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 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 China on March 3, 2023, the entire contents of both of which are incorporated by reference.

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

[0003] Currently, phase-based positioning technology is used in various satellite systems (e.g., Beidou and Global Positioning System (GIt has been widely applied in the field of satellite positioning (PS), and the positioning accuracy of phase-based positioning technology can reach the 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, but how to apply the phase-based positioning technology to other communication systems, such as cellular communication systems, to improve positioning accuracy is a problem worth considering. Summary of the Invention

[0005] This application provides a positioning information determination 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, which 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 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 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 of reduced positioning accuracy caused by synchronization errors between the terminal device and 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 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, where 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, which 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 of reduced positioning accuracy caused by synchronization errors between the terminal device and at least one first network device and between different first network devices.

[0012] According to the first or second 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 measurement network device, and the at least one phase difference is 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 measuring network device; or a phase difference between the 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 the phase of a first path of the 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 frequency-domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the reference network device and frequency-domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by at least one measurement network device; Contains at least one of the following:

[0013] In this implementation, a specific form of at least one phase difference is provided above. In other words, the error caused by the initial phase of the radio frequency of the terminal device and the synchronization error between the terminal device and different first network devices are eliminated by using the phase difference. Therefore, 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 the 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 the 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 the reference network device and a frequency-domain channel coefficient obtained by the terminal device by measuring a positioning reference signal transmitted by the 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 a 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 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 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 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; Contains at least one of the following:

[0015] In this implementation, 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 times, the terminal device reports a phase difference to eliminate the initial radio frequency phase of the terminal device and the synchronization error between the terminal device and the first network device. This helps the second network device determine the location of the terminal device at different times by using the phase difference reported by the terminal device. In this way, high-precision positioning of 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 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. Alternatively, the a-th phase difference 3 is a phase difference between the phase of the first path of the channel 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 of the first path of the channel 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 at the same frequency between the frequency-domain channel coefficients 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 frequency-domain channel coefficients obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at the 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 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; The at least one first accumulated phase difference is one of the following: an accumulated amount over time of the phase difference between the phase obtained by the terminal device by measuring positioning reference signals transmitted by the reference network device and the phase obtained by the terminal device by measuring positioning reference signals 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 a channel acquired by a terminal device by measuring a positioning reference signal transmitted by a reference network device 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; or an accumulated amount of phase difference over time between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by a reference network device and frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by at least one measurement network device at the same frequency; and The at least one first equivalent distance change amount includes a change over time in 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 implementation, 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. Therefore, in addition to the influence of errors such as the initial phase of the radio frequency 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 over 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 for the synchronization error between different first network devices, thereby achieving 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 ith first accumulated phase difference among the N first accumulated phase differences is a difference between the ith phase difference 1 among the N phase differences 1 and the ith phase difference 2 among the N phase differences 2. The ith 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 ith 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 the first time point, or the ith 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 ith measurement network device among the N measurement network devices at a first time point. The i-th phase difference 1 among the N phase differences 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 the i-th measurement network device among the N measurement network devices at a first time point and a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device at the first time point, or the i-th phase difference 1 among the N phase differences 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 the i-th measurement network device among the N measurement network devices at a first 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 first time point. The i-th phase difference 2 among the N phase differences 2 is a phase difference between a phase 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 phase 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 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 among 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 among 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 greater than or equal to 1, and i is an integer greater than or equal to 1 and less than or equal to N.

[0019] For example, the at least one first equivalent distance change amount includes N first equivalent distance change amounts, and the i-th first equivalent distance change amount among the N first equivalent distance change amounts 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 distance from the terminal device to the reference network device and the distance from the terminal device to the i-th measurement network device, where N is an integer greater than or equal to 1, and i is an integer greater than or equal to 1.

[0020] Based on the third implementation of this application, in a fourth implementation of this 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 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 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 measurement 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 unit time of 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 reference network device 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; or an accumulated amount of phase difference over a 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 measurement network device; and The at least one first equivalent distance change rate includes a change in 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 per unit time.

[0023] In this implementation, the terminal device reports at least one of the following to the second network device: at least one first cumulative phase difference rate or at least one first equivalent distance change rate. In addition to the influence of errors such as the initial radio frequency phase of the terminal device and synchronization errors between the terminal device and multiple first network devices, the cumulative phase deviation caused by the linear drift of each first network device over time can also be 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 for synchronization errors between different first network devices, thereby achieving 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 i-th first cumulative phase difference ratio is the ith first cumulative phase difference among the N first cumulative phase differences between the first time point t1 and the second time point t 10and the i-th first accumulated phase difference rate is equal to the accumulated amount per unit time of the phase difference 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 per unit time of the phase difference 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 per unit time of the phase difference 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 calculated by dividing the i-th first equivalent distance change amount among the N first equivalent distance change amounts by the first time point t1 and the second time point t2. 10 is equal to the time interval between

[0026] Based on the fifth implementation scheme of this application, in a sixth implementation scheme of this application, at least one first equivalent distance change rate is determined based on at least one first cumulative 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 a wavelength used by the at least one first network device to transmit a positioning reference signal.

[0028] In a seventh implementation of the present application based on the first or second aspect, 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: an accumulated 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 an accumulated 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 an accumulated amount over time of 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; and The at least one second equivalent distance change amount includes a change over time in the distance difference between the distances from the terminal device to the first network device at different points in time.

[0029] In this implementation 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, the influence of the time drift error is removed through a difference based on the phase difference, based on the property that the time drift error included in the phase difference changes linearly with time. The phase difference can remove 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 remove 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 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, see the related description above. 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 the 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 greater than or equal to 1, and a is an integer greater than or equal to 1. 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.

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

[0032] In this implementation, the at least one second equivalent distance change 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 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: an accumulated 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 an accumulation, per unit time, of 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; and The at least one second equivalent distance change rate is a change per unit time in the distance difference between the distances from the terminal device to the first network device at different times.

[0034] In this implementation 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, the influence of the time drift error is removed through a difference based on the phase difference, based on the property that the time drift error included in the phase difference changes linearly with time. The phase difference can remove 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 remove 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 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. a-th second cumulative retardation rate is the a-th second accumulated phase difference among M second accumulated phase differences at 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. a-th second equivalent distance change At time t a and time t a+2 is equal to the time interval between

[0037] Based on the ninth implementation method of this application, in a tenth implementation method of this application, at least one second equivalent distance change rate is determined based on at least one second cumulative 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 a wavelength used by the at least one first network device to transmit a 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 on the terminal device based on the first information and at least one phase deviation, wherein 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, and the at least one phase deviation is reported by the calibration terminal device.

[0040] In this implementation, 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 an initial phase of the radio frequency of the terminal device and a synchronization error between the terminal device and the plurality of 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 receiving 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 on the terminal device based on the first information and at least one accumulated phase deviation, wherein 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.

[0043] In this implementation, the second network device may further perform positioning for the terminal device by referring to at least one accumulated phase deviation. Thus, in addition to the influence of errors such as the initial phase of the radio frequency 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 over 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 at least one accumulated phase deviation. This realizes compensation for synchronization errors between different first network devices, thereby achieving 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 receiving 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 positioning reference signals transmitted by 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 the 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 measurement network device, and the at least one phase difference is 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 measuring network device; or a phase difference between the 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 the phase of a first path of the 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 frequency-domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the reference network device and frequency-domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by at least one measurement network device; Contains at least one of the following:

[0048] According to the third or fourth 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 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 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 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; Contains 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 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; The at least one first accumulated phase difference is one of the following: an accumulated amount over time of the phase difference between the phase obtained by the terminal device by measuring positioning reference signals transmitted by the reference network device and the phase obtained by the terminal device by measuring positioning reference signals 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 a channel acquired by a terminal device by measuring a positioning reference signal transmitted by a reference network device 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; or an accumulated amount of phase difference over time between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by a reference network device and frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by at least one measurement network device at the same frequency; and The at least one first equivalent distance change amount includes a change over time in 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 this application, in a fourth implementation of this application, at least one first equivalent distance change amount is determined based on at least one first accumulated phase difference.

[0051] According to the third or fourth 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 measurement 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 unit time of 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 reference network device 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; or an accumulated amount of phase difference over a 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 measurement network device; and The at least one first equivalent distance change rate includes a change in 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 per unit time.

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

[0053] In a seventh implementation of the present application based on the third or fourth aspect, 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: an accumulated 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 an accumulated 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 an accumulated amount over time of 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; and The at least one second equivalent distance change amount includes a change over time in the distance difference between the distances from the terminal device to the first network device at different points in time.

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

[0055] In a ninth implementation of the present application based on the third or fourth aspect, 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: an accumulated 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 an accumulation, per unit time, of 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; and The at least one second equivalent distance change rate is a change per unit time in the distance difference between the distances from the terminal device to the first network device at different times.

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

[0057] Based on the fourth aspect of this application and any one of the first to tenth implementations of this application, in an eleventh implementation of this application, the processing module: Specifically configured to perform positioning for the terminal device based on the first information and at least one phase deviation, wherein 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, and the at least one phase deviation is reported by the calibration terminal device.

[0058] Based on the eleventh implementation method, in a twelfth implementation method of this application, the transceiver module: 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, the processing module: 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 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 reported by the calibration terminal device.

[0060] Based on the thirteenth implementation, in a fourteenth implementation of this application, the transceiver module: 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, the processor configured to invoke and execute a computer program stored in a memory, thereby causing the processor to implement any of the implementation methods 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 including instructions that, when executed on a computer, enable the computer to perform any of the implementation methods of the first and second aspects.

[0065] A seventh aspect of the present application provides a computer-readable storage medium containing computer instructions that, when executed on a computer, enable the computer to perform any of the implementation methods of the first and second aspects.

[0066] An eighth aspect of the present application provides a chip device 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 the terminal device according to the third aspect and the 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, a 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 a 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 synchronization errors between the terminal device and the 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 of reduced positioning accuracy caused by synchronization errors between the terminal device and the first network device and between different first network devices. [Brief explanation of the drawings]

[0070] [Figure 1] 1 is a diagram of a communication system according to an embodiment of the present application; [Figure 2] FIG. 2 is another diagram of a communication system according to an embodiment of the present application. [Figure 3] FIG. 2 is another diagram of a communication system according to an embodiment of the present application. [Figure 4A] 1 is a diagram of transmitting and receiving positioning reference signals according to an embodiment of the present application; [Figure 4B] FIG. 2 is a diagram of the principle of phase acquisition 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; [Figure 5] 1 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 determination method and a positioning method according to an embodiment of the present application; [Figure 7] FIG. 10 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. 10 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. 10 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. 10 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 points at which a terminal device measures positioning reference signals according to an embodiment of the present application; [Figure 12] 1 is a diagram of the structure of a communication device according to an embodiment of the present application; [Figure 13] FIG. 10 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 the present application; [Figure 15] FIG. 10 is another structural diagram of a terminal device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0071] The embodiments of this application provide a positioning information determination method, a positioning method and related devices for improving positioning accuracy.

[0072] The following describes the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Certainly It is clear that the described embodiments are only a part, not all, of the embodiments of this application. 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," etc. 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, phrases 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, unless specifically emphasized otherwise, they mean "one or more embodiments, but not all embodiments." 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 is merely an association relationship between related objects and indicates 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 refers to 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 solution in this application is applicable to various communication systems, e.g., 5G (5 G) Mobile communication systems, new radio (N R) System, Long-Term Evolution (L TE) system, LTE frequency division duplex (F DD) system, LTE time division duplex (TDD) system, universal mobile communication system (U MTS), mobile communication systems beyond 5G networks (e.g., 6G mobile communication systems), vehicle vs. anything (V 2X) Communication Systems, Device to Device (D It may also be applied to 2D communication systems, 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. Referring to FIG. 1, the communication system includes a terminal device 101, an access network device 102, and an access and mobility management function. (A MF)103 and location management function (L MF)104.

[0078] Optionally, the terminal device 101 is connected to an access network device 102 through an interface, and the access network device is connected to an AMF 103 through an interface, and the AMF 103 is connected to the LMF 104 through an interface. The LMF 104 is configured to perform positioning calculations and management for the location of the terminal device 101. For example, the terminal device 101 may be connected to the LMF 104 through a new radio-radio interface between the universal terrestrial radio access network and the user equipment. r Access network devices through the radio interface between the universal terrestrial radio access network and the user equipment (NR-Uu) interface 102 The access network device 102 is connected to a next generation control Plain (NThe AMF 103 is connected to the LMF 104 through an NL1 interface. The NL1 interface is used for transmitting the LTE positioning protocol between the LMF 104 and the AMF 103. (L PP) and NR positioning protocols (N 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, 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 , LMF is a name in the current communication system. In future communication systems, 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 calculations for the location of a terminal device. In the current communication system or 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] 2 is another diagram of a communication system according to an embodiment of the present application. Referring to FIG. 2, the communication system includes a terminal device 201 and a roadside unit (RThe terminal device 201 includes a 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 ​​the access network device. As shown in FIG. 2, the terminal device 201 is a proximity communication (P C5) Communicating with the RSU through an interface. Positioning for the terminal device 201 can be realized between the terminal device 201 and the RSU according to the technical solutions of this application.

[0082] It should be noted that the type of the RSU in the communication system shown in FIG. 2 is merely an example and is not a specific limitation on the RSU in this application. The RSU is a roadside unit located on the roadside, supports sidelink communication and positioning-related protocols, and can provide wireless communication functions to terminal devices. The RSU may be various types of roadside station, access point, access base station, or sidelink device. Relative to an access network device, the RSU is a terminal device. Relative to 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 also be applicable to other communication systems with 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 the present 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, thereby enabling the access network device 302 to realize 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. 301 and a plurality of access network devices, so that the access network devices can realize 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 for 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] The terminal device also refers to a user equipment (U E), mobile station (M S), mobile devices (MTerminal devices, also known as mobile phones, are devices that include wireless communication capabilities (providing voice / data connections to users), such as handheld devices or in-vehicle devices with wireless connectivity. Currently, some examples of terminal devices are mobile phones, tablet computers, notebook computers, palmtop computers, and mobile internet devices. (M ID), wearable devices, virtual reality (V R) devices, augmented reality (A Wireless 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, a wireless terminal in the Internet of Vehicles may be an in-vehicle device, an entire vehicle device, an in-vehicle module, a vehicle, etc. A 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 located in a radio access network that provides wireless communication capabilities to terminal devices. For example, a network device is a device that connects a terminal device to a wireless network. (R AN) node, which may also be called an access network device.

[0091] Network devices are evolved Node B (e NB), Wireless Network Controller (R NC), Node B(N B), Base Station Controller (B SC), base transceiver station (B TS), home base station (e.g., home evolved NodeB or home NodeB, HNB), baseband unit (B BU), or Wireless Fidelity (W Access point in the i-Fi system (A P), wireless relay node, wireless backhaul node, transmission point (T P), or network devices in 5G mobile communication systems, such as new wireless (N Next Generation Node B in R) Systems (g NB), sending and receiving points (T RP) or Transmission Point (T P), 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, for example a baseband unit (B BU) or Distributed Unit (D In some possible specific forms of the network devices shown above, the network devices shown above are transceiver nodes, and the transceiver nodes may also be 、T R P and may also be called.

[0092] In some deployments, gNBs are deployed as centralized units. (C The gNB may include an active antenna unit (AAU) and a DU. (A The CU may further include an AU (Authorization Unit). 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 for radio resource control. (R RC) Layer and Packet Data Convergence Protocol (PThe DU processes the physical layer protocol and real-time services, and performs radio link control. (R LC) layer, medium access control (M AC) layer and physical (P The AAU is responsible for implementing the functions of the PHY layer. The AAU implements some physical layer processing functions, radio frequency processing, and functions related to active antennas. Information in the RRC layer is ultimately modified to or modified from information in the PHY layer. 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 the AAU. It may be understood that a 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 a device that is connected to the access network. (R Alternatively, the CU may be classified as a network device in the core network (AN). (C N), which is not a limitation in this application.

[0093] A communication system to which this application is applicable includes a terminal device, one or more first network devices, and a second network device. Some possible implementations of the first network device and the second network device are described below.

[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] Referring to Figure 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 (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 multiplying or mixing the time-domain signal x1(t) with a local oscillator signal (or a carrier signal or carrier frequency signal) of the first network device; the first network device converting the radio frequency signal x1(t) into a g (t) is transmitted.

[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 carrier signal or carrier frequency signal) of the terminal device to obtain a baseband signal y1(t).

[0101] Therefore, 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 of the first network device by s = 1 . g (t) (or the carrier signal or carrier frequency signal) and the phase obtained by the terminal device by measuring the local oscillator signal s of the terminal device. uAlternatively, 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 phase obtained by the terminal device by measuring the received local oscillator signal s of the first network device. g (t) (or the carrier signal or carrier frequency signal) of the first network device. g (t) (or carrier wave signal or carrier frequency signal) is used to carry the positioning reference signal X1(K).

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

[0103] Implementation 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 code correlation technology or 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 generate a received local oscillator signal s of the first network device. g (t) of the first network device. 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). Therefore, the terminal device can obtain information about the distance between the transmitting end and the receiving end through calculation based on a phase unwrapping algorithm and perform position calculation to obtain the position of the terminal device.

[0105] From the implementation method 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 frequency-domain channel coefficients. The frequency-domain channel coefficients may be frequency impulse responses, channel coefficients, or channel frequency responses (CFR). The frequency-domain channel coefficients 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 coefficients.

[0107] From the second implementation, it can be seen that in this application, the terminal device may determine the frequency domain phase of the channel in the frequency domain 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 referred to as the frequency domain phase. In this case, the following phase difference may also be referred to as 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 frequency-domain channel coefficients. The frequency-domain channel coefficients may be frequency impulse responses, channel coefficients, or channel frequency responses. The frequency-domain channel coefficients 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 coefficients H1(K) to obtain time-domain channel coefficients (e.g., channel impulse responses (CIR)). The terminal device extracts a phase of the channel coefficient corresponding to the first path of the channel from the time-domain channel coefficients.

[0109] From the implementation mode 3, it can be seen that in this application, the terminal device may determine the time domain phase of the channel or the phase of the first path of the channel in the time domain 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 referred to as the time domain phase or the phase of the first path of the channel. In this case, the following phase difference may also be referred to as the time domain phase difference or the phase difference of the first path of the channel:

[0110] For example, as shown in Figure 4D, (L The non-line-of-sight (OS) path or 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. (N A line-of-sight (LOS) path or reflected path is a non-line-of-sight path between a terminal device and a base station, i.e., a path through reflection from a 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 use the multiple phases to construct a set of equations and obtain the distances 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] Although phase-based positioning technology can achieve high-precision positioning, it can be seen that phase-based positioning technology is relatively sensitive to synchronization errors between different stations (e.g., between different TRPs) and between a terminal device and a station. Satellite systems are equipped with high-precision atomic clocks and relatively expensive ground calibration stations. Therefore, when phase-based positioning technology is used for positioning in a satellite system, the influence of synchronization errors can be eliminated. However, in a cellular communication network, access network devices and terminal devices cannot be equipped with high-precision atomic clocks, and synchronization errors between different stations and between a terminal device and a station affect the phase measurement accuracy, resulting in limited positioning accuracy. This application provides corresponding technical solutions for improving 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 is (P RS), sounding reference signal (S RS), Channel State Information Reference Signal (C SI-RS), demodulation reference signal (D MRS), secondary synchronization signal (S SS) or primary sync signal (P SS), 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 referred to as 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 referred to as 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 coefficients. The first path may also be referred to as 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, and the terminal device correspondingly receives the positioning reference signal transmitted by the at least one first network device.

[0119] The following describes some possible implementations of at least one first network device transmitting a positioning reference signal.

[0120] Implementation method 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 signal transmitted by the at least one first network device includes the positioning reference signals transmitted by the plurality of first network devices to the terminal device at the first time point.

[0121] The first 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 signal cycle, or an uplink-downlink switching cycle. (O FDM) symbols may also be used.

[0122] The plurality of first network devices separately transmitting positioning reference signals to the terminal device at a first time point indicates that the plurality of first network devices transmit positioning reference signals to the terminal device at the same time point. The terminal device receiving the positioning reference signals transmitted by the plurality of first network devices at a first time point indicates that the terminal device device receiving positioning reference signals transmitted by multiple first network devices at the same time point, where the same time point includes the same time domain 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, where 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, which transmit positioning reference signals to the terminal device separately at a first time point.

[0124] Implementation Scheme 2: 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 plurality of time points. Correspondingly, the terminal device receives the positioning reference signals separately transmitted 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 positioning reference signals separately transmitted by the plurality of first network devices at a plurality of time points. For the purpose of explanation below, an example in which the plurality of time points includes a first time point and a second time point is used.

[0125] The second point in time may include a time domain symbol, slot, subslot, subframe, system frame, measurement window, measurement gap, PRS processing window, reference signal cycle, uplink-downlink switching cycle, or 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 separately transmit positioning reference signals to the terminal device at a first time point. TRP1, TRP2, TRP3, and TRP4 separately transmit positioning reference signals to the terminal device 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 among 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, slot, subslot, subframe, system frame, measurement window, measurement gap, PRS processing window, reference signal cycle, uplink-downlink switching cycle, or time interval length. The time interval length may include 1 ms (millisecond), 2 ms, 5 ms, 10 ms, 20 ms, etc.

[0128] Implementation Scheme 3: The at least one first network device includes one first network device. The first network device transmits positioning reference signals to the terminal device at multiple time points. Correspondingly, the terminal device receives positioning reference signals from the first network device at multiple time points. In other words, the positioning reference signals transmitted by the at least one first network device include positioning reference signals transmitted by the first network device to the terminal device at multiple time points. For the purpose of explanation below, an example is used 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 may alternatively include more first network devices, which separately transmit positioning reference signals to the terminal device at multiple time points, and the terminal device receives the positioning reference signals transmitted by the first network devices to the terminal device 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 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 acquires a phase difference between the phase of a carrier signal carrying a positioning reference signal of the reference network device and the phase of a carrier signal carrying a positioning reference signal of at least one measurement network device through measurement. The phase differences may be considered to be acquired by the terminal device through measurements at the same time point. Specifically, the terminal device may acquire the phase differences through measurements at 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 time.

[0140] 2. The phase difference between the phases of the first path of the channel obtained by the 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.

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

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

[0143] Above the phase definition Based on, 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, and 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 measuring 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, the following describes some possible contents of the at least one phase difference.

[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 measurement 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 Implementation Mode 1 in step 601.

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

[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 positioning reference signals transmitted by a reference network device and frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by at least one measurement network device.

[0153] For a specific manner in which the terminal device obtains the frequency domain channel coefficients by measuring the positioning reference signal transmitted by the first network device, please refer to the relevant description of Implementation Mode 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 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 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] Based on the implementation method 1 in step 601 ,three The reference network device and the at least one measuring network device separately transmit positioning reference signals at a first time point, and the at least one phase difference is one of the following: 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 the 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 the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device at the first time point; Contains at least one of the following:

[0158] Optionally, the same frequency includes the same subcarriers, the same carrier frequency, the same carrier aggregation, (C C), the same bandwidth (band width ), the same bandwidth portion (B WP), the same frequency layer, the same center frequency or the same absolute radio frequency channel number (A RFCN), 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 of 1.

[0160] 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 the 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 among the N phase differences 1 is a phase difference 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 the first time point and a phase of a first path of the channel obtained by the terminal device by measuring a positioning reference signal transmitted by the reference network device at the first time point. Alternatively, the i-th phase difference 1 among the N phase differences 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 the i-th measurement network device among the N measurement network devices at the first 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 first time point. N is an integer greater than or equal to 1, and i is an integer greater than or equal to 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 a positioning reference signal transmitted by 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 a positioning reference signal transmitted by 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 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 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 measurement network device at the same time, the channel being derived based on the frequency domain RE occupied by the positioning reference signal.

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

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

[0166] The following provides an explanation by using an example in which N phase differences 1 include phase differences between the phase obtained by the terminal device by measuring the positioning reference signals transmitted by the reference network device at a first 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 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, and 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 measurement network device at a second time point; or a phase difference between the phase of the 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 the phase of the first path of the channel acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measurement 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 signals 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 signals transmitted by at least one measurement network device at the second time point; Further includes at least one of:

[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 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 of the N measurement network devices at the second time point and the phase acquired 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 the phase difference between 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 of the N measurement network devices at the second time point and 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 at the 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 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, where N is an integer greater than or equal to 1 and i is an integer greater than or equal to 1 and less than or equal to N.

[0174] The following provides an explanation 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]

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[0179]

number

[0180]

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[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 at a first time point and received by 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.

[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, the following describes some possible contents of the at least one phase difference.

[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 the 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 and a 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 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 first paths 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 acquired 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 the first network device 1. The at least one phase difference 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 first network device 1 at a first time point t1 and a phase difference of a first path of a channel acquired 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 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 time point 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 frequencies, see the relevant description above.

[0201] For example, the at least one first network device includes the first network device 1. The at least one phase difference is calculated by comparing 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 with 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 frequency domain channel coefficients 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 the frequency domain channel coefficients 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 a 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 greater than or equal to 1. P is an integer greater than or equal to 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 acquired 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 acquired 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 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 TRP1, and P phase differences 3 are

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

[0211] For example, as shown in Figure 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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[0212]

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number

number

number

[0213] For example, as shown in Figure 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 the second time point t 10 and the third time point 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 at least one phase difference. For at least one phase difference, see the relevant description of step 602.

[0225] The first information is used by the second network device to perform positioning for the terminal device, and 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 Figure 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 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 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.

[0232] The at least one first equivalent distance change amount includes a change over time in 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 ith first accumulated phase difference among the N first accumulated phase differences is the difference between the ith phase difference 1 among the N phase differences 1 and the ith phase difference 2 among the N phase differences 2.

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

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

[0237] The following provides an explanation by using an example in which the i-th first accumulated phase difference indicates the accumulated amount over time of the phase difference 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 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 over time. 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 for the terminal device to accumulate multiple phase difference changes and then perform reporting. That is, the first accumulated phase difference is reported, and the large distance change is calculated by using the multiple accumulated phase difference changes. For example, as shown in FIG. 11, between 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 cumulative 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 measurement 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 cumulative phase difference may be expressed as:

number

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

[0245] In the following, the terminal device is assumed to be at a first time point t1 and a second time point t 10 The explanation will be given by using an example of determining the first equivalent distance change amount within a time interval between , , and . In actual application, the terminal device may determine the first equivalent distance change amount within multiple time intervals. This 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 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 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 is 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. 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: a cumulative amount over unit time of phase difference between a phase acquired by the terminal device by measuring a positioning reference signal transmitted by a reference network device and a phase acquired by the terminal device by measuring a positioning reference signal transmitted by at least one measurement network device; or a cumulative amount over unit time of 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 a 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 at least one measurement network device; or a cumulative amount over unit time of phase difference at the same frequency acquired 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 in 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 per unit time.

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

[0252] For the process by which the terminal device determines at least one first accumulated phase difference, please refer to the related description above. The terminal device determines at least one first accumulated phase difference and the first time point t1 and the second time point t2. 10 and determining at least one first cumulative phase difference rate based on the time interval between

[0253] For example, the at least one first cumulative phase difference ratio includes N first cumulative phase difference ratios. The i-th first cumulative phase difference ratio is the ith first cumulative phase difference among the N first cumulative phase differences between the first time point t1 and the second time point t 10and the i-th first accumulated phase difference rate is equal to the accumulated amount per unit time of the phase difference 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 per unit time of the phase difference 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 per unit time of the phase difference 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] The following provides an explanation by using an example in which the i-th first accumulated phase difference rate indicates the accumulated amount per unit time of the phase difference 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 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 calculated by dividing the i-th first equivalent distance change amount among the N first equivalent distance change amounts by the first time point t1 and the second time point t2. 10 The i-th first equivalent distance rate is expressed as follows using Equation 5:

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 will be described below based on the fact that the at least one first network device includes one or more first network devices. The first information will be described below by using one of the at least one first network device 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 cumulative 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 times, 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 times, 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 times.

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

[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, see the related description above. 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 the 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 greater than or equal to 1, and a is an integer greater than or equal to 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 ath 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 ath 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+1th time point. The a+1th 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+1th 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+2th time point. The time interval between the ath time point and the a+1th time point is equal to the time interval between the a+1th time point and the a+2th 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 over time. 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 for the terminal device to accumulate multiple phase difference changes and then perform reporting. That is, a second accumulated phase difference is reported. A large distance change is calculated by using the multiple accumulated phase difference changes. For example, as shown in FIG. 11, 20 Within the 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 times, and then determines at least one second accumulated phase difference by referring to the phase differences between the phases obtained at different times.

[0269] For example, the phase difference between the phase obtained by the terminal device by measuring the positioning reference signal transmitted by the first network device at time t1 and the phase obtained 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, time t1 is the first second, and the a+1-th time point is time t 10 and at time t 10 is the 10th second, and a+ 2 The th time point is t 20 and at time t 20 If is 20 seconds, the a-th second cumulative 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 obtained directly 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 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 the positioning reference signal.

[0273] Below, the terminal device is a and time t a+2 The explanation will be given by using an example of determining the second equivalent distance change amount within a time interval between the terminal device and the second equivalent distance change amount. In practical applications, the terminal device may determine the second equivalent distance change amount within multiple time intervals. This 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 amount. The a-th second equivalent distance change amount among the M second equivalent distance changes amount is the 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 the distance difference between the distance from the terminal device to the first network device at the a-th time point and the 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 the distance difference between the distance from the terminal device to the first network device at the a+1-th time point and the 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. a+1 is the a+1-th first distance difference among the P first distance differences, and 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 times, or a cumulative amount over unit 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 times, 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 times.

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

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

[0281] For the process by which the terminal device determines at least one second accumulated phase difference, please refer to the related description above. The terminal device determines at least one second accumulated phase difference and a and time t a+2 and determining at least one 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. a-th second cumulative retardation rate is the a-th second accumulated phase difference among M second accumulated phase differences at 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 the 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. a-th second equivalent distance change At time t a and time t a+2 The a-th second equivalent distance change rate is expressed as follows using Equation 9:

number

[0287] Δd a is the a-th first distance difference among the P first distance differences. a+1is the a+1-th first distance difference among the P first distance differences, and 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] 6 further includes step 604a, which 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 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 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 related description below.

[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 by referring to the first information and the at least one phase deviation, see the related descriptions below.

[0296] 6 further includes step 604b, which 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 related description below.

[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, or step 604b may be executed first, and then step 603, or step 603 and step 604b may be 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, see the related descriptions below.

[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 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.

[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 an initial radio frequency phase of the calibration terminal device. For a specific determination process, please refer to the related description below.

[0311] Specifically, the calibration terminal device acquires 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 acquires a phase deviation between the calibration terminal device and each measurement network device through calculations that refer to the phases and positions 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 an initial radio frequency 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 related description below.

[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, please refer to the relevant description above. The details will not be 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 among the N first phase deviations is the difference between the i-th second phase deviation and the third phase deviation among the N second phase deviations.

[0314] The i-th second phase deviation among the N second phase deviations is the 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 the 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 specific principles, please refer to the related descriptions below.

[0316] Specifically, the N phase differences 4 are obtained based on the phase differences between the phases acquired by the calibration terminal device by measuring the positioning reference signals transmitted by each measurement network device at the first time point and the phases acquired by the calibration terminal device by measuring the positioning reference signals transmitted by the reference network device at the 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 the 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 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 (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, so 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. 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 in 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 the phase compensation value of the i-th phase difference l among the N phase differences l, thereby achieving compensation for the synchronization error between the i-th measurement network device and the reference network device.

[0324] Furthermore, since the synchronization error between different stations or the initial radio frequency phase of the terminal device may change over time, the phase acquired by the terminal device by measuring the positioning reference signal at different times 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. Optionally, the same time 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 a 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 deviations 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 calculations referring to Equations 13 to 15.

[0332] In the above implementation, 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 a positioning reference signal transmitted by a reference network device at a first time point and the phase acquired by the terminal device by measuring a 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 initial radio frequency phase of the terminal device and synchronization errors between the terminal device and multiple first network devices is eliminated. The i-th phase difference 1 is the phase difference between the phases acquired by the terminal device by measuring positioning reference signals 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 for the i-th phase difference 1 among the N phase differences 1. Compensation for 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 following describes a specific process in which the second network device performs positioning on the terminal device.

[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 the 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 at least one measurement network device.

[0337] For example, the at least one accumulated phase deviation includes N accumulated phase deviations. Among the N accumulated phase deviations, the i-th accumulated phase deviation Δθ 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 number of first phase deviations, refer to the related description above. The i-th fourth phase deviation θ among the N number of 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 the second time point.

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

[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] Referring 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 typically needs to continuously track the phase and accurately track the terminal device by using an accumulated amount of phase over 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 Equation 1 above.

[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. ij For details about (t1), see the relevant explanation above. ij (t 10 ) 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] Referring to the scenario shown in Figure 10, the following shows a possible implementation of the second network device performing 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 use the acquired measurement quantities to construct the following set of equations:

number

[0348] In the above equation 18, TRP2 is the first measurement network device among the N measurement network devices. 21 is the first equivalent distance change amount among 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.

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 among 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.

number

number

[0350] In the above equation 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 distances from the terminal device to TRP1 and TRP4 at the first time point t1 and the distances 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.

number

number

[0351] In the above equation 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 distances from the terminal device to TRP1 and TRP5 at the first time point t1 and the distances 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.

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) at the first time point to the i-th TRP and TRP1 among the N measurement network devices and the distance from the terminal device position (x2, y2) at the second time point to the i-th TRP and TRP1 among the N measurement network devices. σ i 2represents the coefficient of variation of the i-th TRP among the N measurement network devices. The coefficient of variation is related to the channel quality between the terminal device and the i-th TRP among the N measurement network devices. A better channel quality between the terminal device and the i-th TRP among the N measurement network devices corresponds to a higher received energy of the signal of the i-th TRP among the N measurement 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 We may substitute into (x1, y1, x2, y2) so that the above equation 14 is minimized. Therefore, we see that (x1, y1, x2, y2) is (x1', y1', x2', y2') in the above equation 14.

[0355] In the above implementation, it can be seen that the second network device receives first information from the terminal device. The second network device acquires 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, thereby eliminating error effects such as the initial phase of the radio frequency of the terminal device and synchronization errors between the terminal device and multiple first network devices, and further eliminating the accumulated phase deviation caused by the linear drift of each first network device over time. 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 calibrating terminal device. This realizes compensation for synchronization errors between different first network devices, thereby achieving 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 times, or a phase difference between phases of first paths 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, 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 times.

[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 FIGS. 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 Figure 8, the terminal device has four phase differences:

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 ratio of the distance from the terminal device to TRP1 at the first time point t1 to the distance from the terminal device to TRP1 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 TRP4 at the second time point t 10 The distance difference Δd1, the distance difference Δd2, the distance difference Δd3, and the distance difference Δd4 are expressed separately below by using 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 equation 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 related description above. The details will not be described again here. b is an integer greater than or equal to 1 and less than the number of one or more first network devices. λ is a wavelength corresponding to the frequency of a carrier signal carrying a positioning reference signal of the TRP. Here, an example is used for explanation in which the wavelength corresponding to the frequency of a carrier signal carrying a positioning reference signal of each TRP is λ.

[0364] In the above equation 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) so that the above equation 27 is minimized. Thus, (x1, y1, x2, y2) is (x1', y1', x2', y2') in the above equation 27.

[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 times, 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] See Figure 9. If all of TRP1 to TRP4 satisfy the clock linear drift model, the synchronization error between the terminal device and the b-th 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 a phase difference of 3 includes a linear synchronization error. For example, the terminal device has a clock at time t1 and a clock at time t 10 Measure the phase difference between the phases of the positioning reference signals separately transmitted by the b-th TRP at [times], as 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 terminal device calculates the second accumulated phase difference 3 through calculations referring 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 t 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, and 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 Figure 9, Δd1 = d2 1 -d1 1 and Δd5=d3 1 -d2 1 is.

[0376] The second equivalent distance change ▽d2 is the difference between Δd2 and Δd6, and 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 Figure 9, Δd2 = d2 2 -d1 2and Δd6=d3 2 -d2 2 is.

[0377] The second equivalent distance change ▽d3 is the difference between Δd3 and Δd7, and 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 is.

[0378] The second equivalent distance change ▽d4 is the difference between Δd4 and Δd8, and 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 Figure 9, Δd4 = d2 4 -d1 4 and Δd8=d3 4 -d2 4 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 equations.

number

[0380] The second network device calculates the first time point t1, the second time point t2, and the 10 and a third time point 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 point t1 is (x1, y1), and the distance from the terminal device to the bth TRP at the second time point t 10 The position of the terminal device in is (x2, y2). σ b 2 For , please refer to the relevant description above. The 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 explanation in which the wavelength corresponding to the frequency of the carrier signal carrying the positioning reference signal of each TRP is λ.

[0382] In Equation 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 a first accumulated phase difference between stations or a 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, the effect of the time drift error is eliminated through the difference based on the phase difference 3 based on the property that the time drift error included in the phase difference 3 changes linearly with time. 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 effect of the time drift error. The second network device may achieve 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 a calibration terminal device is not required. This avoids difficulties caused by deployment.

[0385] Therefore, the technical solution of this application can effectively avoid the influence 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, a 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 a 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 the at least one phase difference and is useful for eliminating synchronization errors between the terminal device and the 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 of reduced positioning accuracy caused by synchronization errors between the terminal device and the first network device and 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 perform the steps performed by the terminal device in the embodiment shown in Fig. 6. For details, please refer to the related descriptions in the above method embodiment.

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

[0389] The transceiver module 1201 may implement corresponding communication functions, 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 communications 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 communications device to implement the method embodiment 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 Figure 6. The receiving module is configured to perform a receiving operation of the terminal device in the embodiment of the method shown in Figure 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 solution performed by the communication device 1200 includes a transmitting operation and a receiving operation.

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

[0395] The processing module 1202 is configured to measure positioning reference signals transmitted by 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 the 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 the 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 a positioning reference signal transmitted by a reference network device and the frequency domain channel coefficients obtained by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device; Contains 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 phases obtained by the communication apparatus 1200 by measuring 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 communication apparatus 1200 by measuring positioning reference signals transmitted by the first network device at different times; or a phase difference 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; Contains 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 one of the following: 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 an accumulated amount over time of a phase difference between the 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 the 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 and a cumulative amount of phase difference over time between frequency domain channel coefficients obtained by the communication device 1200 by measuring a positioning reference signal transmitted by a reference network device and frequency domain channel coefficients obtained by the communication device 1200 by measuring a positioning reference signal transmitted by at least one measurement network device at the same frequency. and The at least one first equivalent distance change amount includes a change over time in the distance difference between the distance from the communication device 1200 to a reference network device and the distance from the communication device 1200 to at least one measured network device.

[0400] In another possible implementation, 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 unit time of a phase difference between the 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 the 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 a 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; and The at least one first equivalent distance change rate includes a change 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 at least one measured network device per unit time.

[0402] In another possible implementation, the at least one first equivalent distance change rate is determined based on the at least one first cumulative 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 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 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. and 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 points in time.

[0404] In another possible implementation, the at least one second equivalent distance change 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 cumulative phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: an accumulated amount over a unit time of the 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 an accumulated amount over unit time of the 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 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 positioning reference signals transmitted by the first network device at different times. and 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 device 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 corresponding communication functions, 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 communications 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 communications device to implement the method embodiment 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 disposed in the second network device. The transceiver module 1301 is configured to perform reception-related operations on the second network device side in the above method embodiments, and the processing module 1302 is configured to perform processing-related operations on 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 Figure 6. The receiving module is configured to perform a receiving operation of the second network device in the embodiment of the method shown in Figure 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 solution performed by the communication device 1300 includes a transmitting operation and a receiving operation.

[0414] For example, the communication 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 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 measuring network device; or a phase difference between the 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 the phase of a first path of the 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 frequency-domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by the reference network device and frequency-domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by at least one measurement network device; Contains 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 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 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 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; Contains 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 one of the following: 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 a channel acquired by a terminal device by measuring a positioning reference signal transmitted by a reference network device 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; or an accumulated amount of phase difference over time between frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by a reference network device and frequency domain channel coefficients obtained by the terminal device by measuring positioning reference signals transmitted by at least one measurement network device at the same frequency; and The at least one first equivalent distance change amount includes a change over time in 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 implementation, 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 unit time of 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 reference network device 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; or an accumulated amount of phase difference over a 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 measurement network device; and The at least one first equivalent distance change rate includes a change in 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 per unit time.

[0422] In another possible implementation, the at least one first equivalent distance change rate is determined based on the at least one first cumulative 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 an accumulated 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 an accumulative amount of phase differences 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; and The at least one second equivalent distance change amount includes a change over time in the distance difference between the distances from the terminal device to the first network device at different points in time.

[0424] In another possible implementation, the at least one second equivalent distance change 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 cumulative phase difference rate or at least one second equivalent distance change rate; The at least one second cumulative retardation ratio is: an accumulated 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 an accumulation, per unit time, of 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; and The at least one second equivalent distance change rate is a change over time in the distance difference between the distances from the terminal device to the first network device at different points in time.

[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, wherein 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, and the at least one phase deviation is 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 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 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] Figure 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 the 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 embodiments of this application.

[0440] In this embodiment of the present application, the antenna and radio frequency circuit having transmitting and receiving functions may be considered as a transceiver unit of the terminal device, and the processor having processing functions 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 referred to as a transceiver machine, a transceiver, a transceiver device, etc. The processing unit may also be referred to as a processor, a processing board, a processing module, a processing device, etc.

[0441] Optionally, components within the transceiver unit 1410 and configured to implement a receiving function may be considered a receiving unit, and components within the transceiver unit 1410 and configured to implement a transmitting function may be considered 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 for 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 may be an input / output circuit or a communication interface. The processing unit is a processor, a microprocessor, an integrated circuit, or a logic circuit integrated on the chip.

[0444] This application further provides a communication device. Figure 15 is a diagram of another structure 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 descriptions 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, memory 1502 and transceiver 1503 are separately connected using a bus, with 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 will not be 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 will not be 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 a memory and configured to call a program stored in the memory, thereby causing the processor to perform 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, or the like configured to control program execution of the method in the embodiment shown in FIG. 6. (A The memory may be a read-only memory (ROM) or one or more integrated circuits. (R OM), other types of static storage devices capable of storing static information and instructions, Random Access Memory (R AM) etc. are also acceptable.

[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 systems, devices, and methods may be implemented in other ways. For example, the described device embodiments are merely examples. For example, the division into units is merely a logical division of function. In actual implementation, other division methods 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 indirect couplings or communication connections between 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 across 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 this understanding, the technical solution of this application may essentially, or a contributing part, or all or a 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 perform all or a 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 has been 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 may 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, measuring, by the terminal device, positioning reference signals 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; Including, 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 includes at least one of the following:

2. 1. A positioning method, comprising: receiving, by a second network device, first information from a terminal device, wherein the first information comprises 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; performing, by the second network device, positioning for the terminal device based on the first information; Including, 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 includes at least one of the following:

3. 3. The method according to claim 1, 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 the same time point.

4. 4. The method of claim 3, 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.

5. The method of claim 1 or 2, wherein the at least one phase difference is associated with the same time stamp.

6. A positioning information determination method, comprising: measuring, by the terminal device, positioning reference signals 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; Including, 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 first paths of channels obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times; 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 the first network device at different times; The method includes at least one of the following:

7. A positioning method, comprising: receiving, by a second network device, first information from a terminal device, wherein the first information comprises 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; performing, by the second network device, positioning for the terminal device based on the first information; Including, 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 first paths of channels obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times; 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 the first network device at different times; The method includes at least one of the following:

8. A positioning method, comprising: receiving, by a second network device, first information from a terminal device, wherein the first information comprises 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; performing, by the second network device, positioning for the terminal device based on the first information; Including, The step of performing positioning for the terminal device by the second network device based on the first information includes: a step of performing, by the second network device, positioning on 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 a calibration terminal device by measuring the 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.

9. A positioning method, comprising: receiving, by a second network device, first information from a terminal device, wherein the first information comprises 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; performing, by the second network device, positioning for the terminal device based on the first information; Including, The step of performing positioning for the terminal device by the second network device based on the first information includes: A method comprising: a step of performing positioning on 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 a cumulative 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.

10. A first communication device including a transceiver module and a processing module, the processing module is configured to measure a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference; the transceiver 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 being determined based on the at least one phase difference; 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 a positioning reference signal transmitted by the reference network device and the 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; a first communication device including at least one of:

11. a second communication device including a transceiver module and a processing module, the transceiver module is configured to receive first information from a first communication 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 first communication device by measuring a positioning reference signal transmitted by at least one first network device; the processing module is configured to perform positioning for the first communication device based on the first information; 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 a positioning reference signal transmitted by the reference network device and the 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; a second communication device including at least one of:

12. The first communication device of claim 10 or the second communication device of claim 11, wherein the at least one phase difference is a phase difference obtained by the first communication device by measuring positioning reference signals transmitted by the at least one first network device at the same time.

13. 13. The first communication device or the second communication device of claim 12, 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.

14. The first communication device according to claim 10 or the second communication device according to claim 11, wherein the at least one phase difference is associated with the same time stamp.

15. A first communication device including a transceiver module and a processing module, the processing module is configured to measure a positioning reference signal transmitted by at least one first network device to obtain at least one phase difference; the transceiver 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 being determined based on the at least one phase difference; 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 a phase difference 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; a first communication device including at least one of:

16. 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; the processing module is configured to perform positioning for the terminal device based on the first information; 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 first paths of channels obtained by the terminal device by measuring positioning reference signals transmitted by the first network device at different times; 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 the first network device at different times; a second communication device including at least one of:

17. 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; the processing module is configured to perform positioning for the terminal device based on the first information; The processing module includes: A second communication apparatus, specifically configured to perform positioning for the terminal device based on the first information and at least one phase deviation, wherein 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 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 is reported by the calibration terminal device.

18. 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; the processing module is configured to perform positioning for the terminal device based on the first information; The processing module includes: A second communication device specifically configured to perform positioning for the terminal device based on the first information and at least one accumulated phase deviation, wherein 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 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 is reported by the calibration terminal device.

19. A communication device, A communications device comprising a processor, the processor being configured to execute a computer program or computer instructions in a memory to perform the method of any one of claims 1, 2, 6, 7, 8 and 9.

20. The communication device of claim 19, wherein the communication device further comprises the memory.

21. 1. A computer-readable storage medium, comprising: The computer-readable storage medium stores a computer program that, when executed by a communication device, enables the communication device to perform the method of any one of claims 1, 2, 6, 7, 8 and 9.

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