A positioning method and apparatus

Abstract

The application discloses a positioning method and device, and realizes that a through-sensing base station and a non-through-sensing base station cooperatively provide a terminal with positioning service, the through-sensing base station obtains echo ranging parameters through echo signals, the non-through-sensing base station obtains positioning parameters through reference signals, and the positioning result of the terminal is determined based on the echo ranging parameters corresponding to the through-sensing base station and the positioning parameters corresponding to the non-through-sensing base station. Since the echo ranging parameters obtained by the through-sensing base station through echo signals are introduced to assist positioning, in a scenario where it is difficult to determine the position of the terminal only by relying on the non-through-sensing base station to obtain positioning parameters through reference signals (for example, the number of non-through-sensing base stations is insufficient), the difficulty of positioning the terminal can be reduced, and the accuracy of the position of the terminal can be improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, specifically to a positioning method and apparatus. Background Technology

[0002] In some scenarios, there are base stations with Integrated Sensing and Communication (ISAC) functionality and base stations that do not support this functionality. Base stations supporting ISAC (hereinafter referred to as sensing base stations) can send sensing signals to terminals and receive echo signals reflected from the terminals, obtaining positioning parameters based on the echo signals. Base stations that do not support ISAC (hereinafter referred to as non-sensing base stations) do not support the function of obtaining positioning parameters based on echo signals.

[0003] In scenarios where both inductive and non-inductive base stations coexist, if only a few non-inductive base stations provide positioning services for the terminal, while inductive base stations do not participate in positioning, positioning becomes more difficult. Summary of the Invention

[0004] This application provides a positioning method and apparatus that provides positioning services to terminals through the cooperation of inductive and non-inductive base stations, thereby reducing the difficulty of locating terminals. The technical solution is as follows.

[0005] Firstly, a location method is provided. This method can be executed by a network device, or by a component configured in the network device (such as a circuit, chip, or chip system), or by a logic module or software capable of implementing all or part of the functions of the network device. This application does not limit this approach. The following description uses a network device as an example.

[0006] The system receives a location request from a terminal, wherein the terminal is located within the coverage area of ​​each of k sensing base stations and m non-sensory base stations, where k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1. The system acquires echo ranging parameters corresponding to the k sensing base stations and positioning parameters corresponding to the m non-sensory base stations. The echo ranging parameters for each sensing base station are obtained based on the echo signals received by the corresponding sensing base station, which are generated by the terminal reflecting the integrated sensing signal sent by the corresponding sensing base station. The positioning parameters for each non-sensory base station are obtained based on the reference signals transmitted between the corresponding non-sensory base station and the terminal. Based on the echo ranging parameters for the k sensing base stations and the positioning parameters for the m non-sensory base stations, the system determines the location result of the terminal.

[0007] The above provides a method for providing positioning services to a terminal through the collaboration of sensing base stations and non-sensing base stations. The sensing base station obtains echo ranging parameters through echo signals, while the non-sensing base station obtains positioning parameters through reference signals. The positioning result of the terminal is determined based on the echo ranging parameters corresponding to the sensing base station and the positioning parameters corresponding to the non-sensing base station. By introducing the echo ranging parameters obtained by the sensing base station through echo signals to assist positioning, the difficulty of locating the terminal is reduced in scenarios where it is difficult to determine the terminal's location by relying solely on positioning parameters obtained by the non-sensing base station through reference signals (e.g., when the number of non-sensing base stations is insufficient). This also helps to improve the accuracy of the terminal's location.

[0008] In some implementations, determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations includes: determining the positioning parameters corresponding to the k inductive base stations based on the echo ranging parameters corresponding to the k inductive base stations; and determining the positioning result of the terminal based on the positioning parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations.

[0009] In some implementations, the positioning parameters corresponding to each non-sensory base station include TDOA, where k is greater than or equal to 1 and m is greater than or equal to 2. Determining the positioning parameters corresponding to the k sensing base stations based on the echo ranging parameters corresponding to the k sensing base stations includes: determining the candidate area where the terminal is located based on the TDOA corresponding to each of the m non-sensory base stations; determining the TDOA corresponding to each of the k sensing base stations based on the candidate area where the terminal is located and the echo ranging parameters corresponding to each of the k sensing base stations; determining the positioning result of the terminal based on the positioning parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensory base stations includes: determining the positioning result of the terminal based on the TDOA corresponding to each of the k sensing base stations and the TDOA corresponding to each of the m non-sensory base stations.

[0010] The above describes a method for collaborative positioning between sensing and non-sensing base stations based on TDOA. The terminal, non-sensing base station, and sensing base station do not need to use time synchronization information, so it is compatible with non-3GPP sensing base stations.

[0011] In some implementations, the positioning parameters corresponding to each non-sensory base station include RTT (Range Time Tolerance). Determining the positioning parameters corresponding to the k sensory base stations based on the echo ranging parameters corresponding to the k sensory base stations includes: determining the RTT corresponding to the k sensory base stations based on the echo ranging parameters corresponding to the k sensory base stations. Determining the positioning result of the terminal based on the positioning parameters corresponding to the k sensory base stations and the positioning parameters corresponding to the m non-sensory base stations includes: determining the positioning result of the terminal based on the RTT corresponding to each of the k sensory base stations and the RTT corresponding to each of the m non-sensory base stations.

[0012] The above describes a method for collaborative positioning between sensing and non-sensing base stations based on RTT. The RTT measurement between the sensing base station and the UE does not require complex interaction; the RTT can be obtained by processing the echo signal of the sensing signal.

[0013] In some implementations, the positioning parameters corresponding to each non-sensory base station include RTT. The step of determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensory base stations and the positioning parameters corresponding to the m non-sensory base stations includes: determining multiple candidate locations of the terminal based on the RTT corresponding to the m non-sensory base stations; and determining the positioning result of the terminal from the multiple candidate locations based on the echo ranging parameters corresponding to the k sensory base stations.

[0014] The above implementation method can ensure positioning accuracy while reducing interaction with the core network and simplifying the positioning process.

[0015] In some implementations, the k sensing base stations include a first sensing base station. Determining the positioning result of the terminal from multiple candidate locations based on the echo ranging parameters corresponding to the k sensing base stations includes: determining the distance between each candidate location of the terminal and the first sensing base station; determining the positioning result of the terminal from the multiple candidate locations based on the distance between each candidate location of the terminal and the first sensing base station and the echo ranging parameters corresponding to the first sensing base station, wherein the deviation between the positioning result and the distance between the first sensing base station and the echo ranging parameters corresponding to the first sensing base station satisfies a condition.

[0016] Since non-sensory base stations measure RTT based on reference signals with high accuracy, while the accuracy of non-sensory base stations based on echo sensing may be limited, sensing base stations can determine multiple more accurate candidate locations based on multiple RTTs, and their ranging information helps to select a more accurate result.

[0017] In some implementations, k is 1 and m is 2.

[0018] In some implementations, the echo ranging parameters of each sensing base station include the AOA of the echo signal arriving at the corresponding sensing base station, and the positioning parameters of each non-sensing base station include the AOA of the reference signal arriving at the corresponding non-sensing base station. The step of determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes: determining the positioning result of the terminal based on the AOA of each sensing base station among the k sensing base stations and the AOA of each non-sensing base station among the m non-sensing base stations.

[0019] The above describes a method for collaborative positioning between sensing and non-sensing base stations based on AOA.

[0020] In some implementations, the k sensing base stations include a first sensing base station, and determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes:

[0021] The first sensing base station determines the positioning result of the terminal based on the echo ranging parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensing base stations, or...

[0022] The first sensing base station determines the positioning parameters corresponding to the first sensing base station based on the echo ranging parameters corresponding to the first sensing base station and / or the positioning parameters corresponding to each of the m non-sensory base stations; the first sensing base station sends the positioning parameters corresponding to the first sensing base station to the core network equipment; the core network equipment determines the positioning result of the terminal based on the positioning parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensory base stations.

[0023] In some embodiments, the method further includes: each of the m non-sensory base stations sending its corresponding positioning parameters to the first sensory base station; or, the terminal sending the positioning parameters corresponding to each of the m non-sensory base stations to the first sensory base station.

[0024] In some implementations, the method further includes: the core network device sending the identifier of the first sensing base station to each of the m non-sensory base stations; each of the m non-sensory base stations sending its own positioning parameters to the first sensing base station, including: each of the m non-sensory base stations sending its own positioning parameters to the first sensing base station based on the identifier of the first sensing base station.

[0025] In some implementations, the method further includes: the core network device sending the identifier of the first sensing base station to the terminal; the terminal sending the positioning parameters corresponding to each of the m non-sensory base stations to the first sensing base station, including: the terminal sending the positioning parameters corresponding to each of the m non-sensory base stations to the first sensing base station based on the identifier of the first sensing base station.

[0026] In some embodiments, the method further includes: each of the k sensing base stations sends its corresponding echo ranging parameters to the core network device; each of the m non-sensing base stations sends its corresponding positioning parameters to the core network device; and determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes: the core network device determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to each of the m non-sensing base stations.

[0027] In some embodiments, the method further includes: if the total number of base stations providing positioning services to the terminal is 1, selecting a positioning method combining RTT and AOA; or, if the total number of base stations providing positioning services to the terminal is 2, selecting an AOA positioning method or an RTT combined with AOA positioning method based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal; if the total number of base stations providing positioning services to the terminal is 3 or more, and there is only one non-sensory base station among all the base stations providing positioning services to the terminal, selecting a multi-RTT positioning method; if the total number of base stations providing positioning services to the terminal is 3 or more, and there are two or more non-sensory base stations among all the base stations providing positioning services to the terminal, selecting any one of a TDOA positioning method, a multi-RTT positioning method, an AOA positioning method, and an RTT combined with AOA positioning method based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal.

[0028] Secondly, a positioning method is provided. This method can be executed by a terminal device, or by a component (such as a circuit, chip, or chip system) configured in the terminal device, or by a logic module or software capable of implementing all or part of the terminal device's functions. This application does not limit this. The terminal is located within the coverage area of ​​each of k sensing base stations and within the coverage area of ​​each of m non-sensory base stations, where k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1. The method includes: sending a positioning request to a network device; receiving a positioning result from the network device, the positioning result being determined based on echo ranging parameters corresponding to the k sensing base stations and positioning parameters corresponding to the m non-sensory base stations. The echo ranging parameter corresponding to each sensing base station is obtained based on the echo signal received by the corresponding sensing base station. The echo signal is generated by the terminal reflecting an integrated sensing signal sent by the corresponding sensing base station. The positioning parameter corresponding to each non-sensory base station is obtained based on a reference signal transmitted between the corresponding non-sensory base station and the terminal.

[0029] Thirdly, a communication device is provided, the device comprising:

[0030] A receiving unit is configured to receive a location request from a terminal, wherein the terminal is located within the coverage area of ​​each of k sensing base stations and within the coverage area of ​​each of m non-sensing base stations, where k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1.

[0031] The acquisition unit is used to acquire the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations. The echo ranging parameters corresponding to each sensing base station are obtained based on the echo signal received by the corresponding sensing base station. The echo signal is generated by the terminal reflecting the integrated sensing signal sent by the corresponding sensing base station. The positioning parameters corresponding to each non-sensing base station are obtained based on the reference signal transmitted between the corresponding non-sensing base station and the terminal.

[0032] The determining unit is used to determine the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations.

[0033] In some implementations, the determining unit is used to determine the positioning parameters corresponding to the k sensing base stations based on the echo ranging parameters corresponding to the k sensing base stations; and to determine the positioning result of the terminal based on the positioning parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations.

[0034] In some implementations, the positioning parameters corresponding to each non-sensory base station include TDOA, where k is greater than or equal to 1 and m is greater than or equal to 2. The determining unit is used to determine the candidate area where the terminal is located based on the TDOA corresponding to each of the m non-sensory base stations; determine the TDOA corresponding to each of the k sensing base stations based on the candidate area where the terminal is located and the echo ranging parameters corresponding to each of the k sensing base stations; and determine the positioning result of the terminal based on the TDOA corresponding to each of the k sensing base stations and the TDOA corresponding to each of the m non-sensory base stations.

[0035] In some implementations, the positioning parameters corresponding to each non-sensory base station include RTT. The determining unit is used to determine the RTT corresponding to the k sensory base stations based on the echo ranging parameters corresponding to the k sensory base stations; and to determine the positioning result of the terminal based on the RTT corresponding to each of the k sensory base stations and the RTT corresponding to each of the m non-sensory base stations.

[0036] In some implementations, the positioning parameters corresponding to each non-sensory base station include RTT. The determining unit is used to determine multiple candidate locations of the terminal based on the RTTs corresponding to the m non-sensory base stations; and to determine the positioning result of the terminal from the multiple candidate locations of the terminal based on the echo ranging parameters corresponding to the k sensory base stations.

[0037] In some implementations, the k sensing base stations include a first sensing base station. The determining unit is configured to determine the distance between each candidate location of the terminal and the first sensing base station from a plurality of candidate locations; and to determine the positioning result of the terminal from the plurality of candidate locations based on the distance between each candidate location of the terminal and the first sensing base station and the echo ranging parameter corresponding to the first sensing base station, wherein the deviation between the positioning result and the distance between the first sensing base station and the echo ranging parameter corresponding to the first sensing base station satisfies a condition.

[0038] In some implementations, k is 1 and m is 2.

[0039] In some implementations, the echo ranging parameters of each sensing base station include the AOA of the echo signal arriving at the corresponding sensing base station, and the positioning parameters of each non-sensing base station include the AOA of the reference signal arriving at the corresponding non-sensing base station. The determining unit is used to determine the positioning result of the terminal based on the AOA of each sensing base station among the k sensing base stations and the AOA of each non-sensing base station among the m non-sensing base stations.

[0040] In some embodiments, the k sensing base stations include a first sensing base station, and the device is disposed at the first sensing base station;

[0041] The determining unit is used to determine the positioning result of the terminal based on the echo ranging parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensing base stations, or...

[0042] The determining unit is used to determine the positioning parameters corresponding to the first sensing base station based on the echo ranging parameters corresponding to the first sensing base station and / or the positioning parameters corresponding to each of the m non-sensing base stations; the device further includes: a transmitting unit, used to transmit the positioning parameters corresponding to the first sensing base station to the core network equipment, so that the core network equipment determines the positioning result of the terminal based on the positioning parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensing base stations.

[0043] In some embodiments, the apparatus further includes:

[0044] The transmitting unit is used to transmit the positioning parameters corresponding to each of the m non-sensory base stations to the first sensing base station.

[0045] In some embodiments, the apparatus further includes:

[0046] The transmitting unit is configured to transmit the identifier of the first sensing base station to each of the m non-sensory base stations; or, based on the identifier of the first sensing base station, transmit the positioning parameters corresponding to the local end of the non-sensory base station to the first sensing base station respectively.

[0047] In some embodiments, the apparatus further includes:

[0048] The transmitting unit is configured to transmit the identifier of the first sensing base station to the terminal; or, based on the identifier of the first sensing base station, transmit the positioning parameters corresponding to each of the m non-sensing base stations to the first sensing base station.

[0049] In some embodiments, the apparatus further includes:

[0050] The transmitting unit is used to transmit echo ranging parameters corresponding to the sensing base station to the core network equipment; or, to transmit positioning parameters corresponding to the local end of the non-sensing base station to the core network equipment.

[0051] The determining unit is used to determine the positioning result of the terminal based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to each of the m non-inductive base stations.

[0052] In some implementations, the determining unit is configured to: if the total number of base stations providing positioning services to the terminal is 1, select a positioning method combining RTT and AOA; or, if the total number of base stations providing positioning services to the terminal is 2, select an AOA positioning method or an RTT combined with AOA positioning method based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal; if the total number of base stations providing positioning services to the terminal is 3 or more, and there is only one non-sensory base station among all the base stations providing positioning services to the terminal, select a multi-RTT positioning method; if the total number of base stations providing positioning services to the terminal is 3 or more, and there are two or more non-sensory base stations among all the base stations providing positioning services to the terminal, select any one of a TDOA positioning method, a multi-RTT positioning method, an AOA positioning method, or an RTT combined with AOA positioning method based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal.

[0053] Fourthly, a communication device is provided, disposed at a terminal, wherein the terminal is located within the coverage area of ​​each of k inductive base stations and within the coverage area of ​​each of m non-inductive base stations, wherein k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1, the device comprising:

[0054] The sending unit is used to send location requests to network devices;

[0055] The receiving unit is configured to receive the positioning result of the terminal from the network device. The positioning result is determined based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations. The echo ranging parameter corresponding to each inductive base station is obtained based on the echo signal received by the corresponding inductive base station. The echo signal is generated by the terminal reflecting the inductive integrated signal sent by the corresponding inductive base station. The positioning parameter corresponding to each non-inductive base station is obtained based on the reference signal transmitted between the corresponding non-inductive base station and the terminal.

[0056] Fifthly, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the method in any possible implementation of the first aspect described above. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0057] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0058] In another implementation, the communication device is a chip configured in a terminal device. When the communication device is a chip configured in a terminal device, the communication interface can be an input / output interface.

[0059] In a sixth aspect, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the method in any possible implementation of the second aspect described above. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0060] In one implementation, the communication interface may be a transceiver, or an input / output interface.

[0061] In another implementation, the communication device is a chip configured in a satellite. When the communication device is a chip configured in a satellite, the communication interface can be an input / output interface.

[0062] In a seventh aspect, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, causing the processor to execute a method in any possible implementation of any aspect.

[0063] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0064] Eighthly, a communication device is provided, including a processor and a memory. The processor is used to read instructions stored in the memory, receive signals via a receiver, and transmit signals via a transmitter to execute the method in any possible implementation of any of the preceding aspects.

[0065] Optionally, the processor may be one or more, and the memory may be one or more.

[0066] Ninthly, a computer program product is provided, the computer program product comprising: a computer program (also referred to as code or instructions), which, when the computer program is run, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0067] In a tenth aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when executed on a computer, causes the computer to perform the method in any possible implementation of any of the preceding aspects.

[0068] Eleventhly, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the above aspects or possible implementations to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0069] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0070] In a twelfth aspect, a communication system is provided, including the aforementioned terminal device and network device. Optionally, the communication system may further include other devices that communicate with the terminal device and / or network device. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the architecture of a network system provided in an embodiment of this application;

[0072] Figure 2 This application provides a diagram showing the downlink frame structure on which an integrated sensing signal transmitted by a sensing base station is based and the downlink frame structure on which a reference signal transmitted by a non-sensing base station is based.

[0073] Figure 3 This is a flowchart of a positioning method provided in an embodiment of this application;

[0074] Figure 4 This is a flowchart illustrating a positioning method compatible with both inductive and non-inductive base stations, as provided in an embodiment of this application.

[0075] Figure 5 This is a schematic diagram of a sensing base station calculating the TDOA corresponding to the sensing base station according to an embodiment of this application;

[0076] Figure 6 This is a flowchart illustrating a positioning process where a sensing base station and a non-sensing base station work together to provide downlink TDOA for a terminal, as provided in an embodiment of this application.

[0077] Figure 7 This is a schematic diagram illustrating how a sensing base station determines the terminal location result based on RTT, according to an embodiment of this application.

[0078] Figure 8 This is a flowchart of a collaborative RTT positioning process using two non-inductive base stations and one inductive base station, provided in an embodiment of this application.

[0079] Figure 9 This is a flowchart of a multi-RTT cooperative positioning process combining a sensing base station and a non-sensing base station, provided in an embodiment of this application.

[0080] Figure 10 This is a flowchart of a cooperative positioning process between a sensory base station and a non-sensory base station based on AOA, provided in an embodiment of this application.

[0081] Figure 11 This is a schematic diagram of a joint positioning scenario between 3GPP equipment and non-3GPP equipment provided in an embodiment of this application;

[0082] Figure 12 This is a schematic diagram of a WLAN positioning scenario provided in an embodiment of this application;

[0083] Figure 13 This is a schematic diagram of a Bluetooth positioning scenario provided in an embodiment of this application;

[0084] Figure 14 This is a schematic block diagram of a communication device provided in an embodiment of this application;

[0085] Figure 15 This is another schematic block diagram of the communication device provided in the embodiments of this application. Detailed Implementation

[0086] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0087] The following explains some terms and concepts involved in the embodiments of this application.

[0088] (1) Sensor base station

[0089] A sensing base station refers to a base station that supports integrated communication and sensing functions. These integrated functions include transmitting sensing signals, receiving echo signals reflected from terminals, and obtaining positioning parameters based on the echo signals. Sensing base stations can be 3GPP (3rd Generation Partnership Project) base stations or non-3GPP base stations. Examples of sensing base stations include roadside units (RSUs), wireless local area network (WLAN) access points (APs), or next-generation 6G base stations with sensing capabilities.

[0090] (2) Non-inductive base station

[0091] Non-sensing base stations refer to base stations that do not support integrated communication and sensing functions. Examples of non-sensing base stations include 5G base stations, 4G base stations, and WLAN Bluetooth access points.

[0092] (3) Round trip time (RTT) positioning method

[0093] RTT is the total time it takes for a signal to travel from the terminal to the base station and back. The distance between the terminal and the base station can be determined based on RTT and the speed of light. When using RTT positioning, strict time synchronization is not required, resulting in stronger anti-interference capabilities.

[0094] (4) Angle of arrival (AOA) positioning method

[0095] AOA positioning uses a multi-antenna array to measure the angle and direction of signals arriving at the base station, and determines the terminal's location through geometric relationships.

[0096] (5) Time Difference of Arrival (TDOA) Positioning Method

[0097] TDOA (Time Difference of Occurrence) positioning refers to calculating the location of a terminal by measuring the time difference between the arrival times of signals from the same terminal at multiple base stations, using the geometric hyperbola intersection principle. TDOA positioning typically requires coordination between multiple base stations; for example, positioning can be achieved by having at least three base stations form intersection points between hyperbolas based on their time differences. In 5G systems, TDOA is also known as Reference Signal Time Difference (RSTD).

[0098] The following are examples illustrating the application scenarios of embodiments of this application.

[0099] This application can be applied to scenarios where a terminal is simultaneously within the coverage area of ​​two types of base stations, one of which is a sensing base station and the other is a non-sensing base station. Both types of base stations can provide positioning services to the terminal. For example, when a terminal needs to determine its location, but it is difficult for it to determine its location through its own hardware and software due to some factors, such as the terminal's global positioning system (GPS) module being unavailable, poor signal quality, or the terminal being indoors, it needs to measure the terminal's location through a base station.

[0100] The number of both inductive base stations and non-inductive base stations can be one or more. For ease of description, the following example illustrates a scenario where the terminal is located within the coverage area of ​​each of the k inductive base stations and within the coverage area of ​​each of the m non-inductive base stations. Here, k is a positive integer greater than or equal to 1, and m is a positive integer greater than or equal to 1.

[0101] In scenarios where a terminal is simultaneously located within the coverage areas of k sensing base stations and m non-sensing base stations, this application proposes a method for achieving terminal positioning through the collaborative use of non-sensing base stations and sensing base stations to address the problem of insufficient non-sensing base stations providing positioning services to the terminal. For example, when using TDOA positioning but only having two non-sensing base stations, positioning cannot be completed by relying solely on these two base stations; at least one sensing base station needs to be introduced to collaboratively provide positioning services to the terminal.

[0102] Furthermore, considering that positioning via reference signals requires configuring the reference signals, resulting in limited communication efficiency, while positioning via echo signals offers relatively higher communication efficiency, terminal positioning is achieved through the collaboration of non-sensory and sensory base stations, thus balancing communication efficiency and positioning accuracy.

[0103] Furthermore, with the introduction of sensing base stations, considering the issue of how to uniformly process the parameters measured by sensing base stations based on echoes and the parameters measured by non-sensing base stations based on reference signals to obtain accurate positioning results, there is an urgent need to provide a solution for terminal positioning that enables collaboration between non-sensing base stations and sensing base stations.

[0104] The system architecture provided in the embodiments of this application is illustrated below.

[0105] This application provides a network system comprising k inductive base stations, m non-inductive base stations, and terminals. Here, k is a positive integer greater than or equal to 1, and m is a positive integer greater than or equal to 1.

[0106] The terminal is located within the coverage area of ​​each of the k sensing base stations and the coverage area of ​​each of the m non-sensing base stations. The k sensing base stations and m non-sensing base stations work together to provide positioning services for the terminal. The terminal can be connected to each of the k sensing base stations via a communication link. In some embodiments, the network system also includes core network equipment. For example, please refer to the appendix. Figure 1 , attached Figure 1 This is a schematic diagram of the architecture of a network system provided in an embodiment of this application, attached. Figure 1 The network system shown can provide a cooperative positioning framework for both sensing and non-sensing base stations. (See appendix) Figure 1The network system shown is illustrated using an example of two non-sensory base stations and one sensory base station simultaneously providing positioning services to a terminal.

[0107] Each of the k sensing base stations transmits a sensing-integrated signal to the terminal and receives the echo signal reflected from the terminal to measure the echo ranging parameters of the terminal. The sensing-integrated signal includes, but is not limited to, orthogonal frequency division multiplexing (OFDM), orthogonal time-frequency and space (OTFS), or linear frequency modulation (LFM) signals that modulate communication symbols. For the terminal, the sensing-integrated signal is an unknown waveform carrying communication symbols, while for the sensing base station, it is a known waveform. The sensing base station can receive the echo signal using a separate and self-interference-eliminating transmitter-receiver, thus eliminating the need for a reference signal and terminal calculation of positioning parameters, saving communication resources and terminal computing power.

[0108] Each of the m non-inductive base stations is used to acquire positioning parameters by configuring a reference signal. The downlink frame structure upon which the integrated inductive signal transmitted by the inductive base station is based, and the downlink frame structure upon which the reference signal transmitted by the non-inductive base station is based, can be found in [reference needed]. Figure 2 ,like Figure 2 As shown, the downlink frame structure of the sensing signal includes a preamble signal (pre) and a data segment (data), while the downlink frame structure of the reference signal includes a preamble signal (pre), a positioning reference signal (PRS), and a data segment (data).

[0109] The method flow of the embodiments of this application is illustrated below.

[0110] Appendix Figure 3 This is a flowchart of a positioning method provided in an embodiment of this application. (Attached) Figure 3 The interactive subjects of the method shown include a terminal and network devices. The terminal is located within the coverage area of ​​each of the k sensing base stations and within the coverage area of ​​each of the m non-sensing base stations.

[0111] In some implementations, appendix Figure 3 The network device in the method shown is a core network device, which includes, but is not limited to, 3GPP Location Management Function (LMF) and Non-3GPP servers, and other network-side devices. In other embodiments, the appendix... Figure 3The network device in the method shown is one of k sensing base stations. In other embodiments, the appendix... Figure 3 The network device in the method shown is one of m non-sensory base stations. Figure 3 The method shown includes the following steps S310 to S350.

[0112] Step S310: The terminal generates and sends a location request to the network device, and the network device receives the location request from the terminal.

[0113] Step S330: The network device obtains the echo ranging parameters corresponding to k inductive base stations and the positioning parameters corresponding to m non-inductive base stations.

[0114] The echo ranging parameters for each of the k sensing base stations are obtained based on the echo signals received by that corresponding sensing base station. The echo signal is generated by the terminal reflecting the integrated sensing signal sent by the corresponding sensing base station. For example, each of the k sensing base stations sends an integrated sensing signal to the terminal; the terminal receives the integrated sensing signals from the k base stations and reflects the echo signals back to the k base stations. Each of the k sensing base stations receives the echo signals and determines the echo ranging parameters based on them. Each of the k sensing base stations then sends its echo ranging parameters to the network device.

[0115] Echo ranging parameters are used to indicate the distance between the terminal and the sensing base station. For example, echo ranging parameters include at least one of the following: the angle information of the echo signal and / or the transmission delay of the echo signal. The angle information of the echo signal characterizes the orientation of the terminal relative to the sensing base station. The angle information of the echo signal includes the azimuth or elevation angle at which the echo signal arrives at the sensing base station. The transmission delay of the echo signal characterizes the time required for the echo signal to travel from the terminal to the sensing base station.

[0116] The positioning parameters for each of the m non-sensory base stations are obtained based on reference signals transmitted between the corresponding non-sensory base station and the terminal. For example, each of the m non-sensory base stations sends a reference signal to the terminal. The terminal determines the positioning parameters for each of the m non-sensory base stations based on the reception time or angle of the reference signal from each of the m non-sensory base stations. The terminal then sends the positioning parameters for each of the m non-sensory base stations to the network device. Alternatively, the terminal sends reference signals to each of the m non-sensory base stations, and each of the m non-sensory base stations determines its own positioning parameters based on the reception time or angle of the reference signal from the terminal. Each of the m non-sensory base stations then sends its corresponding positioning parameters to the network device.

[0117] The positioning parameters include at least one of the following: the angle of arrival (AOA) of the reference signal, the time difference of arrival (TDOA) of the reference signal, and / or the round-trip time of the reference signal.

[0118] Step S340: The network device determines the terminal's positioning result based on the echo ranging parameters corresponding to k inductive base stations and the positioning parameters corresponding to m non-inductive base stations.

[0119] In some implementations, the network device determines the positioning parameters corresponding to k sensing base stations based on the echo ranging parameters corresponding to the k sensing base stations. For example, the echo ranging parameters are converted into positioning parameters, such as converting the transmission delay of the echo signal into TDOA. The network device determines the terminal's positioning result based on the positioning parameters corresponding to the k sensing base stations and the positioning parameters corresponding to m non-sensing base stations.

[0120] In some implementations, in the appendix Figure 3 When the network device in the method shown is a core network device, the appendix... Figure 3 The method shown includes a process before step S340 whereby the sensing base station reports its positioning parameters to the core network equipment. For example, the k sensing base stations include a first sensing base station. The first sensing base station determines its positioning parameters based on the echo ranging parameters corresponding to the first sensing base station and / or the positioning parameters corresponding to each of the m non-sensory base stations. The first sensing base station then sends its positioning parameters to the core network equipment. The core network equipment determines the terminal's positioning result based on the positioning parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensory base stations. The logic for the other sensing base stations among the k sensing base stations besides the first sensing base station is the same as that for the first sensing base station.

[0121] When the first sensing base station uses the positioning parameters corresponding to the non-sensing base station to determine the positioning parameters corresponding to its own terminal, the following two examples illustrate how the first sensing base station obtains the positioning parameters corresponding to the non-sensing base station.

[0122] Scenario 1: Each of the m non-sensory base stations sends its corresponding positioning parameters to the first sensing base station. The first sensing base station receives the positioning parameters from each of the m non-sensory base stations. For example, in the case of uplink TDOA, each of the m non-sensory base stations sends its corresponding TDOA to the first sensing base station, and the first sensing base station receives the corresponding TDOA from each of the m non-sensory base stations. This is to determine the TDOA corresponding to the first sensing base station. Regarding the method for determining the first sensing base station from the non-sensory base stations, for example, the core network equipment sends the identifier of the first sensing base station to each of the m non-sensory base stations; each of the m non-sensory base stations, based on the identifier of the first sensing base station, sends its corresponding positioning parameters to the first sensing base station.

[0123] Scenario 2: The terminal sends the location parameters corresponding to each of the m non-sensory base stations to the first sensing base station. For example, in the case of downlink TDOA, the terminal sends the TDOA corresponding to each of the m non-sensory base stations to the first sensing base station, and the first sensing base station receives the TDOA corresponding to each of the m non-sensory base stations from the terminal. This is to determine the TDOA corresponding to the first sensing base station itself. Regarding the method by which the terminal determines the first sensing base station, for example, the core network equipment sends the identifier of the first sensing base station to the terminal; based on the identifier of the first sensing base station, the terminal sends the location parameters corresponding to each of the m non-sensory base stations to the first sensing base station.

[0124] In other embodiments, in the appendix Figure 3 In the case where the network device in the method shown is a sensor base station, the attached... Figure 3 In step S340 of the method shown, the positioning result can be determined by the sensing base station based on the echo ranging parameters obtained by the local terminal based on the echo signal. For example, among the k sensing base stations, including the first sensing base station, the first sensing base station determines the terminal's positioning result based on the echo ranging parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensing base stations. If the number of sensing base stations is greater than one, for example, if a second sensing base station also provides positioning services to the terminal, [further details are needed]. Figure 3 The method shown may further include a process of exchanging echo ranging parameters between sensing base stations before step S340. For example, the k sensing base stations include a first sensing base station and a second sensing base station. The second sensing base station sends echo ranging parameters to the first sensing base station. The first sensing base station determines the terminal's positioning result based on the echo ranging parameters corresponding to the first sensing base station, the echo ranging parameters corresponding to the second sensing base station, and the positioning parameters corresponding to each of the m non-sensing base stations.

[0125] In other implementations, each of the k sensing base stations sends its corresponding echo ranging parameters to the core network equipment; each of the m non-sensing base stations sends its corresponding positioning parameters to the core network equipment; the core network equipment determines the terminal's positioning result based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to each of the m non-sensing base stations.

[0126] Step S350: The network device sends the terminal's location result to the terminal, and correspondingly, the terminal receives the terminal's location result from the network device.

[0127] Figure 4 This is a flowchart of a positioning method compatible with both inductive and non-inductive base stations, provided in an embodiment of this application. Figure 4 The method flow shown includes the following steps.

[0128] Step S410: The core network equipment and the access network equipment exchange supported positioning technologies and capabilities.

[0129] For example, in a 5G system, this can be accomplished through information exchange via the New Radio Positioning Protocol A (NRPPa) transmission reception point (TRP).

[0130] Step S420: The core network equipment selects the positioning method based on the capabilities of the access network equipment, the core network equipment, and the terminal's positioning requirements. In traditional communication systems, this can be accomplished using LTE positioning protocol capacity transfer (LPP Capacity Transfer). In this embodiment, to ensure compatibility with sensing base stations, this process has been modified as follows.

[0131] Step S421: If the total number of base stations providing positioning services to the terminal is 1, the core network equipment selects the positioning method of RTT combined with AOA.

[0132] Specifically, when there is only one base station providing positioning services for the terminal, the distance between the terminal and the base station is determined by the base station using RTT (Real-Time To-Time) and the azimuth angle of the terminal relative to the base station is determined by the base station using AOA (Azimuth Angle of Arrival). The position of the terminal is determined based on the distance between the terminal and the base station and the azimuth angle of the terminal relative to the base station.

[0133] Step S422: If the total number of base stations providing positioning services to the terminal is 2, the core network equipment selects either AOA positioning or RTT combined with AOA positioning based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal.

[0134] For example, if the terminal has high positioning requirements (requiring precise location), the core network equipment will choose a positioning method combining RTT (Real-Time Tolerance) and AOA (Optical Location Assignment). If the terminal has lower positioning requirements, the core network equipment will choose the AOA positioning method.

[0135] Step S423: If the total number of base stations providing positioning services to the terminal is more than three, and only one of these base stations is a non-sensory base station, the core network equipment selects the multi-RTT positioning method. If the total number of base stations providing positioning services to the terminal is more than three, and two or more of these base stations are non-sensory base stations, the core network equipment selects any one of the following based on the capability information of the base stations providing positioning services to the terminal and the terminal's positioning requirements: TDOA positioning method, multi-RTT positioning method, AOA positioning method, or a positioning method combining RTT and AOA.

[0136] Step S430: The core network equipment determines whether to calculate the positioning result and whether to send the identifier of the base station participating in the positioning to the sensing base station, the non-sensing base station or the terminal. The detailed process of step S430 is as follows.

[0137] Step S431: If the AOA positioning method is selected, the core network equipment calculates the positioning result. The core network equipment does not need to send the identifiers of the base stations participating in the positioning to the sensing base stations, non-sensing base stations, and terminals.

[0138] Step S432: If downlink time difference of arrival (DL-TDOA) positioning method is selected, the core network equipment calculates the positioning result, and the core network equipment needs to send the identifier of each of the k sensing base stations participating in the positioning to the terminal. Based on the identifier of each of the k sensing base stations, the terminal sends the TDOA corresponding to the non-sensory base station to each of the k sensing base stations.

[0139] Step S433: If the Uplink Time Difference of Arrival (UL-TDOA) positioning method is selected, the core network equipment calculates the positioning result, and the core network equipment needs to send the identifier of each of the k sensing base stations participating in the positioning to each of the m non-sensing base stations. Each of the m non-sensing base stations, based on the identifier of the sensing base station participating in the positioning, sends the measured TDOA of the terminal to each of the k sensing base stations.

[0140] Step S434: If the multi-RTT positioning mode is selected, and there are only two non-sensory base stations and one sensing base station, the sensing base station calculates the positioning result, and the core network device sends the identifier of the sensing base station participating in the positioning to each of the two non-sensory base stations. The core network device also sends an indication message to each of the two non-sensory base stations, which instructs the non-sensory base station to send the measured RTT to the sensing base station.

[0141] Step S435: If the multi-RTT positioning method is selected, and there are three or more non-sensory base stations or two or more sensory base stations, the core network equipment calculates the positioning result, and it is not necessary to send the identifiers of the base stations participating in the positioning to the sensory base stations, non-sensory base stations or terminals.

[0142] In step S440, the non-sensory base station and the terminal determine the positioning parameters and send them to the core network equipment. The sensory base station calculates the echo ranging parameters based on the echo signal or the information sent by the terminal and the non-sensory base station, and then sends the echo ranging parameters to the core network equipment.

[0143] Step S450: The core network device calculates the final positioning result based on the parameters uploaded by each of the k sensing base stations and each of the m non-sensing base stations, and sends the positioning result to the terminal; or the sensing base station determines the positioning result based on the received information, and sends the positioning result to the terminal and the core network device.

[0144] The above article introduced the overall process of collaborative positioning between sensing base stations and non-sensing base stations. The following article provides detailed examples of the process in different positioning methods.

[0145] When core network equipment selects different positioning methods, the interaction and positioning process between inductive and non-inductive base stations will differ depending on the chosen positioning method. The following examples illustrate the specific positioning processes of compatible inductive base stations using TDOA, multiple RTT, and AOA.

[0146] Cooperative positioning process of inductive and non-inductive base stations under TDOA positioning method

[0147] When the core network equipment selects the TDOA positioning method Figure 3 In this embodiment, the positioning parameters corresponding to each non-sensory base station include TDOA, the number of sensory base stations (k) is greater than or equal to 1, and the number of non-sensory base stations (m) is greater than or equal to 2.

[0148] When using TDOA positioning, time synchronization is achieved among the m non-sensory base stations. This time synchronization allows all m non-sensory base stations to simultaneously measure the uplink reference signal when using the uplink TDOA positioning method. Alternatively, when using the downlink TDOA positioning method, all m non-sensory base stations can simultaneously transmit the downlink reference signal. Furthermore, no time synchronization information is required between the terminal, non-sensory base stations, and sensing base stations, thus ensuring compatibility with non-3GPP sensing base stations.

[0149] Taking the downlink-time difference of arrival (DL-TDOA) positioning method as an example, the terminal measures the TDOA of each non-sensory base station (in 5G systems, TDOA is represented by the reference signal time difference RSTD) through the downlink reference signal (DL-PRS). It cannot measure the TOA (Time of Arrival). However, the echo ranging parameters measured by the inductive base station and the terminal through the echo signal corresponding to the integrated inductive signal participate in the positioning, making it difficult to jointly calculate the positioning result with the TDOA. The AOA measurement of the echo will be discussed later. In this case, the measurement of the multi-antenna system can be disregarded, thus requiring fewer receiving antennas and enabling the transmit multi-antenna system to support multiple access methods such as SDMA, thereby increasing system capacity.

[0150] In this embodiment, the compatibility issue of TDOA positioning between sensing and non-sensory base stations is resolved by determining the TDOA corresponding to a sensing base station based on the TDOA corresponding to a non-sensory base station. For example, when using downlink TDOA positioning, after the terminal measures the TDOA corresponding to a non-sensory base station, it sends the TDOA corresponding to the non-sensory base station to the sensing base station. Similarly, when using uplink TDOA positioning, after the non-sensory base station measures the TDOA corresponding to its own base station, it sends the TDOA corresponding to the non-sensory base station to the sensing base station.

[0151] In traditional TDOA positioning, the process of a terminal measuring TDOA based on reference signals includes: different non-inductive base stations simultaneously transmit positioning reference signals (DL-PRS) to the terminal; the terminal receives the positioning reference signals and performs correlation calculations between the received positioning reference signals and the known reference signals generated by the terminal. The terminal searches for the first path of arrival of different base stations to estimate the time of arrival. The terminal records the arrival times of the reference signals from each non-inductive base station as t1, t2, t3, ..., tn, and calculates the TDOA between the arrival times of the reference signals from different non-inductive base stations and the reference signal from the reference base station. For example, if t1 is the time when the reference signal sent by the non-inductive base station acting as the reference base station arrives at the terminal, then the TDOA corresponding to each non-inductive base station is recorded as (t2-t1), (t3-t1), ..., (tn-t1).

[0152] Collaborative positioning process with the addition of sensor base stations

[0153] After the addition of a sensing base station, since the sensing base station estimates the distance between the sensing base station and the terminal by sensing the echo signal and does not obtain the TDOA through the reference signal, the sensing base station needs to estimate the candidate area where the terminal is located based on the TDOA of each of the m non-sensing base stations and the echo ranging parameters of the sensing base station itself. Then, it needs to calculate the TDOA of the sensing base station itself based on the candidate area where the terminal is located and report the TDOA of the sensing base station itself to the core network equipment, which will then calculate the final positioning result.

[0154] For example, when using the downlink TDOA algorithm, the process of TDOA performed collaboratively by inductive and non-inductive base stations is as follows.

[0155] Step 1: The core network equipment sends the identifier of each of the k sensing base stations participating in the positioning and the identifier of each of the m non-sensory base stations participating in the positioning to the terminal. Correspondingly, the terminal receives the identifier of each of the k sensing base stations and the identifier of each of the m non-sensory base stations.

[0156] Step 2: Each of the m non-inductive base stations sends a reference signal to the terminal. The terminal receives the reference signals from each of the m non-inductive base stations, records the arrival times of the m reference signals, and measures the TDOA corresponding to each of the m non-inductive base stations based on the arrival times of the m reference signals. For each of the k inductive base stations, the terminal sends the TDOA corresponding to each of the m non-inductive base stations to that inductive base station based on the identifier of that inductive base station.

[0157] For example, m non-sensory base stations participating in positioning simultaneously send reference signals to a terminal. For each received reference signal, the terminal records its arrival time to obtain m arrival times. The terminal then determines the difference between the different arrival times among the m arrival times to obtain the TDOA (Time of Arrival).

[0158] Step 3: The sensing base station determines the candidate area where the terminal is located based on the TDOA corresponding to each of the m non-sensing base stations.

[0159] The candidate region is used to indicate the location range of the terminal. The candidate region can also be referred to as the approximate location of the terminal.

[0160] The TDOA corresponding to a non-inductive base station is, for example, in the form of a hyperbolic equation. In some implementations, the inductive base station determines m hyperbolas based on the TDOA corresponding to each of the m non-inductive base stations, intersects the m hyperbolas, and obtains the overlapping area between the m hyperbolas as the candidate area where the terminal is located.

[0161] In other implementations, the sensing base station determines the candidate area where the terminal is located based on the TDOA corresponding to each of the m non-sensing base stations and the echo ranging parameters corresponding to the local end.

[0162] The echo ranging parameter is the transmission delay of the echo signal between the sensing base station and the terminal. The sensing base station determines the distance between itself and the terminal based on the transmission delay of the echo signal. For example, based on the echo ranging parameter corresponding to its own sensing base station, the sensing base station can determine a circular area containing the location of the terminal. This circular area is centered on the sensing base station, and its radius is the distance between the sensing base station and the terminal.

[0163] In some implementations, based on the TDOA corresponding to each of the m non-sensory base stations, m hyperbolas can be determined. Based on the echo ranging parameters of each of the k sensing base stations, k circular regions can be determined. The intersection of the m hyperbolas and the k circular regions yields the overlapping area between the m hyperbolas and the k circular regions, which serves as the candidate region for the terminal.

[0164] The aforementioned method of finding the intersection of multiple hyperbolas corresponding to multiple TDOAs, or finding the intersection of the hyperbolas corresponding to TDOAs with the circular regions corresponding to the echo ranging parameters, can be achieved by solving a system of simultaneous equations. For example, the TDOA corresponding to each non-sensory base station can be expressed by the first equation, and the echo ranging parameters corresponding to each sensing base station can be expressed by the second equation. After simultaneously solving the first and second equations, the Taylor series positioning method or the least squares method can be used to obtain the candidate region where the terminal is located.

[0165] Step 4: For each of the k sensing base stations, the sensing base station determines the TDOA corresponding to the sensing base station based on the candidate area where the terminal is located and the echo ranging parameters corresponding to the sensing base station.

[0166] Step 5: Each of the k sensing base stations sends its corresponding TDOA to the core network equipment, and each of the m non-sensory base stations sends its corresponding TDOA to the core network equipment. Correspondingly, the core network equipment receives the TDOA from each of the k sensing base stations and the TDOA from each of the m non-sensory base stations. Based on the TDOA from each of the k sensing base stations and the TDOA from each of the m non-sensory base stations, the core network equipment determines the final positioning result of the terminal.

[0167] The above describes the process using the downlink TDOA algorithm as an example. If the uplink TDOA algorithm is used, the core network equipment sends the identifier of each of the k sensing base stations participating in the positioning to each of the m non-sensory base stations. The terminal sends an uplink reference signal to each of the m non-sensory base stations. In the 5G system, the uplink reference signal can be UL-SRS. Each of the m non-sensory base stations measures its own TDOA based on the time it receives the uplink reference signal. In step 2, after measuring its own TDOA, the non-sensory base station sends its own TDOA to each of the k sensing base stations participating in the positioning.

[0168] The above describes the overall process of TDOA positioning in collaboration between sensing base stations and non-sensing base stations. The following section provides an example of how sensing base stations determine the corresponding TDOA at their local end.

[0169] The sensing base station first determines the candidate area where the terminal is located based on the TDOA corresponding to the non-sensing base station, and then determines the TDOA corresponding to the sensing base station based on the candidate area where the terminal is located. For example, please refer to... Figure 5 , Figure 5 The diagram illustrates how a sensing base station calculates the TDOA corresponding to a sensing base station after determining the candidate area where a terminal is located based on the TDOA corresponding to a non-sensing base station.

[0170] Figure 5 In this diagram, R represents the distance between the candidate area where the terminal is located and the base station; R0 represents the distance between the candidate area where the terminal is located and the non-sensory base station 0; R1 represents the distance between the candidate area where the terminal is located and the non-sensory base station 1; and R2 represents the distance between the candidate area where the terminal is located and the sensory base station 0. Figure 5 The hyperbola in the middle represents the candidate region where the terminal is located.

[0171] The specific process for the sensing base station to determine the corresponding TDOA is as follows.

[0172] After receiving the TDOA (Transient Oscillating Allocation) corresponding to the non-sensory base station from the terminal, the sensing base station determines the candidate area where the terminal is located based on the echo ranging parameters corresponding to the sensing base station and the TDOA corresponding to the non-sensory base station. For example, the Taylor series positioning method or the least squares method can be used to determine the candidate area where the terminal is located. The following uses... The candidate region where the terminal is located is represented.

[0173] The process of determining the candidate region where the terminal is located using the Taylor series localization algorithm is as follows.

[0174] For example, there are several sets of TDOA corresponding to non-inductive base stations. The TDOA between non-inductive base station i and non-inductive base station j is denoted by the following equation (1).

[0175]

[0176] In the above equation (1), x 5G,i y 5G,i Let x and y represent the x and y coordinates of the non-inductive base station i, respectively, and let x and y represent the x and y coordinates of the terminal, respectively.

[0177] Characterizing the distance between the non-sensory base station i and the terminal, This characterizes the distance between the non-sensory base station j and the terminal. The distance difference between non-sensory base station i and the terminal, minus the distance between non-sensory base station j and the terminal, is represented by c, which represents the speed of light. TDOA i,j It is the time difference of arrival between the i-th base station and the j-th base station. The coordinates of non-sensory base stations can be obtained from the database based on their identifiers. The database stores the correspondence between the identifiers and coordinates of non-sensory base stations.

[0178] For example, there are several sets of echo ranging parameters measured by the sensing base station, which are denoted as:

[0179]

[0180] In equation (2) above, x 6G,k y 6G,k Let x and y represent the x and y coordinates of the sensing base station k, respectively, and let x and y represent the x and y coordinates of the terminal, respectively. k This represents the distance between the sensing base station k and the terminal, as measured by the sensing base station k.

[0181] The above nonlinear equations can be combined and solved iteratively by constructing a matrix using the Taylor series positioning algorithm. Let...

[0182]

[0183] With initial values ​​set to [x0, y0], we obtain the matrix form:

[0184]

[0185] here All are derived using Taylor expansion and taking the first derivative. Let the above equation be denoted as B = AΔ. The matrix equation contains only two unknowns, Δx and Δy, while the other variables are known. Solving using the least squares method, we obtain Δ = (AΔx / Δy). T A) -1 A T B obtains the position offset or correction as Δx = Δ(1), Δy = Δ(2), and then lets Repeat the above iterative process until Δ is less than the set threshold.

[0186] The sensing base station determines the candidate area of ​​the terminal. Calculate the TDOA of the sensing base station and the reference base station. For example, in the attached... Figure 5 In this context, when the reference base station is a non-inductive base station 0, the TDOA of the inductive base station and the reference base station is represented as R2-R0. The inductive base station sends the TDOA corresponding to its own inductive base station to the core network equipment, which then calculates the final terminal positioning result.

[0187] The above describes how the sensor base station calculates TDOA. The following section provides an example of the specific process for TDOA-based collaborative positioning.

[0188] The positioning process for providing downlink TDOA to the terminal through the collaboration of inductive and non-inductive base stations is as follows: Figure 6 As shown, the steps include the following.

[0189] Step S61: Both the sensing base station and the non-sensing base station send their local sensing capability information to the core network equipment. This sensing capability information indicates whether the base station supports integrated sensing functionality. The core network equipment obtains the sensing capability information of the base stations and, based on this information, determines whether a sensing base station exists among at least one base station participating in the positioning service. In a 5G system, sensing capability information can be transmitted via NRPPa TRP Information Exchange.

[0190] Step S62: Terminals, base stations, and core network equipment exchange supported positioning capability information so that the core network equipment can select a positioning method from the supported methods based on this information. Positioning capability information indicates the supported positioning methods. For example, in an NR system, positioning methods include TDOA (including uplink TDOA and downlink TDOA), E-CID, AOA (including uplink AOA and downlink AOA), and multiple RTT, etc. The exchange of positioning capability information can be accomplished through LPP Capability Transfer. This embodiment uses the selection of downlink TDOA as an example; the selection process can be referred to the flow described above.

[0191] Step S63: When using downlink TDOA, the core network equipment sends the identifiers of the sensing base stations participating in the positioning to the terminal.

[0192] Step S64: The core network equipment sends measurement requests to both the sensing base station and the non-sensing base station. The measurement requests can be implemented through the NRPPa protocol in the 5G system.

[0193] Step S65: The sensing base station sends a sensing integrated signal, and correspondingly, the terminal receives the sensing integrated signal.

[0194] Step S66: The terminal reflects the echo signal to the sensing base station.

[0195] Step S67: The sensing base station receives the reflected echo signal and extracts the terminal's echo ranging parameters from the echo signal. The sensing base station can be configured in a self-transmitting and self-receiving mode (mono-static sensing).

[0196] Step S68: The non-inductive base station sends a reference signal to the terminal. The reference signal is used to measure the TDOA corresponding to the non-inductive base station.

[0197] Step S69: The terminal receives a reference signal and measures the TDOA of different non-inductive base stations based on the reference signal.

[0198] Step S610: The terminal sends the measured TDOA of the non-inductive base station to the inductive base station in the network.

[0199] Step S611: The inductive base station calculates the TDOA of the inductive base station and the reference base station based on the echo ranging parameters and the TDOA of the non-inductive base station.

[0200] Step S612: The terminal sends a measurement response to the non-sensory base station, carrying the TDOA between the terminal and the non-sensory base station. The non-sensory base station obtains its own TDOA from the measurement response. The sensing and non-sensory base stations send their respective TDOAs to the core network equipment, which determines the terminal's final positioning result based on the TDOAs corresponding to each sensing base station and each non-sensory base station.

[0201] Step S613: The core network equipment sends the final location result of the terminal to the terminal, the sensing base station, the non-sensing base station, and other equipment that needs the terminal location result.

[0202] In the uplink TDOA positioning process, in step S63, the core network equipment sends the identifier of the sensing base station participating in the positioning to the non-sensing base station. In step S69, the non-sensing base station is responsible for measuring the TDOA of the non-sensing base station. In step S610, each non-sensing base station sends the measured TDOA to the sensing base station. The subsequent steps are the same.

[0203] The above embodiments use TDOA as an example for positioning. The following embodiments use multi-RTT positioning as an example. In the embodiments described below, the positioning parameter corresponding to the non-sensory base station is RTT.

[0204] Cooperative positioning process of sensing base stations and non-sensing base stations under multi-RTT positioning method

[0205] When the core network equipment selects a multi-RTT positioning method, the terminal, non-sensory base stations, and sensing base stations do not need to use time synchronization information for real-time synchronization. The system configures uplink and downlink reference signals; in 5G systems, UL-SRS and DLPRS can be selected as the reference signals. Non-sensory base stations and terminals measure the RTT between each other via interactive reference signals. The non-sensory base stations or terminals upload the measured RTT to the core network equipment so that the core network equipment can obtain the terminal's positioning result based on the RTT.

[0206] After introducing a sensing base station, the RTT (Real-Time Tolerance) measurement between the sensing base station and the terminal no longer requires complex interaction. The RTT is obtained by processing the echo signal corresponding to the integrated sensing signal. In this embodiment, different calculation methods are used depending on the number of base stations. Two cases are illustrated below.

[0207] Multi-RTT cooperative positioning using two non-inductive base stations and one inductive base station

[0208] When a sensing base station is introduced, if two non-sensory base stations and one sensing base station are used for collaborative positioning, the non-sensory base stations measure the RTT (Real-Time Tolerance) based on the reference signal, which has high accuracy. However, the sensing base station's accuracy based on the echo signal corresponding to the integrated sensing signal may be limited. Therefore, the two non-sensory base stations send their measured RTT to the sensing base station. The sensing base station can determine two relatively accurate intersection points based on the two RTTs. The sensing base station then selects one of these two intersection points as the terminal's location point based on the echo ranging parameters, thereby achieving the positioning result at the sensing base station.

[0209] For example, please refer to Figure 7 , Figure 7 A schematic diagram is shown showing how a sensing base station determines the terminal's location based on RTT. Non-sensing base station 0 determines the distance between the terminal and non-sensing base station 0 as R0 based on a reference signal. Non-sensing base station 0 determines the candidate location area of ​​the terminal as a circular area with non-sensing base station 0 as the center and radius R0. Non-sensing base station 1 determines the distance between the terminal and non-sensing base station 1 as R1 based on a reference signal. Non-sensing base station 1 determines the candidate location area of ​​the terminal as a circular area with non-sensing base station 1 as the center and radius R1. The sensing base station can determine the two intersection points of the two circular areas as two candidate locations of the terminal. The sensing base station determines the distance between the terminal and the sensing base station as R based on the echo signal, at which point TOA equations (6) and (7) are obtained.

[0210]

[0211] Two solutions are obtained by solving the above quadratic equations (6) and (7). These two solutions represent the two intersection points of the two circular regions, which are the candidate locations of the terminal. The sensing base station then calculates the distance between the two solutions and the sensing base station (i.e., the distance between the candidate locations of the terminal and the sensing base station). The sensing base station determines the difference between each of the two solutions and the ranging result R. The ranging result R represents the distance between the sensing base station and the terminal. The sensing base station selects the solution with the smaller difference from the ranging result R from the two solutions as the positioning result of the terminal.

[0212] The method provided in this embodiment ensures positioning accuracy by using RTT ranging. Furthermore, the positioning result is determined by the sensing base station based on the RTT corresponding to the non-sensing base station. Therefore, the non-sensing base station only needs to send the measured RTT to the sensing base station. The non-sensing base station does not need to upload the measured RTT to the core network equipment, thereby reducing interaction with the core network and simplifying the positioning process.

[0213] For example, please refer to the appendix. Figure 8 , attached Figure 8 This is a flowchart illustrating a collaborative RTT positioning process using two non-inductive base stations and one inductive base station, as provided in an embodiment of this application. (Attached) Figure 8 The process shown includes the following steps.

[0214] Step S71: Both the sensing base station and the non-sensing base station send their local sensing capability information to the core network equipment. This sensing capability information indicates whether the base station supports integrated sensing functionality. The core network equipment obtains the sensing capability information of the base stations and, based on this information, determines whether a sensing base station exists among at least one base station participating in the positioning service. In a 5G system, sensing capability information can be transmitted via NRPPa TRP Information Exchange.

[0215] Step S72: Devices participating in the positioning service, such as terminals, base stations, and core network equipment, exchange supported positioning capability information. This allows the core network equipment to select a positioning method from the supported positioning methods of the participating devices based on the positioning capability information. The positioning capability information indicates the positioning methods supported by the device. For example, in a 5G NR system, positioning methods include TDOA (including uplink TDOA and downlink TDOA), E-CID, AOA (including uplink AOA and downlink AOA), and multiple RTTs, etc. The exchange of positioning capability information can be accomplished through LPP Capability Transfer. This embodiment uses the selection of a multiple RTT positioning method as an example; the selection process can be referred to the flowchart described above.

[0216] Step S73: The core network equipment sends the identifiers of the sensing base stations participating in the positioning to the two non-sensing base stations respectively.

[0217] Step S74: The core network equipment sends measurement requests to the sensing base station and the two non-sensing base stations respectively. In the 5G system, the measurement requests can be implemented through the NRPPa protocol.

[0218] Step S75: The sensing base station sends a sensing integrated signal, and correspondingly, the terminal receives the sensing integrated signal.

[0219] Step S76: The terminal reflects the echo signal to the sensing base station.

[0220] Step S77: The sensing base station receives the reflected echo signal and extracts the echo ranging parameters of the terminal from the echo signal.

[0221] In step S78, each of the two non-inductive base stations and the terminal interacts through uplink and downlink reference signals to determine the RTT. In the 5G system, the uplink reference signal can be selected as UL-SRS, and the downlink reference signal can be selected as DL-PRS. The reference signals are used to measure the RTT.

[0222] In step S79, each of the two non-inductive base stations sends the RTT measured at its local end to the inductive base station.

[0223] Step S710: After receiving the RTT from each of the two non-sensory base stations, the sensing base station determines two candidate location points for the terminal based on the two RTTs. The sensing base station then determines the final positioning result of the terminal from the two candidate location points based on its sensed echo ranging parameters.

[0224] The aforementioned echo ranging parameters can be used to assist in selecting a location from two candidate locations as the terminal's positioning result. For example, the closer a candidate location is to the echo ranging parameters, the more accurate the candidate location is considered, and the greater the probability of selecting that candidate location.

[0225] For example, the echo ranging parameters mentioned above indicate the distance between the terminal and the sensing base station. The two candidate location points include a first candidate location point and a second candidate location point. The sensing base station determines a first distance between the first candidate location point and the sensing base station, and determines a second distance between the second candidate location point and the sensing base station. The sensing base station compares the difference between the echo ranging parameters and the first distance and the second distance, respectively. Based on the comparison results, the sensing base station determines the candidate location point with the smallest difference from the first candidate location point and the second candidate location point.

[0226] This embodiment describes a scenario where two non-sensory base stations and one sensing base station cooperate to locate the terminal. Similarly, in a scenario where k sensing base stations and m non-sensory base stations cooperate to locate the terminal, m candidate locations can be determined based on the RTT measured by the m sensing base stations using reference signals. Based on the distance between each of the m candidate locations and the sensing base station, and the echo ranging parameters corresponding to the sensing base station, the terminal's positioning result is determined from the m candidate locations. The deviation between the positioning result and the distance to the sensing base station, and the echo ranging parameters corresponding to the sensing base station, must satisfy a certain condition. For example, the candidate location among the m candidate locations that is closest to the echo ranging parameters is determined as the terminal's positioning result.

[0227] Step S711: The sensing base station sends the final positioning result of the terminal to the terminal and other devices that need the positioning result.

[0228] Multi-RTT cooperative positioning process in cases with 2 non-sensory base stations and 3 or more base stations other than 1 sensory base station.

[0229] When there are multiple base stations in the network besides two non-sensory base stations and one sensing base station, in the case of multi-RTT cooperative positioning, the sensing base station directly converts the echo ranging parameters of the sensing base station into RTT, uploads the RTT to the core network equipment, and then the core network equipment calculates the positioning result. For example, please refer to the appendix. Figure 9 , attached Figure 9 This is a flowchart of a multi-RTT cooperative positioning method that combines a sensing base station with a non-sensing base station, provided in an embodiment of this application. The method includes the following steps.

[0230] Step S81: Both the sensing base station and the non-sensing base station send their local sensing capability information to the core network equipment. This sensing capability information indicates whether the base station supports integrated sensing functionality. The core network equipment obtains the sensing capability information of the base stations and, based on this information, determines whether a sensing base station exists among at least one of the base stations participating in the positioning service. In a 5G system, sensing capability information can be transmitted via NRPPa TRP Information Exchange.

[0231] Step S82: Devices participating in the positioning service, such as terminals, base stations, and core network equipment, exchange supported positioning capability information. This allows the core network equipment to select a positioning method from the supported methods based on the positioning capability information. For example, in a 5G NR system, positioning methods include TDOA (including uplink TDOA and downlink TDOA), E-CID, AOA (including uplink AOA and downlink AOA), and multiple RTTs. The exchange of positioning capability information can be accomplished through LPPCapability Transfer. This embodiment uses the selection of a multiple RTT positioning method as an example; the selection process can be referred to the flowchart described above.

[0232] Step S83: The core network equipment sends measurement requests to both the sensing base station and the non-sensing base station. The measurement requests can be implemented through the NRPPa protocol in the 5G system.

[0233] Step S84: Each of the k sensing base stations sends a sensing integrated signal, and correspondingly, the terminal receives k sensing integrated signals from the k sensing base stations.

[0234] Step S85: The terminal reflects the echo signal to each of the k sensing base stations.

[0235] Step S86: Each of the k sensing base stations receives the reflected echo signal, and each of the k sensing base stations extracts the terminal's echo ranging parameters from the echo signal.

[0236] In step S87, the m non-inductive base stations and the terminal interact with each other via uplink and downlink reference signals. In the 5G system, the uplink reference signal can be selected as UL-SRS, and the downlink reference signal can be selected as DL-PRS. The reference signals are used to measure RTT.

[0237] Step S88: Each of the k sensing base stations determines its corresponding RTT based on the echo ranging parameters measured at its own end. Each of the k sensing base stations then sends its corresponding RTT to the core network equipment.

[0238] For example, the echo ranging parameter mentioned above is the distance between the terminal and the sensing base station. The sensing base station determines the ratio of this echo ranging parameter to the speed of light as the RTT (Real-Time To Watch). Alternatively, the echo ranging parameter mentioned above is the one-way transmission delay of the echo signal from the terminal to the sensing base station. The sensing base station determines twice this echo ranging parameter as the RTT. Yet another example is that the echo ranging parameter mentioned above is the time difference between the time point when the sensing base station sends the integrated sensing signal and the time point when the sensing base station receives the echo signal; the sensing base station uses this time difference as the RTT.

[0239] Step S89: Each of the m non-inductive base stations measures the RTT based on the reference signal it interacts with the terminal. Each of the m non-inductive base stations then sends the measured RTT information to the core network equipment.

[0240] Step S810: The core network device determines the terminal's location result based on the RTT uploaded by each of the k sensing base stations and the RTT uploaded by each of the m non-sensing base stations. The core network device then sends the terminal's final location result to the terminal and other devices that require the location result.

[0241] The above embodiments are illustrated using multiple RTT positioning as an example, while the following embodiments are illustrated using AOA positioning as an example. In the following embodiments, the echo ranging parameters of each inductive base station include the AOA of the echo signal arriving at the corresponding inductive base station, and the positioning parameters of each non-inductive base station include the AOA of the reference signal arriving at the corresponding non-inductive base station.

[0242] AOA-based cooperative positioning process between sensing and non-sensing base stations

[0243] When the core network equipment selects the AOA positioning method, the interaction process of the sensing base station is similar to that of the multi-RTT positioning method. However, during the measurement process, the sensing base station extracts the angle information from the echo signal corresponding to the transmitted sensing integrated signal and carries the angle information in the measurement response, and sends the measurement response containing the angle information to the core network equipment.

[0244] For example, please refer to the appendix. Figure 10 , attached Figure 10 This application provides a flowchart of a cooperative positioning process for both sensing and non-sensing base stations based on AOA, which includes the following steps.

[0245] Step S91: The core network equipment obtains the base station's sensing capability information, which is the same as the steps in the above embodiment.

[0246] Step S92: Devices participating in the positioning service, such as terminals, base stations, and core network equipment, exchange supported positioning capability information. This allows the core network equipment to select a positioning method from the supported positioning methods of the participating devices based on the positioning capability information. Positioning capability information indicates the positioning methods supported by the device. For example, in a 5G NR system, positioning methods include TDOA (including uplink TDOA and downlink TDOA), E-CID, AOA (including uplink AOA and downlink AOA), and multiple RTT, etc. The exchange of positioning capability information can be accomplished through LPP Capability Transfer. This embodiment uses the selection of (UL) AOA as an example; the selection process can be referred to the flowchart described above.

[0247] Step S93: The core network equipment sends a measurement request to each of the k sensing base stations and each of the m non-sensing base stations. In the 5G system, the measurement request can be implemented through the NRPPa protocol.

[0248] In step S94, each of the k sensing base stations sends a sensing integrated signal, and correspondingly, the terminal receives k sensing integrated signals from the k sensing base stations.

[0249] Step S95: The terminal reflects the echo signal to each of the k sensing base stations.

[0250] Step S96: Each of the k sensing base stations receives the reflected echo signal, and each of the k sensing base stations extracts angle information from the echo signal. The angle information represents the arrival angle of the echo signal.

[0251] Step S97: Each of the m non-inductive base stations sends a reference signal configuration message to the terminal, and the terminal sends a reference signal to each of the m non-inductive base stations.

[0252] Step S98: Each of the m non-inductive base stations measures the AOA based on the reference signal received from the terminal.

[0253] In step S99, each of the k sensing base stations converts the angle information into an AOA and sends the AOA to the core network equipment.

[0254] In step S910, each of the m non-inductive base stations will send the AOA measured based on the reference signal to the core network equipment.

[0255] Step S911: The core network device calculates the terminal's positioning result based on the AOA from each of the k sensing base stations and the AOA from each of the m non-sensing base stations. The core network device then sends the terminal's final positioning result to the terminal and other devices that require the positioning result.

[0256] This application proposes a collaborative positioning scheme for both sensing and non-sensing base stations, which can adapt base stations with integrated sensing capabilities to 5G positioning systems.

[0257] In related technologies, either only 5G technology is supported for providing positioning services to terminals, or only the positioning problem of purely sensing base stations is considered; neither considers the problem of collaborative positioning with sensing and non-sensing base stations. When the number of non-sensing base stations is insufficient, it is necessary to cooperate with sensing base stations to complete the positioning process. This application's embodiments address this situation by designing a process for configuring sensing base stations and acquiring and uploading positioning parameters.

[0258] This application provides detailed procedures for various positioning algorithms (such as multiple RTT, TDOA, etc.) in the collaborative positioning of sensing base stations and non-sensing base stations. It describes how to be compatible with base stations that support integrated communication and sensing functions. In particular, it adds the interaction between the terminal or non-sensing base station and sensing base station in the collaborative TDOA and multiple RTT positioning of sensing base stations and non-sensing base stations, as well as the local calculation process of sensing base stations. This enables sensing base stations to be compatible with the positioning functions of core network equipment or reduce the interaction between the terminal and the network.

[0259] The embodiments of this application can be applied to cooperative positioning scenarios of 3GPP and non-3GPP sensing base stations and non-sensing base stations. The following examples illustrate several specific scenarios.

[0260] 3GPP positioning scenarios

[0261] In 3GPP positioning scenarios, the sensing base station mentioned in this application refers to a base station that supports integrated communication and sensing functions, such as a 6G base station that supports integrated communication and sensing functions, and the sensing base station is configured in a self-transmitting and self-receiving sensing mode. A non-sensing base station refers to a 5G or 4G base station that does not support integrated communication and sensing functions, and the core network equipment is, for example, the core network's LMF (Local Multi-Function). In this case, the positioning framework proposed in this application can be applied.

[0262] Joint positioning scenarios of 3GPP equipment and non-3GPP equipment

[0263] For example, the network contains both non-3GPP sensing base stations and 3GPP non-sensing base stations. Because sensing base stations do not need to utilize the time synchronization information of non-sensing base stations when sensing the terminal's location, sensing base stations can also be included in the positioning process. Figure 11As shown, non-sensing base stations and terminals acquire positioning parameters through reference signals, while sensing base stations acquire positioning parameters by sensing echo signals. Sensing base stations are also served by non-sensing base stations. During positioning, the core network equipment selects the positioning method, and non-3GPP sensing base stations measure positioning parameters by sensing echo signals. The core network equipment selects whether the terminal and non-sensing base stations send positioning parameters to the non-3GPP sensing base station, and determines whether the positioning result is determined by the non-3GPP sensing base station or the core network equipment. Non-3GPP sensing base stations can be, for example, non-3GPP sensing RSUs, sensing WLAN APs, sensing sensors, or other sensing devices.

[0264] WLAN positioning scenarios

[0265] In WLAN positioning scenarios, a sensing base station is, for example, an AP that supports integrated sensing, while a non-sensing base station is, for example, an AP that does not support integrated sensing, and the core network equipment is, for example, a server.

[0266] like Figure 12 As shown, if a positioning method based on positioning parameters (including time difference and angle) is adopted, the integrated sensing base station can calculate the positioning parameters based on the received echo signal and then report the positioning parameters to the server, which will then complete the positioning.

[0267] If a TDOA-based positioning method is used, and if downlink TDOA positioning is employed, the terminal is responsible for measuring the TDOA between the non-sensory base station and the reference base station, and then sends the measured TDOA to the sensing base station. If uplink TDOA positioning is employed, the non-sensory base station is responsible for measuring the TDOA between itself and the reference base station, and then sends the measured TDOA to the sensing base station. Each base station sends its corresponding TDOA to the server, which then measures the terminal's positioning result based on the TDOA of each base station.

[0268] If a multi-RTT-based positioning method is used, the terminal's positioning can be completed using two non-inductive APs and one inductive AP. The two non-inductive APs send their measured RTT values ​​to the inductive AP, which then uses ranging to determine the final positioning point.

[0269] Bluetooth positioning scenarios

[0270] In Bluetooth positioning scenarios, if a positioning method based on Received Signal Strength Indication (RSSI) is used, and the terminal is simultaneously connected to a sensing base station, such as... Figure 13As shown, the sensing base station calculates the corresponding RSSI using the Log-Distance Path Loss Model (LDPL) based on the obtained ranging information and sends it to the server, which then calculates the positioning result.

[0271] In the embodiments provided in this application, the base station can be any device with wireless transceiver capabilities, including but not limited to: evolved base stations (NodeB, eNB, or e-NodeB) in Long Term Evolution (LTE), base stations (gNodeB or gNB) or transmission receiving points / transmission reception points (TRPs) in New Radio (NR), base stations in subsequent 3GPP evolutions, access nodes in Wi-Fi systems, wireless relay nodes, wireless backhaul nodes, etc. The base station can be: macro base station, micro base station, pico base station, small cell, relay station, or balloon station, etc. The base station can include one or more co-located or non-co-located Transmission Reception Points (TRPs). The base station can also be a radio controller, centralized unit (CU), and / or distributed unit (DU) in a cloud radioaccess network (CRAN) scenario. The base station can communicate with the terminal, or it can communicate with the terminal through a relay station. The terminal can communicate with multiple base stations using different technologies. For example, the terminal can communicate with base stations that support LTE networks, base stations that support 5G networks, and can also establish dual connections with both LTE and 5G base stations.

[0272] In the embodiments provided in this application, the terminal can take various forms, such as a mobile phone, tablet computer, computer with wireless transceiver capabilities, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal in industrial control, vehicle-mounted terminal device, wireless terminal in self-driving, wireless terminal in remote medical care, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, wearable terminal device, etc. The terminal may also be referred to as terminal equipment, user equipment (UE), access terminal equipment, vehicle-mounted terminal, industrial control terminal, UE unit, UE station, mobile station, mobile station, remote station, remote terminal equipment, mobile device, UE terminal equipment, terminal equipment, wireless communication equipment, UE agent, or UE device, etc. The terminal can also be a fixed terminal or a mobile terminal.

[0273] It should be understood that Figures 1 to 13 The flowcharts or scene diagrams shown are for illustrative purposes only and are not intended to limit the embodiments of this application to the examples illustrated. In fact, those skilled in the art can interpret the embodiments based on... Figures 1 to 13 The examples in the document can be transformed into equivalent ways to obtain more implementations.

[0274] The above text combined Figures 1 to 13 This document describes in detail the communication method provided in the embodiments of this application. The following will combine... Figures 14 to 15 The device embodiments of this application are described in detail below. It should be understood that the communication device of this application embodiment can execute the various communication methods of the foregoing embodiments of this application, that is, the specific working processes of the various products below can be referred to the corresponding processes in the foregoing method embodiments.

[0275] In the embodiments described above, the terminal device may execute some or all of the steps in each embodiment; the network device may execute some or all of the steps in each embodiment. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be executed in different orders as presented in the embodiments, and it is not necessary to execute all the operations in the embodiments of this application. Moreover, the sequence number of each step does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0276] Figure 14 This is a schematic block diagram of a communication device provided in an embodiment of this application. Figure 14 As shown, the communication device 500 may include a receiving unit 510, an acquiring unit 520, and a determining unit 530.

[0277] Optionally, the communication device 500 further includes a transmitting unit 540. Optionally, the communication device 500 further includes a storage module, which can be used to store instructions and / or data; the determining unit 520 can read the instructions and / or data in the storage module so that the communication device 500 implements the aforementioned method embodiments.

[0278] In one possible design, the communication device 500 may correspond to the network device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the network device. The communication device 500 can be used to perform the steps or processes performed by the network device in any of the above method embodiments.

[0279] For example, the receiving unit 510 is used to perform Figure 3 The transmission step in S310 is shown; the acquisition unit 520 is used to perform... Figure 3 S330 is shown. The determining unit 530 is used to perform... Figure 3 The S340 shown is used to perform the sending unit 540. Figure 3 The receiving steps in S350 are shown.

[0280] For example, the receiving unit 510 is used to perform Figure 6 S62 is shown; the acquisition unit 520 is used to perform Figure 6 S61 is shown. The determining unit 530 is used to perform... Figure 6 S67 and S611 are shown. The transmitting unit 540 is used to perform... Figure 6 S62, S63, S64, S65, S68, S612, and S613 are shown.

[0281] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0282] In one possible design, the communication device 500 may correspond to the terminal device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the terminal device. The communication device 500 can be used to perform the steps or processes executed by the terminal device in any of the above method embodiments.

[0283] For example, the receiving unit 510 is used to perform Figure 3 The receiving step in S350 is shown; the transmitting unit 540 is used to perform... Figure 3The receiving step in S310 is shown.

[0284] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0285] Figure 15 This is another schematic block diagram of the communication device 600 provided in the embodiments of this application. The communication device 600 may be a chip, chip system, or processor, etc., in a terminal device or network device that implements the above-described methods. The communication device 600 can be used to implement the methods described in the above-described method embodiments; for details, please refer to the descriptions in the above-described method embodiments.

[0286] like Figure 15 As shown, the communication device 600 may include one or more processors 610, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 610 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device 600 (e.g., a base station, baseband chip, user, user chip), execute software programs, and process data from the software programs.

[0287] In an alternative design, the processor 610 may also store instructions and / or data that can be executed by the processor 610 to cause the communication device 600 to perform the methods described in the above method embodiments.

[0288] In another alternative design, the communication device 600 may include a communication interface 620 for implementing receiving and transmitting functions. For example, the communication interface 620 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0289] Optionally, the communication device 600 may include one or more memories 630, which may store instructions that can be executed on the processor 610, causing the communication device 600 to perform the methods described in the above method embodiments. Optionally, the memories 630 may also store data. Optionally, the processor 610 may also store instructions and / or data. The processor 610 and the memories 630 may be provided separately or integrated together.

[0290] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0291] In one implementation, the communication device 600 may correspond to the terminal device in the above method embodiments and may be used to execute the various steps and / or processes executed by the terminal device in the above method embodiments. The processor 610 may be used to execute instructions stored in the memory 630, and when the processor 610 executes the instructions stored in the memory, the processor 610 is used to execute the various steps and / or processes of the above method embodiments corresponding to the terminal device.

[0292] In another implementation, the communication device 600 may correspond to the network device in the above method embodiments and may be used to execute the various steps and / or processes executed by the network device in the above method embodiments. The processor 610 may be used to execute instructions stored in the memory 630, and when the processor 610 executes the instructions stored in the memory, the processor 610 is used to execute the various steps and / or processes of the above method embodiments corresponding to the network device.

[0293] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0294] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0295] According to the method provided in the embodiments of this application, this application also provides a chip system, which includes one or more processors for calling and executing instructions stored in memory, thereby causing the method described in the embodiments of this application to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0296] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0297] According to the method provided in the embodiments of this application, this application also provides a communication system, which includes the aforementioned network device and terminal device.

[0298] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0299] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code. When the program code is run on a computer, it causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0300] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or it may include both volatile memory and non-volatile memory.

[0301] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0302] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0303] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0304] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0305] In summary, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A positioning method, characterized in that, The method includes: Receive a location request from a terminal, wherein the terminal is located within the coverage area of ​​each of k sensing base stations and within the coverage area of ​​each of m non-sensing base stations, where k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1. The echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations are obtained. The echo ranging parameters corresponding to each sensing base station are obtained based on the echo signal received by the corresponding sensing base station. The echo signal is generated by the terminal reflecting the sensing integrated signal sent by the corresponding sensing base station. The positioning parameters corresponding to each non-sensing base station are obtained based on the reference signal transmitted between the corresponding non-sensing base station and the terminal. The positioning result of the terminal is determined based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations.

2. The method according to claim 1, wherein determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations includes: Based on the echo ranging parameters corresponding to the k sensing base stations, the positioning parameters corresponding to the k sensing base stations are determined. The positioning result of the terminal is determined based on the positioning parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations.

3. The method according to claim 2, characterized in that, The positioning parameters corresponding to each non-sensory base station include TDOA, where k is greater than or equal to 1, m is greater than or equal to 2, and the positioning parameters corresponding to the k sensory base stations are determined based on the echo ranging parameters corresponding to the k sensory base stations, including: Based on the TDOA corresponding to each of the m non-inductive base stations, the candidate area where the terminal is located is determined. Based on the candidate region where the terminal is located and the echo ranging parameters corresponding to each of the k sensing base stations, the TDOA corresponding to each of the k sensing base stations is determined; The step of determining the positioning result of the terminal based on the positioning parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes: The positioning result of the terminal is determined based on the TDOA corresponding to each of the k sensing base stations and the TDOA corresponding to each of the m non-sensing base stations.

4. The method according to claim 2, characterized in that, The positioning parameters corresponding to each non-sensory base station include RTT. The determination of the positioning parameters corresponding to the k sensory base stations based on the echo ranging parameters corresponding to the k sensory base stations includes: Based on the echo ranging parameters corresponding to the k sensing base stations, determine the RTT corresponding to the k sensing base stations; The step of determining the positioning result of the terminal based on the positioning parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes: The positioning result of the terminal is determined based on the RTT corresponding to each of the k inductive base stations and the RTT corresponding to each of the m non-inductive base stations.

5. The method according to claim 1, wherein the positioning parameters corresponding to each non-sensory base station include RTT, and the step of determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensory base stations and the positioning parameters corresponding to the m non-sensory base stations includes: Based on the RTT corresponding to the m non-inductive base stations, multiple candidate locations of the terminal are determined; Based on the echo ranging parameters corresponding to the k sensing base stations, the positioning result of the terminal is determined from multiple candidate locations of the terminal.

6. The method according to claim 5, characterized in that, The k sensing base stations include a first sensing base station. The step of determining the positioning result of the terminal from multiple candidate locations based on the echo ranging parameters corresponding to the k sensing base stations includes: Determine the distance between each of the multiple candidate locations of the terminal and the first sensing base station; Based on the distance between each candidate location of the terminal and the first sensing base station and the echo ranging parameters corresponding to the first sensing base station, the positioning result of the terminal is determined from multiple candidate locations of the terminal, and the deviation between the positioning result and the distance between the first sensing base station and the echo ranging parameters corresponding to the first sensing base station satisfies the condition.

7. The method according to claim 5 or 6, characterized in that, k is 1, and m is 2.

8. The method according to claim 1, characterized in that, The echo ranging parameters for each sensing base station include the AOA (Area of ​​Attitude) of the echo signal arriving at the corresponding sensing base station, and the positioning parameters for each non-sensing base station include the AOA of the reference signal arriving at the corresponding non-sensing base station. The determination of the terminal's positioning result based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes: The positioning result of the terminal is determined based on the AOA corresponding to each of the k sensing base stations and the AOA corresponding to each of the m non-sensing base stations.

9. The method according to any one of claims 1 to 5, characterized in that, The k sensing base stations include a first sensing base station. The step of determining the positioning result of the terminal based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes: The first sensing base station determines the positioning result of the terminal based on the echo ranging parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensing base stations, or... The first sensing base station determines the positioning parameters corresponding to the first sensing base station based on the echo ranging parameters corresponding to the first sensing base station and / or the positioning parameters corresponding to each of the m non-sensory base stations; the first sensing base station sends the positioning parameters corresponding to the first sensing base station to the core network equipment; the core network equipment determines the positioning result of the terminal based on the positioning parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensory base stations.

10. The method according to claim 9, characterized in that, The method further includes: Each of the m non-inductive base stations sends its corresponding positioning parameters to the first inductive base station; or... The terminal sends the positioning parameters corresponding to each of the m non-sensory base stations to the first sensing base station.

11. The method according to claim 10, characterized in that, The method further includes: The core network equipment sends the identifier of the first sensing base station to each of the m non-sensory base stations; Each of the m non-sensory base stations sends its corresponding positioning parameters to the first sensing base station, including: each of the m non-sensory base stations sends its corresponding positioning parameters to the first sensing base station based on the identifier of the first sensing base station.

12. The method according to claim 10, characterized in that, The method further includes: The core network equipment sends the identifier of the first sensing base station to the terminal; The terminal sends the positioning parameters corresponding to each of the m non-sensory base stations to the first sensing base station, including: Based on the identifier of the first sensing base station, the terminal sends the positioning parameters corresponding to each of the m non-sensing base stations to the first sensing base station.

13. The method according to claim 1, characterized in that, The method further includes: Each of the k sensing base stations sends its corresponding echo ranging parameters to the core network equipment. Each of the m non-inductive base stations sends its corresponding positioning parameters to the core network device. The determination of the terminal's positioning result based on the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations includes: The core network equipment determines the positioning result of the terminal based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to each of the m non-inductive base stations.

14. The method according to claim 1, characterized in that, The method further includes: If the total number of base stations providing positioning services to the terminal is 1, select the positioning method combining RTT and AOA; or, If the total number of base stations providing positioning services to the terminal is 2, based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal, the AOA positioning method or the RTT combined with AOA positioning method is selected. If the total number of base stations providing positioning services to the terminal is more than 3, and there is only one non-sensory base station among all the base stations providing positioning services to the terminal, select the multi-RTT positioning method; If the total number of base stations providing positioning services to the terminal is more than 3, and there are two or more non-sensory base stations among all the base stations providing positioning services to the terminal, based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal, any one of the following can be selected: TDOA positioning method, multi-RTT positioning method, AOA positioning method, and RTT combined with AOA positioning method.

15. A positioning method, characterized in that, The method is applied to a terminal located within the coverage area of ​​each of k sensing base stations and m non-sensing base stations, where k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1. Send a location request to the network device; The terminal receives a positioning result from the network device. The positioning result is determined based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations. The echo ranging parameter corresponding to each inductive base station is obtained based on the echo signal received by the corresponding inductive base station. The echo signal is generated by the terminal reflecting the inductive integrated signal sent by the corresponding inductive base station. The positioning parameter corresponding to each non-inductive base station is obtained based on the reference signal transmitted between the corresponding non-inductive base station and the terminal.

16. A communication device, characterized in that, The device includes: A receiving unit is configured to receive a location request from a terminal, wherein the terminal is located within the coverage area of ​​each of k sensing base stations and within the coverage area of ​​each of m non-sensing base stations, where k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1. The acquisition unit is used to acquire the echo ranging parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations. The echo ranging parameters corresponding to each sensing base station are obtained based on the echo signal received by the corresponding sensing base station. The echo signal is generated by the terminal reflecting the integrated sensing signal sent by the corresponding sensing base station. The positioning parameters corresponding to each non-sensing base station are obtained based on the reference signal transmitted between the corresponding non-sensing base station and the terminal. The determining unit is used to determine the positioning result of the terminal based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations.

17. The apparatus according to claim 16, wherein the determining unit is configured to determine the positioning parameters corresponding to the k sensing base stations based on the echo ranging parameters corresponding to the k sensing base stations; and to determine the positioning result of the terminal based on the positioning parameters corresponding to the k sensing base stations and the positioning parameters corresponding to the m non-sensing base stations.

18. The apparatus according to claim 17, characterized in that, The positioning parameters corresponding to each non-sensory base station include TDOA, where k is greater than or equal to 1 and m is greater than or equal to 2. The determining unit is used to determine the candidate area where the terminal is located based on the TDOA corresponding to each of the m non-sensory base stations; determine the TDOA corresponding to each of the k sensing base stations based on the candidate area where the terminal is located and the echo ranging parameters corresponding to each of the k sensing base stations; and determine the positioning result of the terminal based on the TDOA corresponding to each of the k sensing base stations and the TDOA corresponding to each of the m non-sensory base stations.

19. The apparatus according to claim 17, characterized in that, The positioning parameters corresponding to each non-sensory base station include RTT. The determining unit is used to determine the RTT corresponding to the k sensory base stations based on the echo ranging parameters corresponding to the k sensory base stations; and to determine the positioning result of the terminal based on the RTT corresponding to each of the k sensory base stations and the RTT corresponding to each of the m non-sensory base stations.

20. The apparatus according to claim 16, wherein the positioning parameters corresponding to each non-sensory base station include RTT, and the determining unit is configured to determine multiple candidate locations of the terminal based on the RTTs corresponding to the m non-sensory base stations; and to determine the positioning result of the terminal from the multiple candidate locations of the terminal based on the echo ranging parameters corresponding to the k sensory base stations.

21. The apparatus according to claim 20, characterized in that, The k sensing base stations include a first sensing base station. The determining unit is used to determine the distance between each candidate location of the terminal and the first sensing base station from a plurality of candidate locations; based on the distance between each candidate location of the terminal and the first sensing base station and the echo ranging parameter corresponding to the first sensing base station, the positioning result of the terminal is determined from the plurality of candidate locations of the terminal, wherein the deviation between the positioning result and the distance between the first sensing base station and the echo ranging parameter corresponding to the first sensing base station satisfies a condition.

22. The apparatus according to claim 20 or 21, characterized in that, k is 1, and m is 2.

23. The apparatus according to claim 16, characterized in that, The echo ranging parameters of each sensing base station include the AOA of the echo signal arriving at the corresponding sensing base station, and the positioning parameters of each non-sensing base station include the AOA of the reference signal arriving at the corresponding non-sensing base station. The determining unit is used to determine the positioning result of the terminal based on the AOA of each sensing base station among the k sensing base stations and the AOA of each non-sensing base station among the m non-sensing base stations.

24. The apparatus according to any one of claims 16 to 23, characterized in that, The k sensing base stations include a first sensing base station, and the device is disposed at the first sensing base station; The determining unit is used to determine the positioning result of the terminal based on the echo ranging parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensing base stations, or... The determining unit is used to determine the positioning parameters corresponding to the first sensing base station based on the echo ranging parameters corresponding to the first sensing base station and / or the positioning parameters corresponding to each of the m non-sensing base stations; the device further includes: a transmitting unit, used to transmit the positioning parameters corresponding to the first sensing base station to the core network equipment, so that the core network equipment determines the positioning result of the terminal based on the positioning parameters corresponding to the first sensing base station and the positioning parameters corresponding to each of the m non-sensing base stations.

25. The apparatus according to claim 24, characterized in that, The device further includes: The transmitting unit is used to transmit the positioning parameters corresponding to each of the m non-sensory base stations to the first sensing base station.

26. The apparatus according to claim 25, characterized in that, The device further includes: The transmitting unit is configured to transmit the identifier of the first sensing base station to each of the m non-sensory base stations; or, based on the identifier of the first sensing base station, transmit the positioning parameters corresponding to the local end of the non-sensory base station to the first sensing base station respectively.

27. The apparatus according to claim 25, characterized in that, The device further includes: The transmitting unit is configured to transmit the identifier of the first sensing base station to the terminal; or, based on the identifier of the first sensing base station, transmit the positioning parameters corresponding to each of the m non-sensing base stations to the first sensing base station.

28. The apparatus according to claim 16, characterized in that, The device further includes: The transmitting unit is used to transmit echo ranging parameters corresponding to the sensing base station to the core network equipment; or, to transmit positioning parameters corresponding to the local end of the non-sensing base station to the core network equipment. The determining unit is used to determine the positioning result of the terminal based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to each of the m non-inductive base stations.

29. The apparatus according to claim 16, characterized in that, The determining unit is configured to: if the total number of base stations providing positioning services to the terminal is 1, select a positioning method combining RTT and AOA; or, if the total number of base stations providing positioning services to the terminal is 2, select an AOA positioning method or an RTT combined with AOA positioning method based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal; if the total number of base stations providing positioning services to the terminal is 3 or more, and there is only one non-sensory base station among all the base stations providing positioning services to the terminal, select a multi-RTT positioning method; if the total number of base stations providing positioning services to the terminal is 3 or more, and there are two or more non-sensory base stations among all the base stations providing positioning services to the terminal, select any one of the following positioning methods based on the capability information of the base stations providing positioning services to the terminal and the positioning requirements of the terminal: TDOA positioning method, multi-RTT positioning method, AOA positioning method, and RTT combined with AOA positioning method.

30. A communication device, characterized in that, A terminal is located within the coverage area of ​​k inductive base stations and within the coverage area of ​​m non-inductive base stations, where k is a positive integer greater than or equal to 1 and m is a positive integer greater than or equal to 1. The device includes: The sending unit is used to send location requests to network devices; The receiving unit is configured to receive the positioning result of the terminal from the network device. The positioning result is determined based on the echo ranging parameters corresponding to the k inductive base stations and the positioning parameters corresponding to the m non-inductive base stations. The echo ranging parameter corresponding to each inductive base station is obtained based on the echo signal received by the corresponding inductive base station. The echo signal is generated by the terminal reflecting the inductive integrated signal sent by the corresponding inductive base station. The positioning parameter corresponding to each non-inductive base station is obtained based on the reference signal transmitted between the corresponding non-inductive base station and the terminal.

31. A communication device, characterized in that, The device includes at least one processor coupled to a memory storing a program or instructions, the processor executing the program or instructions to cause the device to perform the method as described in any one of claims 1 to 15.

32. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 15.

33. A communication system, characterized in that, Includes the apparatus as described in any one of claims 16 to 29 and the apparatus as described in claim 30.

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