Positioning method and communication device

Abstract

The application discloses a positioning method and a communication device. The method comprises the following steps: determining first direction of arrival (DOA) information of a terminal device relative to a first network device according to a measurement result of a signal transmitted by the terminal device; receiving second DOA information from a second network device, wherein the second DOA information is DOA information of the terminal device relative to the second network device; and determining a positioning result of the terminal device based on the first DOA information, the second DOA information and a perception matrix, wherein the positioning result is position information of a grid in which the terminal device is located in a spatial grid map, and the perception matrix is determined based on a position of the first network device in the spatial grid map, a position of the second network device in the spatial grid map and a center position of each grid in the spatial grid map. The method can reduce the positioning complexity and improve the positioning accuracy.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to positioning methods and communication devices. Background Technology

[0002] As a crucial infrastructure of current digital communication systems, the rapid growth in 5G base station throughput is causing increasing strain on resources used for positioning. Meanwhile, the increasing number of users is leading to a surge in user demand for positioning tasks.

[0003] Existing positioning methods are mainly divided into traditional direct positioning schemes and indirect positioning schemes. Traditional direct positioning schemes involve exhaustive search and cost function construction, resulting in high computational complexity, which severely impacts real-time positioning and reduces positioning efficiency. Indirect positioning schemes typically still suffer from significant information loss during parameter estimation, thus affecting positioning accuracy. How to improve positioning accuracy while reducing complexity has become a problem to be solved. Summary of the Invention

[0004] This application provides a positioning method and a communication device that can improve positioning accuracy while reducing positioning complexity.

[0005] Firstly, some embodiments of this application provide a positioning method. This method can be executed by a first network device, by a module applied to the first network device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the first network device. The positioning method may include:

[0006] Based on the measurement results of the signals sent by the terminal device, the system determines the first direction of arrival (DOA) information of the terminal device relative to the first network device; receives second DOA information from the second network device, wherein the second DOA information is the DOA information of the terminal device relative to the second network device; and determines the positioning result of the terminal device based on the first DOA information, the second DOA information, and the perception matrix, wherein the positioning result is the position information of the terminal device in the grid of the spatial grid map, and the perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

[0007] By introducing a spatial grid map and constructing a sensing matrix using the above method, the signals transmitted by the target terminal device are measured to obtain DOA information. For network devices, constructing the sensing matrix and measuring signals is less complex than constructing a cost function. Furthermore, compared to the two-step localization method, which estimates the approximate location of the target terminal device by measuring signal strength, this application uses the sensing matrix and DOA information for localization, which is unaffected by environmental factors and other factors, resulting in more accurate localization and improved positioning precision.

[0008] In one possible embodiment, determining the positioning result of the terminal device based on the first DOA information, the second DOA information, and the perception matrix includes: determining the grid in the spatial grid map where the terminal device is located by sparsely reconstructing the observation vector and the perception matrix, wherein the observation vector includes the first DOA information and the second DOA information; and taking the center position of the grid in the spatial grid map where the terminal device is located as the positioning result of the terminal device.

[0009] By employing the above method, the observation vector for the target terminal device is determined, and based on this observation vector and the perception matrix, the target terminal device can be located more accurately. Determining the location of the target terminal device is simplified to determining the grid within which it resides, thus reducing the complexity of the localization process.

[0010] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0011] Secondly, some embodiments of this application provide a positioning method. This method can be executed by a second network device, by a module applied to the second network device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the second network device. The positioning method may include: determining second direction of arrival (DOA) information of the terminal device relative to the second network device based on measurement results of signals transmitted to the terminal device; and sending second DOA information to a first network device, wherein the second DOA information is used by the first network device to determine the positioning result of the terminal device by combining the first DOA information of the terminal device relative to the first network device and a perception matrix, wherein the positioning result is the position information of the terminal device in a grid in a spatial grid map, and the perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

[0012] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0013] Thirdly, some embodiments of this application provide a positioning method. This method can be executed by a target terminal device, by a module applied to the target terminal device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the target terminal device. The positioning method may include: sending a first signal to determine first DOA information of the terminal device relative to a first network device; and sending a second signal to determine second DOA information of the terminal device relative to a second network device.

[0014] In one possible embodiment, the method further includes: sending a location request message, the location request being used to request the location result of the terminal device; receiving a location request response message, the location request response message including the location result of the terminal device, the location result being the location information of the terminal device in the grid of the spatial grid map, and the perception matrix being determined based on the location of the first network device in the spatial grid map, the location of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

[0015] Fourthly, some embodiments of this application provide a positioning method. This method can be executed by a first network device, by a module applied to the first network device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the first network device. The positioning method may include: determining a first direction of arrival DOA information set, the first DOA information set including multiple first DOA information, each first DOA information being determined by a first network device based on measurement results of signals sent to each terminal device, each first DOA information being the DOA information of each terminal device relative to the first network device; receiving a second DOA information set from a second network device, the second DOA information set including multiple second DOA information, each second DOA information being determined by the second network device based on measurement results of signals sent to each terminal device, each second DOA information being the DOA information of each terminal device relative to the second network device; and determining the positioning results of multiple terminal devices through an exhaustive search method, a perception matrix, the first DOA information set, and the second DOA information set, wherein the positioning result of each terminal device is the position information of the terminal device in the grid of a spatial grid map, and the perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

[0016] In one possible embodiment, determining the positioning results of multiple terminal devices using an exhaustive search method, a perception matrix, a first DOA information set, and a second DOA information set includes: determining multiple observation vectors corresponding to any one of the multiple terminal devices using an exhaustive search method, the first DOA information set, and the second DOA information set, where each observation vector includes a first DOA information from the first DOA information set and a second DOA information from the second DOA information set, and the first DOA information and / or the second DOA information included in each observation vector are different from each other; obtaining multiple grid labels corresponding to any one terminal device by sparsely reconstructing the multiple observation vectors and the perception matrix corresponding to each terminal device; determining the column vectors corresponding to the multiple grid labels from the perception matrix based on the multiple grid labels; and determining the positioning result of any one terminal device based on the column vectors corresponding to the multiple grid labels and the multiple observation vectors corresponding to any one terminal device.

[0017] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0018] Fifthly, some embodiments of this application provide a positioning method. This method can be executed by a second network device, by a module applied to the second network device (e.g., a processor, chip, or chip system), or by a logical node, logical module, or software capable of implementing all or part of the functions of the second network device. The positioning method may include: determining a second direction of arrival DOA information set, the second DOA information set including multiple second DOA information pieces, each second DOA information piece being determined by the second network device based on measurement results of signals sent to each terminal device, each second DOA information piece being the DOA information of each terminal device relative to the second network device; and sending the second DOA information set to a first network device.

[0019] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0020] Sixthly, this application provides a communication device, such as a terminal device or a module applied to a first network device, a second network device, or a target terminal device, such as a processor, chip, or chip system. It can also be a logical node, logical module, or software capable of implementing all or part of the functions of the first network device, the second network device, or the target terminal device. The communication device includes modules / units for executing any method of the first aspect and its possible implementations, or modules / units of the second aspect and its possible implementations, or modules / units of the third aspect and its possible implementations, or modules / units of the fourth aspect and its possible implementations, or modules / units of the fifth aspect and its possible implementations.

[0021] In a seventh aspect, this application provides a communication device including a processor, a memory medium for storing a program or instructions that, when executed by the processor, cause the device to perform the methods described in the first, second, third, fourth, or fifth aspects above.

[0022] Eighthly, this application provides a chip including a processor and an interface, the processor and the interface being coupled; the interface is used to receive or output signals, and the processor is used to execute code instructions that cause the chip to perform the methods described in the first, second, third, fourth, or fifth aspects above.

[0023] Ninthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when invoked, cause the method described in the first aspect to be executed, or the method described in the second aspect to be executed, or the method described in the third aspect to be executed, or the method described in the fourth aspect to be executed, or the method described in the fifth aspect to be executed.

[0024] In a tenth aspect, this application provides a computer program product comprising: computer program code, which, when executed, causes the method described in the first aspect to be executed, or causes the method described in the second aspect to be executed, or causes the method described in the third aspect to be executed, or causes the method described in the fourth aspect to be executed, or causes the method described in the fifth aspect to be executed.

[0025] In one aspect, this application provides a communication system comprising a communication device (e.g., a first network device) for performing the method described in the first aspect, a communication device (e.g., a second network device) for performing the method described in the second aspect, a communication device (e.g., a terminal device) for performing the method described in the third aspect, a communication device (e.g., a first network device) for performing the method described in the fourth aspect, and a communication device (e.g., a first network device) for performing the method described in the fifth aspect. Attached Figure Description

[0026] Figure 1A This is a schematic diagram of DOA information provided in an embodiment of this application;

[0027] Figure 1B This application provides a schematic diagram of the architecture of a communication system.

[0028] Figure 1C This is a schematic diagram of the architecture of another communication system provided in an embodiment of this application;

[0029] Figure 1D This is a schematic diagram of the architecture of another communication system provided in an embodiment of this application;

[0030] Figure 1E This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0031] Figure 2 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0032] Figure 3 A schematic diagram of a positioning method provided in an embodiment of this application;

[0033] Figure 4A flowchart illustrating another positioning method provided in an embodiment of this application;

[0034] Figure 5 A schematic diagram illustrating another positioning method provided in an embodiment of this application;

[0035] Figure 6 A flowchart illustrating another positioning method provided in an embodiment of this application;

[0036] Figure 7 A flowchart illustrating another positioning method provided in an embodiment of this application;

[0037] Figure 8 A flowchart illustrating another positioning method provided in an embodiment of this application;

[0038] Figure 9 A schematic diagram of the structure of a communication device provided in this application;

[0039] Figure 10 A schematic diagram of another communication device provided in this application;

[0040] Figure 11 This is a schematic diagram of the hardware structure of a terminal device provided in this application. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0042] It should be understood that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0043] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0044] To facilitate understanding of the solutions provided in the embodiments of this application, the relevant concepts involved in the embodiments of this application are introduced below:

[0045] I. Compressed Sensing

[0046] Compressed sensing (CS) is a signal sampling technique that uses various methods to compress the entire data during the sampling process. To achieve compressed sensing, two prerequisites must be met: sparsity and incoherence.

[0047] Sparsity refers to the sparseness of a signal in a certain transform domain. Specifically, the signal has only a small number of non-zero values ​​in a certain domain, or in other words, the number of non-zero points in a certain domain is much smaller than the total number of points in the signal.

[0048] Compressed sensing can be mathematically expressed as follows:

[0049] Formula 1 for y = Φx

[0050] Here, x is a one-dimensional signal, also known as the original signal, and the sparsity of x is K (meaning it has K non-zero points). At this moment, x is unknown.

[0051] Φ is the observation matrix, corresponding to the subsampling (also known as downsampling) process, which is used to project a high-dimensional signal x into a low-dimensional space. It is known.

[0052] y is a one-dimensional measurement vector, which is the result after subsampling. It is also known.

[0053] Therefore, the compressed sensing problem involves solving the underdetermined equation y = Φx to obtain the original signal x, based on the known measured value y and the known observation matrix Φ.

[0054] However, a typical natural signal x is not sparse in itself and needs to be sparsely represented on some sparse basis. Let x = ΨS, we get the following formula:

[0055] y=ΦΨS formula 2

[0056] Where Ψ is a sparse matrix, S is a sparse vector, and x = ΨS refers to the sparse representation of x on the Ψ sparse basis. From Formula 2, we know that given y, Φ, and Ψ, we can solve for S.

[0057] Transforming Formula 2, we combine ΦΨ into a single matrix, denoted by parameter A, which is called the perception matrix. This yields Formula 3 as follows:

[0058] y=AS formula three

[0059] In this problem, Φ is known, Ψ is known, and A = ΦΨ, so A is also known. This perception problem can be transformed into finding S given y and A.

[0060] After solving for S, the original signal x can be recovered from x = ΨS.

[0061] Here, for the equations to have definite solutions and for the signal to be reconstructed, the number of equations must not be less than the number of unknowns. Since x is K-sparse, if the observation matrix Φ in the above formula satisfies the Restricted Isometry Property (RIP), then K sparse values ​​can be accurately reconstructed from multiple measurements, the number of which is the same as the length of y. For example, if y is a one-dimensional measurement of length M, then K sparse values ​​can be accurately reconstructed from M measurements.

[0062] RIP is used to constrain the observation matrix Φ. Specifically, for a given sparsity K, the observation matrix Φ satisfies K-RIP if there exists a constant δ. k ∈(0,1), such that for all k-sparse vectors x∈R n The following inequalities hold:

[0063]

[0064] in, Describes the Euclidean norm of vector x. The Euclidean norm of the measured signal, a constant δ k It is called the K-RIP constant.

[0065] RIP ensures that the observation matrix Φ approximately preserves the Euclidean norm of a sparse signal when performing linear measurements. This prevents the measurement process from significantly distorting the signal's geometry, thus guaranteeing signal reconstructability. Specifically, a measurement matrix satisfying the RIP property can guarantee accurate recovery of the original signal using appropriate optimization algorithms.

[0066] II. Direction Arrival

[0067] Direction of Arrival (DOA) estimation refers to determining the direction of a signal source relative to a receiving array. In most cases, this DOA can also be called the Angle of Arrival (AOA). DOA reveals the direction of arrival of the signal and is crucial information in wireless communication (e.g., Figure 1A As shown, Figure 1A In this context, θ represents the DOA of the wireless signal.

[0068] Since antenna arrays can infer the incident direction of a signal by the phase difference of the received signal, antenna array techniques are typically used for DOA estimation. In DOA estimation, when a signal arrives at the antenna array, slight differences in the propagation path result in different arrival times at different sensors, leading to phase shifts. By combining the signals received by each antenna, a composite signal, known as the steering vector, can be constructed. In signal processing and antenna array theory, the steering vector is an important mathematical concept that describes the incident direction of the signal relative to the antenna array.

[0069] DOA can typically be estimated using subspace methods (such as the MUSIC algorithm). A key step in the MUSIC algorithm is calculating the eigenvectors of the covariance matrix. These eigenvectors are further partitioned into signal and noise subspaces for subsequent processing.

[0070] All noise eigenvectors are orthogonal to the signal steering vector, meaning they are mutually perpendicular. This property is crucial in the MUSIC algorithm because it ensures the correct partitioning of the signal and noise subspaces, thus providing a solid foundation for subsequent processing.

[0071] The MUSIC algorithm mainly includes the following steps:

[0072] 1) Obtain the estimated covariance matrix based on N received signal vectors.

[0073] 2) Perform eigenvalue decomposition on the estimated covariance matrix to obtain multiple eigenvalues ​​corresponding to the covariance matrix.

[0074] 3) Sort the eigenvalues ​​according to their magnitudes, and regard the eigenvector corresponding to the largest eigenvalue that is equal to the number of signals K as the signal subspace, and regard the eigenvector corresponding to the remaining eigenvalues ​​as the noise subspace.

[0075] 4) Using the incident angle as the independent variable, the spectrum function is calculated through the array space spectrum function (which is determined by the orthogonality between the noise feature vector and the signal vector). The estimated value of DOA is obtained by finding the peak value of the spectrum function output.

[0076] III. Orthogonal Matching Tracking Algorithm

[0077] The Orthogonal Matching Pursuits (OMP) algorithm can be used for sparse reconstruction. This OMP algorithm is a typical greedy algorithm, meaning it recovers one or more elements of a sparse solution vector at a time using a greedy criterion, and then reconstructs the sparse solution by using the optimal solution from these recovered elements through multiple iterations.

[0078] IV. Common Positioning Schemes

[0079] Direct Position Determination (DPD) is a passive localization technique that obtains the estimated location of a radiation source by directly processing the raw sampled signal without estimating localization parameters. Specifically, DPD can intercept and measure the information emitted by a target source using a single moving observation station. First, a target source signal data reception model incorporating the angle of arrival and Doppler shift is established. Then, based on the target source data reception model and the data collected by a single station, combined with the mean square error of the target source location, a cost function for direct positioning by a single moving station is constructed. Finally, the location of the radiation source is solved using criteria such as the Minimum Variance Distortionless Response (MVDR), thereby achieving target localization.

[0080] Indirect location: also known as the two-step location method. This two-step location method mainly includes the following two steps:

[0081] The first step is to obtain relative information between the target and the positioning platform. In a communication system, the receiver can measure the signal strength from the target transmitter. Based on the signal strength versus distance attenuation model (such as the free-space path loss model), the distance range from the target to the receiver can be roughly estimated. However, this estimation is based on relative signal strength measurements and is affected by various factors, including environmental factors.

[0082] The second step is to calculate the target's absolute position by combining auxiliary information. In a multi-platform positioning system, it is necessary to correlate and fuse the relative information obtained from different platforms. For example, in a mobile communication positioning system composed of multiple base stations, each base station can obtain the relative distance information between itself and the mobile terminal. By combining this relative information with the known location information of the base stations, the absolute position of the mobile terminal can be calculated using triangulation or other positioning algorithms.

[0083] The DPD positioning method involves a cost function construction process, resulting in high computational complexity, which severely impacts real-time positioning and reduces positioning efficiency. Indirect positioning schemes often inevitably suffer from significant information loss in the parameter estimation stage (e.g., the distance estimated in the first step is affected by various factors), thus affecting positioning accuracy.

[0084] To improve positioning accuracy while reducing positioning complexity, this application provides a positioning method. This method simplifies the location determination process of the target terminal device by using a sensing matrix and DOA information, thereby reducing complexity. Simultaneously, it improves positioning accuracy by utilizing DOA information between multiple network devices and the target terminal device.

[0085] The following is combined with Figure 1B This application provides a description of a positioning system. Specifically:

[0086] Terminal equipment: This refers to an entity on the user side used to receive signals, or transmit signals, or both. Terminal equipment is used to provide users with one or more of the following: voice services and data connectivity services. Terminal equipment can be devices that include wireless transceiver capabilities and can cooperate with network equipment to provide communication services to users. Specifically, terminal equipment can refer to: user equipment, access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, terminal, wireless communication equipment, user agent, user equipment, or roadside unit (RSU). User equipment can also be drones, Internet of Things (IoT) devices, stations (STs) in wireless local area networks (WLANs), cellular phones, smartphones, cordless phones, wireless data cards, tablets, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistant (PDA) devices, laptop computers, machine type communication (MTC) terminals, handheld devices with wireless communication capabilities, computing devices or other processing devices connected to a wireless modem, in-vehicle devices, wearable devices (also known as wearable smart devices), virtual reality (VR) terminals, augmented reality (AR) terminals, wireless terminals in remote medical care, wireless terminals in industrial control, wireless terminals in self-driving vehicles, wireless terminals in smart grids, and transportation safety devices. Wireless terminals in smart cities, smart homes, etc., can be wireless terminals in 5G systems or next-generation communication systems; this application does not limit this.

[0087] The embodiments of this application do not limit the device form of the user equipment. The device used to implement the functions of the user equipment can be the user equipment itself, or it can be any device capable of supporting the user equipment in implementing the functions, such as a chip system. This device can be installed in the user equipment or used in conjunction with the user equipment. In the embodiments of this application, the chip system can be composed of chips, or it can include chips and other discrete components.

[0088] Master base station: Used to locate the target terminal device, such as collecting measurement results from secondary base stations and executing the location process. In one possible implementation, the master base station can be the master eNB in ​​a dual connectivity (DC) scenario, or a master node, etc.

[0089] Furthermore, the main base station can be a device with base station functions, such as an evolved NodeB (eNodeB), a transmitting and receiving point (TRP), a transmitting point (TP), a next-generation NodeB (gNB), a next-generation base station in a 6G mobile communication system, an integrated access and backhaul (IAB) node, or non-terrestrial network equipment, i.e., equipment or satellites that can be deployed on high-altitude platforms. Network equipment can be a transmitting and receiving point (TRP), a base station, or various forms of control nodes, such as network controllers and wireless controllers. Specifically, network equipment can be various forms of macro base stations, micro base stations (also known as small cells) in heterogeneous network (HetNet) scenarios, relay stations, access points (APs), radio network controllers (RNCs), node Bs (NBs), base station controllers (BSCs), base transceiver stations (BTSs), home base stations (e.g., home evolved node Bs, or home node Bs (HNBs)), baseband units (BBUs) and remote radio units (RRUs) in distributed base station scenarios, transmitting and receiving points (TRPs), transmitting points (TPs), mobile switching centers, etc., and can also be base station antenna panels. Control nodes can connect to multiple base stations and configure resources for multiple terminals covered by multiple base stations. In systems employing different wireless access technologies, the names of devices with base station functions may differ. For example, it could be a gNB in ​​5G, or a network-side device in a network after 5G, or a network device in a future evolved public land mobile network (PLMN) network, or a device that performs base station functions in device-to-device (D2D) communication, machine-to-machine (M2M) communication, or vehicle-to-everything (V2X) communication, etc. This application does not limit the specific name of the network device.Network equipment can also be open RAN (O-RAN or ORAN), baseband pool (BBU pool) and RRU under cloud radio access network (CRAN), etc.

[0090] In another possible scenario, multiple network devices collaborate to assist terminal devices in achieving wireless access, with each network device performing a portion of the base station's functions. For example, network devices may include a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs may be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). It is understood that network devices can be CU nodes, DU nodes, or devices comprising both CU and DU nodes. Furthermore, CUs can be classified as network devices in the access network (RAN) or the core network (CN), without limitation.

[0091] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0092] Auxiliary base station: Used to assist the main base station in locating the target terminal device, such as providing measurement results to the main base station. In one possible implementation, the main base station can be a secondary base station (Secondary eNB) in a dual connectivity (DC) scenario, or a secondary node, etc.

[0093] Optionally, the auxiliary base station and the main base station can be the same type of equipment (e.g., both gNBs) or different types of equipment (e.g., the main base station is a gNB and the auxiliary base station is an eNodeB). This application does not impose any restrictions on this.

[0094] Optionally, the main base station may perform a positioning method, or the main base station may provide auxiliary data information for positioning to the LMF.

[0095] Location Management Function (LMF): The LMF manages support for location services for different target terminal devices, including the positioning of the terminal device and the provision of auxiliary data to the terminal device. The LMF can interact with the primary base station or the auxiliary base station serving the target terminal device to obtain the UE's location measurement results. This location measurement includes uplink measurements and downlink measurements performed by the terminal device.

[0096] Optionally, in the case of a specific location service, the LMF can interact with the target terminal device to provide auxiliary data, or if the target terminal device initiates a location request, the LMF can obtain the location estimation result.

[0097] Optionally, the LMF can interact with multiple RAN nodes to provide auxiliary data information for broadcasting. This auxiliary data information can be selectively segmented and / or encrypted by the LMF. The LMF can also interact with the Access and Mobility Management Function (AMF). The AMF is responsible for verifying the identity of terminal devices, ensuring that only legitimate terminal devices can access the network, and also participates in the key negotiation process, generating and managing authentication vectors to ensure secure communication between terminal devices and the network.

[0098] For example, when an external entity needs to locate a terminal device, it sends a location request to the AMF (Advanced Location Function). Upon receiving the location request, the AMF forwards it to the Network Entity (LMF) specifically responsible for location functions. After receiving the location request forwarded by the AMF, the LMF initiates a location session with the terminal device. The LMF sends a location-related message to the terminal device through the base station connected to the terminal device, requesting the terminal device to begin the location process.

[0099] Optionally, for the positioning of the target terminal device, the LMF can determine the positioning method to use based on factors such as the positioning capabilities of the terminal device, the positioning capabilities of the primary base station, the positioning capabilities of the secondary base station, and service requirements. The positioning method can be a UE-based positioning method, a UE-assisted LMF-based positioning method, or a base station-assisted positioning method, etc.

[0100] Figure 1C This is a schematic diagram of the architecture of a communication system 10 provided in an embodiment of this application. For example... Figure 1C As shown, the communication system 10 includes a radio access network (RAN) 100, wherein the RAN 100 includes at least one RAN node (e.g., Figure 1C 110a and 110b, collectively referred to as 110, may also include at least one terminal (such as...). Figure 1C RAN100, denoted as RAN100, comprises RAN nodes 120a-120j, collectively referred to as RAN120. RAN100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment. Figure 1C (Not shown in the diagram). Terminal 120 is wirelessly connected to RAN node 110. Terminals and RAN nodes can be interconnected via wired or wireless means. Communication system 10 may also include core network 200. RAN node 110 is connected to core network 200 via wireless or wired means. The core network equipment in core network 200 and RAN node 110 in RAN 100 can be independent physical devices, or they can be the same physical device integrating the logical functions of core network equipment and RAN node. Communication system 10 may also include data network (DN) 300.

[0101] Optionally, in this application, the core network 200 may include AMF and LMF.

[0102] RAN100 can be an evolved universal terrestrial radio access (E-UTRA) system, a new radio (NR) system, or a future communication network as defined in the 3rd generation partnership project (3GPP). RAN100 can also include two or more of the above-mentioned different radio access systems. RAN100 can also be an open RAN (O-RAN). RAN can also be referred to as an access network (AN).

[0103] RAN nodes, also known as radio access network devices, access network equipment, RAN entities, or access nodes, are used to help terminals access communication systems wirelessly. In one application scenario, an RAN node can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a next-generation base station in a future communication network, or a base station in a future mobile communication system. RAN nodes can also be macro base stations (such as...) Figure 1C 110a in the text), can also be a micro base station or an indoor station (such as... Figure 1C 110b in the middle can also be a relay node or a donor node.

[0104] Base stations and terminals can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can be deployed on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the base stations and terminals.

[0105] The roles of base stations and terminals can be relative, for example, Figure 1C The helicopter or drone 120i can be configured as a mobile base station. For terminals 120j accessing the wireless access network 100 via 120i, terminal 120i is a base station; however, for base station 110a, 120i is a terminal, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via a base station-to-base station interface protocol; in this case, 120i is also a base station relative to 110a. Therefore, both base stations and terminals can be collectively referred to as communication devices. Figure 1C The 110a and 110b in the text can be referred to as communication devices with base station functions. Figure 1C The 120a-120j in the text can be referred to as communication devices with terminal functions.

[0106] Communication between base stations and terminals, between base stations, and between terminals can be conducted using licensed spectrum, unlicensed spectrum, or both simultaneously. Communication can be conducted using spectrum below 6 GHz, spectrum above 6 GHz, or both simultaneously. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0107] The following is combined with Figure 1D This application also describes another positioning system. This positioning system includes: a target terminal device, a first network device, and a second network device. The target terminal device can be one of the aforementioned... Figure 1B The terminal device in the process, the first network device can be the aforementioned Figure 1B The main base station. The second network device can be the aforementioned Figure 1B Auxiliary base stations in the system.

[0108] Optionally, the target terminal device can communicate with the first network device and the second network device respectively, the first network device can communicate with the target terminal device and the second network device respectively, and the second network device can communicate with both the target terminal device and the first network device respectively.

[0109] In one possible embodiment, the first network device is a primary base station, and the second network device is an auxiliary base station. The target terminal device sends a first signal to the primary base station. The primary base station measures the first signal to obtain the first direction of arrival (DOA) information of the target terminal device relative to the primary base station. The target terminal device sends a second signal to the auxiliary base station. The auxiliary base station measures the second signal to obtain the second direction of arrival (DOA) information of the target terminal device relative to the auxiliary base station. The auxiliary base station sends the second DOA information to the primary base station. Based on the first DOA information, the second DOA information, and a sensing matrix (which may be pre-determined based on a spatial grid map corresponding to the current location, as described in detail below), the primary base station determines the positioning result of the target terminal device and sends the positioning result to the target terminal device.

[0110] In another possible embodiment, the first network device may also be as described above. Figure 1B In this scenario, the target terminal device can communicate with the LMF through the base station it accesses, and each base station can communicate directly with the LMF.

[0111] In another possible embodiment, the first network device is an LMF (Local Method Provider), and the second network device is a base station (including the aforementioned main base station and auxiliary base station). The target terminal device sends a first signal to each base station. Each base station measures the first signal to obtain the Directional Awareness (DOA) information of the target terminal device relative to each base station. Each base station sends the DOA information to the LMF, which determines the positioning result of the target terminal device based on the DOA information and the sensing matrix. The LMF can also send the positioning result to the base station, which then sends the positioning result to the target terminal device.

[0112] Optionally, the spatial grid diagram may include one or more target terminal devices, and may also include one or more second network devices. For example... Figure 1EAs shown, Figure 1E The network device marked 101 is the first network device, the three network devices marked 102 are the second network devices (i.e., second network device 102-1, second network device 102-2 and second network device 102-3 respectively), and the two terminal devices marked 103 can be two target terminal devices (i.e., mobile phone 103-1 and car 103-2 respectively).

[0113] Optionally, the primary base station is the base station currently accessed by the target terminal device, for example... Figure 1E As shown, both target terminal devices are currently connected to the first network device 101. The auxiliary base station is any network device in the spatial grid diagram other than the first network device, such as... Figure 1E As shown, in Figure 1E In the spatial grid diagram, the three network devices other than the first network device 101 are the second network devices.

[0114] Optionally, the target terminal device is the terminal device to be located. For example... Figure 1E As shown, if mobile phone 103-1 is the terminal device to be located, then mobile phone 103-1 is the target terminal device. If car 103-2 is the terminal device to be located, then car 103-2 is the target terminal device. That is to say, one or more target terminal devices can exist in the spatial grid diagram. These two target terminal devices can simultaneously be used as target terminal devices and can be located simultaneously.

[0115] Optionally, the first network device in the spatial grid diagram can be different for different target terminal devices. For example, if mobile phone 103-1 is the target terminal device, and the network device it accesses is the first network device 101 in the upper left corner, then the first network device is the network device in the upper left corner. If car 103-2 is the target terminal device, and the network device it accesses is the network device 102-3 in the lower right corner, then the first network device is the network device 102-3 in the lower right corner. The first network device in the spatial grid diagram is related to the network device currently accessed by the target terminal device.

[0116] Optionally, the first network device in the spatial grid diagram can be fixed for different target terminal devices. For example, Figure 1EThe network device in the upper left corner is fixed as the first network device 101. The network device accessed by mobile phone 103-1 is the network device in the upper left corner, and the network device accessed by car 103-2 is the second network device 102-2. After determining the location result of mobile phone 103-1, the first network device 101 can inform mobile phone 103-1 of its determined location result through the interface (e.g., air interface) between the first network device 101 and mobile phone 103-1. Similarly, after determining the location result of car 103-2, the first network device 101 can inform the second network device 102-2 of the location result of car 103-2 through the interface between the first network device 101 and the second network device 102-2. Then, the second network device 102-2 can inform car 103-2 of its location result through the interface (e.g., air interface) between the second network device 102-2 and car 103-2.

[0117] The following is in conjunction with the appendix Figure 2 This application provides a further description of a positioning method based on an embodiment. It is understood that this application uses a first network device, a second network device, and a target terminal device as examples to illustrate the execution of this interaction, but it does not limit the execution entities. For instance, the method executed by the first network device in this application can also be executed by a module (e.g., a chip, chip system, or processor) applied to the first network device, or by a logical node, logical module, or software capable of implementing all or part of the functions of the first network device; the same applies to the second network device and the target terminal device. Wherein:

[0118] S201. The target terminal device sends a first signal to the first network device, the first signal being used to determine first DOA information of the target terminal device relative to the first network device. Correspondingly, the first network device receives the first signal sent by the target terminal device.

[0119] Optionally, the first signal is used to locate the target terminal device. The first signal can be a positioning reference signal, a data signal, a single-tone signal, a multi-tone signal, a frequency sweep signal, etc.

[0120] Optionally, the first DOA information is the DOA information of the first signal arriving at the first network device.

[0121] In one possible embodiment, before the target terminal device sends the first signal to the first network device, the method further includes: the target terminal device sending a first location request to the first network device. The first location request is used to request the first network device to perform a location estimation for the target terminal device.

[0122] Optionally, in response to a location request, the first network device measures a first signal sent by the target terminal device. In another possible embodiment, the first network device may spontaneously perform location estimation for the target terminal device. For example, before the target terminal device sends the first signal to the first network device, the method further includes: the first network device sending a location notification to the target terminal device. This location notification is used to notify the target terminal device to send the first signal. Accordingly, in response to the location notification sent by the first network device, the target terminal device sends the first signal to the first network device.

[0123] S202, the target terminal device sends a second signal to the second network device, the second signal being used to determine the second DOA information of the target terminal device relative to the second network device. Correspondingly, the second network device receives the second signal sent by the target terminal device.

[0124] Optionally, the second signal is used to locate the target terminal device. The second signal can be a positioning reference signal, a data signal, a single-tone signal, a multi-tone signal, a frequency sweep signal, etc.

[0125] Optionally, the second signal and the first signal can be the same, for example, the first signal is a positioning reference signal, and the second signal is also a positioning reference signal. Alternatively, the second signal and the first signal can be different, for example, the first signal is a positioning reference signal, and the second signal is a frequency sweep signal.

[0126] Optionally, the second DOA information is the DOA information of the second signal arriving at the second network device.

[0127] In one possible embodiment, before the target terminal device sends the second signal to the second network device, the method further includes: the target terminal device sending a first location indication to the second network device. The first location indication is used to instruct the second network device to determine the second DOA information.

[0128] S203. The first network device measures the first signal sent by the target terminal device and determines the arrival DOA information of the target terminal device in the first direction relative to the first network device.

[0129] Optionally, the method for determining the first DOA information can be found in the description of the relevant concepts above, using the MUSIC algorithm for DOA information estimation. It should be noted that this application does not limit the DOA information estimation algorithm; algorithms other than MUSIC can also be used.

[0130] S204. The second network device measures the second signal sent by the target terminal device to obtain the second DOA information of the target terminal device relative to the second network device.

[0131] Optionally, the method for determining the second DOA information can be found in the description of the relevant concepts above, using the MUSIC algorithm for DOA information estimation. It should be noted that this application does not limit the DOA information estimation algorithm; algorithms other than MUSIC can also be used.

[0132] Optionally, the method by which the first network device determines the first DOA information based on the first signal and the method by which the second network device determines the second DOA information based on the second signal can be the same, for example, both using the MUSIC algorithm, or they can be different, for example, the first network device using the MUSIC algorithm to determine the first DOA information and the second network device using the MVDR algorithm to determine the second DOA information.

[0133] S205, The second network device sends the second DOA information to the first network device.

[0134] Through steps S201-S204, the first network device determines the first DOA information, and the second network device determines the second DOA information. The first and second network devices negotiate to designate the first network device as the primary base station and the second network device as the secondary base station. In other words, the first network device performs location estimation for the target terminal device, and the second network device proactively sends the second DOA information to the first network device.

[0135] Alternatively, prior to step S205, the first network device sends a DOA information request to the second network device. This DOA information request is used to request second DOA information from the second network device. Accordingly, the second network device responds to the DOA information request and sends the second DOA information to the first network device.

[0136] S206. The first network device determines the positioning result of the target terminal device based on the first DOA information, the second DOA information, and the perception matrix. The positioning result is the location information of the grid where the target terminal device is located in the spatial grid map. The perception matrix is ​​determined based on the position of the first network device, the position of the second network device, and the center position of each grid in the spatial grid map. Accordingly, the first network device receives the second DOA information sent by the second network device.

[0137] Optionally, the target terminal device can only appear in one grid of the spatial grid diagram. A grid in the spatial grid diagram may contain no terminal devices or may contain one or more terminal devices.

[0138] Optionally, the number of grids in the spatial grid map is related to the number of terminal devices in the area where the spatial grid map is located.

[0139] Optionally, the number of grids in the spatial grid map is at least a preset multiple of the number of terminal devices in the area where the spatial grid map is located. For example, the number of grids in the spatial grid map is at least 10 times the number of terminal devices in the area where the spatial grid map is located.

[0140] Optionally, the number of grids in the spatial grid map is related to the number of target terminal devices used for positioning, and the number of observations. And / or, the number of grids in the spatial grid map is related to the sensing matrix.

[0141] Optionally, the number of grids in the spatial grid map is related to the RIP condition of the perception matrix.

[0142] Optionally, the RIP condition of the perception matrix limits the upper limit of the number of grids in the spatial grid map, and the number of terminal devices in the area where the spatial grid map is located limits the lower limit of the number of grids in the spatial grid map.

[0143] It should be noted that the perception matrix satisfies the K+1 order RIP condition, and Under the given conditions, for any k-sparse vector, the OMP algorithm can reconstruct the signal x stably within k iterations, and can also accurately reconstruct it under certain noise conditions.

[0144] In other words, the lower limit of the number of grids when dividing the spatial grid map determines the recovery effect of the OMP algorithm; the more grids, the better the recovery effect. Furthermore, the position of the target terminal device is determined by the position of its grid, so a larger number of grids also makes the final determined position of the target terminal device more accurate. Conversely, the upper limit of the number of grids when dividing the spatial grid map determines whether the OMP algorithm can reconstruct the signal S.

[0145] Optionally, the spatial grid map can be a fixed grid map pre-divided by the first network device.

[0146] Optionally, after receiving a location request from a target terminal device, the first network device determines a spatial grid map based on the number of target terminal devices in the space. Further, after receiving a location request from a target terminal device, the first network device divides the spatial grid map based on the number of target terminal devices in the space and RIP conditions.

[0147] Optionally, the first network device presets a set of spatial grid maps, the style of which is the same as the number of target terminal devices. The first network device determines the spatial grid map from the set of spatial grid maps based on the number of target terminal devices.

[0148] For example, the set of spatial grid diagrams is shown in the table below:

[0149] Spatial grid diagram Number of target terminal devices Spatial grid diagram 1 Number of target terminal devices: 1-3 Spatial grid Figure 2 Number of target terminal devices: 4-6 Spatial grid Figure 3 Number of target terminal devices: 7-9

[0150] For example, if the number of target terminal devices is 5, then a spatial grid is used. Figure 2 The style.

[0151] In one possible embodiment, the number of terminal devices in the region containing the spatial grid map is denoted as Q. The number of terminal devices in this region can also be referred to as sparsity, and Q also represents sparsity. The number of grids in the spatial grid map is denoted as G. When G is much greater than Q, a sparse vector S = [s1, s2, ... s] is constructed. G ] T In this algorithm, if a terminal device exists in the grid labeled 1, then s1 is non-zero; otherwise, s1 is 0. The same rule applies to grids with other labels: a non-zero value corresponds to a terminal device in the grid, and a zero value otherwise. S is a G-dimensional sparse vector with sparsity Q, where non-zero values ​​represent the user's location. By constructing a suitable perception matrix and then reconstructing the sparse vector S, the grid containing the target terminal device is determined, with non-zero grids corresponding to the grids containing the target terminal device. By estimating the grid containing the target terminal device, the location of the target terminal device is estimated.

[0152] For example, Figure 3 This is a schematic diagram of a positioning scenario provided in an embodiment of this application. For example... Figure 3 As shown, the space is divided into 16 equally sized grids, where dark triangles represent the first network device, hollow triangles represent the second network device, and circles represent the target terminal device. The grids in this spatial grid diagram are numbered according to specific rules. For example, the grids can be numbered from left to right and from top to bottom. The target terminal device is located in the grid labeled u5. The problem of estimating the location of the target terminal device becomes determining the grid in which the target terminal device is located. The following describes how to determine the grid in which the target terminal device is located. First, the spatial distribution of the terminal devices in the spatial grid diagram is constructed as a sparse vector S = [s1, s2, ... s...]. 16 ] T Since there is only one target terminal device in this spatial grid diagram, the sparsity S has one and only one non-zero value.

[0153] In one possible embodiment, the first network device determines the positioning result of the target terminal device based on the first DOA information, the second DOA information, and the perception matrix, including: the first network device determines the observation vector based on the first DOA information and the second DOA information; and determines the positioning result of the target terminal device based on the observation vector and the perception matrix.

[0154] From Equation 3 of the aforementioned related concepts, if the measurement vector y and the sensing matrix A are known, the sparse vector S can be determined based on Equation 3, thereby determining the grid where the target terminal device is located. The following sections will explain how to determine the measurement vector and the sensing matrix.

[0155] The method for determining the measurement vector is as follows:

[0156] Optionally, the observation vector y can be denoted as y = [DOA1, DOA2, ..., DOA]. L ], where DOA1 represents the first DOA information, DOA2,...DOA L This indicates the second DOA information.

[0157] For example, such as Figure 3 As shown, the second network device in the upper right corner is referred to as second network device 1, the second network device in the lower left corner is referred to as second network device 2, and the second network device in the lower right corner is referred to as second network device 3. The observation vector y = [DOA1, DOA2, DOA3, DOA4]. DOA1 represents the DOA information of the target terminal device relative to the first network device, DOA2 represents the DOA information of the target terminal device relative to second network device 1, DOA3 represents the DOA information of the target terminal device relative to second network device 2, and DOA4 represents the DOA information of the target terminal device relative to second network device 3.

[0158] The measurement vector can be determined by the second DOA information sent from the second network device to the first network device, and the first DOA information measured by the first network device itself.

[0159] The method for determining the perception matrix is ​​as follows:

[0160] In one possible embodiment, the perception matrix includes angle information between the location of the first network device and the center location of each grid in the spatial grid diagram, and angle information between the location of the second network device and the center location of each grid in the spatial grid diagram.

[0161] In one possible embodiment, the first network device determines the position of the second network device in a spatial grid map. Based on the position of the second network device and the center position of each grid in the spatial grid map, the first network device determines the angle information between the position of the second network device and the center position of each grid in the spatial grid map.

[0162] Optionally, the second network device determines the angle information between its position and the center position of each grid in the spatial grid diagram, based on its own position. The second network device then sends this angle information to the first network device.

[0163] In one possible embodiment, the position of the l-th network device (the first network device and one or more second network devices) is denoted as (x). l y l Let l = 1, 2, ..., L, where L is the total number of network devices. The center point of the g-th grid in the spatial grid diagram is denoted as (x...). g y g ), g = 1, 2, ..., G, where G is the total number of grid cells. The angular information of the center point positions of the network devices and the grid cells is denoted as θ. l，g .

[0164] Optional, θ l，g The following formula four is satisfied:

[0165]

[0166] Optionally, using Formula 4 above, the perception matrix A can be constructed as follows:

[0167]

[0168] In the aforementioned perception matrix, the first row represents the angle information of the center point positions of the first network device and the G grids, the second row represents the angle information of the center point positions of the first second network device and the G grids, and so on.

[0169] Optionally, the dimension of the perception matrix is ​​related to the total number of network devices in the space (i.e., the sum of the number of the first network devices and the number of the second network devices) and the number of grids. For example, if the total number of network devices in the space is 4 and the number of grids is 16, then the perception matrix is ​​a 4*16 perception matrix.

[0170] For example, in Figure 3 In the example, the perception matrix A is constructed as follows:

[0171]

[0172] Among them, [θ1, 1θ2, 1...θ] in the first row 16 [θ1, 2θ2, 2...θ] represents the first network device's location based on its own position and the center point positions of each grid. The [θ1, 2θ2, 2...θ] in the second row represents the values ​​determined by the first network device based on its own position and the center points of each grid. 16[θ1, 3θ2, 3...θ2] is determined by the second network device 1 (the network device in the upper right corner) based on its own position and the center point positions of each grid. The [θ1, 3θ2, 3...θ2] in the third row... 16 [θ1, 4θ2, 4...θ3] is determined by the second network device 2 (the network device in the lower left corner) based on its own position and the center point positions of each grid. The [θ1, 4θ2, 4...θ3] in the fourth row represents the coordinates of the coordinates of the second network device 2 (the network device in the lower left corner) based on its own position and the center point positions of each grid. 16 [4] is determined by the second network device 3 based on its own position and the center point position of each grid.

[0173] In one possible embodiment, the first network device determines the location result of the target terminal device based on the observation vector and the perception matrix, including: the first network device determines the grid in the spatial grid map where the target terminal device is located by sparsely reconstructing the observation vector and the perception matrix; the first network device determines the location result of the target terminal device based on the grid in the spatial grid map where the target terminal device is located.

[0174] Optionally, sparse reconstruction can be performed using the observation vector, the perception matrix, and Formula 3 above to obtain a sparse vector, where the non-zero values ​​in the sparse vector are the grid where the target terminal device is located.

[0175] For example, see Figure 3 As shown, based on y = [DOA1, DOA2, ... DOA...] L ]and The formula y = AS and the OMP algorithm (described below) are used to solve for the sparse vector S. The solved S is [0,0,0,0,1,0,0,0...,0]. This sparse vector S has a non-zero value only in the fifth position (it should be noted that the value in the fifth position is not necessarily 1, but can also be other non-zero numbers). This indicates that the target terminal device is located in the fifth grid in the spatial grid diagram, that is, the grid labeled u5.

[0176] For the underdetermined equation y = AS, the perception matrix A is constructed manually based on the actual problem to be solved, and the observation vector y is obtained from the positioning system. Given that the sparsity of the sparse vector S to be solved is Q (the total number of target terminal devices), the specific steps of the OMP algorithm are as follows:

[0177] 1) Initialize parameters: Set residual f0 = y, index set Atom set The number of iterations t = 0;

[0178] 2) In the t>0 iteration, find the residual ft. t The column with the largest inner product with the column vectors of the atom set A. The corresponding subscript is u t ;

[0179] 3) Update the atom set Update index set

[0180] 4) Calculate the least squares problem to obtain the estimated value. And update the residuals

[0181] 5) If t = Q, the loop ends; otherwise, repeat steps 2)-4).

[0182] Optionally, when the residual f of the previous time step in 2) t If the value is not 0, it can be updated to a column with full rank D. t .

[0183] Optional, D t With residual f t They are orthogonal, and the solution of the least squares method can be derived from D. t The pseudo-inverse is represented by the fact that the solution is unique.

[0184] Optionally, the perception matrix can be predetermined by the first network device. Specifically, the first network device can determine the perception matrix after determining the spatial grid map.

[0185] Optionally, after receiving a location request from a target terminal device, the first network device determines a spatial grid map based on the number of target terminal devices in the space and RIP conditions. The first network device then determines a perception matrix based on the determined spatial grid map.

[0186] In one possible embodiment, the first network device determines the location result of the target terminal device based on the grid in the spatial grid map where the target terminal device is located, including: the first network device taking the center position of the grid in the spatial grid map where the target terminal device is located as the location result of the target terminal device.

[0187] Optionally, since the center position of each grid in the spatial grid diagram is known to the first network device, once the grid where the target terminal device is located is determined, the center position of the grid can be estimated as the position of the target terminal device.

[0188] In another possible embodiment, the first network device determines the location result of the target terminal device based on the grid in the spatial grid map where the target terminal device is located. This includes: the first network device using the position of any point within the range corresponding to the target grid as the location result of the target terminal device, where the target grid is the grid in the spatial grid map where the target terminal device is located. For example, the position of the arbitrary point could be the upper left corner of the target grid.

[0189] Optionally, the positioning method further includes: a first network device sending a positioning result to a target terminal device. Accordingly, the target terminal device receives the positioning result sent by the first network device.

[0190] Optionally, if the first network device receives a location request sent by the target terminal device, the first network device sends the location result to the target terminal device.

[0191] Optionally, before the first network device sends the location result to the target terminal device, the method further includes: the first network device sending a location progress notification to the target terminal device, the location progress notification being used to inform the target terminal device of the current location progress status.

[0192] Optionally, if the first network device receives a location request sent by the target terminal device, the first network device sends a location progress notification to the target terminal device, which is used to inform the target terminal device of the current location progress.

[0193] The above embodiments use a single target terminal device in space as an example. In reality, multiple target terminal devices may exist in space, requiring location estimation for multiple target terminal devices. The positioning method provided in this application can also perform location estimation for multiple target terminal devices. The following, in conjunction with the appendix... Figure 4 Another positioning method provided in the embodiments of this application will be further described. Figure 2 In the corresponding embodiment, only one target terminal device is located in the spatial grid map. Figure 4 The corresponding embodiments are compared to Figure 2 There are two located target terminal devices in the spatial grid map. Figure 4 This example only considers two target terminal devices being located. In scenarios with more than two target terminal devices, the following applies: Figure 4 The examples shown are analogous.

[0194] Understandable. Figure 4 In the corresponding embodiments, the first network device, the second network device, and target terminal device 1 and target terminal device 2 are used as examples to illustrate the execution entities of the interaction, but this does not limit the execution entities of the interaction. For example, the method executed by the first network device in this application can also be executed by a module applied to the first network device (e.g., a chip, chip system, or processor), or by a logical node, logical module, or software that can implement all or part of the functions of the first network device; the same applies to the second network device, target terminal device 1, and target terminal device 2. Wherein:

[0195] S401, Target terminal device 1 sends a first signal A to the first network device. Correspondingly, the first network device receives the first signal A sent by target terminal device 1.

[0196] Optionally, the first signal A is used to locate the target terminal device. The first signal can be a positioning reference signal, a data signal, a single-tone signal, a multi-tone signal, a frequency sweep signal, etc.

[0197] This step can be referred to in the description of step S201 above, and will not be repeated here.

[0198] S402, the first network device measures the first signal A sent by the target terminal device 1 and obtains the first DOA information 1 of the target terminal device 1 relative to the first network device.

[0199] Optionally, this step can be referred to in the description of step S202 above, and will not be repeated here.

[0200] S403, Target terminal device 2 sends a first signal B to the first network device. Correspondingly, the first network device receives the first signal B sent by target terminal device 2.

[0201] Optionally, the first signal A and the first signal B can be signals of the same type or signals of different types. This application does not impose any restrictions on this. Please refer to the description in step S201 for details.

[0202] Optionally, step S403 may occur after step S401, or before step S401, or step S403 and step S401 may occur simultaneously. This application does not restrict the order of the above steps.

[0203] S404. The first network device measures the first signal B sent by the target terminal device 2 and obtains the first DOA information 2 of the target terminal device 2 relative to the first network device.

[0204] Optionally, this step can be referred to in the description of step S201 above, and will not be repeated here.

[0205] S405, Target terminal device 1 sends a second signal A to the second network device. Correspondingly, the second network device receives the second signal A sent by target terminal device 1.

[0206] S406. The second network device measures the second signal A sent by the target terminal device 1 and obtains the second DOA information 1 of the target terminal device 1 relative to the second network device.

[0207] S407. The second network device sends second DOA information 1 to the first network device. Correspondingly, the first network device receives the second DOA information 1 sent by the second network device.

[0208] S408, Target terminal device 2 sends a second signal B to the second network device. Correspondingly, the second network device receives the second signal B sent by target terminal device 2.

[0209] Optionally, step S408 may occur after step S405, or before step S405, or both steps S408 and S405 may occur simultaneously. This application does not restrict the order of the above steps.

[0210] S409. The second network device measures the second signal B sent by the target terminal device 2 and obtains the second DOA information 2 of the target terminal device 2 relative to the second network device.

[0211] S410, the second network device sends second DOA information 2 to the first network device. Correspondingly, the first network device receives the second DOA information 2 sent by the second network device.

[0212] Optionally, steps S405-S410 can be referred to in the description of steps S202 and S204 above, and will not be repeated here.

[0213] Optionally, step S410 may occur after step S408, or before step S408, or step S410 and step S408 may occur simultaneously. This application does not restrict the order of the above steps.

[0214] S411. The first network device determines the positioning results of target terminal device 1 and target terminal device 2 by exhaustive search method, perception matrix, first DOA information set and second DOA information set. The first DOA information set includes first DOA information 1 and first DOA information 2, and the second DOA information set includes second DOA information 1 and second DOA information 2.

[0215] In one possible embodiment, the perception matrix includes angle information between the location of the first network device and the center location of each grid in the spatial grid diagram, and angle information between the location of the second network device and the center location of each grid in the spatial grid diagram.

[0216] In one possible embodiment, the angle information between the position of the second network device and the center position of each grid in the spatial grid diagram can be determined by the first network device. Specifically, the first network device determines the position of the second network device in the spatial grid diagram, and based on the position of the second network device and the center position of each grid in the spatial grid diagram, the first network device determines the angle information between the position of the second network device and the center position of each grid in the spatial grid diagram.

[0217] Optionally, the angle information between the location of the second network device and the center position of each grid in the spatial grid diagram can be determined by the second network device. Specifically, the second network device determines the angle information between its location and the center position of each grid in the spatial grid diagram based on its location, and then sends this angle information to the first network device.

[0218] Optionally, the positioning result of the target terminal device can be determined based on the differences between the first DOA information set, the second DOA information set, and the column vectors in the perception matrix.

[0219] In one possible embodiment, the first network device determines the positioning results of multiple terminal devices through an exhaustive search method, a perception matrix, a first DOA information set, and a second DOA information set. This includes: the first network device determining multiple observation vectors corresponding to any given terminal device using an exhaustive search method, the first DOA information set, and the second DOA information set; each observation vector including a first DOA information from the first DOA information set and a second DOA information from the second DOA information set; obtaining multiple grid labels corresponding to any given terminal device by sparsely reconstructing the multiple observation vectors and the perception matrix respectively; determining column vectors corresponding to the multiple grid labels from the perception matrix based on the multiple grid labels; and determining the positioning result of any given terminal device based on the column vectors corresponding to the multiple grid labels and the multiple observation vectors corresponding to any given terminal device.

[0220] Since each network device measures the DOA information of all terminal devices in the space, an exhaustive search method is needed to associate the information of the same terminal device measured by each network device. Specifically, this exhaustive search method combines and arranges all DOA information.

[0221] In one possible embodiment, it is assumed that the first DOA information of each network device is matched, that is, the first DOA information of the first DOA information set and the first DOA information of the second DOA information set are both from the target terminal device 1, thus obtaining the observation vector about the target terminal device 1.

[0222] For example, suppose there are L network devices (the L network devices include one first network device and (L-1) second network devices), where L is a positive integer greater than or equal to 2. The first DOA information set includes: DOA 1，1 and DOA 1，2 The second DOA information set 1 (from the second network device 1) includes: DOA 2，1 and DOA 2，2 The second DOA information set L-1 (from the second network device L-1) includes: DOA L，1 and DOA L，2 Assuming the first DOA information of each network device is matched, the observation vector y1 = [DOA] of the target terminal device 1 is obtained. 1，1 DOA 2，1 ..., DOA L，1 The second DOA information of each network device is considered to match, resulting in the observation vector y2 = [DOA] for target terminal device 2. 1，2 DOA 2，2 ..., DOA L，2 ].

[0223] Each column vector of the perception matrix represents the angle information from each grid to each network device. For each DOA matching case, sparse reconstruction is performed to obtain the grid label. The difference between each observation vector and the column vector of the corresponding grid label in the perception matrix is ​​calculated, and the sum of any two differences is recorded as the error. The case with the smallest error among all DOA matching cases is considered the correct angle match, and the resulting multiple grid labels are considered the localization results of the grid where the target terminal device is located. This enables the localization of multiple terminal devices.

[0224] Figure 5 This is a schematic diagram illustrating a scenario where a multi-target terminal device is located, as provided in an embodiment of this application. (Compared to the above...) Figure 3 compared to, Figure 5 The scenario shown involves two target terminal devices. The following section will combine... Figure 5 Further details on the positioning of these two target terminal devices:

[0225] exist Figure 3 In the illustrated embodiment, two terminal devices need to be located. The spatial grid map contains 16 grids and 4 network devices. The perception matrix A constructed for this grid is as follows:

[0226]

[0227] Among them, [θ1, 1θ2, 1...θ] in the first row 16[θ1, 2θ2, 2...θ] represents the first network device's location based on its own position and the center point positions of each grid. The [θ1, 2θ2, 2...θ] in the second row represents the values ​​determined by the first network device based on its own position and the center points of each grid. 16 [θ1, 3θ2, 3...θ2] is determined by the second network device 1 (the network device in the upper right corner) based on its own position and the center point positions of each grid. The [θ1, 3θ2, 3...θ2] in the third row... 16 [θ1, 4θ2, 4...θ3] is determined by the second network device 2 (the network device in the lower left corner) based on its own position and the center point positions of each grid. The [θ1, 4θ2, 4...θ3] in the fourth row represents the coordinates of the coordinates of the second network device 2 (the network device in the lower left corner) based on its own position and the center point positions of each grid. 16 [4] is determined by the second network device 3 based on its own position and the center point position of each grid.

[0228] The first network device determines the first DOA set as [DOA]. 1，1 DOA 1，2 The second network device 1 determines the second DOA set 1 as [DOA]. 2，1 DOA 2，2 The second network device 2 determines the second DOA set 2 as [DOA]. 3，1 DOA 3，2 The second network device 3 determines the second DOA set 2 as [DOA]. 3，1 DOA 3，2 ].

[0229] The following section uses an exhaustive method for angle matching.

[0230] First, consider the first case: Assume the first DOA of each network device originates from target terminal device 1, thus obtaining the observation vector y1 = [DOA] corresponding to target terminal device 1. 1，1 DOA 2，1 DOA 3，1 DOA 4，1 Assuming the second DOA of each network device originates from target terminal device 2, we obtain the observation vector y2 = [DOA] corresponding to target terminal device 2. 1，2 DOA 2，2 DOA 3，2 DOA 4，2 ].

[0231] Based on each column of the perception matrix A, the vector from each grid to each network device can be obtained. For example, the vector from the first grid to each network device is A1 = [θ]. 1，1 θ 1，2 θ 1，3 θ 1，4 The vector from the second grid to each network device is A. 2＝ [θ 2，1 θ 2，2 θ 2，3 θ2，4 This process continues until 16 vectors are obtained. Let these 16 vectors be A1, A2, A3, A4...A6 16 .

[0232] Sparse reconstruction is performed on the observation vectors y1 and y2 and the perception matrix to obtain two grid labels. For example, if the obtained grid labels are u5 and u11, then based on these grid labels, the corresponding vectors A5 and A11 are determined from the aforementioned 16 vectors. 11 .

[0233] Based on the two vectors corresponding to the two grid labels, the error value is determined. That is, (y1-A5) and (y2-A5) are calculated. 11 The sum of (y1-A5) and (y2-A) is then combined. 11 The sum of these is denoted as error 1.

[0234] Then consider the second case: Assume the second DOA of each network device originates from target terminal device 1, and obtain the observation vector y1 = [DOA] corresponding to target terminal device 1. 1，2 DOA 2，2 DOA 3，2 DOA 4，2 The first DOA of each network device is assumed to originate from target terminal device 2. The observation vector y2 = [DOA] corresponding to target terminal device 2 is obtained. 1，1 DOA 2，1 DOA 3，1 DOA 4，1 ].

[0235] Sparse reconstruction is performed on the observation vectors y1 and y2 and the perception matrix to obtain two grid labels. For example, the obtained grid labels are u4 and u12. Then, based on these grid labels, the corresponding vectors A4 and A12 are determined from the aforementioned 16 vectors. 12 .

[0236] Based on the two vectors corresponding to the two grid labels, the error value is determined. That is, (y1-A4) and (y2-A4) are calculated. 12 The sum of (y1-A4) and (y2-A) is then combined. 12 The sum of these is denoted as error 2.

[0237] Then consider the third case: assume that the first DOA of each network device comes from target terminal device 1, and obtain the observation vector y1 = [DOA] corresponding to target terminal device 1. 1，1 DOA 2，1 DOA 3，1 DOA 4，1The third DOA of each network device is assumed to originate from target terminal device 2. The observation vector y2 = [DOA] corresponding to target terminal device 2 is obtained. 1，3 DOA 2，3 DOA 3，3 DOA 4，3 ].

[0238] Sparse reconstruction is performed on the observation vectors y1 and y2 and the perception matrix to obtain two grid labels. For example, the obtained grid labels are u7 and u16. Then, based on these grid labels, the corresponding vectors A7 and A16 are determined from the aforementioned 16 vectors. 16 .

[0239] Based on the two vectors corresponding to the two grid labels, the error value is determined. That is, (y1-A7) and (y2-A7) are calculated. 16 The sum of (y1-A7) and (y2-A7) is then combined. 16 The sum of these is denoted as error 3.

[0240] Following this logic, there are a total of 2 possible permutations and combinations of DOA. 4 =16 possibilities, resulting in 16 errors (error 1, error 2, ..., error 16). The smallest error is considered the correct match.

[0241] For example, if the error is the smallest, then the first case is a correct match, that is, the first DOA of each network device comes from the target terminal device 1, and the second DOA comes from the target terminal device 2. The two indices 5 and 11 obtained are the correct positioning results, that is, the target terminal device 1 is located in the 5th grid and the target terminal device 2 is located in the 11th grid.

[0242] It should be noted that the above example uses two target terminal devices as an example. This multi-device positioning scheme can also be applied to the positioning of more than two target terminal devices, and this application does not impose any restrictions on it.

[0243] This application also provides a positioning method, which is described below in conjunction with the appendix. Figure 6 Another positioning method provided in the embodiments of this application will be further described. Compared with the above... Figure 2 and Figure 4 In the embodiment shown, the positioning process is executed by the main base station. Figure 6 In the illustrated embodiment, the positioning process is executed by the LMF. Figure 6The positioning method shown is illustrated using the target terminal device, network device 1, network device 2, and LMF as the execution entities of this interaction, but it does not limit the execution entities of the interaction. For example, the method executed by the LMF in this application can also be executed by a module applied to the LMF (e.g., a chip, chip system, or processor), or by a logical node, logical module, or software that can implement all or part of the LMF's functions; the same applies to the target terminal device, network device 1, and network device 2.

[0244] Optionally, network device 1 and network device 2 can be the second network device described above. Network device 1 and network device 2 can be understood as auxiliary base stations, used to provide relevant measurement results (e.g., DOA information) for LMF. Wherein:

[0245] S601, the target terminal device sends a first signal to network device 1, the first signal being used to determine the first DOA information of the target terminal device relative to network device 1. Accordingly, network device 1 receives the first signal sent by the target terminal device.

[0246] In this context, the network device 1 and the target terminal device are located in the spatial grid diagram.

[0247] Optionally, the first signal is used to locate the target terminal device. The first signal can be a positioning reference signal, a data signal, a single-tone signal, a multi-tone signal, a frequency sweep signal, etc.

[0248] Optionally, the first DOA information is the DOA information of the first signal arriving at network device 1.

[0249] In one possible embodiment, before the target terminal device sends the first signal to network device 1, the method further includes: the target terminal device sending a location request to network device 1. This location request is used to request a location estimate for the target terminal device. Network device 1 sends the location request regarding the target terminal device to LMF.

[0250] Optionally, network device 1 receives a location request sent by the LMF. In response to the location request sent by the LMF, network device 1 measures the first signal.

[0251] Optionally, network device 1 spontaneously estimates the location of the target terminal device and sends a location request to the LMF. This location request is used to request the LMF to subsequently locate the target terminal device based on DOA information, etc.

[0252] Optionally, the interaction between network device 1 and LMF is through AMF, that is, LMF sends a location request to AMF, and after receiving the location request sent by LMF, AMF sends a location request to network device 1.

[0253] Optionally, network device 1 receives a location request sent by LMF, including: network device 1 sends a location request to AMF, and after receiving the location request sent by network device 1, AMF sends a location request to LMF.

[0254] Optionally, the target network device connects to network device 1.

[0255] S602, the target terminal device sends a second signal to the network device 2, the second signal being used to determine the second DOA information of the target terminal device relative to the network device 2. Accordingly, the network device 2 receives the second signal sent by the target terminal device.

[0256] The network device 2 and the target terminal device are located in the spatial grid diagram.

[0257] Optionally, the second signal is used to locate the target terminal device. The second signal can be a positioning reference signal, a data signal, a single-tone signal, a multi-tone signal, a frequency sweep signal, etc.

[0258] Optionally, the second signal and the first signal can be the same; for example, the first signal is a positioning reference signal, and the second signal is also a positioning reference signal. Alternatively, the second signal and the first signal can be different; for example, the first signal is a positioning reference signal, and the second signal is also a frequency sweep signal.

[0259] Optionally, the second DOA information is the DOA information of the second signal arriving at network device 2.

[0260] In one possible embodiment, before the target terminal device sends the first signal to the network device 2, the method further includes: the network device 1 sending a second location indication to the network device 2. The second location indication is used to instruct the second network device to measure the second signal. The second location indication is used to instruct the network device 2 to determine second DOA information. The second location indication is used to notify the network device 2 to send the second DOA information to the LMF.

[0261] Optionally, network device 2 receives a third positioning indication sent by the LMF, which instructs network device 2 to measure the second signal. Network device 2 measures the second signal in response to the third positioning indication sent by the LMF.

[0262] Optionally, the interaction between network device 2 and LMF is through AMF, that is, LMF sends a fourth positioning indication to AMF. After receiving the fourth positioning indication sent by LMF, AMF sends a fourth positioning indication to network device 2. The fourth positioning indication is used to instruct AMF to send a fourth positioning indication to network device 2. The fourth positioning indication is used to instruct network device 2 to measure the second signal.

[0263] S603, Network device 1 measures the first signal sent by the target terminal device to obtain the first direction arrival DOA information of the target terminal device relative to network device 1.

[0264] Optionally, the method for determining the first DOA information can be found in the description of the relevant concepts above, using the MUSIC algorithm for DOA information estimation. It should be noted that this application does not limit the DOA information estimation algorithm; algorithms other than MUSIC can also be used.

[0265] Optionally, the order of steps S601, S602, and S603 can be arbitrary. For example, step S603 can be executed first, followed by step S601, and finally step S602. This application does not impose any restrictions on the order of the above steps.

[0266] S604. Network device 2 measures the second signal sent by the target terminal device to obtain the second DOA information of the target terminal device relative to network device 2.

[0267] Optionally, the method for determining the second DOA information can be found in the description of the relevant concepts above, using the MUSIC algorithm for DOA information estimation. It should be noted that this application does not limit the DOA information estimation algorithm; algorithms other than MUSIC can also be used.

[0268] Optionally, the method by which network device 1 determines the first DOA information based on the first signal and the method by which network device 2 determines the second DOA information based on the second signal can be the same, for example, both using the MUSIC algorithm, or they can be different, for example, network device 1 using the MUSIC algorithm to determine the first DOA information and network device 2 using the MVDR algorithm to determine the second DOA information.

[0269] S605. Network device 1 sends the first DOA information to the LMF. Correspondingly, the LMF receives the first DOA information sent by network device 1.

[0270] Optionally, network device 1 sends the first DOA information through the AMF. After receiving the first DOA information sent by network device 1, the AMF sends the first DOA information to the LMF.

[0271] Optionally, step S605 can occur after step S601, or before step S601, or step S605 and step S601 can occur simultaneously.

[0272] S606, Network device 2 sends the second DOA information to the LMF. Correspondingly, the LMF receives the second DOA information sent by network device 2.

[0273] Optionally, network device 2 sends a second DOA message through the AMF. After receiving the second DOA message from network device 2, the AMF sends the second DOA message to the LMF.

[0274] Optionally, step S606 can occur after step S602, or before step S602, or step S606 and step S602 can occur simultaneously.

[0275] S607 and LMF determine the positioning result of the target terminal device based on the first DOA information, the second DOA information, and the perception matrix.

[0276] In one possible embodiment, the positioning result is the location information of the grid where the target terminal device is located in the spatial grid map, and the perception matrix is ​​determined based on the location of the first network device, the location of the second network device, and the center position of each grid in the spatial grid map. Accordingly, the first network device receives the second DOA information sent by the second network device.

[0277] Optionally, the spatial grid map can be determined by the LMF, or it can be determined by any network device in the space and sent to the LMF.

[0278] Optionally, the spatial grid can be a fixed grid pre-divided by the LMF.

[0279] Optionally, upon receiving a positioning request, the LMF determines a spatial grid map based on the number of target terminal devices in the space. Further, upon receiving a positioning request, the LMF divides the spatial grid map based on the number of target terminal devices in the space and RIP conditions.

[0280] Optionally, LMF pre-defines a set of spatial grid maps, the style of which is the same as the number of target terminal devices. LMF determines the spatial grid maps from the set of spatial grid maps based on the number of target terminal devices.

[0281] Optionally, the target terminal device can only appear in one grid of the spatial grid diagram. A grid in the spatial grid diagram may contain no terminal devices or may contain one or more terminal devices.

[0282] Optionally, the number of grids in the spatial grid map is related to the number of terminal devices in the area where the spatial grid map is located.

[0283] Optionally, the number of grids in the spatial grid map is at least a preset multiple of the number of terminal devices in the area where the spatial grid map is located. For example, the number of grids in the spatial grid map is at least 10 times the number of terminal devices in the area where the spatial grid map is located.

[0284] Optionally, the number of grids in the spatial grid map is related to the number of target terminal devices for positioning, the number of grids in the spatial grid map is related to the number of observations, and / or the number of grids in the spatial grid map is related to the sensing matrix.

[0285] Optionally, the number of grids in the spatial grid map is related to the RIP condition of the perception matrix.

[0286] Optionally, the RIP condition of the perception matrix limits the upper limit of the number of grids in the spatial grid map, and the number of terminal devices in the area where the spatial grid map is located limits the lower limit of the number of grids in the spatial grid map.

[0287] In one possible embodiment, the LMF determines the positioning result of the target terminal device based on the first DOA information, the second DOA information, and the perception matrix, as described in step S206 above, and will not be repeated here.

[0288] Optionally, LMF determines the positioning result of the target terminal device through exhaustive search, perception matrix, first DOA information set, and second DOA information set.

[0289] In one possible embodiment, the perception matrix includes angle information between the location of network device 1 and the center location of each grid in the spatial grid diagram, and angle information between the location of network device 2 and the center location of each grid in the spatial grid diagram.

[0290] In one possible embodiment, the LMF determines the positions of network device 1 and network device 2. Based on the positions of network device 1 and network device 2 and the center position of each grid in the spatial grid diagram, the LMF determines the angle information between network device 1 and the center position of each grid in the spatial grid diagram, and the angle information between network device 2 and the center position of each grid in the spatial grid diagram.

[0291] Optionally, the LMF can be a perception matrix determined in advance after the spatial grid map is determined.

[0292] In one possible embodiment, the LMF determines the positioning result of the target terminal device by exhaustive search, perception matrix, first DOA information set and second DOA information set, as described in step S411 above, and will not be repeated here.

[0293] S608, LMF sends a first message to network device 1, which includes information about the location results. Correspondingly, network device 1 receives the first message sent by LMF.

[0294] Optionally, step S608 is optional. Step S608 exists in the following situations: a location request is initiated by network device 1, or network device 1 requests the LMF to obtain the location of the target terminal device, etc. This application does not limit this.

[0295] S609, Network device 1 sends a second message to the target terminal device, the second message including information about the location result. Accordingly, the target terminal device receives the second message sent by Network device 1.

[0296] Optionally, step S609 is optional. Step S609 exists in the following situations: the target terminal device initiates a location request, or the target terminal device requests the network device 1 to obtain the location of the target terminal device, etc. This application does not limit this.

[0297] The following is in conjunction with the appendix Figure 7 This application provides a further description of a positioning method based on an embodiment. It is understood that while this application uses a first network device as the executor, it does not limit the executor. For example, the method executed by the first network device in this application can also be executed by a module applied to the first network device (e.g., a chip, chip system, or processor), or by a logical node, logical module, or software capable of implementing all or part of the functions of the first network device. Wherein:

[0298] S701. The first network device determines the first direction of arrival DOA information of the terminal device relative to the first network device based on the measurement results of the signal sent to the terminal device.

[0299] S702, the first network device receives second DOA information from the second network device, wherein the second DOA information is the DOA information of the terminal device relative to the second network device.

[0300] S703, the first network device determines the positioning result of the terminal device based on the first DOA information, the second DOA information and the perception matrix, wherein the positioning result is the position information of the terminal device in the grid of the spatial grid map, and the perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0301] Steps S701-S703 above can be found in [reference needed]. Figure 2 The relevant descriptions of the first network device in the corresponding embodiments are not repeated here.

[0302] The following is in conjunction with the appendix Figure 8This application provides a further description of a positioning method based on an embodiment. It is understood that while this application uses a first network device as the executor, it does not limit the executor. For example, the method executed by the first network device in this application can also be executed by a module applied to the first network device (e.g., a chip, chip system, or processor), or by a logical node, logical module, or software capable of implementing all or part of the functions of the first network device. Wherein:

[0303] S801. The first network device determines a first direction arrival DOA information set. The first DOA information set includes multiple first DOA information sets. Each first DOA information set is determined by the first network device based on the measurement results of the signals sent to each terminal device. Each first DOA information set is the DOA information of each terminal device relative to the first network device.

[0304] S802, the first network device receives a second DOA information set from the second network device. The second DOA information set includes multiple second DOA information sets. Each second DOA information set is determined by the second network device based on the measurement results of the signals sent to each terminal device. Each second DOA information set is the DOA information of each terminal device relative to the second network device.

[0305] S803, the first network device determines the positioning results of multiple terminal devices through exhaustive search, perception matrix, first DOA information set and second DOA information set. The positioning result of each terminal device is the position information of the grid in the spatial grid map. The perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0306] The above steps S801-S803 can be found in [reference needed]. Figure 4 The relevant descriptions of the first network device in the corresponding embodiments are not repeated here.

[0307] This application provides a communication device that can be used to implement the functions of the first network device, the second network device, or the target terminal device described above. The communication device can be the first network device, the second network device, or the target terminal device. The communication device includes modules or units corresponding to the methods / operations / steps / actions performed by the first network device, the second network device, or the target terminal device in the above method embodiments. These units can be hardware circuits, software, or a combination of hardware circuits and software. Please refer to... Figure 9 , Figure 9A schematic diagram of the structure of a communication device 900 according to an embodiment of this application is shown. The communication device 900 may include an interface unit 901 and a processing unit 902. The processing unit 902 is used to process signaling and / or data, which may be data received by the interface unit 901, and the processed signaling and / or data may also be sent by the interface unit 901.

[0308] In one embodiment, when the communication device 900 is a first network device, wherein:

[0309] The processing unit 902 is configured to determine the first direction of arrival (DOA) information of the terminal device relative to the first network device based on the measurement results of the signal sent to the terminal device.

[0310] Interface unit 901 is used to receive second DOA information from the second network device, wherein the second DOA information is the DOA information of the terminal device relative to the second network device;

[0311] The processing unit 902 is further configured to determine the positioning result of the terminal device based on the first DOA information, the second DOA information and the perception matrix, wherein the positioning result is the position information of the terminal device in the grid in the spatial grid map, and the perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0312] In one possible embodiment, the processing unit 902 is further configured to determine the grid in the spatial grid map where the terminal device is located by sparsely reconstructing the observation vector and the perception matrix, wherein the observation vector includes first DOA information and second DOA information; and to take the center position of the grid in the spatial grid map where the terminal device is located as the positioning result of the terminal device.

[0313] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0314] In one embodiment, when the communication device 900 is a second network device, wherein:

[0315] The processing unit 902 is configured to determine the second direction of arrival (DOA) information of the terminal device relative to the second network device based on the measurement results of the signal sent to the terminal device.

[0316] Interface unit 901 is used to send second DOA information to the first network device. The second DOA information is used by the first network device to determine the positioning result of the terminal device by combining the first DOA information of the terminal device relative to the first network device and the perception matrix. The positioning result is the position information of the terminal device in the grid in the spatial grid map. The perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

[0317] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0318] In one embodiment, when the communication device 900 is a terminal device, wherein:

[0319] Interface unit 901 is used to send a first signal, which is used to determine the first DOA information of the target terminal device relative to the first network device; and to send a second signal, which is used to determine the second DOA information of the target terminal device relative to the second network device.

[0320] In one possible embodiment, the interface unit 901 is configured to send a positioning request message, the positioning request being used to request the positioning result of the terminal device; and receive a positioning request response message, the positioning request response message including the positioning result of the terminal device, the positioning result being the location information of the terminal device in the grid of the spatial grid map, and the perception matrix being determined based on the location of the first network device in the spatial grid map, the location of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

[0321] In one embodiment, the communication device 900 is a first network device, wherein:

[0322] Processing unit 902 is used to determine a first direction arrival DOA information set. The first DOA information set includes multiple first DOA information sets. Each first DOA information set is determined by the first network device based on the measurement results of the signals sent to each terminal device. Each first DOA information set is the DOA information of each terminal device relative to the first network device.

[0323] Interface unit 901 is used to receive a second DOA information set from a second network device. The second DOA information set includes multiple second DOA information sets. Each second DOA information set is determined by the second network device based on the measurement results of the signals sent to each terminal device. Each second DOA information set is the DOA information of each terminal device relative to the second network device.

[0324] The processing unit 902 is used to determine the positioning results of multiple terminal devices through exhaustive search, a perception matrix, a first DOA information set, and a second DOA information set. The positioning result of each terminal device is the position information of the grid in the spatial grid map. The perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

[0325] In one possible embodiment, the processing unit 902 is configured to determine multiple observation vectors corresponding to any one of the multiple terminal devices using an exhaustive search method, a first DOA information set, and a second DOA information set. Each observation vector includes a first DOA information from the first DOA information set and a second DOA information from the second DOA information set. The first DOA information and / or the second DOA information included in each observation vector are different from each other. By sparsely reconstructing the multiple observation vectors corresponding to any one terminal device and the perception matrix, multiple grid labels corresponding to any one terminal device are obtained. Based on the multiple grid labels, column vectors corresponding to the multiple grid labels are determined from the perception matrix. Based on the column vectors corresponding to the multiple grid labels and the multiple observation vectors corresponding to any one terminal device, the positioning result of any one terminal device is determined.

[0326] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0327] In one embodiment, the communication device 900 is a second network device, wherein:

[0328] The processing unit 902 is used to determine a second direction arrival DOA information set. The second DOA information set includes multiple second DOA information sets. Each second DOA information set is determined by the second network device based on the measurement results of the signals sent to each terminal device. Each second DOA information set is the DOA information of each terminal device relative to the second network device.

[0329] Interface unit 901 is used to send a second DOA information set to the first network device.

[0330] In one possible embodiment, the perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

[0331] like Figure 10 The illustration shows a communication device 1000 provided in an embodiment of this application, used to implement the functions of the aforementioned first network device, second network device, or target terminal device. This device can be a communication device or a device used within a communication device. The communication device can be the first network device, the second network device, or the target terminal device. The device used within the communication device can be a chip system or a chip within the communication device. The chip system can be composed of chips or can include chips and other discrete components.

[0332] The communication device 1000 includes at least one processor 1010 for implementing the processing functions of the device (e.g., a first network device, a second network device, or a target terminal device) in the method provided in the embodiments of this application.

[0333] Optionally, the communication device 1000 may further include a communication interface 1020 for implementing the transmit and receive operations of the device (e.g., a first network device, a second network device, or a target terminal device) in the method provided in this application embodiment. In this application embodiment, the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface for communicating with other devices through a transmission medium. For example, the communication interface 1020 is used for the device in the communication device 1000 to communicate with other devices. The processor 1010 uses the communication interface 1020 to transmit and receive data and is used to implement the method described in the above method embodiment. Figure 10 As shown, the communication interface 1020 may be located inside or outside the communication device 1000, and this application embodiment does not limit it.

[0334] Optionally, the communication device 1000 may further include at least one memory 1030 for storing program instructions and / or data. The memory 1030 is coupled to the processor 1010. The coupling in this embodiment is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, for information exchange between devices, units, or modules. The processor 1010 may operate in conjunction with the memory 1030. The processor 1010 may execute program instructions stored in the memory 1030. At least one of the at least one memory may be included in the processor 1010. Alternatively, the at least one memory may be located within the communication device 1000 and outside the processor 1010. Alternatively, the at least one memory may be located outside the communication device 1000; this embodiment does not limit the scope of the application.

[0335] This application embodiment does not limit the specific connection medium between the communication interface 1020, processor 1010, and memory 1030. This application embodiment... Figure 10 The memory 1030, processor 1010, and communication interface 1020 are connected via a bus, and the bus is in... Figure 10 The connections between other components are shown in bold and are for illustrative purposes only, not as limiting information. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0336] When the communication device 1000 is specifically a device used for equipment (such as a first network device, a second network device, or a target terminal device), for example, when the communication device 1000 is specifically a chip or chip system, the communication interface 1020 may output or receive baseband signals. When the communication device 1000 is specifically a device (such as a first network device, a second network device, or a target terminal device), the communication interface 1020 may output or receive radio frequency signals. In the embodiments of this application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, which can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or being executed by a combination of hardware and software modules in the processor.

[0337] It should be noted that the aforementioned communication interface 1020 can be used to perform the functions of the aforementioned interface unit 901, and the aforementioned processor 1010 can be used to perform the functions of the aforementioned processing unit 902, which will not be elaborated further here.

[0338] When the aforementioned communication device is a chip applied to a terminal device, the terminal device chip implements the functions of the terminal device in the above method embodiments, and the terminal device chip receives information from other network elements; or, the terminal device chip sends information to other network elements.

[0339] When the aforementioned communication device is a chip used in a network device, the network device chip implements the functions of the network device in the above method embodiments. The network device chip receives information from other network elements; or, the network device chip sends information to other network elements.

[0340] As an example, see reference Figure 11 This is a schematic diagram of the composition of a terminal device provided in an embodiment of this application.

[0341] like Figure 11 As shown, the terminal device 1100 may include a processor 1110, an external memory interface 1120, an internal memory 1121, a universal serial bus (USB) interface 1130, a charging management module 1140, a power management module 1141, a battery 1142, an antenna 1, an antenna 2, a mobile communication module 1150, a wireless communication module 1160, an audio module 1170, a speaker 1170A, a receiver 1170B, a microphone 1170C, a headphone jack 1170D, buttons 1180, a motor 1181, an indicator 1182, a camera 1183, a display screen 1184, etc.

[0342] Processor 1110 may include one or more processing units, such as: application processor (AP) 1110a, modem, graphics processing unit (GPU), image signal processor (ISP), controller, video codec, digital signal processor (DSP), baseband processor (BP or BBP) 1110b, and / or neural network processing unit (NPU), etc. The different processing units may be independent devices or integrated into one or more processors.

[0343] The processor 1110 can generate operation control signals based on the instruction opcode and timing signals to control the instruction fetching and execution.

[0344] The processor 1110 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 1110 may be a cache memory. This memory can store instructions or data that the processor 1110 has used or that are used frequently. If the processor 1110 needs to use the instruction or data, it can directly retrieve it from this memory. This avoids repeated accesses, reduces the waiting time of the processor 1110, and thus improves the efficiency of the system.

[0345] In some embodiments, the processor 1110 may include one or more interfaces. These interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc. The processor 1110 can connect to modules such as touch sensors, audio modules, wireless communication modules, displays, and camera modules through at least one of these interfaces.

[0346] It is understood that the interface connection relationships between the modules illustrated in the embodiments of this application are merely illustrative and do not constitute a structural limitation on the terminal device. In other embodiments of this application, the terminal device may also employ different interface connection methods or combinations of multiple interface connection methods as described in the above embodiments.

[0347] It should be noted that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the terminal device. In other embodiments of this application, the terminal device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0348] In such Figure 11In the example, the wireless communication function of the terminal device can be implemented through antenna 1, antenna 2, mobile communication module 1150, wireless communication module 1160, modem processor, and baseband processor 1110b.

[0349] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in the terminal device can be used to cover one or more communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antennas can be used in conjunction with a tuning switch.

[0350] The mobile communication module 1150 can provide solutions for wireless communication applications including 2G / 3G / 4G / 5G in electronic devices. The mobile communication module 1150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), etc. The mobile communication module 1150 can receive electromagnetic waves via antenna 1, and perform filtering, amplification, and other processing on the received electromagnetic waves before transmitting them to a modem processor for demodulation. The mobile communication module 1150 can also amplify the signal modulated by the modem processor and convert it into electromagnetic waves for radiation via antenna 1. In some embodiments, at least some functional modules of the mobile communication module 1150 may be housed in processor 1110. In some embodiments, at least some functional modules of the mobile communication module 1150 and at least some modules of the processor 1110 may be housed in the same device.

[0351] The modem processor may include a modulator and a demodulator. The modulator modulates the low-frequency baseband signal to be transmitted into a mid-to-high frequency signal. The demodulator demodulates the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After processing by the baseband processor, the low-frequency baseband signal is transmitted to the application processor. The application processor outputs sound signals through an audio device (not limited to speaker 1170A, receiver 1170B, etc.) or displays images or videos through the display screen 1184. In some embodiments, the modem processor may be a separate device. In other embodiments, the modem processor may be independent of the processor 1110 and may be housed in the same device as the mobile communication module 1150 or other functional modules. For example, the modem processor may be integrated into the baseband processor 1110b.

[0352] The wireless communication module 1160 can provide solutions for wireless communication applications in electronic devices, including wireless local area networks (WLAN) (such as Wi-Fi networks), Bluetooth (BT), Bluetooth Low Energy (BLE), ultra-wideband (UWB), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies. The wireless communication module 1160 can be one or more devices integrating at least one communication processing module. The wireless communication module 1160 receives electromagnetic waves via antenna 2, performs frequency modulation and filtering of the electromagnetic wave signal, and sends the processed signal to processor 1110. The wireless communication module 1160 can also receive signals to be transmitted from processor 1110, perform frequency modulation and amplification, and convert them into electromagnetic waves for radiation via antenna 2.

[0353] In some embodiments, antenna 1 of the terminal device is coupled to mobile communication module 1150, and antenna 2 is coupled to wireless communication module 1160, enabling the terminal device to communicate with networks and other terminal devices via wireless communication technology. This wireless communication technology may include Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technologies, etc. The GNSS may include the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the BeiDou Navigation Satellite System (BDS), the Quasi-Zenith Satellite System (QZSS), and / or satellite-based augmentation systems (SBAS).

[0354] It is understood that the processor in the embodiments of this application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.

[0355] The method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Additionally, the ASIC can reside in a network device or a terminal device. Alternatively, the processor and storage medium can exist as discrete components in a transmitting or receiving device.

[0356] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer program or instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a DVD; or it can be a semiconductor medium, such as a solid-state disk (SSD).

[0357] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0358] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0359] This application also provides a computer-readable storage medium storing computer-executable instructions. When the computer-executable instructions are executed, the method executed by the terminal device or network device in the above method embodiments is implemented.

[0360] This application also provides a computer program product, which includes a computer program that, when executed, causes the method executed by the transmitting device or receiving device in the above method embodiments to be implemented.

[0361] This application also provides a communication system, which includes a transmitting device or a receiving device. The transmitting device is used to execute the method executed by the transmitting device in the above method embodiments. The receiving device is used to execute the method executed by the receiving device in the above method embodiments.

[0362] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0363] The descriptions of the various embodiments provided in this application can be referenced mutually. Each embodiment has its own emphasis, and parts not described in detail in a certain embodiment can be referred to the relevant descriptions of other embodiments. For the sake of convenience and brevity, for example, the functions and execution steps of the various devices and equipment provided in the embodiments of this application can be referred to the relevant descriptions of the method embodiments of this application. The method embodiments and the device embodiments can also be referenced, combined or cited from each other.

[0364] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A positioning method, characterized in that, The method is applied to a first network device, and the method includes: Based on the measurement results of the signals sent by the terminal device, the arrival DOA information of the terminal device in the first direction relative to the first network device is determined; Receive second DOA information from the second network device, wherein the second DOA information is the DOA information of the terminal device relative to the second network device; and The positioning result of the terminal device is determined based on the first DOA information, the second DOA information, and the perception matrix. The positioning result is the location information of the terminal device in the grid of the spatial grid map. The perception matrix is ​​determined based on the location of the first network device in the spatial grid map, the location of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

2. The method according to claim 1, characterized in that, The step of determining the positioning result of the terminal device based on the first DOA information, the second DOA information, and the perception matrix includes: By sparsely reconstructing the observation vector and the perception matrix, the grid in which the terminal device is located in the spatial grid map is determined, and the observation vector includes the first DOA information and the second DOA information; The center position of the grid in the spatial grid map where the terminal device is located is taken as the positioning result of the terminal device.

3. The method according to claim 1 or 2, characterized in that, The perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

4. A positioning method, characterized in that, The method is applied to a second network device, and the method includes: Based on the measurement results of the signals transmitted by the terminal device, the second direction of arrival (DOA) information of the terminal device relative to the second network device is determined; and The second DOA information is sent to the first network device. The second DOA information is used by the first network device to determine the positioning result of the terminal device by combining the first DOA information of the terminal device relative to the first network device and the perception matrix. The positioning result is the position information of the terminal device in the grid in the spatial grid map. The perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

5. The method according to claim 4, characterized in that, The perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

6. A positioning method, characterized in that, The method is applied to a terminal device, and the method includes: Send a first signal, the first signal being used to determine first DOA information of the terminal device relative to the first network device; and A second signal is sent, the second signal being used to determine the second DOA information of the terminal device relative to the second network device.

7. The method according to claim 6, characterized in that, The method further includes: Send a location request message, the location request being used to request the location result of the terminal device; A location request response message is received, the location request response message including the location result of the terminal device, the location result being the position information of the terminal device in the grid of the spatial grid map, and the perception matrix being determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map, and the center position of each grid in the spatial grid map.

8. A positioning method, characterized in that, The method is applied to a first network device, and the method includes: A first direction arrival DOA information set is determined. The first DOA information set includes multiple first DOA information sets. Each first DOA information set is determined by the first network device based on the measurement results of the signals sent to each terminal device. Each first DOA information set is the DOA information of each terminal device relative to the first network device. Receive a second DOA information set from the second network device. The second DOA information set includes multiple second DOA information pieces, each of which is determined by the second network device based on measurement results of signals transmitted by each terminal device. Each second DOA information piece represents the DOA information of each terminal device relative to the second network device. The positioning results of multiple terminal devices are determined by exhaustive search, perception matrix, first DOA information set and second DOA information set. The positioning result of each terminal device is the position information of the grid in the spatial grid map. The perception matrix is ​​determined based on the position of the first network device in the spatial grid map, the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

9. The method according to claim 8, characterized in that, The process of determining the location results of multiple terminal devices through exhaustive search, a perception matrix, the first DOA information set, and the second DOA information set includes: By using an exhaustive search method, the first DOA information set, and the second DOA information set, multiple observation vectors corresponding to any terminal device among the multiple terminal devices are determined. Each observation vector includes a first DOA information in the first DOA information set and a second DOA information in the second DOA information set. The first DOA information and / or the second DOA information included in each observation vector are different from each other. By sparsely reconstructing the multiple observation vectors and the perception matrix corresponding to any one of the terminal devices, multiple grid labels corresponding to any one of the terminal devices are obtained. Based on the multiple grid labels, the column vectors corresponding to the multiple grid labels are determined from the perception matrix; Based on the column vectors corresponding to the multiple grid labels and the multiple observation vectors corresponding to any one terminal device, the positioning result of any one terminal device is determined.

10. The method according to claim 8 or 9, characterized in that, The perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

11. A positioning method, characterized in that, The method is applied to a second network device, and the method includes: A second direction of arrival DOA information set is determined. The second DOA information set includes multiple second DOA information sets. Each second DOA information set is determined by the second network device based on the measurement results of the signals sent to each terminal device. Each second DOA information set is the DOA information of each terminal device relative to the second network device. The second DOA information set is used by the first network device to combine the first DOA information of each terminal device relative to the first network device and the perception matrix to determine the positioning result of each terminal device. Send the second DOA information set to the first network device.

12. The method according to claim 11, characterized in that, The perception matrix includes angle information between the position of the first network device in the spatial grid map and the center position of each grid in the spatial grid map, and angle information between the position of the second network device in the spatial grid map and the center position of each grid in the spatial grid map.

13. A communication device, characterized in that, The device includes a processor and a computer-readable storage medium for storing a computer-executable program or instructions that, when executed by the processor, cause the communication device to perform the method as described in any one of claims 1 to 12.

14. A chip, characterized in that, The chip includes a processor and an interface, the processor and the interface being coupled; the interface is used to receive or output signals, and the processor is used to execute code instructions, causing the chip to perform the method as described in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer-executable program or instructions, which, when invoked, cause the computer to perform the method described in any one of claims 1 to 12.

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