Positioning information determination method, positioning method and related device

Abstract

The embodiment of this application provides a positioning information determination method, a positioning method and related devices for improving positioning accuracy. The method in the embodiment of this application includes: a terminal device measures a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference, and the terminal device transmits first information to a second network device, where the first information includes the at least one phase difference, or the first information is determined based on the at least one phase difference.

Description

[Technical field]

[0001] [CROSS REFERENCE TO RELATED APPLICATIONS] This application claims priority to Chinese Patent Application No. 202210336233.3, entitled "POSITIONING INFORMATION DETERMINING METHOD, POSITIONING METHOD, AND RELATED APPARATUS", filed with the State Intellectual Property Office of the People's Republic of China on March 31, 2022, and Chinese Patent Application No. PCT / CN2023 / 079525, entitled "POSITIONING INFORMATION DETERMINING METHOD, POSITIONING METHOD, AND RELATED APPARATUS", filed with the State Intellectual Property Office of the People's Republic of China on March 3, 2023, the entire contents of both of which are incorporated by reference.

[0002] [Technical field] The present application relates to the field of communication technologies, and in particular to a method for determining positioning information, a positioning method and related devices. [Background technology]

[0003] At present, phase-based positioning technology has been widely applied in various satellite systems (e.g., Beidou and global positioning system (GPS)), and the positioning accuracy of phase-based positioning technology can reach centimeter level. The basic principle of phase-based positioning technology is as follows: A transmitting end device transmits a carrier signal. The carrier signal arrives at a receiving end device after a certain propagation delay. The phase difference between the phase of the carrier signal received by the receiving end device and the phase of the local oscillator signal of the receiving end device is called the phase of the carrier signal from the transmitting end device measured by the receiving end device. The phase contains information about the propagation delay between the transmitting end and the receiving end. Therefore, the receiving end device can obtain information about the distance between the transmitting end and the receiving end through calculation based on a phase unwrapping algorithm, and further perform position calculation to obtain the position of the transmitting end device.

[0004] The above technical solution is a process of performing positioning in a satellite system by using phase-based positioning technology. However, how to apply the phase-based positioning technology to other communication systems, such as a cellular communication system, to improve the positioning accuracy is a problem worth considering. Summary of the Invention

[0005] This application provides a positioning information determining method, a positioning method and related devices for improving positioning accuracy.

[0006] A first aspect of the present application provides a positioning information determination method, including:

[0007] The terminal device measures a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference, and then the terminal device transmits first information to the second network device, where the first information includes the at least one phase difference or the first information is determined based on the at least one phase difference.

[0008] In the above technical solution, the terminal device measures a positioning reference signal transmitted by at least one first network device. For example, the at least one first network device includes one first network device, and the first network device transmits at least two positioning reference signals at two different time points. The terminal device may separately measure the at least two positioning reference signals to obtain a phase difference between two phases. For example, the at least one first network device includes a first network device 1 and a first network device 2. The first network device 1 transmits a positioning reference signal 1, and the first network device 2 transmits a positioning reference signal 2. The at least one phase difference includes a phase difference between a phase obtained by the terminal device by measuring the positioning reference signal 1 transmitted by the first network device 1 and a phase obtained by the terminal device by measuring the positioning reference signal 2 transmitted by the first network device 2. The terminal device transmits first information to the second network device. The first information includes at least one phase difference, or the first information is determined based on the at least one phase difference. The first information is used by the second network device to perform positioning for the terminal device. The first information may be understood as positioning information provided by the terminal device for the second network device. It can be seen that the at least one phase difference can eliminate synchronization errors between the terminal device and the at least one first network device and between different first network devices. This helps the second network device to perform accurate positioning for the terminal device by referring to the first information. For example, in a cellular communication system, the second network device can perform accurate positioning for the terminal device according to the technical solution in this application. This avoids the problem that the positioning accuracy is reduced due to the synchronization errors between the terminal device and the at least one first network device and between different first network devices.

[0009] A second aspect of the present application provides a positioning method, including:

[0010] The second network device receives first information from the terminal device, where the first information includes at least one phase difference, or the first information is determined based on the at least one phase difference, where the at least one phase difference is obtained by the terminal device by measuring a positioning reference signal transmitted by the at least one first network device. Then, the second network device performs positioning for the terminal device based on the first information.

[0011] In the above technical solution, the second network device receives first information from the terminal device, and the first information includes at least one phase difference, or the first information is determined based on at least one phase difference. For example, the at least one first network device includes one first network device, and the first network device transmits at least two positioning reference signals at two different time points. The terminal device may separately measure the at least two positioning reference signals to obtain a phase difference between the two phases. For example, the at least one first network device includes a first network device 1 and a first network device 2. The first network device 1 transmits a positioning reference signal 1, and the first network device 2 transmits a positioning reference signal 2. The at least one phase difference includes a phase difference between a phase obtained by the terminal device by measuring the positioning reference signal 1 transmitted by the first network device 1 and a phase obtained by the terminal device by measuring the positioning reference signal 2 transmitted by the first network device 2. The first information includes at least one phase difference, or the first information is determined based on at least one phase difference. This helps to eliminate synchronization errors between the terminal device and one or more first network devices and between different first network devices. In this way, the second network device can perform accurate positioning for the terminal device by referring to the first information. For example, in a cellular communication system, the second network device can perform accurate positioning for the terminal device according to the technical solution in this application. This avoids the problem that positioning accuracy is reduced due to synchronization errors between the terminal device and at least one first network device and between different first network devices.

[0012] According to the first aspect or the second aspect, in a first implementation manner of this application, the at least one first network device includes a reference network device and at least one measuring network device, and the at least one phase difference is one of the following: a phase difference between the phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device, or a phase difference between a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A phase difference at the same frequency between the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by at least one measurement network device. Includes at least one of the following:

[0013] In this realization, a specific form of at least one phase difference is provided above. In other words, the error caused by the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the different first network device are eliminated by using the phase difference. Thus, the positioning accuracy of the terminal device is improved. For example, the at least one first network device includes a reference network device and N measurement network devices. The at least one phase difference includes N phase differences 1. The i-th phase difference 1 of the N phase differences 1 is a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by an i-th measurement network device, or the i-th phase difference 1 is a phase difference between a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by an i-th measurement network device, or the i-th phase difference 1 is a phase difference at the same frequency between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by an i-th measurement network device. For example, the at least one first network device includes a reference network device and a measurement network device 1. The at least one phase difference includes at least one of the following: a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a measurement network device 1. For example, the at least one first network device includes a reference network device, a measurement network device 1 and a measurement network device 2.The at least one phase difference includes a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a measurement network device 1, and a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a measurement network device 2.

[0014] According to the first or second aspect, in a second implementation of the present application, the at least one first network device includes one first network device, and the at least one phase difference is one of the following: a phase difference between the phases obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or a phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or Phase differences at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. Includes at least one of the following:

[0015] In this realization, a specific form of at least one phase difference is provided above. For example, in a scenario where the synchronization error between the terminal device and the first network device is fixed at different time points, the terminal device reports a phase difference to eliminate the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the first network device. This helps the second network device to determine the location of the terminal device at different time points by using the phase difference reported by the terminal device. In this way, high-precision positioning for the terminal device is realized. For example, the at least one phase difference includes P phase differences 3. The a-th phase difference 3 among the P phase differences 3 is the phase difference between the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at the a-th time point and the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at the a+1-th time point. Alternatively, the a-th phase difference 3 is a phase difference between a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by a first network device at an a-th time point and a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by a first network device at an a+1-th time point. Alternatively, the a-th phase difference 3 is a phase difference at the same frequency between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by a first network device at an a-th time point and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by a first network device at an a+1-th time point.

[0016] According to the first or second aspect, in a third implementation of the present application, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change; The at least one first accumulated phase difference is: an accumulated amount over time of the phase difference between the phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or an accumulated amount over time of a phase difference between a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A cumulative amount of phase difference over time between a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by at least one measurement network device at the same frequency. At least one of The at least one first equivalent distance change amount includes a change over time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0017] In this realization manner, the terminal device reports at least one of the following to the second network device: at least one first accumulated phase difference or at least one first equivalent distance change amount. Thus, in addition to the influence of errors such as the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the multiple first network devices, the accumulated phase deviation caused by the linear drift of each first network device with respect to time can be further eliminated. Then, the second network device performs positioning for the terminal device by referring to the first information reported by the terminal device. This realizes compensation of the synchronization error between different first network devices, thereby realizing high-precision positioning for the terminal device.

[0018] For example, the at least one first network device includes a reference network device and N measurement network devices, and the at least one first accumulated phase difference includes N first accumulated phase differences. The i-th first accumulated phase difference among the N first accumulated phase differences is a difference between the i-th phase difference 1 among the N phase differences 1 and the i-th phase difference 2 among the N phase differences 2. The i-th phase difference 1 among the N phase differences 1 is a phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device among the N measurement network devices at a first time point and a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the reference network device at a first time point, or the i-th phase difference 1 among the N phase differences 1 is a phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device among the N measurement network devices at a first time point. The i-th phase difference 1 of the N phase differences 1 is a phase difference at the same frequency between the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at the first time point and the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device at the first time point. The i-th phase difference 2 of the N phase differences 2 is a phase difference between the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at the second time point and the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device at the second time point.Alternatively, the i-th phase difference 2 of the N phase differences 2 is a phase difference between a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at the second time point and a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device at the second time point. Alternatively, the i-th phase difference 2 of the N phase differences 2 is a phase difference at the same frequency between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at the second time point and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device at the second time point. N is an integer equal to or greater than 1, and i is an integer equal to or greater than 1 and equal to or less than N.

[0019] For example, the at least one first equivalent distance change amount includes N first equivalent distance changes, and the i-th first equivalent distance change amount among the N first equivalent distance changes is a difference between the distance from the terminal device to the reference network device at a first time point t1 and the distance from the terminal device to the i-th measurement network device at a second time point t 10 is the difference between the difference between the distance from the terminal device to the reference network device and the distance from the terminal device to the i-th measurement network device in, where N is an integer equal to or greater than 1, and i is an integer equal to or greater than 1.

[0020] Based on the third implementation of the present application, in a fourth implementation of the present application, at least one first equivalent distance change amount is determined based on at least one first accumulated phase difference.

[0021] In this implementation, the at least one first equivalent distance change amount may be determined with reference to the at least one first accumulated phase difference. For example, the terminal device determines the at least one first accumulated phase difference based on the at least one phase difference. Then, the terminal device determines the at least one first equivalent distance change amount based on the at least one first accumulated phase difference and a wavelength used by the at least one first network device to transmit a positioning reference signal.

[0022] According to the first or second aspect, in a fifth implementation of the present application, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first cumulative phase difference rate or at least one first equivalent distance change rate; The at least one first cumulative retardation ratio is: an accumulated amount over unit time of the phase difference between the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the phase obtained by the terminal device by measuring the positioning reference signal transmitted by at least one measuring network device; or an accumulated amount over a unit time of a phase difference between a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A cumulative amount of phase differences in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a positioning reference signal transmitted by at least one measuring network device. At least one of The at least one first equivalent distance change rate includes a change amount per unit time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0023] In this realization manner, the terminal device reports at least one of the following to the second network device: at least one first accumulated phase difference rate or at least one first equivalent distance change rate. In addition to the influence of errors such as the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the multiple first network devices, the accumulated phase deviation caused by the linear drift of each first network device with respect to time can be further eliminated. Then, the second network device performs positioning for the terminal device by referring to the first information reported by the terminal device. This realizes compensation of the synchronization error between different first network devices, thereby realizing high-precision positioning for the terminal device.

[0024] For example, the at least one first cumulative phase difference ratio includes N first cumulative phase difference ratios. The N first cumulative phase difference ratios include an i-th first cumulative phase difference among the N first cumulative phase differences at a first time point t1 and a second time point t 10and the i-th first accumulated phase difference rate is equal to the accumulated amount of phase difference in unit time between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device. Alternatively, the i-th first accumulated phase difference rate indicates the accumulated amount of phase difference in unit time between the phase of the first path of the channel acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the phase of the first path of the channel acquired by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device. Alternatively, the i-th first accumulated phase difference rate indicates the accumulated amount of phase difference in unit time at the same frequency between the frequency domain channel coefficients acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients acquired by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device.

[0025] For example, the at least one first equivalent distance change rate includes N first equivalent distance change rates. The i-th first equivalent distance change rate among the N first equivalent distance change rates is a first equivalent distance change amount among the N first equivalent distance change amounts between a first time t1 and a second time t 10 is equal to the time interval between

[0026] Based on the fifth implementation of the present application, in a sixth implementation of the present application, at least one first equivalent distance change rate is determined based on at least one first accumulated phase difference rate.

[0027] In this implementation, the at least one first equivalent distance change rate may be determined with reference to the at least one first accumulated phase difference rate. For example, the terminal device determines the at least one first accumulated phase difference rate based on the at least one phase difference. Then, the terminal device determines the at least one first equivalent distance change amount based on the at least one first accumulated phase difference rate and the wavelength used by the at least one first network device to transmit the positioning reference signal.

[0028] According to the first or second aspect, in a seventh implementation of the present application, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change; The at least one second accumulated phase difference is: a cumulative amount over time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or a cumulative amount over time of the phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase difference over time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change amount includes a change over time of a distance difference between the distances from the terminal device to the first network device at different times.

[0029] In this realization method, the terminal device reports at least one of the following to the second network device: at least one second accumulated phase difference or at least one second equivalent distance change amount. In this method, based on the property that the time drift error contained in the phase difference changes linearly with respect to time, the influence of the time drift error is eliminated through the difference based on the phase difference. The phase difference can eliminate the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the first network device. The second accumulated phase difference can further eliminate the influence of the time drift error. The second network device can realize high-precision positioning for the terminal device based on the at least one second accumulated phase difference or the at least one second equivalent distance change amount reported by the terminal device.

[0030] For example, the at least one first network device includes one first network device, and the at least one phase difference includes P phase differences 3. For the P phase differences 3, refer to the above related description. The at least one second accumulated phase difference includes M second accumulated phase differences. The a-th second accumulated phase difference among the M second accumulated phase differences is a difference between the a-th phase difference 3 among the P phase differences 3 and the a+1-th phase difference 3 among the P phase differences 3. M is an integer equal to or greater than 1, and a is an integer equal to or greater than 1. The a-th phase difference 3 is a phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the first network device at the a-th time point and a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the first network device at the a+1-th time point. The (a+1)th phase difference 3 is the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at the (a+1)th time point and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at the (a+2)th time point.

[0031] Based on the seventh implementation of the present application, in an eighth implementation of the present application, the at least one second equivalent distance change amount is determined based on the at least one second accumulated phase difference.

[0032] In this implementation, the at least one second equivalent distance change amount may be determined with reference to the at least one second accumulated phase difference. For example, the terminal device determines the at least one second accumulated phase difference based on the at least one phase difference. Then, the terminal device determines the at least one second equivalent distance change amount based on the at least one second accumulated phase difference and a wavelength used by the at least one first network device to transmit a positioning reference signal.

[0033] According to the first or second aspect, in a ninth implementation of the present application, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second cumulative phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: a cumulative amount over unit time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or an accumulated amount over unit time of the phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase differences in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change rate is a change per unit time of a distance difference between the distances from the terminal device to the first network device at different times.

[0034] In this realization method, the terminal device reports at least one of the following to the second network device: at least one second accumulated phase difference rate or at least one second equivalent distance change rate. In this method, based on the property that the time drift error contained in the phase difference changes linearly with respect to time, the influence of the time drift error is eliminated through the difference based on the phase difference. The phase difference can eliminate the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the first network device. The second accumulated phase difference rate can further eliminate the influence of the time drift error. The second network device can realize high-precision positioning for the terminal device based on the at least one second accumulated phase difference rate or the at least one second equivalent distance change rate reported by the terminal device.

[0035] For example, the at least one second cumulative phase difference ratio includes M second cumulative phase difference ratios. The M second cumulative phase difference ratios include an a-th second cumulative phase difference among the M second cumulative phase differences at a time t a and time t a+2 is equal to the time interval between

[0036] For example, the at least one second equivalent distance change rate includes M second equivalent distance change rates. The a-th second equivalent distance change rate among the M second equivalent distance change rates is a second equivalent distance change rate that changes the M second equivalent distance amounts at a time t a and time t a+2 is equal to the time interval between

[0037] Based on the ninth implementation manner of this application, in a tenth implementation manner of this application, at least one second equivalent distance change rate is determined based on at least one second accumulated phase difference rate.

[0038] In this implementation, the at least one second equivalent distance change rate may be determined with reference to the at least one second accumulated phase difference rate. For example, the terminal device determines the at least one second accumulated phase difference rate based on the at least one phase difference. Then, the terminal device determines the at least one second equivalent distance change rate based on the at least one second accumulated phase difference rate and the wavelength used by the at least one first network device to transmit the positioning reference signal.

[0039] Based on the second aspect of this application and any one of the first to tenth implementation methods of this application, in an eleventh implementation method of this application, the second network device performs positioning on the terminal device based on the first information, The second network device performs positioning for the terminal device based on the first information and the at least one phase deviation, the at least one phase deviation including a phase deviation between different first network devices among the at least one first network device obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one phase deviation being reported by the calibration terminal device.

[0040] In this realization manner, the second network device may further perform positioning for the terminal device by referring to at least one phase deviation. The at least one phase deviation is used to eliminate the influence of errors such as the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the multiple first network devices. Thus, the second network device compensates for the synchronization error between the first network devices. In this way, high-precision positioning for the terminal device is realized.

[0041] Based on the eleventh implementation manner, in a twelfth implementation manner of this application, the method further includes: a second network device receives at least one phase deviation from a calibration terminal device.

[0042] Based on the second aspect of this application and any one of the first to tenth implementation methods of this application, in a thirteenth implementation method of this application, the second network device performs positioning on the terminal device based on the first information, The second network device performs positioning for the terminal device based on the first information and the at least one accumulated phase deviation, the at least one accumulated phase deviation including a cumulative amount over time of phase deviation between different first network devices among the at least one first network device obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one accumulated phase deviation being reported by the calibration terminal device.

[0043] In this realization manner, the second network device may further perform positioning for the terminal device with reference to at least one accumulated phase deviation. Thus, in addition to the influence of errors such as the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the multiple first network devices, the accumulated phase deviation caused by the linear drift of each first network device with respect to time can be further eliminated. Then, the second network device performs positioning for the terminal device with reference to the first information reported by the terminal device and at least one accumulated phase deviation. This realizes compensation of the synchronization error between different first network devices, thereby realizing high-precision positioning for the terminal device.

[0044] Based on the thirteenth implementation manner, in a fourteenth implementation manner of this application, the method further includes: a second network device receives at least one accumulated phase deviation from a calibration terminal device.

[0045] A third aspect of the present application provides a terminal device, a processing module configured to measure a positioning reference signal transmitted by the at least one first network device to obtain at least one phase difference; a transceiver module configured to transmit first information to a second network device, the first information including at least one phase difference or the first information being determined based on the at least one phase difference; Includes.

[0046] A fourth aspect of the present application provides a second network device, a transceiver module configured to receive first information from a terminal device, the first information including at least one phase difference, or the first information is determined based on at least one phase difference, the at least one phase difference being obtained by the terminal device by measuring a positioning reference signal transmitted by at least one first network device; a processing module configured to perform positioning for the terminal device based on the first information; Includes.

[0047] According to the third or fourth aspect, in a first implementation manner of the present application, the at least one first network device includes a reference network device and at least one measuring network device, and the at least one phase difference is one of the following: a phase difference between the phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device, or a phase difference between a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A phase difference at the same frequency between the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by at least one measurement network device. Includes at least one of the following:

[0048] According to the third or fourth aspect, in a second implementation manner of the present application, the at least one first network device includes one first network device, and the at least one phase difference is one of the following: a phase difference between the phases obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or a phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or Phase differences at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. Includes at least one of the following:

[0049] According to the third or fourth aspect, in a third implementation of the present application, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change; The at least one first accumulated phase difference is: an accumulated amount over time of the phase difference between the phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or an accumulated amount over time of a phase difference between a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A cumulative amount of phase difference over time between a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by at least one measurement network device at the same frequency. At least one of The at least one first equivalent distance change amount includes a change over time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0050] Based on the third implementation of the present application, in a fourth implementation of the present application, at least one first equivalent distance change amount is determined based on at least one first accumulated phase difference.

[0051] Based on the third or fourth aspect, in a fifth implementation manner of the present application, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first cumulative phase difference rate or at least one first equivalent distance change rate; The at least one first cumulative retardation ratio is: an accumulated amount over unit time of the phase difference between the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the phase obtained by the terminal device by measuring the positioning reference signal transmitted by at least one measuring network device; or an accumulated amount over a unit time of a phase difference between a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A cumulative amount of phase differences in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a positioning reference signal transmitted by at least one measuring network device. At least one of The at least one first equivalent distance change rate includes a change amount per unit time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0052] Based on the fifth implementation of the present application, in a sixth implementation of the present application, at least one first equivalent distance change rate is determined based on at least one first accumulated phase difference rate.

[0053] According to the third or fourth aspect, in a seventh implementation of the present application, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change; The at least one second accumulated phase difference is: a cumulative amount over time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or a cumulative amount over time of the phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase difference over time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change amount includes a change over time of a distance difference between the distances from the terminal device to the first network device at different times.

[0054] Based on the seventh implementation of the present application, in an eighth implementation of the present application, the at least one second equivalent distance change amount is determined based on the at least one second accumulated phase difference.

[0055] Based on the third or fourth aspect, in a ninth implementation manner of this application, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second cumulative phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: a cumulative amount over unit time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or an accumulated amount over unit time of the phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase differences in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change rate is a change per unit time of a distance difference between the distances from the terminal device to the first network device at different times.

[0056] Based on the ninth implementation manner of this application, in a tenth implementation manner of this application, at least one second equivalent distance change rate is determined based on at least one second accumulated phase difference rate.

[0057] Based on the fourth aspect of this application and any one of the first to tenth implementation methods of this application, in an eleventh implementation method of this application, a processing module includes: Specifically configured to perform positioning for the terminal device based on the first information and at least one phase deviation, the at least one phase deviation including a phase deviation between different first network devices among the at least one first network device obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one phase deviation reported by the calibration terminal device.

[0058] Based on the eleventh implementation, in a twelfth implementation of this application, the transceiver module includes: It is further configured to receive at least one phase deviation from the calibration terminal device.

[0059] Based on the fourth aspect of this application and any one of the first to tenth implementation methods of this application, in a thirteenth implementation method of this application, a processing module includes: Specifically configured to perform positioning for the terminal device based on the first information and at least one accumulated phase deviation, the at least one accumulated phase deviation including an accumulated amount over time of phase deviation between different first network devices among the at least one first network device obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one accumulated phase deviation reported by the calibration terminal device.

[0060] Based on the thirteenth implementation, in a fourteenth implementation of this application, the transceiver module includes: It is further configured to receive at least one accumulated phase deviation from the calibration terminal device.

[0061] A fifth aspect of the present application provides a communications device, the communications device including a processor configured to invoke and execute a computer program stored in a memory, such that the processor implements any of the implementation manners of either the first or second aspect.

[0062] Optionally, the communications device further comprises a transceiver, the processor further configured to control the transceiver to transmit and receive signals.

[0063] Optionally, the communication device includes a memory, the memory storing the computer program.

[0064] A sixth aspect of the present application provides a computer program product comprising instructions which, when executed on a computer, enable the computer to carry out an implementation of any of the first and second aspects.

[0065] A seventh aspect of the present application provides a computer-readable storage medium comprising computer instructions which, when executed on a computer, enable the computer to carry out an implementation of either of the first and second aspects.

[0066] An eighth aspect of the present application provides a chip apparatus including a processor connected to a memory and configured to call a program stored in the memory to enable the processor to execute an implementation method of either the first or second aspect.

[0067] A ninth aspect of the present application provides a communication system, the communication system including a terminal device according to the third aspect and a second network device according to the fourth aspect.

[0068] According to the above technical solutions, it can be seen that the embodiments of this application have the following advantages:

[0069] In the above technical solution, the terminal device measures a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference. Then, the terminal device transmits first information to the second network device, where the first information includes at least one phase difference, or the first information is determined based on the at least one phase difference. The at least one phase difference can eliminate a synchronization error between the terminal device and the first network device and a synchronization error between different first network devices. This helps the second network device to perform accurate positioning for the terminal device by referring to the first information. For example, in a cellular communication system, the second network device can perform accurate positioning for the terminal device according to the technical solution in this application. This avoids the problem that the positioning accuracy is reduced due to the synchronization error between the terminal device and the first network device and the synchronization error between different first network devices. [Brief description of the drawings]

[0070] [Figure 1] 1 is a diagram of a communication system according to an embodiment of the present application. [Diagram 2] FIG. 2 is another diagram of a communication system according to an embodiment of the present application. [Diagram 3] FIG. 2 is another diagram of a communication system according to an embodiment of the present application. [Figure 4A] 2 is a diagram of the transmission and reception of positioning reference signals according to an embodiment of the present application; [Figure 4B] FIG. 2 is a diagram of the principle of acquiring a phase by a terminal device by measuring a positioning reference signal transmitted by a first network device according to an embodiment of this application; [Figure 4C] FIG. 2 is a diagram illustrating a terminal device obtaining a transmission path between the terminal device and the first network device by using a channel between the terminal device and the first network device according to an embodiment of the present application. [Figure 4D] 2 is a diagram of a transmission path between a terminal device and a base station according to an embodiment of the present application. [Diagram 5] FIG. 2 is a diagram of a scenario in which positioning is performed for a terminal device by using a phase-based positioning technique according to an embodiment of the present application. [Figure 6] 1 is a diagram of an embodiment of a positioning information determining method and a positioning method according to an embodiment of the present application; [Figure 7] FIG. 2 is a diagram of another scenario in which positioning is performed for a terminal device by using a phase-based positioning technique according to an embodiment of the present application. [Figure 8] FIG. 2 is a diagram of another scenario in which positioning is performed for a terminal device by using a phase-based positioning technique according to an embodiment of the present application. [Figure 9] FIG. 2 is a diagram of another scenario in which positioning is performed for a terminal device by using a phase-based positioning technique according to an embodiment of the present application. [Figure 10]FIG. 2 is a diagram of another scenario in which positioning is performed for a terminal device by using a phase-based positioning technique according to an embodiment of the present application. [Figure 11] 2 is a diagram of the time when a terminal device measures a positioning reference signal according to an embodiment of the present application; [Figure 12] FIG. 2 is a structural diagram of a communication device according to an embodiment of this application. [Figure 13] FIG. 2 is a diagram of another structure of a communication device according to an embodiment of the present application. [Figure 14] FIG. 2 is a diagram of the structure of a terminal device according to an embodiment of this application; [Figure 15] FIG. 2 is another structure diagram of a terminal device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0071] SUMMARY OF THE PRESENT APPLICATION The embodiments of this application provide a positioning information determining method, a positioning method and related devices for improving positioning accuracy.

[0072] The following clearly and completely describes the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It is clear that the described embodiments are only a part of the embodiments of this application, and are not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of this application.

[0073] References to "an embodiment," "some embodiments," and the like in this application indicate that one or more embodiments of this application include a particular feature, structure, or characteristic described with reference to the embodiment. Thus, statements such as "in an embodiment," "in some embodiments," "in some other embodiments," and "in other embodiments" appearing in different places in this specification are not necessarily meant to refer to the same embodiment. Instead, they mean "one or more embodiments, but not all embodiments," unless specifically emphasized otherwise. The terms "include," "contain," "have," and variations thereof all mean "including, but not limited to," unless specifically emphasized otherwise.

[0074] In the description of this application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The term "and / or" in this specification indicates that it is merely an association relationship of related objects, and that three relationships may exist. For example, A and / or B may indicate the following three cases: only A is present, both A and B are present, and only B is present. Furthermore, "at least one" means one or more, and "plurality" means two or more. "At least one of the following items" or similar expressions indicate any combination of these items, including any combination of a single item or multiple items. For example, at least one of a, b, or c may represent a, b, c, a and b, a and c, b and c, or a, b, and c. Here, a, b, and c may be singular or plural.

[0075] The technical solutions in this application may be applied to various communication systems, such as a 5th generation (5G) mobile communication system, a new radio (NR) system, a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD) system, a universal mobile telecommunication system (UMTS), a mobile communication system beyond the 5G network (e.g., a 6G mobile communication system), a vehicle-to-everything (V2X) communication system, a device-to-device (D2D) communication system, etc.

[0076] With reference to FIGS. 1 to 3, several scenarios to which this application can be applied are described below.

[0077] 1 is a diagram of a communication system according to an embodiment of this application. Please refer to FIG. 1. The communication system includes: a terminal device 101, an access network device 102, an access and mobility management function (AMF) 103, and a location management function (LMF) 104.

[0078] Optionally, the terminal device 101 is connected to the access network device 102 through an interface, the access network device is connected to the AMF 103 through an interface, and the AMF 104 is connected to the LMF 104 through an interface. The LMF 104 is configured to perform positioning calculation and management for the position of the terminal device 101. For example, the terminal device 101 is connected to the access network device 103 through a new radio the radio interface between universal terrestrial radio access network and the user equipment (NR-Uu) interface, and the access network device 102 is connected to the AMF 103 through a next generation control plane (NG-C) interface. The AMF 103 is connected to the LMF 104 through an NL1 interface. The NL1 interface is used as a transmission link for the LTE positioning protocol (LPP) and the NR positioning protocol (NR positioning protocol annex, NRPPa) between the LMF 104 and the AMF 103. The technical solution of this application is implemented between the terminal device 101, the access network device 102 and the LMF 104, thereby enabling the LMF 104 to realize positioning for the terminal device 101.

[0079] 1 only shows an example in which the communication system includes an access network device 102. However, in practical applications, the communication system may further include more access network devices. The technical solution of this application is implemented between the terminal device 101, the multiple access network devices and the LMF 104, so that the LMF 104 realizes positioning for the terminal device 101. This is not particularly limited in this application.

[0080] In the communication system shown in FIG. 1, the LMF is the name in the current communication system. In the future communication system, the name of the LMF may change with the evolution of the communication system. The name of the LMF is not limited in this application. For example, the LMF may be called a location management device, and the location management device is configured to perform positioning calculation for the location of the terminal device. In the current communication system or the future communication system, any functional network element having other names and functions similar to those of the LMF may be understood as a location management device in the embodiments of this application and is applicable to the communication method provided in the embodiments of this application.

[0081] Figure 2 is another diagram of a communication system according to an embodiment of this application. Please refer to Figure 2. The communication system includes a terminal device 201, a roadside unit (RSU) 202, an RSU 203, and an RSU 204. The terminal device 201 and the RSUs 202 to 204 are located outside the signal coverage area of ​​an access network device. As shown in Figure 2, the terminal device 201 communicates with the RSU through a proximity communication 5 (PC5) interface. Positioning for the terminal device 201 can be realized between the terminal device 201 and the RSU according to the technical solution of this application.

[0082] It should be noted that in the communication system shown in FIG. 2, the form of the RSU is merely an example, and is not a specific limitation to the RSU in this application. The RSU is a roadside unit disposed at the roadside, which can support sidelink communication and positioning-related protocols and provide wireless communication functions to terminal devices. The RSU may be various forms of roadside stations, access points, access base stations, or sidelink devices. For an access network device, the RSU is a terminal device. For a terminal device, the RSU may function as an access network device. In other words, the RSU may be a terminal device or an access network device. This is not particularly limited in this application.

[0083] The above communication systems to which this application is applicable are merely some examples. In practical applications, this application may be further applicable to other communication systems having positioning requirements, which are not particularly limited in this application. The above examples are not intended to limit the technical solutions of this application.

[0084] 3 is another diagram of a communication system according to an embodiment of this application. Referring to FIG. 3, the communication system includes: a terminal device 301 and an access network device 302.

[0085] Optionally, the terminal device 301 is connected to the access network device 302 through an interface. For example, the terminal device 301 is connected to the access network device 302 through an NR-Uu interface. The technical solution of this application is implemented between the terminal device 301 and the access network device 302, so that the access network device 302 realizes positioning for the terminal device 301.

[0086] 3 only shows an example in which the communication system includes an access network device 302. However, in practical applications, the communication system may further include more access network devices. The technical solution of this application is implemented between the terminal device 101 and multiple access network devices, so that the access network device realizes positioning for the terminal device 301. This is not particularly limited in this application.

[0087] The terminal device and the access network device in this application are described below.

[0088] The terminal device may be a wireless terminal device capable of receiving scheduling and instruction information of a network device. The wireless terminal device may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing device connected to a wireless modem.

[0089] A terminal device is also called user equipment (UE), mobile station (MS), mobile terminal (MT), etc., and is a device that includes a wireless communication function (provides a voice / data connection to a user), such as a handheld device or an in-vehicle device with a wireless connection function. Currently, some examples of terminal devices are mobile phones, tablet computers, notebook computers, palmtop computers, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, factory robots, positioning devices in industrial parks, wireless terminals in industrial control, wireless terminals in the Internet of Vehicles, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, etc. For example, the wireless terminal in the Internet of Vehicles may be an in-vehicle device, an entire vehicle device, an in-vehicle module, a vehicle, etc. The wireless terminal in industrial control may be a camera, a robot, etc.

[0090] A network device may be a device in a wireless network. For example, a network device is a device that is located in a radio access network and provides wireless communication capabilities to terminal devices. For example, a network device may be a radio access network (RAN) node that connects a terminal device to a wireless network, and may also be referred to as an access network device.

[0091] The network device may include, but is not limited to, an evolved NodeB (eNB), a radio network controller (RNC), a NodeB (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (e.g., home evolved NodeB or home NodeB (HNB)), a baseband unit (BBU), an access point (AP), a wireless relay node, a wireless backhaul node, a transmission point (TP), etc. in a wireless fidelity (Wi-Fi) system, or may be a network device in a 5G mobile communication system, such as a next generation NodeB (gNB), a transmission reception point (TRP) or a transmission point (TP) in a new radio (NR) system, or one antenna panel or a group of antenna panels (including multiple antenna panels) of a base station in a 5G mobile communication system. Alternatively, the network device may be a network node forming a gNB or a transmission point, such as a baseband unit (BBU) or a distributed unit (DU). In some possible specific forms of the network device shown above, the network device shown above is a transceiver node, which may also be called a transmission and reception point (TRP).

[0092] In some deployments, the gNB may include a centralized unit (CU) and a DU. The gNB may further include an active antenna unit (AAU). The CU performs some functions of the gNB, and the DU performs some functions of the gNB. For example, the CU is responsible for processing non-real-time protocols and services, and performs functions of the radio resource control (RRC) layer and the packet data convergence protocol (PDCP) layer. The DU is responsible for processing physical layer protocols and real-time services, and performs functions of the radio link control (RLC) layer, the media access control (MAC) layer, and the physical (PHY) layer. The AAU performs some physical layer processing functions, radio frequency processing, and functions related to active antennas. The RRC layer information is eventually changed to or from the PHY layer information. Therefore, in this architecture, higher layer signaling (e.g., RRC layer signaling) may be considered to be transmitted by the DU or by the DU and AAU. It may be understood that the network device may be a device including one or more of a CU node, a DU node, and an AAU node. Furthermore, the CU may be classified as a network device in an access network (radio access network, RAN), or the CU may be classified as a network device in a core network (CN). This is not limited in this application.

[0093] The communication system to which this application is applicable includes a terminal device, one or more first network devices, and a second network device. The following describes some possible implementations of the first network device and the second network device.

[0094] 1. The first network device is an access network device, and the second network device is a location management device.

[0095] 2. Both the first network device and the second network device are access network devices.

[0096] In this implementation, the second network device may be one of the one or more first network devices, in other words, one of the network devices performs positioning for the terminal device.

[0097] 3. The first network device is an RSU and the second network device is a location management device.

[0098] In this application, with reference to FIG. 4A, the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device will be described below.

[0099] Refer to FIG. 4A. The first network device maps the positioning reference signal X1(K) in the frequency domain. By performing an inverse Fourier transform process on the positioning reference signal X1(K), a time domain signal x1(t) is obtained. The radio frequency signal x g The time domain signal x1(t) is obtained by performing an up-conversion process on the time domain signal x1(t). The up-conversion process includes: the first network device multiplies or mixes the time domain signal x1(t) with a local oscillator signal (or a carrier signal or a carrier frequency signal) of the first network device; the first network device multiplies or mixes the time domain signal x1(t) with a local oscillator signal (or a carrier signal or a carrier frequency signal) of the first network device; g Transmit (t).

[0100] After channel propagation, the signal received by the terminal device is y g (t). The terminal device receives the signal y g(t) may be multiplied or mixed with a local oscillator signal (or a carrier signal or carrier frequency signal) of a terminal device to obtain a baseband signal y1(t).

[0101] Thus, the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device is calculated by multiplying the phase of the received local oscillator signal s g (t) (or the carrier signal or carrier frequency signal) obtained by the terminal device by measuring the phase and the local oscillator signal s of the terminal device u (t) (or a carrier signal or a carrier frequency signal) of the first network device. Alternatively, the phase obtained by the terminal device by measuring a positioning reference signal transmitted by the first network device is the phase difference between the received local oscillator signal s g (t) (or a carrier signal or a carrier frequency signal). g (t) (or a carrier wave signal or carrier frequency signal) is used to carry a positioning reference signal X1(K).

[0102] The following describes several possible implementation schemes in which a terminal device acquires a phase by measuring a positioning reference signal transmitted by one first network device.

[0103] Realization method 1: The terminal device extracts the phase difference between the received local oscillator signal (or carrier signal or carrier frequency signal) of the first network device and the local oscillator signal (or carrier signal or carrier frequency signal) of the terminal device with respect to the intermediate radio frequency by using a phase-locked loop, that is, performs phase measurement. Obviously, there are other measurement methods, which are not particularly limited in this application. For example, the terminal device obtains the phase difference between the local oscillator signal (or carrier signal or carrier frequency signal) of the first network device received by the terminal device and the local oscillator signal (or carrier signal or carrier frequency signal) of the terminal device by using a code correlation technology or a cross-correlation technology.

[0104] For example, as shown in FIGS. 4A and 4B, a first network device may transmit a radio frequency signal x g Send (t). x g (t) arrives at the terminal device after a certain propagation delay. The terminal device receives the radio frequency signal x g (t) to obtain a received local oscillator signal s g (t) to determine the received local oscillator signal s g The phase difference between the phase obtained by the terminal device by measuring (t) and the phase of the local oscillator signal of the terminal device is referred to as the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device. The phase includes information about the propagation delay between the transmitting end and the receiving end (the terminal device and the access network device). Thus, the terminal device can obtain information about the distance between the transmitting end and the receiving end through calculation based on the phase unwrapping algorithm, and perform location calculation to obtain the position of the terminal device.

[0105] From the implementation manner 1, it can be seen that in this application, the terminal device may obtain the phase by measuring the carrier signal of the first network device received by the terminal device. Therefore, the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device may also be called the carrier phase. In this case, the following phase difference may also be called the carrier phase difference:

[0106] Implementation method 2: As shown in FIG. 4A, the terminal device receives a radio frequency signal y g (t) to obtain a positioning reference signal Y1(K). The terminal device performs channel estimation based on the positioning reference signal Y1(K) and the positioning reference signal X1(K) used at the first network device side to obtain a frequency-domain channel coefficient. The frequency-domain channel coefficient may be a frequency impulse response, a channel coefficient, or a channel frequency response (CFR). The frequency-domain channel coefficient may be represented as H1(K). The terminal device may extract a phase of a channel coefficient of a specific frequency or a specific subcarrier in the frequency-domain channel coefficient.

[0107] From the implementation manner 2, it can be seen that in this application, the terminal device may determine the frequency domain phase of the channel in the frequency domain according to the channel between the terminal device and the first network device. Therefore, the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device may also be called the frequency domain phase. In this case, the following phase difference may also be called the frequency domain phase difference:

[0108] Implementation Scheme 3: As shown in FIG. 4A and FIG. 4C, the terminal device receives a radio frequency signal y g(t) to obtain a positioning reference signal Y1(K). The terminal device performs channel estimation based on the positioning reference signal Y1(K) and the positioning reference signal X1(K) used at the first network device side to obtain a frequency-domain channel coefficient. The frequency-domain channel coefficient may be a frequency impulse response, a channel coefficient, or a channel frequency response. The frequency-domain channel coefficient may be represented as H1(K). The terminal device performs a fast Fourier transform (FFT) process or an inverse fast Fourier transform (IFFT) process on the frequency-domain channel coefficient H1(K) to obtain a time-domain channel coefficient (e.g., a channel impulse response (CIR)). The terminal device extracts a phase of the channel coefficient corresponding to the first path of the channel from the time-domain channel coefficient.

[0109] From the implementation manner 3, it can be seen that in this application, the terminal device may determine the time domain phase of the channel in the time domain or the phase of the first path of the channel based on the channel between the terminal device and the first network device. Therefore, the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device may also be called the time domain phase or the phase of the first path of the channel. In this case, the following phase difference may also be called the time domain phase difference or the phase difference of the first path of the channel.

[0110] For example, as shown in FIG. 4D, the line-of-sight (LOS) path or the first path is a line-of-sight path between the terminal device and the base station, i.e., a direct path from the first network device to the terminal device. The non-line-of-sight (NLOS) path or the reflected path is a non-line-of-sight path between the terminal device and the base station, i.e., a path through reflection from the first network device to the terminal device.

[0111] In the actual positioning process, the terminal device may perform positioning in combination with multiple first network devices. For example, as shown in Figure 5, the terminal device may measure positioning reference signals transmitted by different TRPs to obtain multiple phases. The terminal device may build a set of equations by using the multiple phases, and obtain the distance from the terminal device to different TRPs and the position of the terminal device through joint calculation based on the known positions of the TRPs. In this way, high-precision positioning for the terminal device is realized.

[0112] It can be seen that although the phase-based positioning technology can realize high-precision positioning, the phase-based positioning technology is relatively sensitive to synchronization errors between different stations (e.g., between different TRPs) and between terminal devices and stations. The satellite system is equipped with a high-precision atomic clock and a relatively expensive ground calibration station. Therefore, when the phase-based positioning technology is used for positioning in the satellite system, the effect of synchronization errors can be eliminated. However, in a cellular communication network, the access network device and the terminal device cannot be equipped with a high-precision atomic clock, and the synchronization errors between different stations and between the terminal device and the station will affect the phase measurement accuracy, resulting in limited positioning accuracy. This application provides a corresponding technical solution for improving the positioning accuracy. For details, please refer to the related descriptions in the following embodiments.

[0113] In this application, the name of the positioning reference signal may be a positioning reference signal (PRS), a sounding reference signal (SRS), a channel status information reference signal (CSI-RS), a demodulation reference signal (DMRS), a secondary synchronization signal (SSS) or a primary synchronization signal (PSS), which is not particularly limited in this application.

[0114] In this application, the same measurement window may also be referred to as the same measurement window instance, the same PRS processing window may also be referred to as the same PRS processing window instance, and the same measurement gap may also be referred to as the same measurement gap instance.

[0115] In this application, the channel is derived based on the frequency domain RE occupied by the positioning reference signal resource. The channel may also be called a channel response, a time domain channel response, a time domain channel coefficient, etc. This is not particularly limited in this application. Therefore, in this application, the first path of the channel may also be called a first path of the channel response, a first path of the time domain channel response, or a first path of the time domain channel coefficient. The first path may also be called a first path, a first path, or an LOS path. This is not particularly limited in this application.

[0116] The technical solutions of this application are described below with reference to embodiments.

[0117] 6 is a diagram of an embodiment of a positioning information determining method and a positioning method according to an embodiment of this application. Please refer to FIG. 6. The method includes the following steps:

[0118] 601: At least one first network device transmits a positioning reference signal to a terminal device. Correspondingly, the terminal device receives the positioning reference signal transmitted by the at least one first network device.

[0119] In the following, several possible implementation manners for at least one first network device to transmit a positioning reference signal are described.

[0120] Implementation manner 1: The at least one first network device includes a plurality of first network devices. The plurality of first network devices separately transmit positioning reference signals to the terminal device at a first time point. Correspondingly, the terminal device receives the positioning reference signals transmitted by the plurality of first network devices at the first time point. In other words, the positioning reference signals transmitted by the at least one first network device include positioning reference signals transmitted by the plurality of first network devices to the terminal device at the first time point.

[0121] The first time instant comprises a time domain symbol, a slot, a subslot, a subframe, a system frame, a measurement window, a measurement gap, a PRS processing window, a signal cycle, or an uplink-downlink switching cycle. The time domain symbol may be an orthogonal frequency division multiplexing (OFDM) symbol.

[0122] A plurality of first network devices separately transmitting positioning reference signals to a terminal device at a first time point indicates that a plurality of first network devices transmit positioning reference signals to a terminal device at the same time point. A terminal device receiving positioning reference signals transmitted by a plurality of first network devices at a first time point indicates that a terminal receives positioning reference signals transmitted by a plurality of first network devices at the same time point. The same time point includes a same time domain symbol, a same slot, a same subslot, a same subframe, a same frame, a same measurement window, a same measurement gap, a same PRS processing window, a same reference signal cycle, a same uplink-downlink switching cycle, or one time interval length. The time interval length includes 1 ms (millisecond), 2 ms, 5 ms, 10 ms, 20 ms, etc.

[0123] For example, as shown in Figure 7, the multiple first network devices include TRP1, TRP2, TRP3 and TRP4. TRP1, TRP2, TRP3 and TRP4 separately transmit positioning reference signals to the terminal device at a first time point.

[0124] Realization method 2: At least one first network device includes a plurality of first network devices. The plurality of first network devices transmit positioning reference signals to the terminal device separately at a plurality of time points. Correspondingly, the terminal device receives the positioning reference signals transmitted separately by the plurality of first network devices at a plurality of time points. In other words, the positioning reference signal transmitted by the at least one first network device includes the positioning reference signals transmitted separately by the plurality of first network devices at a plurality of time points. In the following, an example is used for description in which the plurality of time points includes a first time point and a second time point.

[0125] The second time point includes a time domain symbol, a slot, a subslot, a subframe, a system frame, a measurement window, a measurement gap, a PRS processing window, a reference signal cycle, an uplink-downlink switching cycle, or a time interval length, including 1 ms (millisecond), 2 ms, 5 ms, 10 ms, 20 ms, etc.

[0126] For example, as shown in Figure 7, the multiple first network devices include TRP1, TRP2, TRP3 and TRP4. TRP1, TRP2, TRP3 and TRP4 transmit positioning reference signals to the terminal device separately at a first time point. TRP1, TRP2, TRP3 and TRP4 transmit positioning reference signals to the terminal device separately at a second time point.

[0127] Optionally, when the plurality of time points includes three or more time points, there may be an equal time interval between any two adjacent time points in the three or more time points. For example, the first time point and the second time point are two adjacent time points. The second time point and the third time point are two adjacent time points. The time interval between the first time point and the second time point is equal to the time interval between the second time point and the third time point. The third time point includes a time domain symbol, a slot, a subslot, a subframe, a system frame, a measurement window, a measurement gap, a PRS processing window, a reference signal cycle, an uplink-downlink switching cycle, or a time interval length. The time interval length includes 1 ms (millisecond), 2 ms, 5 ms, 10 ms, 20 ms, etc.

[0128] Implementation manner 3: At least one first network device includes one first network device. The first network device transmits a positioning reference signal to the terminal device at multiple time points. Correspondingly, the terminal device receives a positioning reference signal from the first network device at multiple time points. In other words, the positioning reference signal transmitted by the at least one first network device includes a positioning reference signal transmitted by the first network device to the terminal device at multiple time points. In the following, an example is used for description in which the multiple time points include a first time point, a second time point and a third time point.

[0129] In the third embodiment, the at least one first network device alternatively includes more first network devices, and these first network devices separately transmit positioning reference signals to the terminal device at multiple time points. Correspondingly, the terminal device receives the positioning reference signals transmitted by these first network devices to the terminal device at multiple time points at multiple time points.

[0130] Optionally, when the plurality of time points includes at least three time points, there may be an equal time interval between any two adjacent time points in the plurality of time points.For example, the first time point and the second time point are two adjacent time points.The second time point and the third time point are two adjacent time points.The time interval between the first time point and the second time point is equal to the time interval between the second time point and the third time point.

[0131] It should be noted that the positioning reference signals transmitted by different first network devices may be the same or different, which is not particularly limited in this application.

[0132] 602: The terminal device measures a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference.

[0133] In a possible implementation, the at least one first network device includes a reference network device and at least one measurement network device.

[0134] Specifically, the terminal device may select one first network device from the at least one first network device as a reference network device, and the remaining first network devices are used as at least one measurement network device.

[0135] Based on the above definition of phase, optionally, the at least one phase difference includes a phase difference between the phase of a carrier signal carrying a positioning reference signal of the reference network device and received by the terminal device and the phase of a carrier signal carrying a positioning reference signal of at least one measurement network device and received by the terminal device.

[0136] Based on the above description, optionally, the at least one phase difference includes a phase difference obtained by the terminal device based on the positioning reference signals transmitted by the reference network device and the measurement network device at the same time point. The same time point may be a first time point, a second time point, or a third time point. The same time point includes the same symbol, the same slot, the same subslot, the same subframe, the same frame, the same measurement window, the same measurement gap, the same PRS processing window, the same reference signal cycle, the same uplink-downlink switching cycle, or one time interval length. The time interval length includes 1 ms (millisecond), 2 ms, 5 ms, 10 ms, 20 ms, etc.

[0137] In other words, the terminal device obtains a phase difference between the phase of the carrier signal carrying the positioning reference signal of the reference network device and the phase of the carrier signal carrying the positioning reference signal of at least one measurement network device through measurement. The phase difference may be considered to be obtained by the terminal device through measurement at the same time point. Specifically, the terminal device may obtain the phase difference through measurement in the same time domain symbol, the same slot, the same subframe, the same frame, the same measurement window, the same measurement gap, the same PRS processing window, the same reference signal cycle, the same uplink-downlink switching cycle, or one time interval length. The time interval length includes 1 ms (millisecond), 2 ms, 5 ms, 10 ms, 20 ms, etc.

[0138] In this implementation, the at least one phase difference includes at least one of the following:

[0139] 1. The phase difference between the phases obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same point in time.

[0140] 2. A phase difference between the phases of the first path of a channel obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same point in time.

[0141] 3. A phase difference between the phases of a first path obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same point in time.

[0142] 4. A phase difference at the same frequency between frequency domain channel coefficients obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same point in time.

[0143] Based on the above positioning of the phase, optionally, the at least one phase difference comprises a difference between a first phase difference and at least one second phase difference, the first phase difference being a phase difference between a phase of a carrier signal of the terminal device and a phase of a carrier signal carrying a positioning reference signal of the reference network device and received by the terminal device, the at least one second phase difference comprising a phase difference between a phase of a carrier signal of the terminal device and a phase of a carrier signal carrying a positioning reference signal of the at least one measurement network device and received by the terminal device.

[0144] The carrier signal may alternatively be a carrier frequency signal or a local oscillator signal, which is not particularly limited in this application.

[0145] Based on this realization scheme, several possible contents to be included in the at least one phase difference are described below.

[0146] The at least one phase difference includes at least one of the following:

[0147] 1. The phase difference between the phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device.

[0148] For a specific manner in which the terminal device obtains the phase by measuring the positioning reference signal transmitted by the first network device, please refer to the relevant description of the implementation manner 1 in step 601.

[0149] 2. A phase difference between the phase of a first path of a channel obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase of the first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device.

[0150] For the specific manner in which the terminal device obtains the phase of the first path of the channel by measuring the positioning reference signal transmitted by the first network device, please refer to the relevant description of implementation manner 2 in step 601.

[0151] Specifically, the terminal device measures a positioning reference signal transmitted by a reference network device to obtain a phase of a first path of a channel between the terminal device and the reference network device. The terminal device measures a positioning reference signal transmitted by at least one measurement network device to obtain a phase of a first path of a channel between the terminal device and the at least one measurement network device. Then, the terminal device determines at least one phase difference by using the phase of the first path of the channel between the terminal device and the reference network device and the phase of the first path of the channel between the terminal device and the at least one measurement network device.

[0152] 3. A phase difference at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and frequency domain channel coefficients obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device.

[0153] For a specific manner in which the terminal device obtains the frequency domain channel coefficient by measuring the positioning reference signal transmitted by the first network device, please refer to the relevant description of the implementation manner 3 in step 601.

[0154] The frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device represent the amplitude and phase changes that occur when the positioning reference signal transmitted by the reference network device passes through a channel between the terminal device and the reference network device.

[0155] The frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the at least one measurement network device represent the amplitude and phase changes that occur when the positioning reference signal transmitted by the at least one measurement network device passes through a channel between the terminal device and the at least one measurement network device.

[0156] For example, the at least one first network device includes a reference network device and a measurement network device 1. The frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device are H1(K), and the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the measurement network device 1 are H2(K). The terminal device extracts a phase A of the first frequency from H1(K) and extracts a phase B of the first frequency from H2(K). The terminal device may determine a phase difference between phase A and phase B.

[0157] According to the first implementation in step 601, the measurement reference network device and the at least one measurement network device separately transmit a positioning reference signal at a first time point. The at least one phase difference is: a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a measurement reference network device at a first time point and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device at the first time point; or a phase difference between a phase of a first path of a channel acquired by a terminal device by measuring a positioning reference signal transmitted by a measurement reference network device at a first time point and a phase of a first path of a channel acquired by a terminal device by measuring a positioning reference signal transmitted by at least one measurement network device at a first time point; or A phase difference at the same frequency between a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by a measurement reference network device at a first time point and a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by at least one measurement network device at a first time point. Includes at least one of the following:

[0158] Optionally, the same frequency may be the same subcarrier, the same carrier frequency, the same carrier aggregation (CC), the same band, the same bandwidth part (BWP), the same frequency layer, the same center frequency, or the same absolute radio frequency channel number (ARFCN), which is not particularly limited in this application.

[0159] For example, the at least one first network device includes a reference network device and N measurement network devices, and the at least one phase difference includes N phase differences 1.

[0160] The i-th phase difference 1 of the N phase differences 1 is a phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at a first time point and a phase acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device at a first time point, or the i-th phase difference 1 of the N phase differences 1 is a phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at a first time point. The phase difference between the first path of the channel coefficient and the phase of the first path of the channel obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device at the first time point, or the i-th phase difference 1 of the N phase differences 1 is a phase difference at the same frequency between the frequency domain channel coefficient obtained by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at the first time point and the frequency domain channel coefficient obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device at the first time point. N is an integer equal to or greater than 1, and i is an integer equal to or greater than 1 and less than or equal to N. In other words, the at least one phase difference is a phase difference obtained by the terminal device by measuring the positioning reference signal transmitted by the at least one first network device at the same time point. Optionally, the at least one phase difference is associated with the same time stamp. Therefore, it is convenient to express the association between the phase differences in the at least one phase difference. In other words, the terminal device obtains the phase difference by measuring the positioning reference signal transmitted by the at least one first network device at the same time point. In this way, the second network device performs positioning for the terminal device based on the at least one phase difference, which helps to improve positioning accuracy.

[0161] In this implementation, the at least one phase difference includes at least one of the following:

[0162] 1. The phase difference between the phases obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same point in time.

[0163] 2. A phase difference between the phases of the first paths of a channel obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same time point, the channel being derived based on a frequency region RE occupied by the positioning reference signal.

[0164] 3. A phase difference between the phases of a first path obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same point in time.

[0165] 4. A phase difference at the same frequency between frequency domain channel coefficients obtained by a terminal device by measuring positioning reference signals transmitted separately by a reference network device and at least one measuring network device at the same point in time.

[0166] The following provides an explanation by using an example in which N phase differences 1 include phase differences between a phase obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device at a first time point and a phase obtained by a terminal device by measuring a positioning reference signal transmitted by N measuring network devices at a first time point.

[0167] For example, as shown in Figure 7, the reference network device is TRP1, and the N measurement network devices include TRP2, TRP3 and TRP4. At least one phase difference is:

number

[0168]

number

[0169]

number

[0170]

number

[0171] Further, according to the second implementation in step 601, the reference network device and the at least one measuring network device separately transmit the positioning reference signal at a second time point. The at least one phase difference is: a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device at a second time point and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device at a second time point; or a phase difference between a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device at a second time point and a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device at a second time point; or A phase difference at the same frequency between the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device at the second time point and the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by at least one measuring network device at the second time point. The present invention further includes at least one of the following:

[0172] For example, the at least one first network device includes a reference network device and N measurement network devices, and the at least one phase difference includes N phase differences 2.

[0173] The i-th phase difference 2 of the N phase differences 2 is a phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at a second time point and a phase acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device at a second time point. Alternatively, the i-th phase difference 2 of the N phase differences 2 is a phase difference between a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device of the N measurement network devices at a second time point and a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device at a second time point. Alternatively, the i-th phase difference 2 among the N phase differences 2 is a phase difference at the same frequency between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the i-th measurement network device among the N measurement network devices at a second time point and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device at a second time point, where N is an integer equal to or greater than 1 and i is an integer equal to or greater than 1 and equal to or less than N.

[0174] Below, an explanation is provided by using an example in which the N phase differences 2 include phase differences between the phase obtained by the terminal device by measuring the positioning reference signals transmitted by the reference network device at the second time point and the phase obtained by the terminal device by measuring the positioning reference signals transmitted by the N measurement network devices at the second time point.

[0175] For example, as shown in Figure 7, the reference network device is TRP1, and the N measurement network devices include TRP2, TRP3 and TRP4. At least one phase difference is:

number

[0176]

number

[0177]

number

[0178]

number

[0179]

number

[0180]

number

[0181]

number

[0182] In another possible implementation, the at least one first network device includes one or more first network devices.

[0183] Based on the above definition of phase, optionally, the at least one first network device includes one first network device, and the at least one phase difference includes a phase difference between a phase of a carrier signal carrying a positioning reference signal transmitted by the first network device and received by the terminal device at a first time point and a phase of a carrier signal carrying a positioning reference signal transmitted by the first network device and received by the terminal device at a second time point.

[0184] Based on the above definition of phase, optionally, the at least one first network device includes one first network device. The at least one phase difference includes a phase difference between a third phase difference and a fourth phase difference. The third phase difference is a phase difference between a phase of a carrier signal of the terminal device and a phase of a carrier signal carrying a positioning reference signal transmitted by the first network device at a first time point and received by the terminal device. The fourth phase difference is a phase difference between a phase of a carrier signal of the terminal device and a phase of a carrier signal carrying a positioning reference signal transmitted by the first network device at a second time point and received by the terminal device.

[0185] The carrier signal may alternatively be a carrier frequency signal or a local oscillator signal, which is not particularly limited in this application.

[0186] Based on this embodiment, several possible contents of the at least one phase difference are described below.

[0187] The at least one phase difference includes at least one of the following:

[0188] 1. A phase difference between phases obtained by a terminal device by measuring positioning reference signals transmitted by each of at least one first network device at different times.

[0189] For example, the at least one first network device includes one first network device, and the at least one phase difference includes a phase difference between phases obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times.

[0190] For example, the at least one first network device includes a first network device 1. The at least one phase difference is a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the first network device 1 at a first time point t1 and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the first network device 1 at a second time point t 10 and the phase acquired by the terminal device by receiving the positioning reference signal transmitted by the first network device 1 at

[0191] Optionally, the at least one phase difference is determined at a second time t 10 the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device 1 at a third time point t 20 and a phase difference between the phase acquired by the terminal device by receiving the positioning reference signal transmitted by the first network device 1 at

[0192] Optionally, a first time point t1 and a second time point t 10 The time interval between the second time point t 10 and the third time point t 20 is equal to the time interval between

[0193] 2. The at least one phase difference includes a phase difference between phases of a first path of the channel obtained by the terminal device by measuring positioning reference signals transmitted by each of the at least one first network device at different times.

[0194] For example, the at least one first network device includes one first network device, and the at least one phase difference includes a phase difference between phases of first paths of the channel obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times.

[0195] For example, the at least one first network device includes a first network device 1. The at least one phase difference is a phase of a first path of a channel acquired by a terminal device by measuring a positioning reference signal transmitted by the first network device 1 at a first time point t1 and a phase of a first path of a channel acquired by a terminal device by measuring a positioning reference signal transmitted by the first network device 1 at a second time point t 10 and the phase of the first path of the channel acquired by the terminal device by receiving the positioning reference signal transmitted by the first network device 1 at

[0196] Optionally, the at least one phase difference is determined at a second time t 10 the phase of the first path of the channel acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device 1 at a third point in time t 20 and the phase of the first path of the channel acquired by the terminal device by receiving the positioning reference signal transmitted by the first network device 1 at

[0197] Optionally, a first time point t1 and a second time point t 10 The time interval between the second time point t 10 and the third time point t 20 is equal to the time interval between

[0198] 3. The at least one phase difference includes a phase difference at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by each of the at least one first network device at different times.

[0199] For example, the at least one first network device includes one first network device, and the at least one phase difference includes a phase difference at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times.

[0200] Optionally, for the same frequency, see the related description above.

[0201] For example, the at least one first network device includes a first network device 1. The at least one phase difference is calculated by calculating a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the first network device 1 at a first time point t1 and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the first network device 1 at a second time point t 10 and the frequency-domain channel coefficients obtained by the terminal device by receiving the positioning reference signal transmitted by the first network device 1 at the same frequency.

[0202] Optionally, the at least one phase difference is determined at a second time t 10 and a frequency domain channel coefficient obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device 1 at a third time point t 20 and a frequency domain channel coefficient obtained by the terminal device by receiving the positioning reference signal transmitted by the first network device 1 at

[0203] Optionally, a first time point t1 and a second time point t 10 The time interval between the second time point t 10 and the third time point t 20 is equal to the time interval between

[0204] The following describes the technical solution of this application by using an example in which the at least one first network device includes one first network device, and the at least one phase difference includes a phase difference between phases obtained by the terminal device by measuring positioning reference signals transmitted by each of the at least one first network device at different time points.

[0205] For example, the at least one phase difference includes P phase differences 3. The a-th phase difference 3 among the P phase differences 3 is a phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the first network device at the a-th time point and a phase acquired by the terminal device by measuring a positioning reference signal transmitted by the first network device at the a+1-th time point.

[0206] a is an integer equal to or greater than 1. P is an integer equal to or greater than 1, and the value of P is related to the number of time points at which the first network device transmits a positioning reference signal. For example, if the terminal device measures the positioning reference signal transmitted by the first network device at two time points, P is equal to 1. If the terminal device measures the positioning reference signal transmitted by the first network device at three time points, P is equal to 2.

[0207] Optionally, the a+1-th phase difference 3 among the P phase differences 3 is a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the first network device at the a+1-th time point and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the first network device at the a+2-th time point. The time interval between the a-th time point and the a+1-th time point is equal to the time interval between the a+1-th time point and the a+2-th time point. The time intervals between different adjacent time points in the multiple time points are equal. P is equal to the number of time points in the multiple time points minus 1.

[0208] For example, as shown in FIG. 8, at least one first network device includes a TRP1, and P phase differences 3 are

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[0209] For example, as shown in FIG. 9, at least one first network device includes a TRP1, and P phase differences 3 are

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[0210] The following describes an example in a scenario in which the at least one first network device includes multiple first network devices.

[0211] For example, as shown in FIG. 8, the at least one first network device includes TRP1, TRP2, TRP3 and TRP4. The at least one phase difference is:

number

[0212]

number

number

number

number

[0213] For example, as shown in FIG. 8, the at least one first network device includes TRP1, TRP2, TRP3 and TRP4. The at least one phase difference is:

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[0214]

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[0215]

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[0216]

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[0217]

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[0218]

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[0219]

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[0220]

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[0221]

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[0222] Optionally, the first time point t1 and the second time point t 10 Note that t are two adjacent time points. The second time point t 10 and the third time t 20 are two adjacent time points. The first time point t1 and the second time point t 10 The time interval between the second time point t 10 and the third time point t 20 is equal to the time interval between

[0223] 603: The terminal device sends the first information to the second network device.

[0224] The first information includes at least one phase difference, or the first information is determined based on the at least one phase difference. For the at least one phase difference, see the related description of step 602.

[0225] The first information is used by the second network device to perform positioning for the terminal device. The first information may be understood as positioning information provided by the terminal device for the second network device.

[0226] In an implementation in which the first information is determined based on at least one phase difference, optionally, the embodiment shown in FIG. 6 further includes step 603a. Step 603a may be performed before step 603.

[0227] 603a: The terminal device determines first information based on the at least one phase difference.

[0228] Step 603a will be described below with reference to the contents of the first information.

[0229] First, first information is described based on an implementation manner in which at least one first network device includes a reference network device and at least one measurement network device.

[0230] 1. The first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change.

[0231] The at least one first accumulated phase difference includes at least one of the following: an accumulated amount over time of a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device, or an accumulated amount over time of a phase difference between a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device, or an accumulated amount over time of a phase difference at the same frequency between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device.

[0232] The at least one first equivalent distance change amount includes a change over time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0233] Specifically, the terminal device determines at least one first accumulated phase difference based on the at least one phase difference.

[0234] For example, the at least one first network device includes a reference network device and N measurement network devices, and the at least one phase difference includes N phase differences 1 and N phase differences 2. For the N phase differences 1 and the N phase differences 2, refer to the related description above. The terminal device determines at least one first accumulated phase difference based on the N phase differences 1 and the N phase differences 2. The at least one first accumulated phase difference includes N first accumulated phase differences. The i-th first accumulated phase difference among the N first accumulated phase differences is the difference between the i-th phase difference 1 among the N phase differences 1 and the i-th phase difference 2 among the N phase differences 2.

[0235] For example, the i-th first accumulated phase difference indicates an accumulated amount over time of a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by an i-th measurement network device. Alternatively, the i-th first accumulated phase difference indicates an accumulated amount over time of a phase difference between a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by an i-th measurement network device. Alternatively, the i-th first accumulated phase difference indicates an accumulated amount over time of a phase difference at the same frequency between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by an i-th measurement network device.

[0236] In the following, a terminal device is assumed to be at a first time t1 and a second time t 10An explanation is provided by using an example of determining the first accumulated phase difference in a time interval between and . In practical applications, the terminal device may determine the first accumulated phase difference in multiple time intervals. This is not particularly limited in this application.

[0237] In the following, an explanation is provided by using an example in which the i-th first accumulated phase difference indicates an accumulated amount over time of a phase difference between a phase obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by a terminal device by measuring a positioning reference signal transmitted by an i-th measuring network device. The i-th first accumulated phase difference may be expressed as follows:

number

[0238]

number

[0239]

number

[0240] Specifically, the terminal device reports a first accumulated phase difference to track the accumulated amount of phase difference with respect to time. In order to avoid losing an entire cycle, it is necessary to ensure that the phase change between any two measurements of the terminal device is less than 2π. If the phase change is less than 2π, the corresponding position movement of the terminal device is small. A feasible method is that the terminal device accumulates multiple phase difference changes and then performs reporting. That is, a first accumulated phase difference is reported, and a large distance change is calculated by using the accumulated changes of multiple phase differences. For example, as shown in FIG. 11, at a first time point t1 and a second time point t 10 Within the time interval between, the terminal device measures the positioning reference signal transmitted by the reference network device and the positioning reference signal transmitted by the measurement network device multiple times to obtain multiple corresponding phase differences, and then determines a first accumulated phase difference by referring to the multiple phase differences.

[0241] For example, the phase difference between the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device at time t1 and the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the i-th measuring network device at time t1 is

number

number

number

number

number

number

number

number

number

number

[0242] Time t1 is the first second, and time t 10 is the 10th second, the i-th first accumulated phase difference may be expressed as:

number

[0243] That is, the first accumulated phase difference from the 1st second to the 10th second needs to be calculated by gradually accumulating the phase differences at the 1st second, the 2nd second, ... and the 10th second, which eliminates the problem of ambiguity of the whole cycle, but cannot be directly obtained by using the phase difference corresponding to the 10th second and the phase difference corresponding to the 1st second. Even though Equation 1 can be expressed as the subtraction of the phase differences at two time points, in reality, the phase differences at multiple time points need to be gradually accumulated.

[0244] The terminal device determines at least one first equivalent distance change amount based on the at least one first accumulated phase difference, specifically, the terminal device determines at least one first equivalent distance change amount based on the at least one first accumulated phase difference and a wavelength used by the at least one first network device to transmit a positioning reference signal.

[0245] In the following, a terminal device is assumed to be at a first time t1 and a second time t 10 An explanation is provided by using an example of determining the first equivalent distance change amount in a time interval between and . In practical applications, the terminal device may determine the first equivalent distance change amount in multiple time intervals, which is not particularly limited in this application.

[0246] For example, the at least one first equivalent distance change amount includes N first equivalent distance changes, and the i-th first equivalent distance change amount among the N first equivalent distance changes is a difference between a distance from the terminal device to the reference network device at a first time point t1 and a distance from the terminal device to the i-th measurement network device at a second time point t 10 The difference between the distance from the terminal device to the reference network device and the distance from the terminal device to the i-th measurement network device in the i-th measurement network device. The i-th first equivalent distance change amount is expressed as follows by using Equation 3:

number

[0247]

number

[0248] 2. The first information includes at least one of the following: at least one first cumulative phase difference rate or at least one first equivalent distance change rate.

[0249] The at least one first cumulative phase difference rate includes at least one of the following: an accumulated amount over unit time of phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device, or an accumulated amount over unit time of phase difference between a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device, or an accumulated amount over unit time of phase difference at the same frequency obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a positioning reference signal transmitted by at least one measurement network device.

[0250] The at least one first equivalent distance change rate includes a change amount per unit time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0251] Specifically, the terminal device determines at least one first accumulated phase difference based on the at least one phase difference. Then, the terminal device determines at least one first accumulated phase difference rate based on the at least one first accumulated phase difference.

[0252] For the process in which the terminal device determines at least one first accumulated phase difference, please refer to the above related description. The terminal device determines at least one first accumulated phase difference and a first time point t1 and a second time point t 10 and a time interval between.

[0253] For example, the at least one first cumulative phase difference ratio includes N first cumulative phase difference ratios. The N first cumulative phase difference ratios include an i-th first cumulative phase difference among the N first cumulative phase differences at a first time point t1 and a second time point t 10and the i-th first accumulated phase difference rate is equal to the accumulated amount of phase difference in unit time between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device. Alternatively, the i-th first accumulated phase difference rate indicates the accumulated amount of phase difference in unit time between the phase of the first path of the channel acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the phase of the first path of the channel acquired by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device. Alternatively, the i-th first accumulated phase difference rate indicates the accumulated amount of phase difference in unit time at the same frequency between the frequency domain channel coefficients acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients acquired by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device.

[0254] In the following, an explanation is provided by using an example in which the i-th first accumulated phase difference rate indicates an accumulated amount of a phase difference per unit time between a phase obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by a terminal device by measuring a positioning reference signal transmitted by an i-th measuring network device. The i-th first accumulated phase difference rate may be expressed as follows:

number

[0255]

number

[0256] The terminal device determines at least one first equivalent distance change rate based on the at least one first accumulated phase difference rate. Specifically, the terminal device determines at least one first equivalent distance change rate based on the at least one first accumulated phase difference rate and a wavelength used by the at least one first network device to transmit a positioning reference signal.

[0257] For example, the at least one first equivalent distance change rate includes N first equivalent distance change rates. The i-th first equivalent distance change rate among the N first equivalent distance change rates is a first equivalent distance change amount among the N first equivalent distance change amounts between a first time t1 and a second time t 10 The i-th first equivalent distance rate is equal to the i-th first equivalent distance rate divided by the time interval between i and

number

[0258] Δd ij is the i-th first equivalent distance change, (t 10 -t1) is the time interval between the first and second time points.

number

[0259] The first information is described below on the basis that the at least one first network device includes one or more first network devices. The first information is described below by using one of the at least one first network devices as an example. The same applies to other first network devices.

[0260] 1. The first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change.

[0261] The at least one second accumulated phase difference includes at least one of the following: a cumulative amount over time of phase difference between phases obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different time points, or a cumulative amount over time of phase difference between phases of a first path of a channel obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different time points, or a cumulative amount over time of phase difference at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different time points.

[0262] The at least one second equivalent distance change amount includes a change over time of a distance difference between the distances from the terminal device to the first network device at different times.

[0263] Specifically, the terminal device determines at least one second accumulated phase difference based on the at least one phase difference.

[0264] For example, the at least one first network device includes one first network device, and the at least one phase difference includes P phase differences 3. For the P phase differences 3, refer to the above related description. The at least one second accumulated phase difference includes M second accumulated phase differences. The a-th second accumulated phase difference among the M second accumulated phase differences is a difference between the a-th phase difference 3 among the P phase differences 3 and the a+1-th phase difference 3 among the P phase differences 3. M is an integer equal to or greater than 1, and a is an integer equal to or greater than 1. The value of M is determined based on the number of time points at which the terminal device measures the positioning reference signal. M is equal to the number of time points minus 1.

[0265] The a-th phase difference 3 is the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at the a-th time point and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at the a+1-th time point. The a+1-th phase difference 3 is the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at the a+1-th time point and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at the a+2-th time point. The time interval between the a-th time point and the a+1-th time point is equal to the time interval between the a+1-th time point and the a+2-th time point.

[0266] For example, the a-th second accumulated phase difference may be expressed as follows:

number

[0267]

number

number

[0268] Specifically, the terminal device reports a second accumulated phase difference to track the accumulated amount of phase difference with respect to time. In order to avoid losing an entire cycle, it is necessary to ensure that the phase change between any two measurements of the terminal device is less than 2π. If the phase change is less than 2π, the corresponding position movement of the terminal device is small. A feasible method is that the terminal device accumulates multiple phase difference changes and then performs reporting. That is, a second accumulated phase difference is reported. A large distance change is calculated by using the accumulated changes of multiple phase differences. For example, as shown in FIG. 11, when the phase change between time t1 and time t 20 Within a time interval between, the terminal device measures the positioning reference signal transmitted by the first network device multiple times to obtain phase differences between the phases obtained at different time points, and then determines at least one second accumulated phase difference by referring to the phase differences between the phases obtained at different time points.

[0269] For example, the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at time t1 and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the first network device at time t2 is

number

number

number

number

number

number

number

number

number

number

number

number

number

number

number

number

number

number

number

[0270] The a-th time point is time t1, which is the first second, and the a+1-th time point is time t 10 At time t 10 is the 10th second, and the a+th point is t 20 At time t 20 If is the 20th second, the a-th second accumulated phase difference may be expressed as:

number

[0271] That is, the second accumulated phase difference from the 1st second to the 20th second needs to be calculated by gradually accumulating the phase differences at the 1st second, the 2nd second, ... and the 20th second, which eliminates the problem of ambiguity of the whole cycle, but cannot be directly obtained by using the phase difference corresponding to the 20th second and the phase difference corresponding to the 1st second. Even though Equation 6.1 can be expressed as the subtraction of the phase differences at two time points, in reality, the phase differences at multiple time points need to be gradually accumulated.

[0272] The terminal device determines at least one second equivalent distance change amount based on the at least one second accumulated phase difference, specifically, the terminal device determines at least one second equivalent distance change amount based on the at least one second accumulated phase difference and a wavelength used by the at least one first network device to transmit the positioning reference signal.

[0273] Below, the terminal device is a and time t a+2 An explanation is provided by using an example of determining the second equivalent distance change amount in a time interval between and . In practical applications, the terminal device may determine the second equivalent distance change amount in multiple time intervals, which is not particularly limited in this application.

[0274] For example, the at least one second equivalent distance change amount includes M second equivalent distance changes. The a-th second equivalent distance change amount among the M second equivalent distance changes is a difference between the a-th first distance difference among the P first distance differences and the a+1-th first distance difference among the P first distance differences. The a-th first distance difference is a distance difference between a distance from the terminal device to the first network device at the a-th time point and a distance from the terminal device to the first network device at the a+1-th time point. The a+1-th first distance difference is a distance difference between a distance from the terminal device to the first network device at the a+1-th time point and a distance from the terminal device to the first network device at the a+2-th time point.

[0275] The a-th second equivalent distance change amount is expressed as follows by using Equation 7:

number

[0276] Δd a is the a-th first distance difference among the P first distance differences. Δd a+1 is the a+1-th first distance difference among the P first distance differences; λ is the wavelength used by the first network device to transmit the positioning reference signal;

[0277] 2. The first information includes at least one of the following: at least one second cumulative phase difference rate or at least one second equivalent distance change rate.

[0278] The at least one second cumulative phase difference rate includes at least one of the following: a cumulative amount over unit time of phase difference between phases obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different time points, or a cumulative amount over unit time of phase difference between phases of a first path of the channel obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different time points, or a cumulative amount over unit time of phase difference at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different time points.

[0279] The at least one second equivalent distance change rate is a change per unit time of a distance difference between the distances from the terminal device to the first network device at different times.

[0280] Specifically, the terminal device determines at least one second accumulated phase difference based on the at least one phase difference. Then, the terminal device determines at least one second accumulated phase difference rate based on the at least one second accumulated phase difference.

[0281] For the process in which the terminal device determines at least one second accumulated phase difference, please refer to the above related description. The terminal device determines at least one second accumulated phase difference and a and time t a+2 and determining at least a second cumulative phase difference rate based on the time interval between.

[0282] For example, the at least one second cumulative phase difference ratio includes M second cumulative phase difference ratios. The M second cumulative phase difference ratios include an a-th second cumulative phase difference among the M second cumulative phase differences at a time t a and time t a+2 is equal to the time interval between

[0283] For example, the a-th second cumulative phase difference rate may be expressed as follows:

number

[0284]

number

number

[0285] The terminal device determines at least one second equivalent distance change rate based on the at least one second accumulated phase difference rate. Specifically, the terminal device determines at least one second equivalent distance change rate based on the at least one second accumulated phase difference rate and a wavelength used by the first network device to transmit the positioning reference signal.

[0286] For example, the at least one second equivalent distance change rate includes M second equivalent distance change rates. The a-th second equivalent distance change rate among the M second equivalent distance change rates is a second equivalent distance change rate that changes the M second equivalent distance amounts at a time t a and time t a+2 The a-th second equivalent distance rate is expressed by using Equation 9 as follows:

number

[0287] Δd a is the a-th first distance difference among the P first distance differences. Δd a+1 is the a+1-th first distance difference among the P first distance differences; λ is the wavelength used by the first network device to transmit the positioning reference signal;

[0288] 604: The second network device performs positioning for the terminal device based on the first information.

[0289] Optionally, the embodiment shown in FIG. 6 further includes step 604a. Step 604a may be performed before step 604.

[0290] 604a: A second network device obtains at least one phase deviation.

[0291] The at least one phase deviation includes a phase deviation between different first network devices of the at least one first network device, obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one phase deviation is reported by the calibration terminal device.

[0292] Specifically, the second network device receives at least one phase deviation from the calibration terminal device. For the at least one phase deviation, please refer to the following related description.

[0293] It should be noted that the execution order between step 604a and step 603 is not fixed. Based on certain cases, step 603 may be executed first, and then step 604a, or step 604a may be executed first, and then step 603, or step 603 and step 604a may be executed simultaneously, which is not particularly limited in this application.

[0294] Based on Step 604a, optionally, Step 604 specifically includes:

[0295] The second network device performs positioning for the terminal device based on the first information and the at least one phase deviation. For some related examples of the second network device performing positioning for the terminal device with reference to the first information and the at least one phase deviation, see the following related descriptions.

[0296] Optionally, the embodiment shown in FIG. 6 further includes step 604b. Step 604b may be performed before step 604.

[0297] 604b: The second network device obtains at least one accumulated phase deviation.

[0298] The at least one accumulated phase deviation includes a cumulative amount over time of phase deviation between different first network devices among the at least one first network device obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one accumulated phase deviation is reported by the calibration terminal device.

[0299] Specifically, the second network device receives at least one accumulated phase deviation from the calibration terminal device. For the at least one accumulated phase deviation, please refer to the following related description.

[0300] It should be noted that the execution order between step 604b and step 603 is not fixed. Based on certain cases, step 603 may be executed first, and then step 604b is executed, or step 604b is executed first, and then step 603 is executed, or step 603 and step 604b are executed simultaneously, which is not particularly limited in this application.

[0301] Based on Step 604b, optionally, Step 604 specifically includes:

[0302] The second network device performs positioning for the terminal device based on the first information and the at least one accumulated phase deviation. For some related examples of the second network device performing positioning for the terminal device with reference to the first information and the at least one accumulated phase deviation, please refer to the following related descriptions.

[0303] Step 604 will be described below with reference to the contents of the first information.

[0304] 1. The at least one first network device includes a reference network device and at least one measurement network device, and the first information includes at least one phase difference.

[0305] The at least one phase difference includes at least one of the following: a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device, or a phase difference between a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of a channel obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device, or a phase difference at the same frequency between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device.

[0306] Below, an explanation is provided by using an example in which the at least one phase difference includes a phase difference between a phase obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by a terminal device by measuring a positioning reference signal transmitted by at least one measurement network device.

[0307] The following describes a process in which the second network device performs positioning on the terminal device by referring to the first information and at least one phase deviation.

[0308] The at least one phase deviation includes a phase deviation between different first network devices among the at least one first network device, obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device.

[0309] Specifically, in this implementation, the at least one first network device includes a reference network device and at least one measurement network device, and the at least one phase deviation includes a difference between the phase deviation between the calibration terminal device and the reference network device and the phase deviation between the calibration terminal device and the at least one measurement network device.

[0310] Specifically, the calibration terminal device obtains a phase by measuring a positioning reference signal transmitted by a reference network device at a first time point. Then, the calibration terminal device determines a phase deviation between the calibration terminal device and the reference network device by referring to the phase and position of the calibration terminal device and the reference network device. The phase deviation between the calibration terminal device and the reference network device may represent a synchronization error between the calibration terminal device and the reference network device and a radio frequency initial phase of the calibration terminal device. For a specific determination process, please refer to the following related description.

[0311] Specifically, the calibration terminal device obtains a phase by measuring a positioning reference signal transmitted by each of the at least one measurement network device at a first time point. Then, the calibration terminal device obtains a phase deviation between the calibration terminal device and each measurement network device through calculations referring to the phase and position of the calibration terminal device and each measurement network device. The phase deviation between the calibration terminal device and each measurement network device may represent a synchronization error between the calibration terminal device and each measurement network device and a radio frequency initial phase of the calibration terminal device. Therefore, the at least one phase deviation may be understood as a phase deviation between the reference network device and the at least one measurement network device measured by the calibration terminal device. The at least one phase deviation represents a synchronization error between the reference network device and the at least one measurement network device. For a specific process of determining the at least one phase deviation, please refer to the following related description.

[0312] The following provides an explanation by using an example in which the at least one phase difference includes N phase differences 1. For the N phase differences 1, refer to the above related explanation. The details are not described again here.

[0313] The at least one phase deviation includes N first phase deviations. The phase deviations between the calibration terminal device and each measurement network device include N second phase deviations. The phase deviation between the calibration terminal device and the reference network device is called a third phase deviation. The i-th first phase deviation of the N first phase deviations is a difference between the i-th second phase deviation and the third phase deviation of the N second phase deviations.

[0314] The i-th second phase deviation among the N second phase deviations is a phase deviation between the calibration terminal device and the i-th measurement network device among the N measurement network devices at the first time point. In other words, the N second phase deviations include phase deviations between the calibration terminal device and each of the N measurement network devices at the first time point. The third phase deviation is a phase deviation between the calibration terminal device and the reference network device at the first time point. For the second network devices, the position of the calibration terminal device is known.

[0315] The i-th first phase deviation among the N first phase deviations is the phase compensation value of the i-th phase difference 1 among the N phase differences 1. For the specific principle, please refer to the following related description.

[0316] Specifically, the N phase differences 4 are obtained based on a phase difference between a phase obtained by the calibration terminal device by measuring a positioning reference signal transmitted by each measurement network device at a first time point and a phase obtained by the calibration terminal device by measuring a positioning reference signal transmitted by a reference network device at a first time point. The calibration terminal device determines the N first phase deviations by referring to the N phase differences 4. The calibration terminal device transmits the N first phase deviations to a second network device. Correspondingly, the second network device receives the N first phase deviations from the calibration terminal device.

[0317] For example, as shown in FIG. 7, the reference network device is TRP1, and the N measurement network devices include TRP2, TRP3 and TRP4. The second network device receives the N first phase deviations transmitted by the calibration terminal device. For the second network device, the position of the calibration terminal device is known. The phase deviations obtained by the calibration terminal device by measuring the positioning reference signal transmitted by the i-th TRP at the first time point are

number

number

[0318] r i represents the distance between the calibration terminal device and the i-th TRP included in the N measurement network devices. i represents the number of whole cycles of the wavelength between the calibration terminal device and the i-th TRP included in the N measurement network devices. c represents the speed of light. δ i (t1) represents the synchronization error between the calibration terminal device and the i-th TRP included in the N measurement network devices at the first time point t1.

number

[0319] The calibration terminal device calculates a distance r between the calibration terminal device and the i-th TRP included in the N measurement network devices at a first time point based on the position of the calibration terminal device. i The calibration terminal device calculates

number

number

[0320] θ i Since (t1) represents the synchronization error between the calibration terminal device and the i-th TRP included in the N measurement network devices at the first time point, and the radio frequency initial phase of the calibration terminal device, the radio frequency initial phase of the calibration terminal device needs to be removed through the difference between stations. The calibration terminal device measures the positioning reference signal of TRP1 (i.e., the reference network device) at the first time point and calculates the phase

number

number

number

[0321] θ ij (t1) is the i-th first phase deviation among the N first phase deviations. i (t1) and the third phase deviation θ j (t1) and θ ij (t1) is obtained. θ ij(t1) is not affected by the error of the radio frequency initial phase of the calibration terminal device. Furthermore, θ ij (t1) may represent the synchronization error between the i-th TRP included in the N measurement network devices and TRP1.

[0322] The second network device performs positioning for the terminal device based on the N phase differences 1 and the N first phase deviations.

[0323] From the above description, it can be seen that the i-th phase difference 1 among the N phase differences 1 is the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the i-th measurement network device at the first time point and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device at the first time point. The terminal device uses the difference value between the phases to eliminate the influence of the error of the radio frequency initial phase of the terminal device and the influence of the synchronization error between the terminal device and at least one first network device (including the N measurement network devices and the reference network device). θ ij (t1) may be understood as a phase compensation value of the i-th phase difference l among the N phase differences l. Compensation of the synchronization error between the i-th measurement network device and the reference network device is realized.

[0324] In addition, since the synchronization error between different stations or the radio frequency initial phase of the terminal device may change over time, the phase acquired by the terminal device by measuring the positioning reference signal at different time points also changes. Therefore, the terminal device and the calibration terminal device should measure the positioning reference signal transmitted by the TRP at the same time point. Optionally, the same time point includes the same OFDM symbol, the same slot, the same subslot, the same subframe, the same signal frame, the same measurement window, the same measurement gap, the same PRS processing window, the same reference signal cycle, the same uplink-downlink switching cycle or the time interval length. The time interval length includes 1 ms (millisecond), 2 ms (millisecond), 5 ms, 10 ms or 20 ms. The terminal device reports N phase differences 1, and the calibration terminal device reports N first phase deviations. Thus, the second network device performs accurate positioning for the terminal device.

[0325] According to the above analysis, for a terminal device, in the positioning process, the terminal device may select a reference network device. Then, the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the measurement network device at the first time point and the phase acquired by the calibration terminal device by measuring the positioning reference signal transmitted by the reference network device at the first time point is N phase differences 1. Then, the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the measurement network device at the first time point and the phase acquired by the calibration terminal device by measuring the positioning reference signal transmitted by the reference network device at the first time point is N phase differences 4. The calibration terminal device determines N first phase deviations by using the N phase differences 4, and reports the N first phase deviations to the second network device. The second network device performs positioning for the terminal device based on the N phase differences 1 and the N first phase deviations.

[0326] The following describes a process in which the second network device performs positioning for the terminal device based on the N phase differences 1 and the N first phase deviations.

[0327] For example, as shown in Figure 7, the reference network device is TRP1, and the N measurement network devices include TRP2, TRP3 and TRP4. The second network device constructs the following equation based on the N phase differences 1 and the N first phase deviations:

number

[0328] In Equation 13,

number

[0329] In Equation 14,

number

[0330] In Equation 15,

number

[0331] The second network device obtains the distance between the terminal device and each TRP and the location of the terminal device through calculation with reference to Equations 13 to 15.

[0332] It can be seen that in the above realization manner, the second network device receives N phase differences 1 from the terminal device, i.e., phase differences between the phase acquired by the terminal device by measuring the positioning reference signal transmitted by the reference network device at the first time point and the phase acquired by the terminal device by measuring the positioning reference signal transmitted by at least one measurement network device at the first time point, and transmits the phase differences to the second network device. In this way, the influence of errors such as the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the multiple first network devices is eliminated. The i-th phase difference 1 is the phase difference between the phase acquired by the terminal device by measuring the positioning reference signal transmitted separately by the i-th measurement network device and the reference network device at the first time point. The second network device acquires N first phase deviations. The i-th first phase deviation among the N first phase deviations may be a phase compensation value of the i-th phase difference 1 among the N phase differences 1. Compensation of the synchronization error between the I-th measurement network device and the reference network device is realized. Then, the second network device performs positioning for the terminal device based on the N phase differences 1 and the N first phase deviations. In this way, high-precision positioning for the terminal device is realized.

[0333] 2. The at least one first network device includes a reference network device and at least one measurement network device, and the first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change amount, or the first information includes at least one of at least one first accumulated phase difference rate or at least one first equivalent distance change rate.

[0334] The following describes a process in which a second network device performs positioning on a terminal device by using an example in which the first information includes at least one first accumulated phase difference or at least one first equivalent distance change amount.

[0335] Optionally, a process is described in which the second network device performs positioning on the terminal device by using the first information and at least one accumulated phase deviation. The specific process of the second network device performing positioning on the terminal device is described below.

[0336] The at least one accumulated phase deviation includes an accumulated amount of phase deviation between the reference network device and the at least one measurement network device over time, as measured by the calibration terminal device. In other words, the at least one accumulated phase deviation includes: The calibration terminal device includes a cumulative amount over time of a difference between a phase deviation between the calibration terminal device and the reference network device and a phase deviation between the calibration terminal device and at least one measurement network device.

[0337] For example, the at least one accumulated phase deviation includes N accumulated phase deviations. ij is the i-th first phase deviation θ among the N first phase deviations. ij (t1) and the i-th fourth phase deviation θ out of N fourth phase deviations ij (t2).

[0338] For the N first phase deviations, see the related description above. The i-th fourth phase deviation θ of the N fourth phase deviations ij (t2) is the i-th fifth phase deviation θ out of N fifth phase deviations i (t2) and the sixth phase deviation θ j (t2).

[0339] The i-th fifth phase deviation θ among N fifth phase deviations i (t2) is the phase deviation between the calibration terminal device and the i-th measurement network device among the N measurement network devices at the second time point. j (t2) is the phase deviation between the calibration terminal device and the reference network device at a second time point.

[0340] The i-th accumulated phase deviation is the phase compensation value of the i-th accumulated phase difference among the N first accumulated phase differences. In this way, the radio frequency initial phase of the calibration terminal device is eliminated, and the synchronization error between different stations is compensated. For the specific principle, please refer to the following related description.

[0341] The following describes a possible implementation manner in which the second network device performs positioning for the terminal device by referring to the first information and at least one accumulated phase deviation.

[0342] With reference to the above related description of Figure 7, it can be seen that a calibration terminal device whose position is accurately known is introduced into the network, the radio frequency initial phase of the calibration terminal device is removed by using the calibration terminal device, and the synchronization error between different TRPs is calibrated by using the calibration terminal device.

[0343] In a phase-based positioning process, the terminal device usually needs to continuously track the phase and accurately track the terminal device by using the accumulated amount of the phase with respect to time. The terminal device may determine N first accumulated phase differences. For example, the i-th first accumulated phase difference among the N first accumulated phase differences is expressed by the above Equation 1.

[0344] The i-th accumulated phase deviation among the above N accumulated phase deviations may be expressed as follows:

number

[0345] θ ij (t1) represents the i-th first phase deviation among the N first phase deviations. θ ij For details about (t1), see the relevant explanation above. ij (t 10 θ ) represents the i-th fourth phase deviation among the N fourth phase deviations. ij (t 10 ) is the i-th fifth phase deviation θ out of N fifth phase deviations i (t 10 ) and the sixth phase deviation θ j (t 10 ) is the difference between

[0346] Based on the above Equation 1, it can be seen that the i-th first cumulative phase difference ratio among the N first cumulative phase difference ratios may be expressed as follows:

number

[0347] With reference to the scenario shown in FIG. 10, the following shows a possible implementation manner in which the second network device performs positioning for the terminal device. TRP1 is the reference network device, and TRP2 to TRP5 are the measurement network devices. The second network device may establish a set of the following multiple equations by using the acquired measurement quantities:

number

[0348] In the above formula 18, TRP2 is the first measurement network device among the N measurement network devices. 21 is the first equivalent distance change amount of the N first equivalent distance changes, that is, the distance from the terminal device to TRP1 and TRP2 at the first time point t1 and the distance from the terminal device to TRP1 and TRP2 at the second time point t 10 represents the difference between the distance from the terminal device to TRP1 and TRP2 at

number

number

[0349] In the above equation 19, TRP3 is the second measurement network device among the N measurement network devices. 31 is the second first equivalent distance change amount of the N first equivalent distance changes, that is, the distance from the terminal device to TRP1 and TRP3 at the first time point t1 and the distance from the terminal device to TRP1 and TRP3 at the second time point t 10 represents the difference between the distance from the terminal device to TRP1 and TRP3 at

number

number

[0350] In the above formula 20, TRP4 is the third measurement network device among the N measurement network devices. 41 is the third first equivalent distance change amount among the N first equivalent distance changes, that is, the distance from the terminal device to TRP1 and TRP4 at the first time point t1 and the distance from the terminal device to TRP1 and TRP4 at the second time point t 10 represents the difference between the distance from the terminal device to TRP1 and TRP4 at

number

number

[0351] In the above formula 21, TRP5 is the fourth measurement network device among the N measurement network devices. 51 is the fourth first equivalent distance change amount among the N first equivalent distance changes, that is, the distance from the terminal device to TRP1 and TRP5 at the first time point t1 and the distance from the terminal device to TRP1 and TRP5 at the second time point t 10 represents the difference between the distance from the terminal device to TRP1 and TRP5 at

number

number

[0352] The second network device may obtain the location of the terminal device at the first time point and the location of the terminal device at the second time point through calculations referring to Equations 18 to 21. Specifically, the second network device may calculate the location of the terminal device at the first time point and the location of the terminal device at the second time point by using the following Equation 22:

number

[0353] In Equation 22, Δd ij xy (x1, y1, x2, y2) represents the difference between the distance from the terminal device position (x1, y1) to the i-th TRP and TRP1 of the N measured network devices at the first time point and the distance from the terminal device position (x2, y2) to the i-th TRP and TRP1 of the N measured network devices at the second time point. σ i 2represents the coefficient of variation of the i-th TRP of the N measuring network devices. The coefficient of variation is related to the channel quality between the terminal device and the i-th TRP of the N measuring network devices. A better channel quality between the terminal device and the i-th TRP of the N measuring network devices corresponds to a higher received energy of the signal of the i-th TRP of the N measuring network devices received by the terminal device, and a smaller σ i 2 Shows.

[0354] In the above formula 22, the second network device may search for the position (x1, y1) of the terminal device at the first time point and the position (x2, y2) of the terminal device at the second time point, and the second network device may calculate the position (x1, y1) of the terminal device at the first time point and the position (x2, y2) of the terminal device at the second time point as Δd ij xy One may substitute for (x1, y1, x2, y2) so that equation 14 above is minimized. Therefore, it turns out that (x1, y1, x2, y2) is (x1', y1', x2', y2') in equation 14 above.

[0355] It can be seen that in the above implementation manner, the second network device receives first information from the terminal device. The second network device obtains N accumulated phase deviations. Then, the second network device performs positioning for the terminal device based on the first information and the N accumulated phase deviations. The terminal device reports at least one first accumulated phase difference, at least one first equivalent distance change amount, at least one first accumulated phase difference rate or at least one first equivalent distance change rate, so that error effects such as the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the multiple first network devices can be eliminated, and the accumulated phase deviation caused by the linear drift of each first network device with respect to time can be further eliminated. Then, the second network device performs positioning for the terminal device by referring to the first information reported by the terminal device and the information reported by the calibration terminal device. This realizes compensation of the synchronization error between different first network devices, thereby realizing high-precision positioning for the terminal device.

[0356] 3. The at least one first network device includes one or more first network devices, and the first information includes at least one phase difference, or the first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change amount, or the first information includes at least one of the following: at least one second accumulated phase difference rate or at least one second equivalent distance change rate.

[0357] The at least one phase difference includes at least one of the following: a phase difference between phases obtained by the terminal device by measuring positioning reference signals transmitted by each of the at least one first network device at different time points, or a phase difference between phases of a first path of the channel obtained by the terminal device by measuring positioning reference signals transmitted by each of the at least one first network device at different time points, or a phase difference at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by each of the at least one first network device at different time points.

[0358] Below, an explanation is provided by using an example in which the at least one phase difference includes a phase difference between phases obtained by the terminal device by measuring positioning reference signals transmitted by each of the at least one first network device at different times.

[0359] With reference to Figures 8 and 9, the following describes several possible implementation manners for the second network device to perform positioning for the terminal device based on the first information.

[0360] Referring to FIG. 8, the terminal device detects the following four phase differences 3:

number

number

[0361] The second network device obtains the distance difference Δd1, the distance difference Δd2, the distance difference Δd3 and the distance difference Δd4 through calculation by using the four phase differences 3 reported by the terminal device. The distance difference Δd1 is the distance from the terminal device to the TRP1 at the first time point t1 and the distance difference Δd2 at the second time point t 10 The distance difference Δd2 is the difference between the distance from the terminal device to TRP2 at the first time point t1 and the distance from the terminal device to TRP2 at the second time point t 10 The distance difference Δd3 is the difference between the distance from the terminal device to TRP3 at the first time point t1 and the distance from the terminal device to TRP3 at the second time point t 10 The distance difference Δd4 is the difference between the distance from the terminal device to TRP4 at the first time point t1 and the distance from the terminal device to TRP3 at the second time point t 10 between the distance from the terminal device to TRP4 at Δd1, Δd2, Δd3, and Δd4. Hereinafter, the distance difference Δd1, the distance difference Δd2, the distance difference Δd3, and the distance difference Δd4 will be expressed separately by using the formulas.

number

[0362] The second network device determines the location of the terminal device at the first time point t1 and the location of the terminal device at the second time point t2 through calculations using Equations 23 to 26. 10 Specifically, the second network device may obtain the location of the terminal device at the first time point t1 and the location of the terminal device at the second time point t2 by using the following Equation 27: 10 and the position of the terminal device at

number

[0363] In the above formula 27, Δ diff b(x1, y1, x2, y2) represents the difference between the distance from the terminal device position (x1, y1) to the b-th TRP at the first time point and the distance from the terminal device position (x2, y2) to the b-th TRP at the second time point. σ b 2 is σ i 2 is the same as. For details, please refer to the above related description. The details will not be described again here. b is an integer equal to or greater than 1 and equal to or less than the number of one or more first network devices. λ is a wavelength corresponding to the frequency of the carrier signal carrying the positioning reference signal of the TRP. Here, an example is used for the description in which the wavelength corresponding to the frequency of the carrier signal carrying the positioning reference signal of each TRP is λ.

[0364] In the above formula 27, the second network device may search for the position (x1, y1) of the terminal device at the first time point and the position (x2, y2) of the terminal device at the second time point, and the second network device may calculate the position (x1, y1) of the terminal device at the first time point and the position (x2, y2) of the terminal device at the second time point as Δd diff b may be substituted into (x1, y1, x2, y2) such that equation 27 above is minimized. Thus, (x1, y1, x2, y2) is (x1', y1', x2', y2') in equation 27 above.

[0365] In the scenario shown in Figure 8, it can be seen that when the synchronization error between the terminal device and the TRP is fixed at different time points, the terminal device reports P phase differences 3 to eliminate the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the TRP. In this way, the second network device determines the position of the terminal device at the first time point and the position of the terminal device at the second time point by using the P phase differences 3 reported by the terminal device. In this way, high-precision positioning of the terminal device is realized.

[0366] Refer to Figure 9. If all of TRP1 to TRP4 satisfy the clock linear drift model, the synchronization error between the terminal device and the bth TRP may be expressed as follows:

number

[0367] a b represents the deviation of the clock drift rate between the terminal device and the bth TRP. period represents an absolute time interval. k represents a fixed time offset.

[0368] According to the linear clock model, it can be seen that the phase difference of 3 includes a linear synchronization error. For example, the terminal device has a clock signal at time t1 and a clock signal at time t 10 Measure the phase difference between the phases of the positioning reference signals separately transmitted by the b-th TRP in the b-th TRP. The details are shown in Equation 29.

number

[0369]

number

number

number

[0370]

number

number

[0371] From the above Equation 29 and Equation 30, it can be seen that the phase difference 3 includes a linear synchronization error. In order to eliminate the influence of the linear clock drift error on the positioning accuracy, the second network device or the terminal device calculates the second accumulated phase difference 3 through calculation with reference to Equation 29 and Equation 30.

number

number

number

[0372] The linear clock drift error is the difference between t1 and t 10 The time interval between 10 and 20 The second cumulative phase change rate may be expressed as:

number

[0373] For example, the terminal device may receive the following information:

number

number

number

number

number

[0374] The second network device may refer to the information reported by the terminal device to determine the following second equivalent distance change amount ▽d1, second equivalent distance change amount ▽d2, second equivalent distance change amount ▽d3 and second equivalent distance change amount ▽d4.

[0375] The second equivalent distance change ▽d1 is the difference between Δd1 and Δd5, where Δd5 is the distance change at the second time t 10 the distance from the terminal device to TRP1 at the third time point t 20 For example, as shown in FIG. 9, Δd1=d2 1 -d1 1 And Δd5=d3 1 -d2 1 It is.

[0376] The second equivalent distance change ▽d2 is the difference between Δd2 and Δd6, where Δd6 is the distance change at the second time t 10 the distance from the terminal device to TRP2 at the third time point t 20 For example, as shown in FIG. 9, Δd2=d2 2 -d1 2And Δd6=d3 2 -d2 2 It is.

[0377] The second equivalent distance change ▽d3 is the difference between Δd3 and Δd7, where Δd7 is the distance change at the second time t 10 the distance from the terminal device to TRP3 at the third time point t 20 For example, as shown in Figure 9, Δd3=d2 3 -d1 3 And Δd7=d3 3 -d2 3 It is.

[0378] The second equivalent distance change ▽d4 is the difference between Δd4 and Δd8, where Δd8 is the distance change at the second time t 10 the distance from the terminal device to TRP4 at the third time point t 20 For example, as shown in FIG. 9, Δd4=d2 4 -d1 4 And Δd8=d3 4 -d2 4 It is.

[0379] As shown in FIG. 9, the second equivalent distance change amount ▽d1, the second equivalent distance change amount ▽d2, the second equivalent distance change amount ▽d3, and the second equivalent distance change amount ▽d4 are expressed below with reference to the formulas.

number

[0380] The second network device calculates the first time point t1, the second time point t2, and the 10 and at the third time t 20 Specifically, the second network device may calculate the positions of the terminal device at the first time point, the second time point and the third time point by using the following Equation 41:

number

[0381] Δ diff b (x2,y2,x3,y3) is the second time point t 10 The distance from the terminal device to the b-th TRP at the third time point t 20 represents the difference between the distance from the terminal device to the bth TRP at the second time point t 10 The position of the terminal device at time t is (x2, y2), and at the third time t 20 The position of the terminal device in is (x3, y3). Δ diff b (x1, y1, x2, y2) is the distance from the terminal device to the bth TRP at the first time point t1 and the distance from the terminal device to the bth TRP at the second time point t 10 The position of the terminal device at the first time t1 is (x1, y1), and the distance from the terminal device to the bth TRP at the second time t 10 The position of the terminal device in is (x2, y2). σ b 2 For , please refer to the above related description. Details will not be described again here. λ is the wavelength corresponding to the frequency of the carrier signal carrying the positioning reference signal of the TRP. Here, an example is used for the description in which the wavelength corresponding to the frequency of the carrier signal carrying the positioning reference signal of each TRP is λ.

[0382] In formula 41, the second network device may search for the position (x1, y1) of the terminal device at the first time point, the position (x2, y2) of the terminal device at the second time point, and the position (x3, y3) of the terminal device at the third time point, and the second network device may calculate the position (x1, y1) of the terminal device at the first time point, the position (x2, y2) of the terminal device at the second time point, and the position (x3, y3) of the terminal device at the third time point as Δd diff b (x2, y2, x3, y3) and Δd diff bmay be substituted for (x1, y1, x2, y2) so that equation 41 above is minimized. Thus, (x1, y1, x2, y2, x3, y3) is (x1', y1', x2', y2', x3', y3') in equation 28 above.

[0383] It should be noted that the positioning method shown in Fig. 9 may also be extended to the first accumulated phase difference between stations or the first accumulated phase difference rate between stations. The second network device may perform positioning for the terminal device based on the first accumulated phase difference between stations or the first accumulated phase difference rate between stations with reference to the positioning method shown in Fig. 9. This is not particularly limited in this application.

[0384] In the above implementation, in the scenario shown in Fig. 9, the second network device performs positioning for the terminal device based on at least one second accumulated phase difference provided by the terminal device. In this method, based on the property that the time drift error contained in the phase difference 3 changes linearly with respect to time, the influence of the time drift error is eliminated through the difference based on the phase difference 3. The phase difference 3 can eliminate the radio frequency initial phase of the terminal device and the synchronization error between the terminal device and the TRP. The second accumulated phase difference can further eliminate the influence of the time drift error. The second network device may realize high-precision positioning for the terminal device based on at least one second accumulated phase difference or at least one second accumulated phase difference rate reported by the terminal device. The participation of the calibration terminal device is not required. This avoids the difficulties caused by deployment.

[0385] Therefore, the technical solution of this application can effectively avoid the impact of errors caused by synchronization errors and clock drift between stations on positioning accuracy, thereby helping to improve the positioning accuracy of cellular communication systems.

[0386] In an embodiment of this application, the terminal device measures a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference. Then, the terminal device transmits first information to the second network device, where the first information includes at least one phase difference, or the first information is determined based on at least one phase difference. It can be seen that the first information provided by the terminal device is determined with reference to at least one phase difference, which is helpful to eliminate synchronization errors between the terminal device and the first network device and synchronization errors between different first network devices. This helps the second network device to perform accurate positioning for the terminal device with reference to the first information. For example, in a cellular communication system, the second network device can perform accurate positioning for the terminal device according to the technical solution in this application. This avoids the problem that positioning accuracy is reduced due to synchronization errors between the terminal device and the first network device and synchronization errors between different first network devices.

[0387] A communication device provided in an embodiment of this application is described below. Please refer to Fig. 12. Fig. 12 is a structural diagram of a communication device according to an embodiment of this application. The communication device may be configured to execute the steps performed by the terminal device in the embodiment shown in Fig. 6. For details, please refer to the relevant descriptions in the above method embodiment.

[0388] The communications device 1200 includes a transceiver module 1201 and a processing module 1202 .

[0389] The transceiver module 1201 may implement a corresponding communication function, and may also be referred to as a communication interface or a communication unit. The processing module 1202 is configured to perform processing operations.

[0390] Optionally, the communication device 1200 may further include a storage module. The storage module may be configured to store instructions and / or data. The processing module 1202 may read the instructions and / or data in the storage module, thereby causing the communication device to implement an embodiment of the method shown in FIG.

[0391] The communication device 1200 may be configured to perform the operations performed by the terminal device in the above method embodiments. The communication device 1200 may be a terminal device or a component that can be disposed in a terminal device. The transceiver module 1201 is configured to perform the reception-related operations of the terminal device in the above method embodiments, and the processing module 1202 is configured to perform the processing-related operations of the terminal device in the above method embodiments.

[0392] Optionally, the transceiver module 1201 may include a transmitting module and a receiving module. The transmitting module is configured to perform a transmitting operation of the terminal device in the embodiment of the method shown in FIG. 6. The receiving module is configured to perform a receiving operation of the terminal device in the embodiment of the method shown in FIG. 6.

[0393] It should be noted that the communication device 1200 may include a transmitting module but not a receiving module. Alternatively, the communication device 1200 may include a receiving module but not a transmitting module. This may be specifically determined depending on whether the above solution performed by the communication device 1200 includes a transmitting operation and a receiving operation.

[0394] For example, the communications device 1200 may be configured to implement the following solutions.

[0395] The processing module 1202 is configured to measure a positioning reference signal transmitted by the at least one first network device to obtain at least one phase difference.

[0396] The transceiver module 1201 is configured to transmit first information to the second network device, the first information including at least one phase difference or the first information being determined based on the at least one phase difference.

[0397] In a possible implementation, the at least one first network device includes a reference network device and at least one measurement network device, and the at least one phase difference is one of the following: a phase difference between a phase obtained by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device; or a phase difference between a phase of a first path of the channel acquired by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel acquired by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device; or A phase difference at the same frequency between the frequency domain channel coefficients obtained by the communication device 1200 by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients obtained by the communication device 1200 by measuring the positioning reference signal transmitted by at least one measurement network device. Includes at least one of the following:

[0398] In another possible implementation, the at least one first network device includes one first network device, and the at least one phase difference is one of the following: a phase difference between the phases obtained by the communication apparatus 1200 by measuring the positioning reference signals transmitted by the first network device at different times, or a phase difference between the phases of the first path of the channel obtained by the communication apparatus 1200 by measuring the positioning reference signal transmitted by the first network device at different times; or Phase differences at the same frequency between frequency domain channel coefficients obtained by the communication device 1200 by measuring positioning reference signals transmitted by the first network device at different times. Includes at least one of the following:

[0399] In another possible implementation, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change; The at least one first accumulated phase difference is: a cumulative amount over time of the phase difference between the phase obtained by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device; or or an accumulated amount over time of a phase difference between a phase of a first path of a channel acquired by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of a channel acquired by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device; or A cumulative amount of phase difference over time between a frequency domain channel coefficient obtained by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device at the same frequency. At least one of The at least one first equivalent distance change amount includes a change over time in a distance difference between a distance from the communication device 1200 to a reference network device and a distance from the communication device 1200 to the at least one measured network device.

[0400] In another possible realization, the at least one first equivalent distance change is determined based on at least one first accumulated phase difference.

[0401] In another possible implementation, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first cumulative phase difference rate or at least one first equivalent distance change rate; The at least one first cumulative retardation ratio is: an accumulated amount over a unit time of a phase difference between a phase obtained by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and a phase obtained by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device; or an accumulated amount over a unit time of a phase difference between a phase of a first path of a channel acquired by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of a channel acquired by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device; or A cumulative amount of phase difference over unit time at the same frequency between frequency domain channel coefficients obtained by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and a positioning reference signal transmitted by at least one measurement network device. At least one of The at least one first equivalent distance change rate includes a change per unit time in a distance difference between a distance from the communication device 1200 to a reference network device and a distance from the communication device 1200 to the at least one measured network device.

[0402] In another possible implementation, the at least one first equivalent distance change rate is determined based on the at least one first accumulated phase difference rate.

[0403] In another possible implementation, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change; The at least one second accumulated phase difference is: a cumulative amount over time of the phase difference between the phases obtained by the communication apparatus 1200 by measuring the positioning reference signal transmitted by the first network device at different times; or a cumulative amount over time of the phase difference between the phases of the first paths of the channel obtained by the communication apparatus 1200 by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase difference over time at the same frequency between frequency domain channel coefficients obtained by the communication device 1200 by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change amount includes a change over time in the distance difference between the distances from the communication apparatus 1200 to the first network device at different times.

[0404] In another possible realization, the at least one second equivalent distance change amount is determined based on at least one second accumulated phase difference.

[0405] In another possible implementation, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second accumulated phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: a cumulative amount over unit time of the phase difference between the phases obtained by the communication apparatus 1200 by measuring the positioning reference signal transmitted by the first network device at different times; or a cumulative amount over unit time of the phase difference between the phases of the first paths of the channel obtained by the communication apparatus 1200 by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase differences over a unit time at the same frequency between frequency domain channel coefficients obtained by the communication device 1200 by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change rate is the amount of change over time of the distance difference between the distances from the communication apparatus 1200 to the first network device at different times.

[0406] In another possible implementation, the at least one second equivalent distance change rate is determined based on the at least one second accumulated phase difference rate.

[0407] A communication device provided in an embodiment of this application is described below. Please refer to Fig. 13. Fig. 13 is a structural diagram of a communication device according to an embodiment of this application. The communication device may be configured to perform the steps performed by the second network device in the embodiment shown in Fig. 6. For details, please refer to the related descriptions in the above method embodiment.

[0408] The communications device 1300 includes a transceiver module 1301 and a processing module 1302 .

[0409] The transceiver module 1301 may implement a corresponding communication function, and may also be referred to as a communication interface or a communication unit. The processing module 1302 is configured to perform processing operations.

[0410] Optionally, the communication device 1300 may further include a storage module. The storage module may be configured to store instructions and / or data. The processing module 1302 may read the instructions and / or data in the storage module, thereby causing the communication device to implement an embodiment of the method shown in FIG.

[0411] The communication device 1300 may be configured to perform the operations performed by the terminal device in the above method embodiments. The communication device 1300 may be a second network device or a component that can be located in the second network device. The transceiver module 1301 is configured to perform the reception-related operations of the second network device side in the above method embodiments, and the processing module 1302 is configured to perform the processing-related operations of the second network device side in the above method embodiments.

[0412] Optionally, the transceiver module 1301 may include a transmitting module and a receiving module. The transmitting module is configured to perform a transmitting operation of the second network device in the embodiment of the method shown in FIG. 6. The receiving module is configured to perform a receiving operation of the second network device in the embodiment of the method shown in FIG. 6.

[0413] It should be noted that the communication device 1300 may include a transmitting module but not a receiving module. Alternatively, the communication device 1300 may include a receiving module but not a transmitting module. This may be specifically determined depending on whether the above solution performed by the communication device 1300 includes a transmitting operation and a receiving operation.

[0414] For example, the communications device 1300 may be configured to implement the following solutions.

[0415] The transceiver module 1301 is configured to receive first information from a terminal device, the first information including at least one phase difference, or the first information is determined based on at least one phase difference, the at least one phase difference being obtained by the terminal device by measuring a positioning reference signal transmitted by at least one first network device.

[0416] The processing module 1302 is configured to perform positioning for the terminal device based on the first information.

[0417] In a possible implementation, the at least one first network device includes a reference network device and at least one measurement network device, and the at least one phase difference is one of the following: a phase difference between the phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device, or a phase difference between a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A phase difference at the same frequency between the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by at least one measurement network device. Includes at least one of the following:

[0418] In another possible implementation, the at least one first network device includes one first network device, and the at least one phase difference is one of the following: a phase difference between the phases obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or a phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or Phase differences at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. Includes at least one of the following:

[0419] In another possible implementation, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change; The at least one first accumulated phase difference is: an accumulated amount over time of the phase difference between the phase obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and the phase obtained by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or an accumulated amount over time of a phase difference between a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A cumulative amount of phase difference over time between a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by a reference network device and a frequency domain channel coefficient obtained by a terminal device by measuring a positioning reference signal transmitted by at least one measurement network device at the same frequency. At least one of The at least one first equivalent distance change amount includes a change over time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0420] In another possible realization, the at least one first equivalent distance change is determined based on at least one first accumulated phase difference.

[0421] In another possible implementation, the at least one first network device includes a reference network device and at least one measuring network device, and the first information includes at least one of the following: at least one first cumulative phase difference rate or at least one first equivalent distance change rate; The at least one first cumulative retardation ratio is: an accumulated amount over unit time of the phase difference between the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the phase obtained by the terminal device by measuring the positioning reference signal transmitted by at least one measuring network device; or an accumulated amount over a unit time of a phase difference between a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase of a first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measuring network device; or A cumulative amount of phase differences in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a positioning reference signal transmitted by at least one measuring network device. At least one of The at least one first equivalent distance change rate includes a change amount per unit time of a distance difference between a distance from the terminal device to a reference network device and a distance from the terminal device to the at least one measurement network device.

[0422] In another possible implementation, the at least one first equivalent distance change rate is determined based on the at least one first accumulated phase difference rate.

[0423] In another possible implementation, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change; The at least one second accumulated phase difference is: a cumulative amount over time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or a cumulative amount over time of the phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase difference over time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change amount includes a change over time of a distance difference between the distances from the terminal device to the first network device at different times.

[0424] In another possible realization, the at least one second equivalent distance change amount is determined based on at least one second accumulated phase difference.

[0425] In another possible implementation, the at least one first network device includes one first network device, and the first information includes at least one of the following: at least one second accumulated phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: a cumulative amount over unit time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or an accumulated amount over unit time of the phase difference between the phases of the first paths of the channel obtained by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase differences in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of The at least one second equivalent distance change rate is a change over time of the distance difference between the distances from the terminal device to the first network device at different times.

[0426] In another possible implementation, the at least one second equivalent distance change rate is determined based on the at least one second accumulated phase difference rate.

[0427] In another possible implementation, the processing module 1302 may: Specifically configured to perform positioning for the terminal device based on the first information and at least one phase deviation, the at least one phase deviation including a phase deviation between different first network devices among the at least one first network device obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one phase deviation reported by the calibration terminal device.

[0428] In another possible implementation, the transceiver module 1301 may include: It is further configured to receive at least one phase deviation from the calibration terminal device. In another possible implementation, the processing module 1302 may: Specifically configured to perform positioning for the terminal device based on the first information and at least one accumulated phase deviation, the at least one accumulated phase deviation including an accumulated amount over time of phase deviation between different first network devices among the at least one first network device obtained by the calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one accumulated phase deviation reported by the calibration terminal device.

[0429] In another possible implementation, the transceiver module 1301 may include: It is further configured to receive at least one accumulated phase deviation from the calibration terminal device.

[0430] FIG. 14 below is a diagram of a possible structure of a terminal device.

[0431] Figure 14 is a simplified diagram of the structure of a terminal device. For ease of understanding and illustration, an example in which the terminal device is a mobile phone is used in Figure 14. As shown in Figure 14, the terminal device includes a processor, a memory, a radio frequency circuit, an antenna, and an input / output device.

[0432] The processor is primarily configured to process communication protocols and communication data, control terminal devices, execute software programs, process data of software programs, and the like.

[0433] The memory is primarily configured to store software programs and data.

[0434] The radio frequency circuitry is primarily configured to perform conversion between baseband signals and radio frequency signals, and to process the radio frequency signals.

[0435] Antennas are primarily configured to receive and transmit radio frequency signals in the form of electromagnetic waves.

[0436] An input / output device, such as a touch screen, a display or a keyboard, is primarily configured to receive data input by a user and output data to the user.

[0437] It should be noted that some types of terminal devices may not have input / output devices.

[0438] When data needs to be transmitted, after performing baseband processing on the data to be transmitted, the processor outputs the baseband signal to the radio frequency circuit, which performs radio frequency processing on the baseband signal, and then transmits the radio frequency signal to the outside in the form of electromagnetic waves through an antenna. When data is transmitted to a terminal device, the radio frequency circuit receives the radio frequency signal through an antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal into data and processes the data.

[0439] For ease of explanation, FIG. 14 shows only one memory and one processor. In an actual terminal device product, there may be one or more processors and one or more memories. The memory may also be referred to as a storage medium, a storage device, etc. The memory may be located independently of the processor, or may be integrated with the processor. This is not limited to the embodiment of this application.

[0440] In this embodiment of the application, the antenna and the radio frequency circuit having the transmitting and receiving functions may be considered as a transceiver unit of the terminal device, and the processor having the processing function may be considered as a processing unit of the terminal device. As shown in FIG. 14, the terminal device includes a transceiver unit 1410 and a processing unit 1420. The transceiver unit may also be called a transceiver machine, a transceiver, a transceiver device, etc. The processing unit may also be called a processor, a processing board, a processing module, a processing device, etc.

[0441] Optionally, components in the transceiver unit 1410 and configured to realize a receiving function may be considered as a receiving unit, and components in the transceiver unit 1410 and configured to realize a transmitting function may be considered as a transmitting unit. In other words, the transceiver unit 1410 includes a receiving unit and a transmitting unit. The transceiver unit may also be referred to as a transceiver machine, a transceiver, a transceiver circuit, etc. The receiving unit may also be referred to as a receiver machine, a receiver, a receiving circuit, etc. The transmitting unit may also be referred to as a transmitter machine, a transmitter, a transmitting circuit, etc.

[0442] It should be understood that the transceiver unit 1410 is configured to perform transmitting and receiving operations of the terminal device in the above method embodiments, and the processing unit 1420 is configured to perform operations other than receiving and transmitting operations for the terminal device in the above method embodiments.

[0443] When the terminal device is a chip, the chip includes a transceiver unit and a processing unit. The transceiver unit can be an input / output circuit or a communication interface. The processing unit can be a processor, a microprocessor, an integrated circuit or a logic circuit integrated in the chip.

[0444] This application further provides a communication device. Figure 15 is another structural diagram of the communication device according to an embodiment of this application. The communication device may be configured to perform the steps performed by the second network device in the embodiment shown in Figure 6. For details, please refer to the related description in the above method embodiment.

[0445] The communication device includes a processor 1501. Optionally, the communication device further includes a memory 1502 and a transceiver 1503.

[0446] In a possible implementation, the processor 1501, the memory 1502 and the transceiver 1503 are separately connected using a bus, the memory storing computer instructions.

[0447] The processing module 1302 in the above embodiment may specifically be the processor 1501 in this embodiment. Therefore, the specific implementation of the processor 1501 is not described again. The transceiver module 1301 in the above embodiment may specifically be the transceiver 1503 in this embodiment. Therefore, the specific implementation of the transceiver 1503 is not described again.

[0448] An embodiment of the present application further provides a communication system. The communication system includes a terminal device and a second network device. The terminal device is configured to perform all or part of the steps performed by the terminal device in the embodiment shown in Figure 6. The second network device is configured to perform all or part of the steps performed by the second network device in the embodiment shown in Figure 6.

[0449] An embodiment of the present application further provides a computer program product including instructions, which, when executed on a computer, enables the computer to perform the communication method in the embodiment shown in FIG.

[0450] An embodiment of this application further provides a computer-readable storage medium containing computer instructions, which, when executed on a computer, enable the computer to perform the method in the embodiment shown in FIG.

[0451] An embodiment of the present application further provides a chip device including a processor connected to the memory and configured to call a program stored in the memory, thereby causing the processor to execute the method in the embodiment shown in FIG.

[0452] Any of the above processors may be a general purpose central processing unit, a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits configured to control program execution of the method in the embodiment shown in Figure 6. Any of the above memories may be read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), etc.

[0453] For the purpose of convenient and concise description, the detailed operation processes of the above systems, devices and units may be clearly understood by those skilled in the art by referring to the corresponding processes in the above method embodiments, and the details will not be described again here.

[0454] In some embodiments provided in this application, it should be understood that the disclosed system, device, and method may be realized in other ways. For example, the described device embodiment is merely an example. For example, the division into units is merely a logical division of functions. In actual implementation, other division ways may exist. For example, multiple units or components may be combined or integrated into other systems, or some features may be ignored or not implemented. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be realized through some interfaces, and the indirect couplings or communication connections between the devices or units may be realized in electrical, mechanical, or other forms.

[0455] The units described as separate parts may or may not be physically separate, and the parts shown as units may or may not be physical units, and may be located in one place or distributed among multiple network units. Some or all of the units may be selected according to actual requirements to achieve the objectives of the solutions in the embodiments.

[0456] Furthermore, the functional units in the embodiments of this application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The integrated unit may be realized in the form of hardware or in the form of a software functional unit.

[0457] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, the integrated unit may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of this application may be essentially, or the contributing part or all or part of the technical solution may be realized in the form of a software product. The computer software product is stored in a storage medium and includes some instructions for instructing a computer device (which may be a personal computer, a server or a network device) to execute all or part of the steps of the method described in the embodiments of this application. The above storage medium includes any medium that can store program code, such as a USB flash drive, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk.

[0458] The above embodiments are merely used to describe the technical solutions of this application, and do not limit the technical solutions of this application. Although this application is described in detail with reference to the above embodiments, it should be understood that those skilled in the art may still modify the technical solutions described in the above embodiments, or perform equivalent substitutions for some technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the scope of the technical solutions in the embodiments of this application.

Claims

1. A positioning information determination method, comprising: measuring, by the terminal device, a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference; transmitting, by the terminal device, first information to a second network device, the first information including the at least one phase difference or the first information being determined based on the at least one phase difference; The method includes:

2. 1. A positioning method, comprising: receiving, by a second network device, first information from a terminal device, the first information comprising at least one phase difference or the first information being determined based on the at least one phase difference, the at least one phase difference being obtained by the terminal device by measuring a positioning reference signal transmitted by at least one first network device; performing, by the second network device, positioning for the terminal device based on the first information; The method includes:

3. the at least one first network device includes a reference network device and at least one measurement network device; The at least one phase difference is: a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the at least one measurement network device; or a phase difference between a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the at least one measurement network device; or a phase difference at the same frequency between the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the at least one measurement network device; The method according to claim 1 or 2, comprising at least one of the following:

4. 4. The method of claim 3, wherein the at least one phase difference is a phase difference obtained by the terminal device by measuring positioning reference signals transmitted by the at least one first network device at a same point in time.

5. 5. The method of claim 4, wherein the same point in time comprises a same Orthogonal Frequency Division Multiplexing (OFDM) symbol, a same slot, a same subslot, a same subframe, a same frame, a same measurement window, a same measurement gap, a same Positioning Reference Signal (PRS) processing window, a same reference signal cycle, or a same uplink-downlink switching cycle.

6. The method according to claim 3 , wherein the at least one phase difference is associated with the same time stamp.

7. The at least one first network device includes one first network device, and the at least one phase difference is one of the following: a phase difference between phases obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times; or a phase difference between phases of a first path of a channel obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times; or Phase differences at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. The method according to claim 1 or 2, comprising at least one of the following:

8. the at least one first network device includes a reference network device and at least one measurement network device; The first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change; The at least one first accumulated phase difference is: a cumulative amount over time of a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the at least one measuring network device; or an accumulated amount over time of a phase difference between a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the at least one measurement network device; or a cumulative amount of phase difference over time between a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a frequency domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the at least one measurement network device at the same frequency; At least one of 3. The method of claim 1, wherein the at least one first equivalent distance change amount comprises a change over time of a distance difference between a distance from the terminal device to the reference network device and a distance from the terminal device to the at least one measurement network device.

9. The method of claim 8 , wherein the at least one first equivalent distance change amount is determined based on the at least one first accumulated phase difference.

10. the at least one first network device includes a reference network device and at least one measurement network device; The first information includes at least one of the following: at least one first cumulative phase difference rate or at least one first equivalent distance change rate; The at least one first cumulative retardation ratio is: an accumulated amount over unit time of a phase difference between a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a phase obtained by the terminal device by measuring a positioning reference signal transmitted by the at least one measuring network device; or an accumulated amount over a unit time of a phase difference between a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a phase of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the at least one measurement network device; or an accumulated amount of phase difference in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device and a positioning reference signal transmitted by the at least one measurement network device; At least one of 3. The method of claim 1, wherein the at least one first equivalent distance change rate comprises a change in a distance difference between a distance from the terminal device to the reference network device and a distance from the terminal device to the at least one measurement network device per unit time.

11. The method of claim 10 , wherein the at least one first equivalent distance change rate is determined based on the at least one first accumulated phase difference rate.

12. the at least one first network device includes one first network device; The first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change; The at least one second accumulated retardation is: a cumulative amount over time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or a cumulative amount over time of the phase difference between the phases of the first paths of the channel acquired by the terminal device by measuring the positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase difference over time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of The method of claim 1 or 2, wherein the at least one second equivalent distance change amount comprises a change with time of a distance difference between distances from the terminal device to the first network device at different times.

13. The method of claim 12 , wherein the at least one second equivalent distance change is determined based on the at least one second accumulated phase difference.

14. the at least one first network device includes one first network device; The first information includes at least one of the following: at least one second cumulative phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: a cumulative amount over unit time of the phase difference between the phases obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at different times; or a cumulative amount over unit time of a phase difference between phases of a first path of a channel acquired by the terminal device by measuring a positioning reference signal transmitted by the first network device at different times; or A cumulative amount of phase differences in unit time at the same frequency between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times. At least one of 3. The method according to claim 1 or 2, wherein the at least one second equivalent distance change rate is a change per unit time of a distance difference between distances from the terminal device to the first network device at different times.

15. The method of claim 14 , wherein the at least one second equivalent distance change rate is determined based on the at least one second accumulated phase difference rate.

16. The step of performing positioning for the terminal device based on the first information by the second network device includes:

16. The method according to claim 2, further comprising: a step of performing, by the second network device, positioning for the terminal device based on the first information and at least one phase deviation, the at least one phase deviation including a phase deviation between different first network devices of the at least one first network device obtained by a calibration terminal device by measuring the positioning reference signal transmitted by the at least one first network device, the at least one phase deviation being reported by the calibration terminal device.

17. The step of performing positioning for the terminal device based on the first information by the second network device includes:

16. The method of claim 2, further comprising: a step of performing positioning for the terminal device by the second network device based on the first information and at least one accumulated phase deviation, the at least one accumulated phase deviation including an accumulated amount over time of phase deviation between different first network devices among the at least one first network device, obtained by a calibration terminal device by measuring the positioning reference signal transmitted by the at least one first network device, and the at least one accumulated phase deviation being reported by the calibration terminal device.

18. A first communication device including a transceiver module and a processing module, the transceiver module is configured to measure a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference; A first communication device, wherein the processing module is configured to transmit first information to a second network device, the first information including the at least one phase difference or the first information is determined based on the at least one phase difference.

19. A second communication device including a transceiver module and a processing module, the transceiver module is configured to receive first information from a terminal device, the first information including at least one phase difference, or the first information is determined based on the at least one phase difference, the at least one phase difference being obtained by the terminal device by measuring a positioning reference signal transmitted by at least one first network device; A second communications apparatus, wherein the processing module is configured to perform positioning for the terminal device based on the first information.

20. the at least one first network device includes a reference network device and at least one measurement network device; The at least one phase difference is: a phase difference between a phase obtained by the first communication device by measuring a positioning reference signal transmitted by the reference network device and a phase obtained by the first communication device by measuring a positioning reference signal transmitted by the at least one measurement network device; or a phase difference between a phase of a first path of a channel acquired by the first communication device by measuring a positioning reference signal transmitted by the reference network device and a phase of a first path of a channel acquired by the first communication device by measuring a positioning reference signal transmitted by the at least one measurement network device; or a phase difference at the same frequency between the frequency domain channel coefficients obtained by the first communication device by measuring the positioning reference signal transmitted by the reference network device and the frequency domain channel coefficients obtained by the first communication device by measuring the positioning reference signal transmitted by the at least one measurement network device; The first communication device according to claim 18 or the second communication device according to claim 19, comprising at least one of:

21. The first communication device or the second communication device of claim 20, wherein the at least one phase difference is a phase difference obtained by the first communication device by measuring a positioning reference signal transmitted by the at least one first network device at the same time.

22. The first communication device or the second communication device of claim 21, wherein the same point in time includes the same orthogonal frequency division multiplexing (OFDM) symbol, the same slot, the same subslot, the same subframe, the same frame, the same measurement window, the same measurement gap, the same positioning reference signal (PRS) processing window, the same reference signal cycle, or the same uplink-downlink switching cycle.

23. 23. The first or second communication device according to any one of claims 20 to 22, wherein said at least one phase difference is associated with the same time stamp.

24. The at least one first network device includes one first network device, and the at least one phase difference is one of the following: a phase difference between phases obtained by the first communication apparatus by measuring positioning reference signals transmitted by the first network device at different times; or a phase difference between phases of a first path of a channel obtained by the first communication apparatus by measuring positioning reference signals transmitted by the first network device at different times; or Phase differences at the same frequency between frequency domain channel coefficients obtained by the first communication device by measuring positioning reference signals transmitted by the first network device at different times. The first communication device according to claim 18 or the second communication device according to claim 19, comprising at least one of:

25. the at least one first network device includes a reference network device and at least one measurement network device; The first information includes at least one of the following: at least one first accumulated phase difference or at least one first equivalent distance change; The at least one first accumulated phase difference is: a cumulative amount over time of a phase difference between a phase obtained by the first communication device by measuring a positioning reference signal transmitted by the reference network device and a phase obtained by the first communication device by measuring a positioning reference signal transmitted by the at least one measurement network device; or an accumulated amount over time of a phase difference between a phase of a first path of a channel acquired by the first communication device by measuring a positioning reference signal transmitted by the reference network device and a phase of a first path of a channel acquired by the first communication device by measuring a positioning reference signal transmitted by the at least one measurement network device; or A cumulative amount of phase difference over time between frequency domain channel coefficients obtained by the first communication device by measuring a positioning reference signal transmitted by the reference network device and frequency domain channel coefficients obtained by the first communication device by measuring a positioning reference signal transmitted by the at least one measurement network device at the same frequency. At least one of The first communication device of claim 18 or the second communication device of claim 19, wherein the at least one first equivalent distance change amount includes a change over time in a distance difference between a distance from the first communication device to the reference network device and a distance from the first communication device to the at least one measured network device.

26. 26. The first or second communication device according to claim 25, wherein the at least one first equivalent distance change is determined based on the at least one first accumulated phase difference.

27. the at least one first network device includes a reference network device and at least one measurement network device; The first information includes at least one of the following: at least one first cumulative phase difference rate or at least one first equivalent distance change rate; The at least one first cumulative retardation ratio is: an accumulated amount over unit time of a phase difference between a phase obtained by the first communication device by measuring a positioning reference signal transmitted by the reference network device and a phase obtained by the first communication device by measuring a positioning reference signal transmitted by the at least one measurement network device; or an accumulated amount over unit time of a phase difference between a phase of a first path of a channel acquired by the first communication device by measuring a positioning reference signal transmitted by the reference network device and a phase of a first path of a channel acquired by the first communication device by measuring a positioning reference signal transmitted by the at least one measurement network device; or an accumulative amount of phase difference over unit time at the same frequency between frequency domain channel coefficients obtained by the first communication device by measuring a positioning reference signal transmitted by the reference network device and a positioning reference signal transmitted by the at least one measurement network device; At least one of The first communication device of claim 18 or the second communication device of claim 19, wherein the at least one first equivalent distance change rate includes a change per unit time in a distance difference between a distance from the first communication device to the reference network device and a distance from the first communication device to the at least one measured network device.

28. 28. The first or second communication device of claim 27, wherein the at least one first equivalent distance change rate is determined based on the at least one first accumulated phase difference rate.

29. the at least one first network device includes one first network device; The first information includes at least one of the following: at least one second accumulated phase difference or at least one second equivalent distance change; The at least one second accumulated retardation is: a cumulative amount over time of the phase difference between phases obtained by the first communication apparatus by measuring positioning reference signals transmitted by the first network device at different times; or a cumulative amount over time of the phase difference between the phases of the first paths of the channel obtained by the first communication apparatus by measuring positioning reference signals transmitted by the first network device at different times; or A cumulative amount of phase difference over time at the same frequency between frequency domain channel coefficients obtained by the first communication apparatus by measuring positioning reference signals transmitted by the first network device at different times. At least one of The first communication device of claim 18 or the second communication device of claim 19, wherein the at least one second equivalent distance change amount includes a change over time in a distance difference between a distance from the first communication device to the first network device at different points in time.

30. 30. The first or second communication device according to claim 29, wherein the at least one second equivalent distance change is determined based on the at least one second accumulated phase difference.

31. the at least one first network device includes one first network device; The first information includes at least one of the following: at least one second cumulative phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: a cumulative amount over unit time of the phase difference between phases obtained by the first communication apparatus by measuring positioning reference signals transmitted by the first network device at different times; or a cumulative amount over unit time of a phase difference between phases of a first path of a channel acquired by the first communication apparatus by measuring a positioning reference signal transmitted by the first network device at different times; or A cumulative amount of phase differences over a unit time at the same frequency between frequency domain channel coefficients obtained by the first communication apparatus by measuring positioning reference signals transmitted by the first network device at different times. At least one of The first communication device of claim 18 or the second communication device of claim 19, wherein the at least one second equivalent distance change rate is a change per unit time in a distance difference between a distance from the first communication device to the first network device at different points in time.

32. 32. The first or second communication device of claim 31, wherein the at least one second equivalent distance change rate is determined based on the at least one second accumulated phase difference rate.

33. The processing module includes:

33. The second communication device according to any one of claims 19 to 32, specifically configured to perform positioning for the terminal device based on the first information and at least one phase deviation, the at least one phase deviation including a phase deviation between different first network devices of the at least one first network device obtained by a calibration terminal device by measuring a positioning reference signal transmitted by the at least one first network device, and the at least one phase deviation being reported by the calibration terminal device.

34. The processing module includes:

33. The second communication device of claim 19, specifically configured to perform positioning for the terminal device based on the first information and at least one accumulated phase deviation, the at least one accumulated phase deviation including an accumulated amount over time of phase deviation between different first network devices among the at least one first network device, obtained by a calibration terminal device by measuring the positioning reference signal transmitted by the at least one first network device, and the at least one accumulated phase deviation being reported by the calibration terminal device.

35. A communication device, comprising: A communications device comprising a processor, the processor being configured to execute a computer program or computer instructions in a memory to perform a method according to any one of claims 1 to 17.

36. The communication device of claim 35, wherein the communication device further comprises the memory.

37. 1. A computer-readable storage medium, comprising:

18. The computer-readable storage medium storing a computer program which, when executed by a communication device, enables the communication device to perform a method according to any one of claims 1 to 17.

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