Positioning method, device, system and storage medium

Abstract

The embodiment of the present disclosure discloses a positioning method, device and computer readable storage medium, and relates to the technical field of communication. The positioning method comprises: acquiring first information, wherein the first information comprises position information of a second node; and determining position information of a terminal based on the first information; wherein the second node comprises a reference node determined based on a third node when a non-line-of-sight path exists between the terminal and the third node, or a target causing the non-line-of-sight path between the terminal and the third node. In the embodiment of the present disclosure, the position information of the terminal is determined based on the position information of the second node. Since the second node comprises the reference node determined based on the third node when the non-line-of-sight path exists between the terminal and the third node, or the target causing the non-line-of-sight path between the terminal and the third node, the positioning accuracy of the terminal can be improved.

Description

Positioning methods, equipment, systems and storage media Technical Field

[0001] This disclosure relates to the field of communication technology, and more specifically, to a positioning method, device, system, and storage medium. Background Technology

[0002] Sensing fusion technology refers to the integration of wireless communication and sensing functions, enabling wireless communication systems to simultaneously possess both communication and sensing capabilities. While transmitting wireless signals, devices actively detect reflected / diffracted signals to perceive the physical characteristics of the surrounding environment, thereby achieving mutual enhancement of communication and sensing functions. For example, base stations use signals to sense information about the surrounding environment and design communication links to avoid obstacles and improve communication performance. Summary of the Invention

[0003] This disclosure provides a positioning method, device, system, and storage medium.

[0004] A first aspect of this disclosure provides a positioning method, the method being executed by a first node, the method comprising:

[0005] Obtain first information, which includes: the location information of the second node;

[0006] The location information of the terminal is determined based on the first information;

[0007] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0008] A second aspect of this disclosure provides a positioning method, the method being executed by a terminal, the method comprising:

[0009] Send first information to the first node, the first information including the location information of the second node, the first information being used by the first node to determine the location information of the terminal;

[0010] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0011] A third aspect of this disclosure provides a positioning method, the method being executed by a third node, the method comprising:

[0012] Send first information to the first node, the first information including the location information of the second node, the first information being used by the first node to determine the location information of the terminal;

[0013] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0014] A fourth aspect of this disclosure provides a positioning method, the method being executed by a sensing network element, the method comprising:

[0015] A fourth message is sent to the first node, the fourth message being used to assist the first node in determining the location information of the terminal.

[0016] A fifth aspect of this disclosure provides a first node, including:

[0017] The first transceiver module is used to acquire first information, which includes: the location information of the second node;

[0018] The first processing module is used to determine the location information of the terminal based on the first information;

[0019] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0020] A sixth aspect of this disclosure provides a terminal, including:

[0021] The second transceiver module is used to send first information to the first node, the first information including the location information of the second node, and the first information is used by the first node to determine the location information of the terminal.

[0022] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0023] A seventh aspect of this disclosure provides a third node, including:

[0024] The third transceiver module is used to send first information to the first node. The first information includes the location information of the second node. The first information is used by the first node to determine the location information of the terminal.

[0025] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0026] An eighth aspect of this disclosure provides a sensing network element, including:

[0027] The fourth transceiver module is used to send fourth information to the first node, which is used to assist the first node in determining the location information of the terminal.

[0028] A ninth aspect of this disclosure provides a communication device, comprising:

[0029] One or more processors;

[0030] The processor is used to execute an optional implementation of the first aspect described above.

[0031] A tenth aspect of this disclosure provides a communication device, including:

[0032] One or more processors;

[0033] The processor is used to execute an optional implementation of the second aspect described above.

[0034] An eleventh aspect of this disclosure provides a communication device, including:

[0035] One or more processors;

[0036] The processor is used to execute an optional implementation of the third aspect described above.

[0037] A twelfth aspect of this disclosure provides a communication device, comprising:

[0038] One or more processors;

[0039] The processor is used to execute an optional implementation of the fourth aspect described above.

[0040] According to a thirteenth aspect of this disclosure, a communication system is provided, including a first node, a third node, and a terminal, wherein the terminal is used to implement the method described in an optional embodiment of the second aspect, the first node is used to implement the method described in an optional embodiment of the first aspect, and the third node is used to implement the method described in an optional embodiment of the third aspect.

[0041] According to a fourteenth aspect of the present disclosure, a computer-readable storage medium is provided that stores executable instructions which are loaded and executed by a processor to implement the methods described in the optional embodiments of the first, second, third, or fourth aspects.

[0042] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0044] Figure 1a is a schematic diagram of a wireless communication system according to an exemplary embodiment;

[0045] Figure 1b is a schematic diagram of a scenario of a sensing application according to an exemplary embodiment;

[0046] Figure 1c is a schematic diagram of a scenario of a sensing application according to an exemplary embodiment;

[0047] Figure 1d is a schematic diagram of a scenario of a sensing application according to an exemplary embodiment;

[0048] Figure 1e is a schematic diagram of a scenario of a sensing application according to an exemplary embodiment;

[0049] Figure 1f is a schematic diagram of a scenario of a sensing application according to an exemplary embodiment;

[0050] Figure 1g is a schematic diagram of a scenario of a sensing application according to an exemplary embodiment;

[0051] Figure 2a is a flowchart illustrating a positioning method according to an exemplary embodiment;

[0052] Figure 2b is a flowchart illustrating a positioning method according to an exemplary embodiment;

[0053] Figure 3a is a schematic flowchart illustrating the positioning method according to an embodiment of this disclosure;

[0054] Figure 3b is a flowchart illustrating the positioning method according to an embodiment of this disclosure;

[0055] Figure 4a is a schematic flowchart illustrating the positioning method according to an embodiment of this disclosure;

[0056] Figure 4b is a schematic flowchart illustrating the positioning method according to an embodiment of this disclosure;

[0057] Figure 5a is a flowchart illustrating the positioning method according to an embodiment of this disclosure;

[0058] Figure 5b is a flowchart illustrating the positioning method according to an embodiment of this disclosure;

[0059] Figure 6a is a schematic diagram of the structure of the first node proposed in an embodiment of this disclosure;

[0060] Figure 6b is a schematic diagram of the structure of the terminal proposed in an embodiment of this disclosure;

[0061] Figure 6c is a schematic diagram of the structure of the third node proposed in an embodiment of this disclosure;

[0062] Figure 6d is a schematic diagram of the structure of the sensing network element proposed in an embodiment of this disclosure;

[0063] Figure 7a is a schematic diagram of the structure of the communication device proposed in an embodiment of this disclosure;

[0064] Figure 7b is a schematic diagram of the chip structure proposed in an embodiment of this disclosure. Detailed Implementation

[0065] This disclosure provides a positioning method, device, communication system, and storage medium.

[0066] In a first aspect, embodiments of this disclosure propose a positioning method, which is executed by a first node, and the method includes:

[0067] Obtain first information, which includes: the location information of the second node;

[0068] The location information of the terminal is determined based on the first information;

[0069] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0070] In the above embodiments, the terminal location information is determined based on the location information of the second node. Since the second node includes the reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a non-line-of-sight path target is generated between the terminal and the third node, the positioning accuracy of the terminal can be improved.

[0071] In conjunction with some embodiments of the first aspect, in some embodiments, obtaining the first information includes:

[0072] Receive the first information sent by the terminal or the third node.

[0073] In the above embodiments, the sensing information obtained from the terminal or the third node (e.g., when there is a non-line-of-sight path between the terminal and the third node, the position information of the reference node determined by the third node, or the position information of the target generated in the non-line-of-sight path between the terminal and the third node) can assist NLOS positioning and improve positioning accuracy.

[0074] In conjunction with some embodiments of the first aspect, in some embodiments, the first information comes from the terminal, and the first information further includes: the location information of the terminal and first indication information, wherein the first indication information is used to indicate that the location information of the terminal is determined based on the location information of the reference node.

[0075] In the above embodiments, by obtaining the terminal's location information from the terminal and the first indication information used to indicate that the terminal's location information is determined based on the location information of the reference node, it can be known that the terminal's positioning accuracy is high, and there is no need to determine the terminal's location information through further calculation.

[0076] In conjunction with some embodiments of the first aspect, in some embodiments, the first information comes from the terminal, the second node is the reference node, and the location information of the reference node is determined by the terminal based on the first parameter;

[0077] The first parameter includes: the angle of incidence of the signal reflected by the target to the terminal, the distance between the third node and the target, and the position information of the target.

[0078] In the above embodiments, the terminal can determine the location information of the reference node by sensing to assist NLOS positioning and improve positioning accuracy.

[0079] In conjunction with some embodiments of the first aspect, in some embodiments, the first information further includes: a measurement result and second indication information, wherein the second indication information is used to indicate that the measurement result is determined based on the position information of the reference node.

[0080] In the above embodiments, the first node can combine the location information of the reference node reported by the terminal or the third node with the measurement results determined based on the location information of the reference node to determine the location information of the terminal, thereby effectively improving the positioning accuracy.

[0081] In conjunction with some embodiments of the first aspect, in some embodiments, the second node is the target, and the first information further includes at least one of the following:

[0082] The angle information of the target relative to the terminal or the third node;

[0083] The distance information of the target relative to the terminal or the third node;

[0084] The position information of the target relative to the terminal or the third node;

[0085] The location information of the third node.

[0086] In the above embodiments, when reporting the location information of the target to the first node, other information about the target can also be reported so that the location information of the terminal determined by the first node can be more accurate.

[0087] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes:

[0088] The first node receives fourth information sent by the sensing network element, the fourth information being used to assist the first node in determining the location information of the terminal.

[0089] In conjunction with some embodiments of the first aspect, in some embodiments, the fourth information includes at least one of the following:

[0090] The angle information of the target relative to the terminal or the third node;

[0091] The distance information of the target relative to the terminal or the third node;

[0092] The position information of the target relative to the terminal or the third node;

[0093] The location information of the target;

[0094] The location information of the third node.

[0095] In the above embodiments, the first node can also obtain other relevant information about the target through the sensing network element, so as to combine it with the target location information reported by the terminal or the third node to determine the terminal's location information and effectively improve the positioning accuracy.

[0096] Secondly, embodiments of this disclosure propose a positioning method, which is executed by a terminal, and the method includes:

[0097] Send first information to the first node, the first information including the location information of the second node, the first information being used by the first node to determine the location information of the terminal;

[0098] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0099] In conjunction with some embodiments of the second aspect, in some embodiments, the first information further includes: the location information of the terminal and first indication information, wherein the first indication information is used to indicate that the location information of the terminal is determined based on the location information of the reference node.

[0100] In conjunction with some embodiments of the second aspect, in some embodiments, the second node is the reference node, and the method further includes:

[0101] Get the first parameter;

[0102] The location information of the reference node is determined based on the first parameter;

[0103] The first parameter includes: the angle of incidence of the signal reflected by the target to the terminal, the distance between the third node and the target, and the position information of the target.

[0104] In conjunction with some embodiments of the second aspect, in some embodiments, obtaining the first parameter includes:

[0105] The system receives second information sent by the third node, the second information including: the distance between the third node and the target, and the location information of the target.

[0106] In conjunction with some embodiments of the second aspect, in some embodiments, the first information further includes: a measurement result and second indication information, wherein the second indication information is used to indicate that the measurement result is determined based on the position information of the reference node.

[0107] In conjunction with some embodiments of the second aspect, in some embodiments, the second node is the target, and the first information further includes at least one of the following:

[0108] The angle information of the target relative to the terminal;

[0109] The distance information of the target relative to the terminal;

[0110] The position information of the target relative to the terminal;

[0111] The location information of the third node.

[0112] In conjunction with some embodiments of the second aspect, in some embodiments, the method further includes:

[0113] Receive third information sent by the third node, the third information including the location information of the third node.

[0114] Thirdly, embodiments of this disclosure propose a positioning method, which is executed by a third node, and the method includes:

[0115] Send first information to the first node, the first information including the location information of the second node, the first information being used by the first node to determine the location information of the terminal;

[0116] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0117] In conjunction with some embodiments of the third aspect, in some embodiments, the first information further includes: a measurement result and second indication information, wherein the second indication information is used to indicate that the measurement result is determined based on the position information of the reference node.

[0118] In conjunction with some embodiments of the third aspect, in some embodiments, the second node is the target, and the first information further includes at least one of the following:

[0119] The angle information of the target relative to the third node;

[0120] The distance information of the target relative to the third node;

[0121] The position information of the target relative to the third node;

[0122] The location information of the third node.

[0123] In conjunction with some embodiments of the third aspect, in some embodiments, the method further includes:

[0124] Send a second piece of information to the terminal, the second piece of information including: the distance between the third node and the target, and the location information of the target.

[0125] In conjunction with some embodiments of the third aspect, in some embodiments, the method further includes:

[0126] Send third information to the terminal, the third information including the location information of the third node.

[0127] In conjunction with some embodiments of the third aspect, in some embodiments, the method includes:

[0128] A fourth message is sent to the first node, the fourth message being used to assist the first node in determining the location information of the terminal.

[0129] Fourthly, embodiments of this disclosure propose a positioning method, which is executed by a sensing network element, the method comprising:

[0130] A fourth message is sent to the first node, the fourth message being used to assist the first node in determining the location information of the terminal.

[0131] In conjunction with some embodiments of the fourth aspect, in some embodiments, the fourth information includes at least one of the following:

[0132] The angle information of the target relative to the terminal or the third node;

[0133] Distance information of the target relative to the terminal or the third node;

[0134] Position information of the target relative to the terminal or the third node;

[0135] The location information of the target;

[0136] Location information of the third node;

[0137] The target is the target that generates a non-line-of-sight path between the terminal and the third node.

[0138] Fifthly, embodiments of this disclosure provide a first node, comprising:

[0139] The first transceiver module is used to acquire first information, which includes: the location information of the second node;

[0140] The first processing module is used to determine the location information of the terminal based on the first information;

[0141] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0142] Sixthly, embodiments of this disclosure provide a terminal, including:

[0143] The second transceiver module is used to send first information to the first node, the first information including the location information of the second node, and the first information is used by the first node to determine the location information of the terminal.

[0144] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0145] In a seventh aspect, embodiments of this disclosure provide a third node, including:

[0146] The third transceiver module is used to send first information to the first node. The first information includes the location information of the second node. The first information is used by the first node to determine the location information of the terminal.

[0147] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0148] Eighthly, embodiments of this disclosure provide a sensing network element, including:

[0149] The fourth transceiver module is used to send fourth information to the first node, which is used to assist the first node in determining the location information of the terminal.

[0150] Ninthly, embodiments of this disclosure provide a communication device, including:

[0151] One or more processors;

[0152] The processor is used to execute an optional implementation of the first aspect described above.

[0153] In a tenth aspect, embodiments of this disclosure provide a communication device, including:

[0154] One or more processors;

[0155] The processor is used to execute an optional implementation of the second aspect described above.

[0156] Eleventhly, embodiments of this disclosure provide a communication device, including:

[0157] One or more processors;

[0158] The processor is used to execute an optional implementation of the third aspect described above.

[0159] In a twelfth aspect, embodiments of this disclosure provide a communication device, including:

[0160] One or more processors;

[0161] The processor is used to execute an optional implementation of the fourth aspect described above.

[0162] In a thirteenth aspect, embodiments of this disclosure provide a communication system including a first node, a third node, and a terminal, wherein the terminal is used to implement the method described in the optional embodiments of the second aspect, the first node is used to implement the method described in the optional embodiments of the first aspect, and the third node is used to implement the method described in the optional embodiments of the third aspect.

[0163] In a fourteenth aspect, embodiments of this disclosure provide a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform a method as described in the alternative embodiments of the first, second, third, or fourth aspects.

[0164] In a fifteenth aspect, embodiments of this disclosure provide a program product that, when executed by a communication device, causes the communication device to perform the method as described in an optional implementation of the first, second, third, or fourth aspect.

[0165] In a sixteenth aspect, embodiments of this disclosure provide a computer program that, when run on a computer, causes the computer to perform the method as described in an optional implementation of the first, second, third, or fourth aspect.

[0166] In a seventeenth aspect, embodiments of this disclosure provide a chip or chip system including processing circuitry for performing the method described in an optional implementation of the first, second, third, or fourth aspect above.

[0167] Understandably, the aforementioned devices, communication equipment, communication systems, storage media, program products, and computer programs for random access are all used to execute the methods proposed in the embodiments of this disclosure. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here. The communication equipment can be a terminal or a network device.

[0168] This disclosure provides a positioning method, apparatus, communication device, communication system, and storage medium.

[0169] In some embodiments, the terms "location method" and "location method" and "for random access" can be used interchangeably, and the terms "device for random access" and "information processing device" and "communication device" can be used interchangeably, as can the terms "information processing system" and "communication system".

[0170] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of the embodiments disclosed. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0171] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0172] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this disclosure.

[0173] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0174] In the embodiments of this disclosure, "multiple" refers to two or more.

[0175] In some embodiments, the terms “at least one of”, “at least one of”, “at least one of”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0176] The descriptions in this disclosure, such as "at least one of A, B, C..." or "A and / or B and / or C...", include the case where any one of A, B, C... exists alone, as well as the case where any combination of any of A, B, C... exists alone. Each case can exist alone. For example, "at least one of A, B, C" includes the cases of A alone, B alone, C alone, A and B combination, A and C combination, B and C combination, and A and B and C combination. For example, A and / or B includes the cases of A alone, B alone, and A and B combination.

[0177] In some embodiments, the notation "in one case A, in another case B" or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: A is executed regardless of B, i.e., A is executed in some embodiments; B is executed regardless of A, i.e., B is executed in some embodiments; A and B are selectively executed, i.e., A and B are selected for execution in some embodiments; A and B are both executed, i.e., A and B are executed in some embodiments. The same applies when there are more branches such as A, B, and C.

[0178] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, quantity, or content of the descriptive objects. The description of the descriptive objects is found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the number of descriptive objects is not limited by ordinal numbers and can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. As another example, if the object being described is "information", then "first configuration" and "second configuration" can be the same information or different information, and their content can be the same or different.

[0179] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0180] In some embodiments, the terms “in response to…”, “in response to determining…”, “in the case of…”, “when…”, “if…”, “if…”, etc., can be used interchangeably.

[0181] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0182] In some embodiments, devices, etc., can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as “device”, “equipment”, “circuit”, “network element”, “node”, “function”, “unit”, “section”, “system”, “network”, “chip”, “chip system”, “entity”, and “subject” can be used interchangeably.

[0183] In some embodiments, the terms "access network device (AN device)," "radio access network device (RAN device)," "base station (BS)," "radio base station," "fixed station," "node," "access point," "transmission point (TP)," "reception point (RP)," "transmission / reception point (TRP)," "panel," "antenna panel," "antenna array," "cell," "macro cell," "small cell," "femto cell," "pico cell," "sector," "cell group," "carrier," "component carrier," and "bandwidth part (BWP)" can be used interchangeably.

[0184] In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", "subscriber station", "mobile unit", "subscriber unit", "wireless unit", "remote unit", "mobile device", "wireless device", "wireless communication device", "remote device", "mobile subscriber station", "access terminal", "mobile terminal", "wireless terminal", "remote terminal", "handset", "user agent", "mobile client", and "client" can be used interchangeably.

[0185] In some embodiments, the access network device, core network device, or network device can be replaced by a terminal. For example, various embodiments of this disclosure can also be applied to structures that replace communication between the access network device, core network device, or network device and the terminal with communication between multiple terminals (e.g., also referred to as device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, the terminal can also be configured to have all or part of the functions of the access network device. Furthermore, terms such as "uplink" and "downlink" can be replaced with terms corresponding to communication between terminals (e.g., "side").

[0186] For example, uplink channels and downlink channels can be replaced with side channels, and uplink links and downlink links can be replaced with side links.

[0187] In some embodiments, the terms "uplink", "uplink", and "physical uplink" can be used interchangeably, as can the terms "downlink", "downlink", and "physical downlink", as well as the terms "sidelink", "sidelink", "sidelink communication", "sidelink communication", "direct connection", "direct link", "direct communication", and "direct link communication".

[0188] In some embodiments, the terms “downlink control information (DCI),” “downlink (DL) assignment,” “DL DCI,” “uplink (UL) grant,” and “UL DCI” can be used interchangeably.

[0189] In some embodiments, terms such as "physical downlink shared channel (PDSCH)" and "DL data" can be used interchangeably, as can terms such as "physical uplink shared channel (PUSCH)" and "UL data".

[0190] In some embodiments, the determination or judgment can be made by a value represented by 1 bit (0 or 1), or by a true or false value (boolean), or by a comparison of numerical values ​​(e.g., a comparison with a predetermined value), but is not limited thereto.

[0191] In some embodiments, "network" can be interpreted as devices included in a network (e.g., access network devices, core network devices, etc.).

[0192] In some embodiments, the acquisition of data, information, etc., may comply with the laws and regulations of the country where the location is situated.

[0193] In some embodiments, data, information, etc., may be obtained with the user's consent.

[0194] Figure 1a is a schematic diagram of a communication system architecture according to an embodiment of the present disclosure.

[0195] As shown in Figure 1a, the communication system 100 includes a terminal 101, an access network device 102, and a core network device 103.

[0196] In some embodiments, terminal 101 includes, but is not limited to, at least one of the following: mobile phone, wearable device, Internet of Things device, car with communication function, smart car, tablet computer, computer with wireless transceiver function, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal device in industrial control, wireless terminal device in self-driving, wireless terminal device in remote medical surgery, wireless terminal device in smart grid, wireless terminal device in transportation safety, wireless terminal device in smart city, and wireless terminal device in smart home.

[0197] In some embodiments, the access network device 102 may be a node or device that connects a terminal to a wireless network. The access network device may include, but is not limited to, at least one of the following in a 5G communication system: evolved Node B (eNB), next-generation eNB (ng-eNB), next-generation Node B (gNB), node B (NB), home node B (HNB), home evolved node B (HeNB), radio backhaul device, radio network controller (RNC), base station controller (BSC), base transceiver station (BTS), base band unit (BBU), mobile switching center, base station in a 6G communication system, open RAN, cloud RAN, base station in other communication systems, and access node in a Wi-Fi system.

[0198] In some embodiments, the technical solutions of this disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within access network devices involved in the embodiments of this disclosure can be transformed into internal interfaces of Open RAN. The processes and information interactions between these internal interfaces can be implemented by software or programs.

[0199] In some embodiments, the access network device may be composed of a central unit (CU) and a distributed unit (DU). The CU may also be called a control unit. The CU-DU structure can separate the protocol layer of the access network device. Some of the protocol layer functions are centrally controlled by the CU, while the remaining part or all of the protocol layer functions are distributed in the DU and centrally controlled by the CU. However, this is not the only possibility.

[0200] In some embodiments, the access network device may be composed of a central unit (CU) and a distributed unit (DU). The CU may also be called a control unit. The CU-DU structure can separate the protocol layer of the access network device. Some of the protocol layer functions are centrally controlled by the CU, while the remaining part or all of the protocol layer functions are distributed in the DU and centrally controlled by the CU. However, this is not the only possibility.

[0201] In some embodiments, the core network device 103 may be a single device, including a first network element 1031, or it may be multiple devices or a group of devices, including all or part of the first network element 1031, other network elements, etc. Network elements may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

[0202] In some embodiments, the first network element 1031 is, for example, a sensing function entity.

[0203] In some embodiments, the first network element 1031 is used to configure sensing signal resources, receive sensing signal measurement reports, and / or determine the location of sensing targets, etc., and its name is not limited thereto. For example, the first network element 1031 configures the signal for sensing the target. This may include configuring the time-domain resources, frequency-domain resources, beam, etc. of the signal. For example, the first network element 1031 can also receive measurement values ​​obtained based on sensing signal measurements, such as: reference signal receiving power (RSRP); reference signal receiving power per path (RSRPP) of the i-th path, where i is a positive integer; reference signal received quality (RSRQ); signal-to-interference-plus-noise ratio (SINR); time of arrival; reference signal time difference (RSTD); transmit-receive time difference; relative time of arrival (RTOA); angle of arrival; departure angle; distance between the sensing target and the sensing signal receiving node; distance between the sensing target and the sensing signal transmitting node; and at least one of the moving speed and Doppler parameters of the sensing target. For example, the first network element 1031 calculates at least one of the distance, position, direction, and moving speed of the sensing target based on the received measurement values.

[0204] In some embodiments, the first network element 1031 can be independent of the core network device 103.

[0205] In some embodiments, the first network element 1031 may be part of the core network device 103.

[0206] It is understood that the communication system described in this disclosure is for the purpose of more clearly illustrating the technical solutions of this disclosure, and does not constitute a limitation on the technical solutions proposed in this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions proposed in this disclosure are also applicable to similar technical problems.

[0207] The following embodiments of this disclosure can be applied to the communication system 100 shown in FIG1a, or to some of the main bodies, but are not limited thereto. The main bodies shown in FIG1a are illustrative. The communication system may include all or some of the main bodies in FIG1a, or it may include other main bodies outside of FIG1a. The number and form of each main body are arbitrary. Each main body may be physical or virtual. The connection relationship between the main bodies is illustrative. The main bodies may not be connected or may be connected. The connection may be in any way, such as direct connection or indirect connection, wired connection or wireless connection.

[0208] The embodiments disclosed herein can be applied to Long Term Evolution (LTE), LTE Advanced (LTE-A), LTE-Beyond (LTE-B), Super 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G New Radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New Radio Access (NX), Future Generation Radio Access (FX), Global System for Mobile Communications (GSM), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802.20, and Ultra-Wideband. Band (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X) systems, systems utilizing other communication methods, and next-generation systems built upon them. Furthermore, multiple systems can be combined (e.g., a combination of LTE or LTE-A with 5G).

[0209] The convergence of communication and sensing in 5G systems specified by 3GPP (3rd Generation Partnership Project) mainly explores the use of wireless channel characteristics to obtain richer environmental information and realize basic sensing applications based on the 5G basic network architecture and air interface enhancement design.

[0210] In the field of mobile communications, the development of communication sensing convergence is mainly in its initial stage. In the current 5G-A phase, the main focus is on exploring the use of wireless channel characteristics based on the 5G basic network architecture and air interface enhancement design to obtain richer environmental information and realize basic sensing applications.

[0211] Sensing technology utilizes wireless signals to perceive targets or states in the surrounding environment. Wireless terminals or base stations collect information such as signal strength, time delay phase changes, and Doppler shift, and after processing, output results such as target size, location, and speed. During this process, the network needs to trigger, modify, or terminate the sensing process, schedule wireless resources, process data, and release results according to service requirements.

[0212] A wireless signal transmitter emits radio waves, and a wireless signal receiver receives them. During the transmission of radio waves, the transmission may be blocked by objects (hereinafter referred to as reflectors), resulting in wireless transmission effects such as reflection, diffraction, transmission, phase change, Doppler shift, and signal intensity variation. The wireless signal receiver receives the radio waves and compares the transmitted and received signals, or records the historical changes in the received signal, thereby obtaining information about the reflector. This information (or, sensed information, or, sensed data) may include:

[0213] Coordinate information (e.g., coordinates relative to the wireless signal receiver (e.g., distance, horizontal angle, and vertical angle));

[0214] Speed ​​information (e.g., moving speed and direction of movement relative to the wireless signal receiver);

[0215] Behavioral pattern information (e.g., running, walking, approaching, falling, swinging, etc.); or weather information (e.g., rain, snow, etc.); or traffic information (e.g., congestion, accidents, etc.).

[0216] In a wireless network (e.g., a cellular network), the wireless signal transmitter can be at least one of the following:

[0217] Base station;

[0218] Wireless access points (e.g., WiFi access points (APs));

[0219] terminal.

[0220] The wireless signal receiver can be at least one of the following:

[0221] Base station;

[0222] Wireless access point;

[0223] terminal.

[0224] In this embodiment of the disclosure, the wireless signal transmitter and the wireless signal receiver can be from the same device (mono-static, same station) or different devices (bi-static / multi-static, dual station or multiple stations). Therefore, the sensing modes for sensing the target can include the following six modes. The corresponding sensing nodes are also different in different modes.

[0225] In this embodiment of the disclosure, the sensing nodes are access network devices (such as base stations) and include sensing mode 1 and sensing mode 2.

[0226] In Sensing Mode 1, the access network equipment performs self-transmission and self-reception. For example, the gNB sends a sensing signal, which is reflected after reaching the sensing target, and the gNB also receives the reflected sensing signal. This can also be called Sensing Method 1, as shown in Figure 1b, where base station A transmits and base station A receives.

[0227] Sensing mode 2 involves the transmission of sensing signals between different access network devices. For example, gNB A sends a sensing signal, and gNB B receives it. Alternatively, gNB A sends a sensing signal, which is reflected after reaching the sensing target, and then gNB B receives the reflected signal. This can also be called sensing method 2, as shown in Figure 1c, where base station A sends and base station B receives.

[0228] In this embodiment of the disclosure, the sensing nodes are between terminals, including sensing mode 3 and sensing mode 4.

[0229] In sensing mode 3, the terminal performs self-transmission and self-reception. For example, the UE sends a sensing signal, which is reflected after reaching the sensing target, and the UE also receives the reflected sensing signal. This can also be called sensing method 3, as shown in Figure 1d, where terminal A sends and terminal A receives.

[0230] Sensing mode 4 involves the transmission of sensing signals between different terminals. For example, UE A sends a sensing signal, and UE B receives the sensing signal. In another scenario, UE A sends a sensing signal, which is reflected after reaching the sensing target, and then UE B receives the reflected sensing signal. This can also be called sensing method 4, as shown in Figure 1e, where terminal A sends and terminal B receives.

[0231] In this embodiment of the disclosure, the sensing node is between the access network device and the terminal, including sensing mode 5 and sensing mode 6.

[0232] In sensing mode 5, the UE sends a sensing signal, and the gNB receives the sensing signal. For example, the UE sends a sensing signal, which is reflected after reaching the sensing target, and then the gNB receives the reflected sensing signal. This can also be called sensing method 5, as shown in Figure 1f, where terminal A sends and base station A receives.

[0233] Sensing mode 6 involves the gNB transmitting a sensing signal, which the UE receives. For example, the gNB transmits a sensing signal, the UE receives it, or the gNB transmits a sensing signal, the signal is reflected after reaching the sensing target, and then the UE receives the reflected sensing signal. This can also be called sensing method 6, as shown in Figure 1g, where base station A transmits and terminal A receives.

[0234] In some embodiments, for positioning, in a 5G system, the LMF (Location Management Function) can measure the geographical location (or speed) information of the terminal by controlling the signal transmission and reception between the base station and the terminal (or between terminals).

[0235] In some embodiments, a standardized terminal positioning method in a 5G system includes:

[0236] - Network-assisted GNSS (Global Navigation Satellite System) methods;

[0237] - OTDOA (Observed Time Difference of Arrival) positioning based on LTE signals;

[0238] - An enhanced cell identification method based on LTE signals;

[0239] -WLAN positioning;

[0240] - Bluetooth positioning;

[0241] - TBS (Terrestrial Beacon System) positioning;

[0242] - Sensor-based methods:

[0243] Barometric pressure sensor;

[0244] Motion sensor.

[0245] - An NR E-CID (enhanced cell ID) method based on NR signals;

[0246] - Multi-channel RTT (Round Trip Time) positioning based on NR signals;

[0247] - A downlink departure angle method based on NR signals (DL-AoD, Downlink Angle-of-Departure);

[0248] - A downlink time difference of arrival (DL-TDOA) method based on NR signals;

[0249] - An uplink time difference of arrival (UL-TDOA) method based on NR signals;

[0250] - The uplink angle of arrival (UL-AoA) method based on NR signals (including: azimuth angle of arrival A-AoA and apex angle of arrival Z-AoA);

[0251] - SL (Sidelink) positioning and SL-based ranging, including:

[0252] SL-RTT (Sidelink Round Trip Time) positioning;

[0253] SL-AoA (Sidelink Angle-of-Arrival);

[0254] SL-TDOA (Sidelink Time Difference of Arrival);

[0255] SL-TOA (Sidelink Time of Arrival);

[0256] However, during the positioning process, NLOS (Non-Line-of-Sight) has a significant impact on positioning accuracy.

[0257] To address the technical problem that NLOS has a significant impact on positioning accuracy during the positioning process, this disclosure provides a positioning method that considers using perception-assisted NLOS positioning to improve positioning accuracy.

[0258] NLOS refers to a wireless communication method where the signal transmitted by the transmitter cannot directly reach the receiver, but instead reaches the receiver through reflection, refraction, or scattering. NLOS positioning refers to locating a terminal using NLOS paths.

[0259] Based on the aforementioned wireless communication system, various embodiments of the positioning method proposed in this disclosure are described in detail below.

[0260] Figure 2a is an interactive schematic diagram of a positioning method according to an embodiment of the present disclosure. As shown in Figure 2a, the positioning method is used in a communication system 100, and the method includes:

[0261] S201, The terminal sends the first information to the first node.

[0262] In some embodiments, the first node may be a core network device. Optionally, the first node may be a network element for location management, a network function, or a functional entity; for example, the first node may be an LMF (Location Management Function).

[0263] In some embodiments, the first node receives first information sent by the terminal. Optionally, the LMF receives first information reported by the terminal.

[0264] In some embodiments, the first information may include the location information of the second node.

[0265] In some embodiments, the second node is a reference node, which is determined based on the third node when there is a non-line-of-sight path between the terminal and the third node.

[0266] In some embodiments, the path between the reference node and the terminal is a line-of-sight (LOS) path, and the flight time of the signal from the reference node to the terminal is the same as the flight time of the signal from the third node to the terminal.

[0267] In some embodiments, the second node can be a target that generates a non-line-of-sight path between the terminal and the third node.

[0268] In some embodiments, the second node or target is a signal transmission point between the terminal and the third node, that is, the signal sent by the third node reaches the terminal through the reflection of the second node or target, or the signal sent by the terminal reaches the third node through the reflection of the second node or target.

[0269] Optionally, the first information may include the location information of a reference node, wherein the reference node is determined based on the third node when there is no line-of-sight path between the terminal and the third node.

[0270] Optionally, the first information may include the location information of the target that generates a non-line-of-sight path between the terminal and the third node.

[0271] In some embodiments, the terminal may be the transmitter (or sender) of the sensing signal, and the third node may be the receiver (or recipient) of the sensing signal; or, the terminal may be the receiver (or recipient) of the sensing signal, and the third node may be the transmitter (or sender) of the sensing signal.

[0272] In embodiments of this disclosure, the sensing signal may include: a communication signal and / or an echo signal of the communication signal (e.g., a reflected signal and / or a diffracted signal).

[0273] It should be understood that in embodiments of this disclosure, "sensing signal" may be replaced with "sensing reference signal".

[0274] In some embodiments, the terminal can be a sensing receiving node and the third node can be a sensing sending node; or, the terminal can be a sensing sending node and the third node can be a sensing receiving node.

[0275] It should be understood that in the embodiments of this disclosure, the sensing receiving node may also be referred to as a "sensing signal receiving node," "sensing communication receiving node," or "sensing communication signal receiving node," etc., and this disclosure does not limit the name of the sensing receiving node. The sensing transmitting node may also be referred to as a "sensing signal transmitting node," "sensing communication transmitting node," or "sensing communication signal transmitting node," etc., and this disclosure does not limit the name of the sensing transmitting node.

[0276] In some embodiments, the third node may be an access network element or an access network device.

[0277] Optionally, the third node can be a base station, for example, an LTE eNB, or an NR gNB, or an ng-eNB, or an en-gNB or other evolved base stations.

[0278] Optionally, the third node can be a sender / receiver point or a transmission / reception point (TRP).

[0279] In some embodiments, the reference node may also be referred to as a virtual node. Optionally, when the third node is a TPR, the reference node may be a virtual TRP or a reference TRP.

[0280] S202, The first node determines the location information of the terminal.

[0281] In some embodiments, the first node can determine the location information of the terminal based on the first information reported by the terminal.

[0282] Optionally, the first node can determine the terminal's location information based on the location information of the second node reported by the terminal.

[0283] In some embodiments, the first information may further include: measurement results and second indication information.

[0284] Optionally, the second indication information is used to indicate that the above measurement result is determined based on the location information of the reference node. It should be understood that, in the embodiments of this disclosure, there is a correlation between the reference node location information and the measurement result.

[0285] In some embodiments, when the terminal reports the location information of the reference node to the first node, it may also report the measurement results associated with the location information of the reference node.

[0286] In some embodiments, the measurement results include measurement results based on positioning reference signals acquired by the terminal, such as the signal's time of flight, reference signal time difference (RSTD), Rx-Tx time difference (i.e., RTT), etc., but are not limited to these.

[0287] In some embodiments, the first node can locate the terminal based on the measurement results and the location information of the reference node associated with the measurement results, so as to determine the location information of the terminal.

[0288] It should be noted that in the embodiments disclosed herein, the LMF determines the specific implementation of the terminal's location information based on the location information of the second node reported by the terminal. The specific implementation of existing terminal positioning methods can be referred to, and will not be elaborated here for the sake of brevity.

[0289] In some embodiments, the first information may further include: the location information of the terminal and the first indication information.

[0290] Optionally, the first indication information is used to indicate that the terminal's location information is determined based on the location information of the reference node.

[0291] In some embodiments, the terminal may report its own location information when reporting the location information of the reference node to the LMF, and simultaneously indicate that its location information is determined based on the location information of the reference node. In this case, after receiving the first information reported by the terminal, the LMF can directly obtain the terminal's location information from the first information without needing to calculate the terminal's location information further.

[0292] In some embodiments, prior to step 201, the method may further include: the terminal determining the location information of the second node.

[0293] Optionally, the terminal can obtain the location information of the second node through sensing. For example, the terminal can obtain the location information of a target that generates a non-line-of-sight path between the terminal and the third node based on sensing.

[0294] In some embodiments, the terminal determines the location information of the reference node based on the acquired first parameter.

[0295] Optionally, the first parameter may include the angle of incidence of the signal reflected by the target reaching the terminal, the distance between the third node and the target, and the target's position information.

[0296] In some embodiments, the method for a terminal to determine the location information of a reference node may include:

[0297] S200-1, The third node sends the second information to the terminal.

[0298] In some embodiments, the second information is used to assist the terminal in determining the position information of the reference section.

[0299] In some embodiments, the second information may include: the distance between the third node and the target, and the target's location information.

[0300] In some embodiments, the terminal may receive the distance between the third node and the target, as well as the target's location information, sent by the third node.

[0301] Optionally, the target's location information may include: the target's absolute location and the target's relative location with respect to the TRP.

[0302] Optionally, the distance between the third node and the target can be the distance corresponding to the distance information of the target relative to the third node.

[0303] S200-2, The terminal determines the location information of the reference node.

[0304] In some embodiments, the terminal can determine the position information of the reference node based on the angle of incidence of the signal reflected from the target reaching the terminal, the distance between the third node and the target obtained from the third node, and the position information of the target.

[0305] For example, as shown in Figure 5b, in the case of TRP-UE bistatic, the UE estimates the angle A, the TRP estimates the position (x, y) of the target, and the distance R from the virtual TRP to the target (this distance R is the distance from the TRP to the target). Then the position of the virtual TRP relative to the target is: (x+R*cosA, y+R*sinA).

[0306] In some embodiments, in step 201 above, the terminal may report the location information of the reference node it has determined to the first node.

[0307] In some embodiments, when the second node is a target that generates a non-line-of-sight path between the terminal and the third node, the first information reported by the terminal may further include at least one of the following:

[0308] The target's angle relative to the terminal;

[0309] Distance information of the target relative to the terminal;

[0310] Position information of the target relative to the terminal;

[0311] The location information of the third node.

[0312] In some embodiments, when the terminal reports the location information of the target to the first node, it may also report the location information of the third node, and generate at least one of the angle information, distance information and location information of the target relative to the terminal in a non-line-of-sight path between the terminal and the third node, so that the first node can locate the terminal based on the target-related information reported by the terminal to determine the location information of the terminal.

[0313] In some embodiments, prior to step 201, the following may also be included:

[0314] S203, The third node sends third information to the terminal.

[0315] In some embodiments, the third information includes the location information of the third node.

[0316] In some embodiments, the terminal can receive third information sent by the third node to obtain the location information of the third node, and then report the location information of the third node when reporting the location information of the target to the first node.

[0317] In some embodiments, prior to step 202, the method may further include:

[0318] S204. The first node receives the fourth information sent by the sensing network element.

[0319] In some embodiments, the fourth information is used to assist the first node in determining the location information of the terminal.

[0320] In some embodiments, the sensing network element may send fourth information to the first node to assist the first node in determining the location information of the terminal.

[0321] In some embodiments, the fourth information may include at least one of the following:

[0322] The angle information of the target relative to the terminal or third node;

[0323] Distance information of the target relative to the terminal or third node;

[0324] The target's position relative to the terminal or third node; the target's position information;

[0325] The location information of the third node.

[0326] Optionally, the above objective is to generate a non-line-of-sight path between the terminal and the third node.

[0327] In some embodiments, the first node may locate the terminal based on the location information of the target that generates a non-line-of-sight path between the terminal and the third node, obtained from the terminal, and other relevant information of the target obtained from the sensing network element, to determine the location information of the terminal.

[0328] In this embodiment of the disclosure, the sensing network element can be replaced by a sensing function (SF) network element or a sensing application function (SAF) network element.

[0329] In the embodiments of this disclosure, "perception" can also be understood as at least one of the following meanings: positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, and target recognition.

[0330] In some embodiments, the names of information, etc., are not limited to those described in the embodiments. Terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", and "data" can be used interchangeably.

[0331] In some embodiments, terms such as “send,” “transmit,” “report,” “distribute,” “transfer,” “bidirectional transmission,” “send and / or receive” can be used interchangeably.

[0332] In some embodiments, terms such as "certain," "preset," "default," "set," "indicated," "a certain," "any," and "first" can be used interchangeably. "Certain A," "preset A," "default A," "set A," "indicated A," "a certain A," "any A," and "first A" can be interpreted as A pre-defined in a protocol or the like, or as A obtained through setting, configuration, or instruction, or as specific A, a certain A, any A, or first A, but are not limited thereto.

[0333] In some embodiments, terms such as “in the case of,” “when,” “when,” “if,” “if,” etc., can be used interchangeably.

[0334] The method involved in the embodiments of this disclosure may include at least one of steps S200-1 to S204. For example, step S201 may be implemented as an independent embodiment, steps S201 and S202 may be implemented as independent embodiments, steps S201, S202 and S203 may be implemented as independent embodiments, steps S201, S202 and S204 may be implemented as independent embodiments, steps S200-1, S200-2, S201 and S202 may be implemented as independent embodiments, steps S200-1, S200-2, S201, S202 and S203 may be implemented as independent embodiments, and steps S200-1, S200-2, S201, S202 and S204 may be implemented as independent embodiments, but are not limited thereto.

[0335] In some embodiments, step S200-1 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0336] In some embodiments, step S200-2 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0337] In some embodiments, step S203 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0338] In some embodiments, step S204 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0339] Figure 2b is an interactive schematic diagram of a positioning method according to an embodiment of the present disclosure. As shown in Figure 2b, the positioning method is used in a communication system 100, and the method includes:

[0340] S211, The third node sends the first message to the first node.

[0341] In some embodiments, the first node may be a network element in the core network used for location management, or a network function, or a functional entity. For example, the first node may be an LMF (Location Management Function).

[0342] In some embodiments, the first node receives first information sent by the third node. Optionally, the LMF receives first information reported by the third node.

[0343] In some embodiments, the first information may include the location information of the second node.

[0344] In some embodiments, the second node is a reference node, which is determined based on the third node when there is a non-line-of-sight path between the terminal and the third node.

[0345] In some embodiments, the second node can be a target that generates a non-line-of-sight path between the terminal and the third node.

[0346] Optionally, the first information may include the location information of a reference node, wherein the reference node is determined based on the third node when there is no line-of-sight path between the terminal and the third node.

[0347] Optionally, the first information may include the location information of the target that generates a non-line-of-sight path between the terminal and the third node.

[0348] In some embodiments, the terminal may be the transmitter (or sender) of the sensing signal, and the third node may be the receiver (or recipient) of the sensing signal; or, the terminal may be the receiver (or recipient) of the sensing signal, and the third node may be the transmitter (or sender) of the sensing signal.

[0349] In embodiments of this disclosure, the sensing signal may include: a communication signal and / or an echo signal of the communication signal (e.g., a reflected signal and / or a diffracted signal).

[0350] It should be understood that in embodiments of this disclosure, "sensing signal" may be replaced with "sensing reference signal".

[0351] In some embodiments, the terminal can be a sensing receiving node and the third node can be a sensing sending node; or, the terminal can be a sensing sending node and the third node can be a sensing receiving node.

[0352] It should be understood that in the embodiments of this disclosure, the sensing receiving node may also be referred to as a "sensing signal receiving node," "sensing communication receiving node," or "sensing communication signal receiving node," etc., and this disclosure does not limit the name of the sensing receiving node. The sensing transmitting node may also be referred to as a "sensing signal transmitting node," "sensing communication transmitting node," or "sensing communication signal transmitting node," etc., and this disclosure does not limit the name of the sensing transmitting node.

[0353] In some embodiments, the third node may be an access network element or an access network device.

[0354] Optionally, the third node can be a base station, for example, an LTE eNB, or an NR gNB, or an ng-eNB, or an en-gNB or other evolved base stations.

[0355] Optionally, the third node can be a sender / receiver point or a transmission / reception point (TRP).

[0356] In some embodiments, the reference node may also be referred to as a virtual node. Optionally, when the third node is a TPR, the reference node may be a virtual TRP or a reference TRP.

[0357] In some embodiments, prior to step 211, the method may further include: the third node determining the location information of the second node.

[0358] Optionally, the third node can obtain the location information of the second node through sensing. For example, the third node can obtain the location information of a target that generates a non-line-of-sight path between the terminal and the third node based on sensing.

[0359] S212, The first node determines the location information of the terminal.

[0360] In some embodiments, the first node may determine the location information of the terminal based on the first information reported by the third node.

[0361] Optionally, the first node can determine the terminal's location information based on the location information of the second node reported by the third node.

[0362] In some embodiments, the first information may further include: measurement results and second indication information.

[0363] Optionally, the second indication information is used to indicate that the above measurement result is determined based on the location information of the reference node. It should be understood that, in the embodiments of this disclosure, there is a correlation between the reference node location information and the measurement result.

[0364] In some embodiments, when the third node reports the location information of the reference node to the first node, it may also report the measurement results associated with the location information of the reference node.

[0365] In some embodiments, the measurement results include measurement results based on positioning reference signals obtained by the third node, such as the signal's time of flight, reference signal time difference (RSTD), Rx-Tx time difference (i.e., RTT), etc., but are not limited to these.

[0366] In some embodiments, the first node can locate the terminal based on the measurement results and the location information of the reference node associated with the measurement results, so as to determine the location information of the terminal.

[0367] It should be noted that in the embodiments disclosed herein, the specific implementation method by which the LMF determines the terminal's location information based on the location information of the second node reported by the third node can refer to the specific implementation method of existing terminal positioning methods. For the sake of brevity, it will not be described in detail here.

[0368] In some embodiments, when the second node is a target that generates a non-line-of-sight path between the terminal and the third node, the first information reported by the third node may further include at least one of the following:

[0369] The target's angle relative to the third node;

[0370] Distance information of the target relative to the third node;

[0371] Position information of the target relative to the third node;

[0372] The location information of the third node.

[0373] In some embodiments, when the third node reports the target's location information to the first node, it may also report the location information of the third node, and generate at least one of the non-line-of-sight target's angle information, distance information, and location information relative to the third node between the terminal and the third node, thereby enabling the first node to locate the terminal based on the target-related information reported by the third node to determine the terminal's location information.

[0374] In some embodiments, prior to step 212, the method may further include:

[0375] S213, The first node receives the fourth information sent by the sensing network element.

[0376] In some embodiments, the fourth information is used to assist the first node in determining the location information of the terminal.

[0377] The optional implementation of step S213 can be found in the optional implementation of step S204 in Figure 2a, and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0378] The method involved in the embodiments of this disclosure may include at least one of steps S211 to S213. For example, step S211 may be implemented as a separate embodiment, and steps S211 and S212 may be implemented as separate embodiments, but are not limited thereto.

[0379] In some embodiments, step S213 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0380] Figure 3a is a flowchart illustrating a positioning method according to an embodiment of the present disclosure. As shown in Figure 3a, the positioning method can be executed by a first node, and the method includes:

[0381] S301, Receive the first information sent by the terminal or third node.

[0382] In some embodiments, the first information may include the location information of the second node.

[0383] In some embodiments, the second node is a reference node, which is determined based on the third node when there is a non-line-of-sight path between the terminal and the third node.

[0384] In some embodiments, the second node can be a target that generates a non-line-of-sight path between the terminal and the third node.

[0385] Optionally, the first information may include the location information of a reference node, wherein the reference node is determined based on the third node when there is no line-of-sight path between the terminal and the third node.

[0386] Optionally, the first information may include the location information of the target that generates a non-line-of-sight path between the terminal and the third node.

[0387] In some embodiments, step S301 may specifically include: the first node receiving first information sent by the terminal.

[0388] The optional implementation of step S301 can be found in the optional implementation of step S201 in Figure 2a and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0389] In some embodiments, the first information may further include: the location information of the terminal and the first indication information.

[0390] Optionally, the first indication information is used to indicate that the terminal's location information is determined based on the location information of the reference node.

[0391] In some embodiments, the terminal determines the location information of the reference node based on the acquired first parameter.

[0392] Optionally, the first parameter may include the angle of incidence of the signal reflected by the target reaching the terminal, the distance between the third node and the target, and the target's position information.

[0393] In some embodiments, step S301 may specifically include: the first node receiving first information sent by the third node.

[0394] The optional implementation of step S301 can be found in the optional implementation of step S211 in Figure 2b, and other related parts in the embodiment involved in Figure 2b, which will not be repeated here.

[0395] S302. Determine the location information of the terminal based on the first information.

[0396] The optional implementation of step S302 can be found in the optional implementation of step S202 in Figure 2a or step S212 in Figure 2b, as well as other related parts in the embodiments involved in Figures 2a and 2b, which will not be repeated here.

[0397] In some embodiments, the first node can determine the location information of the terminal based on the first information reported by the terminal.

[0398] Optionally, the first node can determine the terminal's location information based on the location information of the second node reported by the terminal.

[0399] In some embodiments, the first node may determine the location information of the terminal based on the first information reported by the third node.

[0400] Optionally, the first node can determine the terminal's location information based on the location information of the second node reported by the third node.

[0401] In some embodiments, before step S302, the above method may further include: receiving fourth information sent by a sensing network element.

[0402] Optionally, the fourth piece of information is used to assist the first node in determining the location information of the terminal.

[0403] In some embodiments, the fourth information may include at least one of the following:

[0404] The angle information of the target relative to the terminal or third node;

[0405] Distance information of the target relative to the terminal or third node;

[0406] The target's position information relative to the terminal or third node;

[0407] Target location information;

[0408] The location information of the third node.

[0409] Optionally, the above objective is to generate a non-line-of-sight path between the terminal and the third node.

[0410] In some embodiments, the first node may locate the terminal to determine the terminal's location information based on the location information of the target that generates a non-line-of-sight path between the terminal and the third node obtained from the terminal or the third node, and other relevant information of the target obtained from the sensing network element.

[0411] The above optional implementation methods can be found in the optional implementation methods of step S204 in Figure 2a or step S213 in Figure 2b, as well as other related parts in the embodiments involved in Figures 2a and 2b, which will not be repeated here.

[0412] Figure 3b is a flowchart illustrating a positioning method according to an embodiment of the present disclosure. As shown in Figure 3b, the positioning method can be executed by a first node, and the method includes:

[0413] S311, Obtain first information.

[0414] In some embodiments, the first information may include the location information of the second node.

[0415] In some embodiments, the second node is a reference node, which is determined based on the third node when there is a non-line-of-sight path between the terminal and the third node.

[0416] In some embodiments, the second node can be a target that generates a non-line-of-sight path between the terminal and the third node.

[0417] Optionally, the first information may include the location information of a reference node, wherein the reference node is determined based on the third node when there is no line-of-sight path between the terminal and the third node.

[0418] Optionally, the first information may include the location information of the target that generates a non-line-of-sight path between the terminal and the third node.

[0419] The optional implementations of step S311 can be found in the optional implementations of step S201 in Figure 2a, step S211 in Figure 2b, and step S301 in Figure 3a, as well as other related parts in the embodiments involved in Figures 2a, 2b, and 3a, which will not be repeated here.

[0420] In some embodiments, obtaining the first information includes receiving the first information sent by the terminal or a third node.

[0421] In some embodiments, the first information comes from the terminal, and the first information further includes: the terminal's location information and first indication information. Optionally, the first indication information is used to indicate that the terminal's location information is determined based on the location information of a reference node.

[0422] In some embodiments, the first information comes from the terminal, the second node is a reference node, and the position information of the reference node is determined by the terminal based on the first parameter. Optionally, the first parameter includes: the angle of incidence of the signal reflected from the target reaching the terminal, the distance between the third node and the target, and the position information of the target.

[0423] In some embodiments, the first information further includes: measurement result and second indication information, wherein the second indication information is used to indicate that the measurement result is determined based on the location information of the reference node.

[0424] In some embodiments, the second node is the target, and the first information further includes at least one of the following:

[0425] The angle information of the target relative to the terminal or third node;

[0426] Distance information of the target relative to the terminal or third node;

[0427] The target's position information relative to the terminal or third node;

[0428] The location information of the third node.

[0429] In some embodiments, the method further includes receiving fourth information sent by a sensing network element. Optionally, the fourth information is used to assist the first node in determining the location information of the terminal.

[0430] In some embodiments, the fourth information includes at least one of the following:

[0431] The angle information of the target relative to the terminal or third node;

[0432] Distance information of the target relative to the terminal or third node;

[0433] The target's position information relative to the terminal or third node;

[0434] Target location information;

[0435] The location information of the third node.

[0436] Optionally, the above objective is to generate a non-line-of-sight path between the terminal and the third node.

[0437] S312. Determine the location information of the terminal based on the first information.

[0438] The optional implementation of step S312 can be found in the optional implementation of step S202 in Figure 2a or step S212 in Figure 2b, as well as other related parts in the embodiments involved in Figures 2a and 2b, which will not be repeated here.

[0439] Figure 4a is a flowchart illustrating a positioning method according to an embodiment of the present disclosure. As shown in Figure 4a, the positioning method can be executed by a terminal, and the method includes:

[0440] S401, Receive the second information sent by the third node.

[0441] In some embodiments, the second information is used to assist the terminal in determining the position information of the reference section.

[0442] In some embodiments, the second information may include: the distance between the third node and the target, and the target's location information.

[0443] The optional implementation of step S401 can be found in the optional implementation of step S200-1 in Figure 2a, and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0444] In some embodiments, the reference node is determined based on the third node when there is a non-line-of-sight path between the terminal and the third node.

[0445] In some embodiments, the objective is to generate a non-line-of-sight path between the terminal and the third node.

[0446] S402. Determine the location information of the reference node.

[0447] In some embodiments, the terminal can determine the position information of the reference node based on the angle of incidence of the signal reflected from the target reaching the terminal, the distance between the third node and the target obtained from the third node, and the position information of the target.

[0448] Optionally, the terminal can calculate the angle of incidence of the signal reflected from the target reaching the terminal.

[0449] The optional implementation of step S401 can be found in the optional implementation of step S200-2 in Figure 2a, and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0450] S403, Send the first message to the first node.

[0451] In some embodiments, the first information includes the location information of the reference node.

[0452] The optional implementation of step S403 can be found in the optional implementation of step S201 in Figure 2a, and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0453] In some embodiments, the terminal reports first information to the first node.

[0454] In some embodiments, the first node receives the location information of the reference node reported by the terminal and locates the terminal to determine the terminal's location information.

[0455] In some embodiments, when a terminal reports the location information of a reference node, it may also report its own location information and indicate that its location information is determined based on the location information of the reference node, so that the first node can directly obtain the location information of the terminal from the first information without further calculation.

[0456] Figure 4b is a flowchart illustrating a positioning method according to an embodiment of the present disclosure. As shown in Figure 4b, the positioning method can be executed by a terminal, and the method includes:

[0457] S411, Send the first message to the first node.

[0458] The optional implementation of step S411 can be found in the optional implementation of step S201 in Figure 2a, and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0459] In some embodiments, the terminal reports first information to the first node.

[0460] In some embodiments, the first information may include the location information of the second node.

[0461] In some embodiments, the second node may be a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node.

[0462] In some embodiments, the second node can be a target that generates a non-line-of-sight path between the terminal and the third node.

[0463] Optionally, the first information may include the location information of a reference node, wherein the reference node is determined based on the third node when there is no line-of-sight path between the terminal and the third node.

[0464] In some embodiments, the first information further includes: the terminal's location information and the first indication information, wherein the first indication information is used to indicate that the terminal's location information is determined based on the location information of the reference node.

[0465] In some embodiments, the second node is a reference node, and the method further includes:

[0466] Get the first parameter;

[0467] The location information of the reference node is determined based on the first parameter.

[0468] Optionally, the first parameter includes: the angle of incidence of the signal reflected by the target reaching the terminal, the distance between the third node and the target, and the target's position information.

[0469] In some embodiments, obtaining the first parameter includes receiving second information sent by a third node.

[0470] Optionally, the second information includes: the distance between the third node and the target, and the target's location information.

[0471] The above optional implementation methods can be found in the optional implementation methods of step S200-1 in Figure 2a, step S401 in Figure 4a, and other related parts in the embodiments involved in Figures 2a and 4a, which will not be repeated here.

[0472] In some embodiments, the first information further includes: measurement result and second indication information, wherein the second indication information is used to indicate that the measurement result is determined based on the location information of the reference node.

[0473] In some embodiments, the second node is the target, and the first information further includes at least one of the following:

[0474] The target's angle relative to the terminal;

[0475] Distance information of the target relative to the terminal;

[0476] Position information of the target relative to the terminal;

[0477] The location information of the third node.

[0478] In some embodiments, the method further includes: receiving third information sent by a third node, wherein the third information includes the location information of the three nodes.

[0479] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S203 in Figure 2a, and other related parts in the embodiments involved in Figure 2a, which will not be repeated here.

[0480] Figure 5a is a flowchart illustrating a positioning method according to an embodiment of the present disclosure. As shown in Figure 5a, the positioning method can be executed by a third node, and the method includes:

[0481] S501, Send the first message to the first node.

[0482] The optional implementation of step S501 can be found in the optional implementation of step S211 in Figure 2b, and other related parts in the embodiment involved in Figure 2b, which will not be repeated here.

[0483] In some embodiments, the third node reports the first information to the first node.

[0484] In some embodiments, the first information may include the location information of the second node.

[0485] In some embodiments, the second node may be a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node.

[0486] In some embodiments, the second node can be a target that generates a non-line-of-sight path between the terminal and the third node.

[0487] Optionally, the first information may include the location information of a reference node, wherein the reference node is determined based on the third node when there is no line-of-sight path between the terminal and the third node.

[0488] In some embodiments, the third node may be an access network element or an access network device.

[0489] Optionally, the third node can be a base station, for example, an LTE eNB, or an NR gNB, or an ng-eNB, or an en-gNB or other evolved base stations.

[0490] Optionally, the third node can be a sender / receiver point or a transmission / reception point (TRP).

[0491] In some embodiments, the first information further includes: measurement result and second indication information, wherein the second indication information is used to indicate that the measurement result is determined based on the location information of the reference node.

[0492] In some embodiments, the second node is the target, and the first information further includes at least one of the following:

[0493] The target's angle relative to the third node;

[0494] Distance information of the target relative to the third node;

[0495] Position information of the target relative to the third node;

[0496] The location information of the third node.

[0497] In some embodiments, the method further includes sending second information to the terminal, wherein the second information includes the distance between the three nodes and the target, and the target's location information.

[0498] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S200-1 in Figure 2a, and other related parts in the embodiments involved in Figure 2a, which will not be repeated here.

[0499] In some embodiments, the method further includes sending third information to the terminal, wherein the third information includes the location information of the three nodes.

[0500] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S203 in Figure 2a, and other related parts in the embodiments involved in Figure 2a, which will not be repeated here.

[0501] This disclosure also provides a positioning method, which is executed by a sensing network element, the method comprising:

[0502] Send the fourth message to the first node.

[0503] In some embodiments, the fourth information is used to assist the first node in determining the location information of the terminal.

[0504] The above optional implementation methods can be found in the optional implementation methods of step S204 shown in Figure 2a, step S213 shown in Figure 2b, and other related parts in the embodiments involved in Figures 2a and 2b, which will not be repeated here.

[0505] In some embodiments, the fourth information may include at least one of the following:

[0506] The angle information of the target relative to the terminal or third node;

[0507] Distance information of the target relative to the terminal or third node;

[0508] The target's position information relative to the terminal or third node;

[0509] Target location information;

[0510] The location information of the third node.

[0511] Optionally, the above objective is to generate a non-line-of-sight path between the terminal and the third node.

[0512] In this embodiment of the disclosure, the sensing network element can be replaced by a sensing function (SF) network element or a sensing application function (SAF) network element.

[0513] This disclosure also provides an optional implementation scheme, proposing a positioning method in which the TRP and UE are connected via NLOS, and the UE can be positioned with the aid of perception to improve the positioning accuracy of the UE.

[0514] In some embodiments, the UE reports the location information of the Virtual TRP (which can correspond to the reference node mentioned above, or can also be described as a reference TRP) to the LMF (which can correspond to the first node mentioned above).

[0515] In some embodiments, gNB / TRP (which may correspond to the third node mentioned above) reports the location information of the virtual TRP to LMF.

[0516] In some embodiments, the location information of the virtual TRP is associated with the measurement results obtained by the UE or TRP, such as: time of flight (transmission time of the signal from the transmitter to the receiver), RSTD (Reference Signal Time Difference), and Rx-Tx time difference (i.e., RTT).

[0517] In some embodiments, when the UE reports the location information of the virtual TRP to the LMF, it can also report its own location information. Optionally, when the UE reports its location information to the LMF, it can indicate to the LMF that its location information is calculated from the location information of the virtual TRP.

[0518] In some embodiments, the virtual TRP is obtained based on the TRP location when there is an NLOS path between the TRP and the UE.

[0519] In some embodiments, the UE may report information about the target that generated NLOS to the LMF. Optionally, the target information may include, but is not limited to, the angle of the target relative to the UE, the distance of the target relative to the UE, etc.

[0520] In some embodiments, the TRP can report information about the target that generated the NLOS to the LMF. Optionally, the target information may include, but is not limited to, the angle of the target relative to the TRP, the distance of the target relative to the TRP, the position of the target relative to the TRP, and the position of the target.

[0521] In some embodiments, the LMF calculates the UE's location using the location information of the virtual TRP associated with the measurement results of the UE or gNB. It should be noted that the LMF can use existing related calculation methods to calculate the UE's location; for the sake of brevity, these will not be elaborated upon here.

[0522] In some embodiments, the LMF calculates the UE's location using the location information of the target that generates NLOS reported by the UE or gNB.

[0523] Optionally, the LMF can obtain the following information and calculate the UE's location information based on at least two of the obtained information.

[0524] For example: LMF obtains the target's location information reported by TRP; or LMF obtains the target's location information from SF.

[0525] LMF obtains the location information of TRP;

[0526] LMF acquires the relative position information between the UE and the target reported by the UE.

[0527] In some embodiments, the UE can calculate the location information of the virtual TRP in the following manner:

[0528] 1. TRP sends the distance between TRP and target to UE.

[0529] For example, TRP obtains the distance between TRP and target through sensing.

[0530] 2. The TRP sends the target's location information to the UE. Optionally, the target's location information may include: the target's absolute location and the target's relative location with respect to the TRP. For example, the TRP obtains the target's location information through sensing.

[0531] 3. The UE calculates the angle of incidence of the signal reflected from the target reaching the UE.

[0532] 4. Based on the incident angle, the distance between the TRP and the target, and the position of the target, the UE can calculate the position information of the virtual TRP.

[0533] Optionally, as shown in Figure 5b, in the case of TRP-UE bistatic, the UE estimates the angle A, the TRP estimates the target's position (x, y), and the distance R from the virtual TRP to the target (this distance R is the distance from the TRP to the target). Then the position of the virtual TRP relative to the target is: (x+R*cosA, y+R*sinA).

[0534] This disclosure also provides an apparatus for implementing any of the above methods. For example, an apparatus is provided that includes units or modules for implementing the steps performed by the terminal in any of the above methods. Alternatively, another apparatus is provided that includes units or modules for implementing the steps performed by a network device (e.g., an access network device, a core network functional node, a core network device, etc.) in any of the above methods.

[0535] It should be understood that the division of units or modules in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units or modules in the device can be implemented by a processor calling software: for example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of the units or modules in the above device. The processor can be, for example, a general-purpose processor, such as a Central Processing Unit (CPU) or a microprocessor, and the memory can be internal or external to the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits. The functions of some or all of the units or modules can be achieved through the design of the hardware circuits. The aforementioned hardware circuits can be understood as one or more processors. For example, in one implementation, the aforementioned hardware circuit is an application-specific integrated circuit (ASIC). The functions of some or all of the aforementioned units or modules are achieved through the design of the logical relationships between the components within the circuit. As another example, in another implementation, the aforementioned hardware circuit can be implemented through a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby achieving the functions of some or all of the aforementioned units or modules.

[0536] All units or modules of the above devices can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remainder implemented through hardware circuits. In this embodiment, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a Central Processing Unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be hardware circuits designed for artificial intelligence, which can be understood as ASICs, such as Neural Network Processing Units (NPUs), Tensor Processing Units (TPUs), and Deep Learning Processing Units (DPUs).

[0537] Figure 6a is a schematic diagram of the structure of the first node proposed in an embodiment of this disclosure. As shown in Figure 6a, the first node may include at least one of a first transceiver module 611, a first processing module 612, etc.

[0538] In some embodiments, the first transceiver module 611 is used to acquire first information, the first information including: the location information of the second node; the first processing module 612 is used to determine the location information of the terminal based on the first information.

[0539] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0540] Optionally, the first transceiver module 611 is used to execute the steps related to sending and receiving signaling or communicating executed by the first node in any of the above methods, such as at least one of steps S201 and S204 shown in FIG2a, and steps S211 and S213 shown in FIG2b, which will not be described in detail here.

[0541] Optionally, the first processing module 612 is used to execute the positioning-related steps performed by the first node in any of the above methods, such as at least one of step S202 shown in FIG2a and step S212 shown in FIG2b, which will not be described in detail here.

[0542] Figure 6b is a schematic diagram of the structure of a terminal according to an embodiment of this disclosure. As shown in Figure 6b, the terminal includes at least one of a second transceiver module 621, a second processing module 622, etc.

[0543] In some embodiments, the second transceiver module 621 is used to send first information to the first node, the first information including the location information of the second node, and the first information is used by the first node to determine the location information of the terminal.

[0544] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0545] Optionally, the second transceiver module 621 is also used to perform the steps related to sending and receiving signaling or communicating performed by the terminal in any of the above methods, such as at least one of steps S200-1, S201, and S203 shown in FIG2a, which will not be described in detail here.

[0546] Optionally, the second processing module 622 is used to execute the information processing-related steps performed by the terminal in any of the above methods, such as step S200-2 shown in Figure 2a, which will not be described again here.

[0547] Figure 6c is a schematic diagram of the structure of the third node proposed in an embodiment of this disclosure. As shown in Figure 6c, the third node may include at least one of a third transceiver module 631, a third processing module 632, etc.

[0548] In some embodiments, the third transceiver module 631 is used to send first information to the first node, the first information including the location information of the second node, and the first information is used by the first node to determine the location information of the terminal.

[0549] The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node.

[0550] Optionally, the third transceiver module 631 is also used to perform steps related to sending and receiving signaling or communicating as performed by the third node in any of the above methods, such as at least one of steps S200-1 and S203 shown in FIG2a and step S211 shown in FIG2b, which will not be described in detail here.

[0551] Figure 6d is a schematic diagram of the structure of a sensing network element proposed in an embodiment of this disclosure. As shown in Figure 6d, the sensing network element may include at least one of a fourth transceiver module 641, a fourth processing module 642, etc.

[0552] In some embodiments, the fourth transceiver module 641 is used to send fourth information to the first node, the fourth information being used to assist the first node in determining the location information of the terminal.

[0553] Optionally, the fourth transceiver module 641 is used to execute the steps related to transmitting and receiving signaling performed by the sensing network element in any of the above methods, such as at least one of step S204 shown in FIG2a and step S213 shown in FIG2b, which will not be described in detail here.

[0554] Figure 7a is a schematic diagram of the structure of the communication device 7100 proposed in an embodiment of this disclosure. The communication device 7100 can be a network device (e.g., access network device, core network device, etc.), a terminal (e.g., user equipment, etc.), a chip, chip system, or processor that supports the network device in implementing any of the above methods, or a chip, chip system, or processor that supports the terminal in implementing any of the above methods. The communication device 7100 can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0555] As shown in Figure 7a, the communication device 7100 includes one or more processors 7101. The processor 7101 can be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control communication devices (e.g., base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute programs, and process program data. The processor 7101 is used to invoke instructions to cause the communication device 7100 to execute any of the above methods.

[0556] In some embodiments, the communication device 7100 further includes one or more transceivers 7103. When the communication device 7100 includes one or more transceivers 7103, the transceivers 7103 perform at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., at least one of steps S200-1, S201, S203, S204 shown in FIG. 2a, and steps S211, S213 shown in FIG. 2b, but not limited thereto), and the processor 7101 performs at least one of other steps (e.g., at least one of steps S200-2, S202 shown in FIG. 2a, and step S212 shown in FIG. 2b, but not limited thereto). In optional embodiments, the transceivers may include a receiver and / or a transmitter, which may be separate or integrated together. Optionally, terms such as transceiver, transceiver unit, transceiver, transceiver circuit, interface circuit, and interface can be used interchangeably; terms such as transmitter, transmitter unit, transmitter, and transmitter circuit can be used interchangeably; and terms such as receiver, receiver unit, receiver, and receiver circuit can be used interchangeably.

[0557] In some embodiments, the communication device 7100 further includes one or more memories 7102 for storing instructions. Optionally, all or part of the memories 7102 may also be located outside the communication device 7100.

[0558] In some embodiments, a transceiver may include a receiver and a transmitter, which may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, transceiver circuit, etc., may be used interchangeably; the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc., may be used interchangeably; and the terms receiver, receiving unit, receiver, receiving circuit, etc., may be used interchangeably.

[0559] Optionally, the communication device 7100 further includes one or more interface circuits 7104, which are connected to the memory 7102. The interface circuits 7104 can be used to receive signals from the memory 7102 or other devices, and can be used to send signals to the memory 7102 or other devices. For example, the interface circuits 7104 can read instructions stored in the memory 7102 and send the instructions to the processor 7101.

[0560] The communication device 7100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 7100 described in this disclosure is not limited thereto, and the structure of the communication device 7100 may not be limited by FIG. 7a. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: (1) an independent integrated circuit IC, or chip, or chip system or subsystem; (2) a collection of one or more ICs, optionally, the IC collection may also include storage components for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, terminal device, smart terminal device, cellular phone, wireless device, handheld device, mobile unit, vehicle device, network device, cloud device, artificial intelligence device, etc.; (6) others, etc.

[0561] Figure 7b is a schematic diagram of the structure of the chip 7200 proposed in an embodiment of this disclosure. For cases where the communication device 7100 can be a chip or a chip system, please refer to the schematic diagram of the chip 7200 shown in Figure 7b, but it is not limited thereto.

[0562] Chip 7200 includes one or more processors 7201. Chip 7200 is used to perform any of the above methods.

[0563] In some embodiments, chip 7200 further includes one or more interface circuits 7202. Optionally, terms such as interface circuit, interface, and transceiver pin can be used interchangeably. In some embodiments, chip 7200 further includes one or more memories 7203 for storing data. Optionally, all or part of the memories 7203 may be located outside of chip 7200. Optionally, interface circuit 7202 is connected to memory 7203, and interface circuit 7202 can be used to receive data from memory 7203 or other devices, and interface circuit 7202 can be used to send data to memory 7203 or other devices. For example, interface circuit 7202 can read data stored in memory 7203 and send the data to processor 7201.

[0564] In some embodiments, the interface circuit 7202 performs at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., at least one of steps S200-1, S201, S203, S204 shown in FIG. 2a, and steps S211, S213 shown in FIG. 2b, but not limited thereto). The interface circuit 7202 performing the communication steps such as sending and / or receiving in the above-described method refers, for example, to the interface circuit 7202 performing data interaction between the processor 7201, the chip 7200, the memory 7203, or the transceiver device. In some embodiments, the processor 7201 performs at least one of other steps (e.g., at least one of steps S200-2, S202 shown in FIG. 2a, and step S212 shown in FIG. 2b, but not limited thereto).

[0565] This disclosure also provides a program product that, when executed by the communication device 7100, causes the communication device 7100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0566] This disclosure also proposes a computer program that, when run on a computer, causes the computer to perform any of the above methods.

[0567] The technical solutions described in the embodiments of this disclosure can be combined arbitrarily without conflict.

[0568] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0569] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

A positioning method, characterized in that, The method is executed by the first node, and the method includes: Obtain first information, which includes: the location information of the second node; The location information of the terminal is determined based on the first information; The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node. The method according to claim 1, characterized in that, The acquisition of the first information includes: Receive the first information sent by the terminal or the third node. The method according to claim 2, characterized in that, The first information comes from the terminal, and the first information also includes: the location information of the terminal and the first indication information, wherein the first indication information is used to indicate that the location information of the terminal is determined based on the location information of the reference node. The method according to claim 2, characterized in that, The first information comes from the terminal, the second node is the reference node, and the location information of the reference node is determined by the terminal based on the first parameter; The first parameter includes: the angle of incidence of the signal reflected by the target to the terminal, the distance between the third node and the target, and the position information of the target. The method according to any one of claims 1-4, characterized in that, The first information further includes: measurement results and second indication information, wherein the second indication information is used to indicate that the measurement results are determined based on the position information of the reference node. The method according to any one of claims 1-4, characterized in that, The second node is the target, and the first information further includes at least one of the following: The angle information of the target relative to the terminal or the third node; The distance information of the target relative to the terminal or the third node; The position information of the target relative to the terminal or the third node; The location information of the third node. The method according to any one of claims 1-4, characterized in that, The method further includes: The first node receives fourth information sent by the sensing network element, the fourth information being used to assist the first node in determining the location information of the terminal. The method according to claim 7, characterized in that, The fourth piece of information includes at least one of the following: The angle information of the target relative to the terminal or the third node; The distance information of the target relative to the terminal or the third node; The position information of the target relative to the terminal or the third node; The location information of the target; The location information of the third node. A positioning method, characterized in that, The method is executed by a terminal, and the method includes: Send first information to the first node, the first information including the location information of the second node, the first information being used by the first node to determine the location information of the terminal; The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node. The method according to claim 9, characterized in that, The first information further includes: the location information of the terminal and the first indication information, wherein the first indication information is used to indicate that the location information of the terminal is determined based on the location information of the reference node. The method according to claim 9, characterized in that, The second node is the reference node, and the method further includes: Get the first parameter; The location information of the reference node is determined based on the first parameter; The first parameter includes: the angle of incidence of the signal reflected by the target to the terminal, the distance between the third node and the target, and the position information of the target. The method according to claim 11, characterized in that, The process of obtaining the first parameter includes: The system receives second information sent by the third node, the second information including: the distance between the third node and the target, and the location information of the target. The method according to any one of claims 9-12 is characterized in that, The first information further includes: measurement results and second indication information, wherein the second indication information is used to indicate that the measurement results are determined based on the position information of the reference node. The method according to any one of claims 9-12 is characterized in that, The second node is the target, and the first information further includes at least one of the following: The angle information of the target relative to the terminal; The distance information of the target relative to the terminal; The position information of the target relative to the terminal; The location information of the third node. The method according to claim 14, characterized in that, The method further includes: Receive third information sent by the third node, the third information including the location information of the third node. A positioning method, characterized in that, The method is executed by a third node, and the method includes: Send first information to the first node, the first information including the location information of the second node, the first information being used by the first node to determine the location information of the terminal; The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node. The method according to claim 16, characterized in that, The first information further includes: measurement results and second indication information, wherein the second indication information is used to indicate that the measurement results are determined based on the position information of the reference node. The method according to claim 16 or 17, characterized in that, The second node is the target, and the first information further includes at least one of the following: The angle information of the target relative to the third node; The distance information of the target relative to the third node; The position information of the target relative to the third node; The location information of the third node. The method according to any one of claims 16-18 is characterized in that, The method further includes: Send a second piece of information to the terminal, the second piece of information including: the distance between the third node and the target, and the location information of the target. The method according to any one of claims 16-18 is characterized in that, The method further includes: Send third information to the terminal, the third information including the location information of the third node. A positioning method, characterized in that, The method is executed by a sensing network element, and the method includes: A fourth message is sent to the first node, the fourth message being used to assist the first node in determining the location information of the terminal. The method according to claim 21, characterized in that, The fourth piece of information includes at least one of the following: The angle information of the target relative to the terminal or the third node; Distance information of the target relative to the terminal or the third node; Position information of the target relative to the terminal or the third node; The location information of the target; Location information of the third node; The target is the target that generates a non-line-of-sight path between the terminal and the third node. A first node, characterized in that, include: The first transceiver module is used to acquire first information, which includes: the location information of the second node; The first processing module is used to determine the location information of the terminal based on the first information; The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node. A terminal, characterized in that, include: The second transceiver module is used to send first information to the first node, the first information including the location information of the second node, and the first information is used by the first node to determine the location information of the terminal. The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node. A third node, characterized in that, include: The third transceiver module is used to send first information to the first node. The first information includes the location information of the second node. The first information is used by the first node to determine the location information of the terminal. The second node includes: a reference node determined based on the third node when there is a non-line-of-sight path between the terminal and the third node, or a target that generates a non-line-of-sight path between the terminal and the third node. A sensing network element, characterized in that, include: The fourth transceiver module is used to send fourth information to the first node, which is used to assist the first node in determining the location information of the terminal. A communication device, characterized in that, include: One or more processors; The processor is used to execute the positioning method according to any one of claims 1 to 8. A communication device, characterized in that, include: One or more processors; The processor is used to execute the positioning method according to any one of claims 9 to 15. A communication device, characterized in that, include: One or more processors; The processor is used to execute the positioning method according to any one of claims 16 to 20. A communication device, characterized in that, include: One or more processors; The processor is used to execute the positioning method according to claim 21 or 22. A communication system, characterized in that, include: The system comprises a first node, a third node, and a terminal, wherein the terminal is used to implement the positioning method according to any one of claims 9 to 15, the first node is used to implement the positioning method according to any one of claims 1 to 8, and the third node is used to implement the positioning method according to any one of claims 16 to 20. A computer storage medium, characterized in that, The computer-readable storage medium stores executable instructions that are loaded and executed by a processor to implement the positioning method as described in any one of claims 1 to 8, or any one of claims 9 to 15, or any one of claims 16 to 20, or 21 or 22.

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