMF device sends the phase mismatch elimination configuration to the base station, implementing step S106. In the case where the configuration is not abnormal, this step can be performed only once after the positioning is started.

[0219] The second and third solid blocks in the figure are the flows of two positioning processes. The flows of the two positioning processes are the same, and the difference is that there are some steps in the third solid block represented by dashed lines, indicating that these steps can not be performed. Therefore, in order to avoid repetition, only the steps included in the second solid block are described here.

[0220] The content in the dashed block in the second solid block in the figure represents step 1c: CIR measurement.

[0221] The specific flow is that the LMF device sends the positioning information request to the base station. The base station sends the SRS configuration to the terminal and sends the positioning information ack to the LMF device. Then the terminal transmits the SRS to the base station. The base station performs CIR measurement according to the received SRS.

[0222] Step 1c above corresponds to step S101.

[0223] The remaining content in the second solid block is steps 2c-5c, respectively.

[0224] Step 2c: Phase mismatch elimination. Specifically, the base station performs phase mismatch elimination to achieve phase alignment. Step 2c corresponds to steps S102-S104 described above.

[0225] Step 3c: Assistance information obtaining. Specifically, the base station runs the AI / ML indirect positioning model, and the positioning information output by the AI / ML indirect positioning model is the assistance positioning information. Corresponding to step S105 described above.

[0226] Step 4c: Mismatch cancellation monitoring. Specifically, the base station monitors, corresponding to steps S108-S110 described above.

[0227] Step 5c: Positioning. Specifically, the base station sends the LMF device auxiliary positioning information, and the LMF device performs final positioning.

[0228] In addition, referring to FIG. 11, a flowchart of a seventh positioning method provided by an embodiment of the present application is shown, which is applicable to sub-scenario 2 of scenario 3a, and the terminal to be positioned measures the CIR between itself and the first base station, which is referred to as a base station in FIG. 11 for simplicity, and the complete flow of positioning includes steps 0d-5d.

[0229] Compared with the embodiment shown in FIG. 10, step 0d is similar to step 0c, step 2d is similar to step 2c, step 3d is similar to step 3c, step 4d is similar to step 4c, and step 5d is similar to step 5c. Here, no further description is given. Here, only step 1d, which is quite different from step 1c, is described.

[0230] Step 1d: CIR measurement.

[0231] The specific process is that the LMF device sends a positioning information request to the base station. The base station sends a PRS configuration to the terminal and sends a positioning information ack to the LMF device. Then the base station transmits PRS to the terminal. The terminal measures the CIR according to the received PRS. Then the terminal sends the measured CIR to the base station.

[0232] For scenario 2b or scenario 3b, the positioning device is the LMF device, and the positioning information obtained by the positioning model in the LMF device after processing the phase-aligned CIR is directly the position information of the terminal.

[0233] Referring to FIG. 12, a flowchart of an eighth positioning method provided by an embodiment of the present application is shown. The terminal in FIG. 12 is the terminal to be positioned, and the terminal or the base station sends the CIR to the LMF device, the LMF device performs phase mismatch cancellation, and then the AI / ML direct positioning model in the LMF device directly outputs the position information of the terminal, and then the LMF performs mismatch cancellation monitoring.

[0234] The way in which the terminal or the base station obtains the CIR can be seen from the above, and no further description is given here.

[0235] The complete flow of the positioning device is described below by referring to FIG. 13, and referring to FIG. 13, a phase alignment flowchart provided by an embodiment of the present application is shown.

[0236] The positioning device first performs CIR collection to obtain a CIR. Then, according to the first marker value in the first signaling, the "first satisfied sample method" or the "strongest sample method" is selected to perform reference sample selection to obtain a reference sample. The black dot at the uppermost end of the figure is connected to the white origin on the left, indicating that in this embodiment, the first marker value in the first signaling indicates that the first satisfied sample method is selected. Then, according to the second marker value in the first signaling, the "mean method" or the "minimum phase angle method" is selected to perform reference phase calculation to obtain a reference phase. The second black dot in the figure is connected to the white origin on the left, indicating that in this embodiment, the second marker value in the first signaling indicates that the mean method is selected. Then, phase alignment is performed. And phase alignment monitoring is performed.

[0237] To prove the positive effect of the phase alignment manner in the positioning method provided in the embodiments of the present application compared with the phase alignment manner in the related art, the following manner is used in the embodiments of the present application to verify the effect of phase alignment.

[0238] First, 1000 channel measurements are performed on a time-invariant channel to obtain 1000 CIRs. Then, the obtained CIRs are phase aligned by using 5 different phase alignment manners. Among them, the signal bandwidth of the verification scene is 100 MHz, and the measurement time interval of the CIR is 0.5 ns.

[0239] Referring to Table 1, the phase alignment manner provided in the embodiments of the present application is shown.

[0240] Table 1

[0241] Among them, case 1 uses the algorithm in the related art to perform phase alignment. Case 2 uses the strongest sample method to perform reference sample selection and uses the mean method to perform reference phase calculation. Case 3 uses the strongest sample method to perform reference sample selection and uses the minimum phase angle method to perform reference phase calculation. Case 4 uses the first satisfied sample method to perform reference sample selection and uses the mean method to perform reference phase calculation. Case 5 uses the first satisfied sample method to perform reference sample selection and uses the minimum phase angle method to perform reference phase calculation.

[0242] Among them, the quotient of the amplitude threshold value of the first satisfied sample method and the standard deviation of the noise is 10, the number of reference samples is 10, and the minimum interval between the alternative angles of the minimum phase angle method

[0243] After phase calibration, the first group of CIRs is selected as a reference, the similarity of the other 999 phase-aligned CIRs and the CIR as a reference is calculated, and the performance of the case is evaluated. Each two CIRs for calculating the similarity form a CIR group. The similarity of the CIRs is evaluated by the imaginary part of the correlation coefficient, and the two CIR groups are denoted as h 1，jh 2，j , j = 1, 2, …, J. J is the total number of CIR groups. The imaginary part of the correlation coefficient r 1，2 is defined as:

[0244] where I(·)I represents the absolute value of an imaginary number, and (·)* represents the conjugate of an imaginary number.

[0245] It can be seen that if the phase alignment effect of the samples in the two CIR groups is better and the similarity is higher, the imaginary part of the correlation coefficient should tend to a real number, and thus the smaller the imaginary part of the correlation coefficient, the higher the phase alignment effect.

[0246] For the above five cases, referring to FIG. 14, an example of a verification result provided by the embodiment of the present application is shown.

[0247] The horizontal coordinate in the figure is SNR (Signal to Noise Radio), which is defined as the ratio of the total power of the CIR to the noise power. The vertical coordinate represents the imaginary part of the correlation coefficient.

[0248] Taking the SNR of 10 dB in the figure as a reference, the curves at the SNR of 10 dB in the figure correspond to case 1, case 4, case 2, case 5, and case 3 from top to bottom.

[0249] It can be seen that compared with case 1 using the related art for phase alignment, the imaginary part of the correlation coefficient of all the phase alignment methods provided by the embodiment of the present application is lower. That is, the phase alignment effect of all the phase alignment methods provided by the embodiment of the present application is better than that of the related art.

[0250] In addition, compared with the first satisfied sample method, the strongest sample method can obtain a lower imaginary part of the correlation coefficient. However, the difference between the two decreases as the SNR increases. Therefore, in the case of low SNR, in order to ensure the phase alignment effect, the strongest sample method can be used to select the reference sample. However, in the case of high SNR or in the case of hoping to retain the phase information of the sample with the highest amplitude, the first satisfied sample method can also be selected for reference sample selection.

[0251] Furthermore, compared with the mean method, the minimum phase angle method can obtain a lower imaginary part of the correlation coefficient. However, the difference between the two also decreases as the SNR increases. Therefore, in the case of low SNR, in order to ensure the phase alignment effect, the minimum phase angle method can be used to calculate the reference phase. However, in the case of high SNR or in the case of hoping to reduce the calculation complexity, the mean method can also be selected for reference phase calculation.

[0252] Corresponding to the positioning method applied to the positioning device, the embodiment of the present application further provides a positioning device, as shown in FIG. 15, the positioning device comprises:

[0253] a processor 1501;

[0254] a transceiver 1504;

[0255] a machine readable storage medium 1502, the machine readable storage medium 1502 stores machine executable instructions which can be executed by the processor 1501; the machine executable instructions cause the processor 1501 to execute the following steps:

[0256] obtaining a channel impulse response CIR of a channel between a terminal to be positioned and a base station, the CIR comprising a plurality of samples;

[0257] selecting a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples, the amplitude of the reference sample being greater than a preset standard;

[0258] calculating a reference phase based on the reference sample;

[0259] performing phase alignment on the plurality of samples based on the reference phase, to obtain a CIR after phase alignment;

[0260] inputting the CIR after phase alignment into a positioning model, and obtaining positioning information output by the positioning model.

[0261] As shown in FIG. 15, the network device can further comprise a communication bus 1503. The processor 1501, the machine readable storage medium 1502 and the transceiver 1504 complete mutual communication through the communication bus 1503, and the communication bus 1503 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 1503 can be divided into an address bus, a data bus, a control bus, etc.

[0262] The transceiver 1504 can be a wireless communication module, and the transceiver 1504 is controlled by the processor 1501 to interact with other devices.

[0263] The machine readable storage medium 1502 can include a random access memory (RAM) and can also include a non-volatile memory (NVM), such as at least one disk memory. In addition, the machine readable storage medium 1502 can also be at least one storage device located remotely from the aforementioned processor.

[0264] The processor 1501 can be a general purpose processor, including a central processing unit (CPU), a network processor (NP), etc., and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic component, a discrete hardware component.

[0265] As can be seen from the above, in the scheme provided by the embodiments of the present application, after obtaining the CIR, the positioning device selects a suitable reference sample point matching the amplitude according to the actual amplitude of the sample point in the CIR. And the reference phase is calculated according to the suitable reference sample point. Then the phase alignment is performed on each sample point according to the reference phase. Since the reference sample point is not a fixed position sample point, but an actual selection of the sample point with an amplitude greater than a preset standard according to the amplitude of the sample point in the CIR, the selected reference sample point is more matched to the actual situation of the CIR, and the amplitude is greater and the phase noise is smaller. On this basis, the phase alignment can introduce less phase noise in the CIR after the phase alignment, so that the CIR after the phase alignment is more accurate. It can further eliminate the problem of random initial phase mismatch of the CIR, and thus improve the positioning accuracy of the positioning model.

[0266] In an embodiment of the present application, the selecting a reference sample point from the plurality of sample points according to the amplitude of each sample point in the plurality of sample points specifically includes:

[0267] The first algorithm or the second algorithm is used to select a reference sample point from the plurality of sample points according to the amplitude of each sample point in the plurality of sample points;

[0268] The first algorithm is to select a sample point with the largest amplitude from the plurality of sample points as the reference sample point, and the second algorithm is to select a first sample point higher than an amplitude threshold from the plurality of sample points as the reference sample point, the amplitude threshold being a preset multiple of the noise standard deviation of the CIR;

[0269] calculating a reference phase based on the reference sample, comprises:

[0270] calculating a reference phase based on the reference sample, comprises:

[0271] The third algorithm is: calculating an average value of phases of each sample in a sample set as the reference phase, the sample set containing: a plurality of continuous samples from the reference sample.

[0272] The fourth algorithm is: for each of a plurality of candidate angles, calculating a sum of imaginary parts of samples in a sample set after rotating the sample set by the candidate angle, selecting a candidate angle that makes the sum of imaginary parts minimum as the reference phase.

[0273] In an embodiment of the present application, when the positioning device is the terminal or the base station, before the step of acquiring the CIR of the channel between the terminal to be positioned and the base station, the machine executable instructions further cause the processor 1501 to perform the following steps:

[0274] receiving first signaling sent by a positioning management function (LMF) device, the first signaling including a first flag value and a second flag value, the first flag value indicating an algorithm for selecting the reference sample, and the second flag value indicating an algorithm for calculating the reference phase;

[0275] The step of selecting a reference sample from the plurality of samples according to the amplitude of each sample in the plurality of samples, comprises:

[0276] The step of selecting a reference sample from the plurality of samples according to the amplitude of each sample in the plurality of samples, comprises:

[0277] The step of calculating a reference phase based on the reference sample, comprises:

[0278] The step of calculating a reference phase based on the reference sample, comprises:

[0279] As can be seen from the above, in the embodiments of the present application, the LMF device can control the algorithm used by the positioning device for reference sample selection and reference phase calculation through the first signaling, thereby controlling the phase alignment process of the positioning device.

[0280] In an embodiment of the present application, the first signaling further includes a first parameter, the first parameter indicating the number of samples used for calculating the reference phase.

[0281] In the case where the first flag value indicates the second algorithm, the first signaling further includes a second parameter, the second parameter being used to indicate the preset multiple.

[0282] In a case where the second flag value represents a fourth algorithm, the first signaling further includes a third parameter, the third parameter being used to represent a minimum interval between each of the candidate angles.

[0283] In an embodiment of the present application, the algorithm represented by the first flag value is one of algorithms supported by the positioning device for selecting the reference sample, and the algorithm represented by the second flag value is one of algorithms supported by the positioning device for calculating the reference phase.

[0284] Before the receiving the first signaling sent by the LMF device, the machine-executable instructions further cause the processor 1501 to perform the following steps:

[0285] sending second signaling to the LMF device;

[0286] The second signaling includes a fourth parameter and a fifth parameter, the fourth parameter being used to represent the algorithm supported by the positioning device for selecting the reference sample, and the fifth parameter being used to represent the algorithm supported by the positioning device for calculating the reference phase.

[0287] As can be seen from the above, before the LMF device sends the first signaling to the positioning device, the positioning device can also send second signaling to the LMF device to notify the LMF device of the capability of the positioning device for reference sample selection and reference phase calculation, so that the LMF device issues the first signaling according to the capability of the positioning device.

[0288] In an embodiment of the present application, the second signaling further includes a sixth parameter, the sixth parameter representing a value range of the number of samples used to calculate the reference phase.

[0289] In a case where the fourth parameter represents an algorithm including a second algorithm, the second signaling further includes a seventh parameter.

[0290] The seventh parameter is used to represent a value range of the preset multiple.

[0291] In a case where the fifth parameter represents an algorithm including a fourth algorithm, the second signaling further includes an eighth parameter.

[0292] The eighth parameter is used to represent a value range of the interval between each of the candidate angles.

[0293] In an embodiment of the present application, after the inputting the phase-aligned CIR into the positioning model and obtaining the positioning information output by the positioning model, the machine-executable instructions further cause the processor 1501 to perform the following steps:

[0294] According to the obtained positioning information, a confidence region in which the terminal should be located at a future target moment is predicted;

[0295] After reaching the target moment, the obtained positioning information of the target moment is used to determine an actual position of the terminal at the target moment;

[0296] It is determined whether the actual position corresponding to the current target moment is located in the current confidence region;

[0297] If the cumulative number of times that the actual position is determined not to be located in the confidence region does not reach a preset number of times, the step of obtaining the CIR of the channel between the terminal to be positioned and the base station is returned to be executed.

[0298] As can be seen from the above, the scheme provided in the embodiments of the application can monitor the phase alignment, and in the case that the phase alignment is accurate, the phase alignment processing is continued, so as to avoid waste of computing resources.

[0299] In an embodiment of the application, the positioning device is the terminal or the base station or an LMF device.

[0300] Corresponding to the foregoing positioning method applied to the positioning device, the embodiments of the application further provide a positioning apparatus applied to the positioning device.

[0301] Referring to FIG. 16, a structural schematic diagram of a positioning apparatus provided in the embodiments of the application is shown, which is applied to a positioning device, and the apparatus includes:

[0302] A CIR obtaining module 1601 is configured to obtain a CIR of a channel between a terminal to be positioned and a base station, and the CIR includes a plurality of samples.

[0303] A sample selecting module 1602 is configured to select a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples, and the amplitude of the reference sample is greater than a preset standard.

[0304] A phase calculating module 1603 is configured to calculate a reference phase based on the reference sample.

[0305] A phase aligning module 1604 is configured to perform phase alignment on the plurality of samples based on the reference phase, to obtain a CIR after phase alignment.

[0306] A positioning information obtaining module 1605 is configured to input the CIR after phase alignment into a positioning model, and obtain positioning information output by the positioning model.

[0307] As can be seen from the above, in the scheme provided by the embodiments of the present application, after obtaining the CIR, the positioning device selects a suitable reference sample point matched with the amplitude according to the actual amplitude of the sample point in the CIR. And the reference phase is calculated according to the suitable reference sample point. Then the phase alignment is performed on each sample point according to the reference phase. Since the reference sample point is not a fixed position sample point, but an actual selection of the sample point with an amplitude greater than a preset standard according to the amplitude of the sample point in the CIR, the selected reference sample point is more matched with the actual situation of the CIR, and has a larger amplitude and smaller phase noise. On this basis, the phase alignment can introduce less phase noise in the CIR after the phase alignment, so that the CIR after the phase alignment is more accurate. The problem of random initial phase mismatch of the CIR can be eliminated, and the positioning accuracy of the positioning model is improved.

[0308] In an embodiment of the present application, the sample point selection module 1602 is specifically used for:

[0309] selecting a reference sample point from the plurality of sample points according to the amplitude of each sample point in the plurality of sample points by using a first algorithm or a second algorithm;

[0310] The first algorithm is to select a sample point with the largest amplitude from the plurality of sample points as the reference sample point, and the second algorithm is to select a first sample point higher than an amplitude threshold value from the plurality of sample points as the reference sample point, and the amplitude threshold value is a preset multiple of the noise standard deviation of the CIR.

[0311] The phase calculation module 1603 is specifically used for:

[0312] calculating a reference phase based on the reference sample point by using a third algorithm or a fourth algorithm;

[0313] The third algorithm is to calculate the average value of the phases of the sample points in a sample point set as the reference phase, and the sample point set includes a plurality of continuous sample points from the reference sample point.

[0314] The fourth algorithm is to calculate, for each of a plurality of candidate angles, the sum of the imaginary parts of the sample points in the sample point set after the phases of the sample points in the sample point set are rotated by the candidate angle, and select the candidate angle that makes the sum of the imaginary parts the smallest as the reference phase.

[0315] In an embodiment of the present application, the device further includes:

[0316] The signaling receiving module is used to receive first signaling sent by a location management function (LMF) device, the first signaling includes a first marker value and a second marker value, the first marker value represents an algorithm for selecting the reference sample point, and the second marker value represents an algorithm for calculating the reference phase.

[0317] The sample selection module 1602 is specifically configured to:

[0318] The algorithm represented by the first mark value is used to select a reference sample from the plurality of samples according to the amplitudes of each sample in the plurality of samples.

[0319] The phase calculation module 1603 is specifically configured to:

[0320] The algorithm represented by the second mark value is used to calculate a reference phase based on the reference sample.

[0321] As can be seen from the above, in the embodiment of the application, the LMF device can control the algorithm used by the positioning device for reference sample selection and reference phase calculation, thereby controlling the phase alignment process of the positioning device.

[0322] In an embodiment of the application, the first signaling further includes a first parameter, and the first parameter represents the number of samples used to calculate the reference phase.

[0323] In the case where the first mark value represents the second algorithm, the first signaling further includes a second parameter, and the second parameter is used to represent the preset multiple.

[0324] In the case where the second mark value represents the fourth algorithm, the first signaling further includes a third parameter, and the third parameter is used to represent the minimum interval between each alternative angle.

[0325] In an embodiment of the application, the algorithm represented by the first mark value is one of the algorithms supported by the positioning device for selecting the reference sample, and the algorithm represented by the second mark value is one of the algorithms supported by the positioning device for calculating the reference phase.

[0326] The apparatus further includes:

[0327] The signaling sending module is configured to send second signaling to the LMF device.

[0328] The second signaling includes a fourth parameter and a fifth parameter, the fourth parameter is used to represent the algorithm supported by the positioning device for selecting the reference sample, and the fifth parameter is used to represent the algorithm supported by the positioning device for calculating the reference phase.

[0329] As can be seen from the above, before the LMF device sends the first signaling to the positioning device, the positioning device can also send the second signaling to the LMF device to notify the LMF device of the capability of the positioning device for reference sample selection and reference phase calculation, so that the LMF device issues the first signaling according to the capability of the positioning device.

[0330] In an embodiment of the present application, the second signaling further comprises a sixth parameter, the sixth parameter representing a value range of a number of samples used to calculate the reference phase;

[0331] In the case that the fourth parameter represents the second algorithm, the second signaling further comprises a seventh parameter;

[0332] The seventh parameter is used to represent a value range of the preset multiple.

[0333] In the case that the fifth parameter represents the fourth algorithm, the second signaling further comprises an eighth parameter;

[0334] The eighth parameter is used to represent a value range of an interval between each alternative angle.

[0335] In an embodiment of the present application, the apparatus further comprises:

[0336] A region prediction module is configured to predict, according to the obtained positioning information, a confidence region in which the terminal should be located at a target time in the future.

[0337] An actual position determination module is configured to obtain positioning information of the target time after reaching the target time, and determine an actual position of the terminal at the target time.

[0338] A position judgment module is configured to judge whether the actual position at the current target time is located in the current confidence region.

[0339] If the cumulative number of times that the actual position is determined not to be located in the confidence region does not reach a preset number, the CIR obtaining module is triggered to be executed.

[0340] As can be seen from the above, the scheme provided by the embodiments of the present application can monitor phase alignment, and only in the case that the phase alignment is accurate, the phase alignment processing is continued, thereby avoiding waste of computing resources.

[0341] In an embodiment of the present application, the positioning device is the terminal or the base station or an LMF device.

[0342] Based on the same inventive concept, according to the positioning method provided by the above embodiments of the present application, a machine readable storage medium stores machine executable instructions, when the machine executable instructions are called and executed by a processor, the machine executable instructions cause the processor to implement the steps of any positioning method applied to a positioning device.

[0343] In another embodiment provided by the present application, a computer program product containing instructions is provided, when the computer program product is run on a computer, the computer program product causes the computer to execute the steps of any positioning method applied to a positioning device in the above embodiments.

[0344] In the embodiments described above, all or some of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or some of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded into and executed by a computer, all or some of the processes or functions according to the embodiments described in the specification are generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. containing one or more available media. The available media can be magnetic media (for example, floppy disk, hard disk, magnetic tape), optical media (for example, DVD), or semiconductor media (for example, solid state disk (SSD)) and the like.

[0345] It should be noted that, in this document, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0346] Each of the embodiments in the specification is described in a related manner, and the same and similar parts between each of the embodiments can be referred to each other, and each of the embodiments focuses on the difference from other embodiments. In particular, for the device, equipment, computer readable storage medium and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts can be referred to the part of the method embodiment.

[0347] The above merely provides the preferred embodiment of the present application, and not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

A positioning method characterized by comprising: The method is applied to a positioning device, and comprises the following steps: obtaining a channel impulse response (CIR) of a channel between a terminal to be positioned and a base station, the CIR comprising a plurality of samples; selecting a reference sample from the plurality of samples according to the amplitude of each sample, the amplitude of the reference sample being greater than a preset standard; calculating a reference phase based on the reference sample; performing phase alignment on the plurality of samples based on the reference phase to obtain a CIR after phase alignment; inputting the CIR after phase alignment into a positioning model to obtain positioning information output by the positioning model. The method of claim 1, wherein The method further comprises the following steps: adopting a first algorithm or a second algorithm to select the reference sample from the plurality of samples according to the amplitude of each sample; wherein the first algorithm is to select a sample with the largest amplitude from the plurality of samples as the reference sample, and the second algorithm is to select a first sample higher than an amplitude threshold from the plurality of samples as the reference sample, the amplitude threshold being a preset multiple of the noise standard deviation of the CIR; The method further comprises the following steps: adopting a third algorithm or a fourth algorithm to calculate the reference phase based on the reference sample; wherein the third algorithm is to calculate the average of the phases of the samples in a sample set as the reference phase, the sample set comprising a plurality of continuous samples from the reference sample; The fourth algorithm is to calculate the sum of the imaginary parts of the samples in the sample set after rotating the phases of the samples in the sample set by each of a plurality of candidate angles, and select the candidate angle that makes the sum of the imaginary parts the smallest as the reference phase. The method according to claim 2, characterized in that When the positioning device is a first terminal or a first base station, the method further comprises the following steps before the step of obtaining the CIR of the channel between the terminal to be positioned and the base station: receiving a first signaling sent by a location management function (LMF) device, the first signaling comprising a first flag value and a second flag value, the first flag value indicating an algorithm for selecting the reference sample, and the second flag value indicating an algorithm for calculating the reference phase; The method further comprises the following steps: adopting the algorithm indicated by the first flag value to select the reference sample from the plurality of samples according to the amplitude of each sample; The method further comprises the following steps: adopting the algorithm indicated by the second flag value to calculate the reference phase based on the reference sample. The method according to claim 3, characterized in that The first signaling further comprises a first parameter indicating the number of samples for calculating the reference phase; In the case where the first flag value indicates the second algorithm, the first signaling further comprises a second parameter for indicating the preset multiple; In the case where the second flag value indicates the fourth algorithm, the first signaling further comprises a third parameter for indicating the minimum interval between each candidate angle. The method according to claim 3, characterized in that The first mark value represents an algorithm supported by the positioning device for selecting the reference sample; and the second mark value represents an algorithm supported by the positioning device for calculating the reference phase. Before receiving the first signaling sent by the LMF device, the method further includes: sending second signaling to the LMF device; The second signaling includes a fourth parameter and a fifth parameter, the fourth parameter is used to represent an algorithm supported by the positioning device for selecting the reference sample, and the fifth parameter is used to represent an algorithm supported by the positioning device for calculating the reference phase. The method according to claim 5, characterized in that The second signaling further includes a sixth parameter, and the sixth parameter represents a value range of a number of samples used to calculate the reference phase. In a case where the fourth parameter represents the second algorithm, the second signaling further includes a seventh parameter. The seventh parameter is used to represent a value range of the preset multiple. In a case where the fifth parameter represents the fourth algorithm, the second signaling further includes an eighth parameter. The eighth parameter is used to represent a value range of an interval between the alternative angles. The method according to any one of claims 1-6, characterized in that After inputting the phase-aligned CIR into the positioning model and obtaining the positioning information output by the positioning model, the method further includes: predicting a confidence region in which the terminal should be located at a future target time according to the obtained positioning information; obtaining the positioning information at the target time to determine an actual position of the terminal at the target time after the target time is reached; determining whether the actual position at the current target time is located in the current confidence region; if the cumulative number of times that the actual position is determined not to be located in the confidence region does not reach a preset number, returning to the step of obtaining the CIR of the channel between the terminal to be positioned and the base station. The method according to claim 1 or 2, characterized in that The positioning device is a first terminal, a first base station, or an LMF device. A positioning device, characterized in that The positioning device includes: a processor; a transceiver; a machine-readable storage medium storing machine-executable instructions executable by the processor; the machine-executable instructions cause the processor to perform the following steps: obtaining a CIR of a channel between a terminal to be positioned and a base station, the CIR including a plurality of samples; selecting a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples, the amplitude of the reference sample being greater than a preset standard; calculating a reference phase based on the reference sample; performing phase alignment on the plurality of samples based on the reference phase to obtain a phase-aligned CIR; inputting the phase-aligned CIR into a positioning model to obtain positioning information output by the positioning model. The positioning device according to claim 9, characterized in that The selecting of the reference sample from the plurality of samples according to the amplitude of each sample in the plurality of samples specifically includes: selecting the reference sample from the plurality of samples according to the amplitude of each sample in the plurality of samples by using a first algorithm or a second algorithm. The first algorithm is to select a sample point with the largest amplitude from the multiple sample points as the reference sample point, and the second algorithm is to select a first sample point higher than an amplitude threshold from the multiple sample points as the reference sample point, the amplitude threshold being a preset multiple of a noise standard deviation of the CIR. The reference phase is calculated based on the reference sample point, including: The reference phase is calculated based on the reference sample point by using a third algorithm or a fourth algorithm. The third algorithm is to calculate an average value of phases of sample points in a sample point set as the reference phase, the sample point set including multiple continuous sample points from the reference sample point. The fourth algorithm is to calculate, for each of multiple candidate angles, a sum of imaginary parts of sample points in a sample point set after the phases of the sample points in the sample point set are rotated by the candidate angle, and select the candidate angle with the smallest sum of imaginary parts as the reference phase. The positioning device according to claim 10, characterized in that When the positioning device is a first terminal or a first base station, before the channel impulse response (CIR) of a channel between a terminal to be positioned and a base station is acquired, the machine-executable instructions further cause the processor to perform the following steps: receive first signaling sent by a location management function (LMF) device, the first signaling including a first flag value and a second flag value, the first flag value indicating an algorithm for selecting a reference sample point, and the second flag value indicating an algorithm for calculating a reference phase; select the reference sample point from the multiple sample points according to amplitudes of the sample points in the multiple sample points by using the algorithm indicated by the first flag value; calculate the reference phase based on the reference sample point by using the algorithm indicated by the second flag value. The first signaling further includes a first parameter indicating a number of sample points used for calculating the reference phase; when the first flag value indicates the second algorithm, the first signaling further includes a second parameter used for indicating the preset multiple; when the second flag value indicates the fourth algorithm, the first signaling further includes a third parameter used for indicating a minimum interval between the candidate angles. The positioning device according to claim 11, characterized in that The algorithm indicated by the first flag value is one of algorithms supported by the positioning device for selecting the reference sample point, and the algorithm indicated by the second flag value is one of algorithms supported by the positioning device for calculating the reference phase. Before the first signaling sent by the LMF device is received, the machine-executable instructions further cause the processor to perform the following steps: send second signaling to the LMF device; The positioning device according to claim 11, characterized in that The second signaling includes a fourth parameter and a fifth parameter, the fourth parameter being used for indicating algorithms supported by the positioning device for selecting the reference sample point, and the fifth parameter being used for indicating algorithms supported by the positioning device for calculating the reference phase. ​ ​ ​ The positioning device according to claim 13, characterized in that The second signaling further comprises a sixth parameter, which represents a value range of a number of samples used to calculate the reference phase; In the case that the fourth parameter represents the second algorithm, the second signaling further comprises a seventh parameter; The seventh parameter is used to represent the value range of the preset multiple; In the case that the fifth parameter represents the fourth algorithm, the second signaling further comprises an eighth parameter; The eighth parameter is used to represent a value range of an interval between each alternative angle. Positioning device according to any of claims 9-14, characterized in that After inputting the phase-aligned CIR into the positioning model and obtaining the positioning information output by the positioning model, the machine-executable instructions further cause the processor to perform the following steps: According to the obtained positioning information, a confidence region in which the terminal should be at a future target time is predicted; After reaching the target time, the positioning information of the target time is obtained to determine the actual position of the terminal at the target time; It is judged whether the actual position corresponding to the current target time is located in the current confidence region; If the cumulative number of times that the actual position is determined not to be located in the confidence region does not reach a preset number, the step of obtaining the channel impulse response CIR of the channel between the terminal to be positioned and the base station is returned. Positioning device according to claim 9 or 10, characterized in that The positioning device is a first terminal or a first base station or an LMF device. A positioning device, characterized in that The device is applied to a positioning device and comprises: A CIR obtaining module is configured to obtain a channel impulse response CIR of a channel between a terminal to be positioned and a base station, wherein the CIR comprises a plurality of samples; A sample selection module is configured to select a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples, wherein the amplitude of the reference sample is greater than a preset standard; A phase calculation module is configured to calculate a reference phase based on the reference sample; A phase alignment module is configured to perform phase alignment on the plurality of samples based on the reference phase to obtain a phase-aligned CIR; A positioning information obtaining module is configured to input the phase-aligned CIR into a positioning model to obtain positioning information output by the positioning model. The apparatus of claim 17, wherein The sample selection module is specifically configured to: select a reference sample from the plurality of samples according to an amplitude of each sample in the plurality of samples by using a first algorithm or a second algorithm; The first algorithm is to select a sample with the largest amplitude from the plurality of samples as the reference sample, and the second algorithm is to select a first sample higher than an amplitude threshold from the plurality of samples as the reference sample, wherein the amplitude threshold is a preset multiple of a noise standard deviation of the CIR; The phase calculation module is specifically configured to: calculate a reference phase based on the reference sample by using a third algorithm or a fourth algorithm; The third algorithm is to calculate an average value of phases of samples in a sample set as the reference phase, wherein the sample set comprises a plurality of continuous samples from the reference sample; The fourth algorithm is: for each of the plurality of candidate angles, calculating a sum of imaginary parts of the samples in the sample set after rotating the candidate angle to the phase of the samples in the sample set, and selecting the candidate angle that makes the sum of the imaginary parts minimum as the reference phase. The apparatus of claim 18, wherein The apparatus further includes: The signaling receiving module is configured to receive first signaling sent by a location management function (LMF) device, the first signaling including a first flag value and a second flag value, the first flag value indicating an algorithm for selecting the reference sample, and the second flag value indicating an algorithm for calculating the reference phase. The sample selecting module is specifically configured to: select a reference sample from the plurality of samples according to the amplitude of each sample in the plurality of samples by using the algorithm indicated by the first flag value. The phase calculating module is specifically configured to: calculate a reference phase based on the reference sample by using the algorithm indicated by the second flag value. The apparatus of claim 19, wherein The first signaling further includes a first parameter, the first parameter indicating the number of samples used to calculate the reference phase. In a case where the first flag value indicates the second algorithm, the first signaling further includes a second parameter, the second parameter being used to indicate the preset multiple. In a case where the second flag value indicates the fourth algorithm, the first signaling further includes a third parameter, the third parameter being used to indicate the minimum interval between each candidate angle. The apparatus of claim 19, wherein The algorithm indicated by the first flag value is one of the algorithms supported by the positioning device for selecting the reference sample, and the algorithm indicated by the second flag value is one of the algorithms supported by the positioning device for calculating the reference phase. The apparatus further includes: The signaling sending module is configured to send second signaling to the LMF device. The second signaling includes a fourth parameter and a fifth parameter, the fourth parameter being used to indicate the algorithm supported by the positioning device for selecting the reference sample, and the fifth parameter being used to indicate the algorithm supported by the positioning device for calculating the reference phase. The apparatus of claim 21, wherein The second signaling further includes a sixth parameter, the sixth parameter indicating a value range of the number of samples used to calculate the reference phase. In a case where the algorithm indicated by the fourth parameter includes the second algorithm, the second signaling further includes a seventh parameter. The seventh parameter is used to indicate a value range of the preset multiple. In a case where the algorithm indicated by the fifth parameter includes the fourth algorithm, the second signaling further includes an eighth parameter. The eighth parameter is used to indicate a value range of the interval between each candidate angle. The apparatus of any one of claims 17-22, wherein The apparatus further includes: The region predicting module is configured to predict, according to the obtained positioning information, a confidence region in which the terminal should be located at a target time in the future. The actual position determining module is configured to, after reaching the target time, obtain positioning information of the target time, and determine an actual position of the terminal at the target time. The position judging module is configured to judge whether the actual position corresponding to the current target time is located in the current confidence region. If the cumulative number of times that the actual position is determined not to be located in the confidence region does not reach a preset number, the CIR obtaining module is triggered to be executed. The apparatus of claim 17 or 18, wherein The positioning device is a first terminal or a first base station or an LMF device. A machine-readable storage medium, characterized in that, Machine executable instructions are stored, which when invoked and executed by a processor, cause the processor to implement the method of any of claims 1-8. A computer program product, characterized by The computer program product causes a processor to implement the method of any of claims 1-8.

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