Positioning methods and communication equipment

Abstract

The present application discloses a positioning method, apparatus, and communication device, which belong to the field of communication technology. The positioning method of an embodiment of the present application includes the steps of: a backscattering end receiving a first signal transmitted by a first communication device; the backscattering end modulating the first signal according to a second reference signal modulation sequence or a third reference signal modulation sequence to obtain a second signal; and the backscattering end transmitting the second signal to a second communication device, wherein the second reference signal modulation sequence is an orthogonal sequence determined according to binary phase shift keying (BPSK) modulation information, and the third reference signal modulation sequence is determined according to the second reference signal modulation sequence.

Description

Technical Field

[0001] This application belongs to the field of communication technologies, and specifically relates to a positioning method, apparatus, and communication device.

Background Art

[0002] In related communication technologies, a sensing positioning technology based on backscatter characteristics has been introduced. Here, the sensing positioning technology based on this backscatter characteristic is to provide identifier (ID) related information of a backscatter device by a backscatter end, so that a receiving end can perform sensing positioning of a reflecting object based on this ID related information.

[0003] However, when the receiving end receives a signal, due to being affected by interference signals in the positioning process, there is still a problem that the positioning accuracy of the sensing positioning technology based on backscatter characteristics adopted in related technologies is poor.

Summary of the Invention

Problems to be Solved by the Invention

[0004] Embodiments of this application provide a positioning method, apparatus, and communication device that can remove interference and improve positioning accuracy.

Means for Solving the Problems

[0005] According to a first embodiment, a positioning method is provided, which includes the steps of: a backscattering end receiving a first signal transmitted by a first communication device; the backscattering end modulating the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence to obtain a second signal; and the backscattering end transmitting the second signal to a second communication device, wherein the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0006] According to a second embodiment, a positioning method is provided, the method comprising the steps of: a second communication device receiving a target signal which includes at least a first signal transmitted by a first communication device and / or a second signal transmitted by at least one backscatter end; and the second communication device positioning at least one of the first communication device, the second communication device, and the target backscatter end based on the first signal and / or at least one of the second signal, wherein the target backscatter end is any one of the at least one backscatter end, the second signal is obtained by modulating the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0007] According to a third embodiment, a positioning method is provided, which includes either of the steps of: a network-side device transmitting a second reference signal modulation sequence and / or a third reference signal modulation sequence to each of the backscatter ends based on identifier information of at least one backscatter end; or a network-side device transmitting a first modulation matrix and / or a second modulation matrix to at least one backscatter end, wherein the second reference signal modulation sequence is any one of a plurality of row vectors included in the first modulation matrix, and the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information; and the third reference signal modulation sequence is any one of a plurality of row vectors included in the second modulation matrix, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0008] According to a fourth aspect, a positioning device is provided, which includes a first receiving module for receiving a first signal transmitted by a first communication device, a modulation module for modulating the first signal to obtain a second signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, and a first transmitting module for transmitting the second signal to a second communication device, wherein the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0009] According to a fifth aspect, a positioning device is provided, the positioning device comprising a second receiving module for receiving a target signal which includes at least a first signal transmitted by a first communication device and / or a second signal transmitted by at least one backscattering end, and a positioning module for positioning at least one of the first communication device, the second communication device and the target backscattering end based on the first signal and / or at least one of the second signal, wherein the target backscattering end is any one of the at least one backscattering end, the second signal is obtained by modulating the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0010] According to a sixth aspect, a positioning device is provided, which includes a second transmitting module for transmitting a second reference signal modulation sequence and / or a third reference signal modulation sequence to each of the backscattering ends based on identifier information of at least one backscattering end, or the second transmitting module is used to transmit a first modulation matrix and / or a second modulation matrix to at least one backscattering end, wherein the second reference signal modulation sequence is any one of a plurality of row vectors included in the first modulation matrix, and the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is any one of a plurality of row vectors included in the second modulation matrix, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0011] According to the seventh aspect, a communication device is provided, the communication device including a processor and a memory, the memory storing a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, a step of the method according to the first, second, or third aspect is realized.

[0012] According to the eighth aspect, a communication device is provided, the communication device comprising a processor and a communication interface, wherein the communication interface is coupled with the processor, and the processor is used to run a program or instructions and to implement a step of the method according to the first aspect, or a step of the method according to the second aspect, or a step of the method according to the third aspect.

[0013] According to the ninth aspect, a positioning system is provided, which includes a first communication device and a second communication device, wherein the first communication device may be used to perform a step of the method according to the first aspect, and the second communication device may be used to perform a step of the method according to the second aspect.

[0014] According to the tenth aspect, a readable storage medium is provided, the readable storage medium storing a program or instruction, and when the program or instruction is executed by a processor, a step of the method according to the first aspect is realized, or a step of the method according to the second aspect is realized, or a step of the method according to the third aspect is realized.

[0015] According to the eleventh aspect, a chip is provided, the chip including a processor and a communication interface, the communication interface being coupled with the processor, the processor being used to run a program or instructions and to implement a step of the method according to the first aspect, or a step of the method according to the second aspect, or a step of the method according to the third aspect.

[0016] According to the twelfth aspect, a computer program product / program product is provided, the computer program / program product being stored in a storage medium, and the computer program / program product being executed by at least one processor to realize a step of the method according to the first aspect, or a step of the method according to the second aspect, or a step of the method according to the third aspect. [Effects of the Invention]

[0017] In the embodiments of this application, by controlling the signal phase or reflection state at different time units (e.g., slots) of the backscatter edge based on the orthogonal characteristics of the second or third reference signal modulation sequence, the second communication device can further calculate the received target signal based on the characteristics of the second or third reference signal modulation sequence to remove interfering signals that affect the positioning process, thereby achieving positioning relative to the first communication device, the second communication device, or the target backscatter edge, and improving positioning accuracy. [Brief explanation of the drawing]

[0018] [Figure 1a] This is a schematic diagram of the structure of a wireless communication system according to an embodiment of this application. [Figure 1b] This is one of the schematic diagrams of the structure of the positioning system according to the embodiment of this application. [Figure 1c] This is the second schematic diagram of the positioning system according to the embodiment of this application. [Figure 1d] This is the third schematic diagram of the structure of the positioning system according to the embodiment of this application. [Figure 2] This is one flowchart of the positioning method according to the embodiment of this application. [Figure 3] This is the second flowchart of the positioning method according to the embodiment of this application. [Figure 4a]Schematic diagram of the relationship between the modulation time lengths of the first reference signal modulation sequence and the second reference signal modulation sequence according to an embodiment of the present application. [Figure 4b] One of the schematic diagrams of the modulation process in which M backscattering terminals according to an embodiment of the present application perform signal modulation based on the second reference signal modulation sequence. [Figure 4c] Two of the schematic diagrams of the modulation process in which M backscattering terminals according to an embodiment of the present application perform signal modulation based on the second reference signal modulation sequence. [Figure 4d] Schematic diagram of the modulation process in which a backscattering terminal according to an embodiment of the present application performs signal modulation based on the third reference signal modulation sequence. [Figure 4e] Four of the schematic diagrams of the structure of the positioning system according to an embodiment of the present application. [Figure 4f] Three of the schematic diagrams of the modulation process in which three backscattering terminals according to an embodiment of the present application perform signal modulation based on the second reference signal modulation sequence. [Figure 4g] Five of the schematic diagrams of the structure of the positioning system according to an embodiment of the present application. [Figure 5] Three of the flowcharts of the positioning method according to an embodiment of the present application. [Figure 6] Four of the flowcharts of the positioning method according to an embodiment of the present application. [Figure 7] One of the schematic diagrams of the structure of the positioning device according to an embodiment of the present application. [Figure 8] Two of the schematic diagrams of the structure of the positioning device according to an embodiment of the present application. [Figure 9] Three of the schematic diagrams of the structure of the positioning device according to an embodiment of the present application. [Figure 10] Schematic diagram of the structure of the communication device according to an embodiment of the present application. [Figure 11] Schematic diagram of the structure of the terminal according to an embodiment of the present application. [Figure 12]This is a schematic diagram of the network-side equipment structure according to an embodiment of this application. [Modes for carrying out the invention]

[0019] The following clearly describes the technical concepts in the embodiments of this application, linking them to the drawings of the embodiments. Clearly, the embodiments described are only some, not all, embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are all within the scope of protection of this application.

[0020] The terms "first," "second," etc., used in the specification and claims of this application are intended to distinguish similar subjects and not to describe a specific order or sequence. It should be understood that these terms are interchangeable where appropriate, so that the embodiments of this application may be carried out in an order other than those illustrated or described herein, and that the subjects distinguished by "first" and "second" are generally of the same kind and do not limit the number of subjects; for example, the first subject may be one or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected subjects, and the letter " / " generally indicates that the preceding and succeeding related subjects are in an "or" relationship.

[0021] It should be noted that the technologies described in the embodiments of this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but are also applicable to other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in the embodiments of this application are always used interchangeably, and the technologies described may be applied to the systems and radio technologies mentioned above, or to other systems and radio technologies. The following description illustrates a New Radio (NR) system and uses NR terminology in most of the following descriptions; however, these technologies may also be applied to applications other than NR systems, such as 6th Generation (6G) communication systems.

[0022] Figure 1a shows a block diagram of a wireless communication system to which an embodiment of this application can be applied. The wireless communication system includes a terminal 11 and a network-side device 12. Here, terminal 11 may be a terminal-side device such as a mobile phone, tablet personal computer, laptop computer (or notebook computer), personal digital assistant (PDA), palmtop computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR) / virtual reality (VR) device, robot, wearable device, in-vehicle equipment (VUE), pedestrian equipment (PUE), smart home (home appliances with wireless communication capabilities, such as refrigerators, televisions, washing machines or furniture), game console, personal computer (PC), deposit machine or self-service machine, and wearable devices include smartwatches, smart bracelets, smart earphones, smart glasses, smart accessories (smart bracelets, smart hand chains, smart rings, smart necklaces, smart ankle bracelets, smart anklets, etc.), smart bands, smart clothing, etc. It should be noted that the terminal 11 in the embodiments of this application is not limited to a specific type. The network-side equipment 12 may include access network equipment or core network equipment, where access network equipment 12 may also be called wireless access network equipment, radio access network (RAN), wireless access network function, or wireless access network unit.The access network equipment 12 may include a base station, a WLAN access point, or a WiFi node, and the base station may also be called a node B, an evolved node B (eNB), an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home B node, a home evolved B node, a transmission receiving point (TRP), or any other appropriate term in the art, and is not limited to any particular technical term as long as the same technical effect is achieved. For the purposes of this explanation, the embodiments of this application only use base stations in NR systems as examples and do not limit the specific types of base stations.

[0023] Based on the description of the wireless communication system described above, the embodiment of this application further provides a positioning system, as shown in Figure 1b, which includes a first communication device, a second communication device, K backscatter edges, and two unknown reflectors (objects). It should be noted that the positioning system includes, but is not limited to, the objects shown in Figure 1b. For example, the positioning system may include more or fewer objects than those shown in Figure 1b, and may include multiple second communication devices, multiple unknown reflectors, etc., and is not limited thereto.

[0024] Here, the first communication device is the signal transmitting end, and the second communication device is the signal receiving end and positioning / measurement end. It should be noted that the first and second communication devices are of different types depending on the positioning scenario.

[0025] For example, if the positioning scenario is the UU uplink positioning scenario shown in Figure 1b, the first communication device may be a terminal, such as the vehicle shown in Figure 1b, and the second communication device may be a network-side device, such as the gNb shown in Figure 1b.

[0026] For example, if the positioning scenario is a UU downlink positioning scenario, the first communication device may be a network-side device, such as the gNb shown in Figure 1c, and the second communication device may be a terminal, such as the vehicle shown in Figure 1c.

[0027] Furthermore, for example, if the positioning scenario is a sidelink (SL) positioning scenario, the first communication device and the second communication device may both be terminals, such as the vehicle shown in Figure 1d, or the vehicle shown in Figure 1b. It should be noted that, referring again to Figure 1d, if the positioning scenario is an SL positioning scenario, the positioning system may further include the first communication device, the second communication device, and network-side equipment for providing services to the K backscatter ends, such as providing a second reference signal modulation sequence to the backscatter ends.

[0028] The backscatter end is used to modulate and then transmit (e.g., reflect) a signal from the first communication device. Accordingly, the second communication device can position itself, the first communication device, or the backscatter end based on the signal transmitted by the received backscatter end and / or the signal transmitted by the first communication device. In this embodiment, the type of device of the backscatter end may vary depending on the application scenario. For example, for a V2X application scenario, the backscatter end may be, but is not limited to, a Vehicle-to-Everything (V2X) UE, a tag installed on the V2X UE, etc.

[0029] The unknown reflector may be any object present in the positioning scenario that can reflect a signal, such as a building, vehicle, or smart device, and is not limited thereto.

[0030] To make it clear, in a positioning system, in addition to the unknown reflector affecting the positioning accuracy, signals from other devices other than the positioning target also interfere with the positioning of the positioning target. For example, if the positioning target is a first communication device or a second communication device, signals from the backscatter end also interfere with the positioning of the first communication device or the second communication device. Also, for example, if the positioning target is the target backscatter end, signals from other backscatter ends other than the target backscatter end, such as signals from the first communication device, all interfere with the positioning of the target backscatter end.

[0031] Of course, for the different positioning scenarios described above, the second communication device is a terminal that performs positioning operations. For example, in the UU uplink positioning scenario and the SL positioning scenario, the second communication device can position the first communication device and / or the backscatter end. In the UU positioning scenario, the second communication device can position itself (i.e., the second communication device) and / or the backscatter end.

[0032] It should be noted that, in either positioning scenario, the type of terminal can refer to the relevant description in terminal 11, and the network-side device can refer to the relevant description in network-side device 12.

[0033] Furthermore, the positioning method described in this application may be applied to, but is not limited to, a monostatic backscatter communication system (MBCS), a bistatic backscatter communication system (BBCS), or an ambient backscatter communication system (ABCS). To clarify the description, the following embodiments will use a bistatic backscatter positioning scenario as an example, and will introduce the technical method according to the embodiments of this application, assuming that each backscatter end is perfectly synchronized with the first and second communication devices.

[0034] Based on this, the following will describe in detail the technical proposal according to the embodiments of this application with reference to several embodiments and their application scenarios, while linking them to the drawings.

[0035] As shown in Figure 2, this is a flowchart of a positioning method 200 according to an exemplary embodiment of the present application, which may, but is not limited to, be performed by a first communication device, and more specifically, by hardware and / or software installed on the first communication device. In this embodiment, the method 200 may include at least the following steps.

[0036] S210, the backscattering end receives the first signal transmitted by the first communication device.

[0037] Here, before initiating the positioning process, the second communication device performing the positioning can select a communication device near the backscattering edge as the first communication device, thereby reducing the distance between the backscattering edge and the first communication device, further reducing round-trip path loss, and ensuring that the second communication device receives reflected signals with a higher signal-to-noise ratio (SNR).

[0038] The first signal may be obtained by the first communication device based on a first reference signal modulation sequence. Selectively, the first reference signal modulation sequence may be a positioning reference signal (PRS) modulation sequence, a sounding reference signal (SRS) modulation sequence, a channel state information reference signal (CSI-RS) modulation sequence, a demodulation reference signal (DMRS) sequence, etc. Accordingly, the first signal may be PRS, SRS, CSI-RS, DMRS, etc.

[0039] In this embodiment, the first reference signal modulation sequence may include N symbols s(n). Here, the symbols s(n) may be orthogonal frequency division multiplexing (OFDM), code division multiple access (CDMA), etc., and N is an integer greater than or equal to 1 and 1 ≤ n ≤ N. Based on this, in one implementation, the first reference signal modulation sequence symbols may reuse the positioning pilot PRS signals in the Third Generation Partnership Project (3GPP®), that is, each symbol of the first reference signal modulation sequence may be determined based on an OFDM symbol or an OFDM slot.

[0040] Furthermore, depending on the positioning needs, the first reference signal modulation sequence may be pre-configured in the first communication device, or it may be obtained by the first communication device from network-side equipment (for example, the service base station of the first communication device), and is not limited thereto.

[0041] S220, the backscattering edge modulates the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence to obtain a second signal.

[0042] S230, the backscattering end transmits the second signal to the second communication device.

[0043] Here, the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0044] For S220 and S230, the present application controls the signal phase or on-off reflection state of the backscatter edge in different time units (e.g., slots) by modulating different pilot reference signal blocks (e.g., a second reference signal modulation sequence or a third reference signal modulation sequence).

[0045] For example, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying (BPSK) modulation information (i.e., the second reference signal modulation sequence is a BPSK modulation sequence), and the backscattering end can then control the phase in different time units by controlling the signal phase of the backscattering end in different time units based on the modulation symbol (e.g., 1 or -1) in the BPSK modulation sequence after receiving the first signal.

[0046] For example, the third reference signal modulation sequence is an orthogonal sequence determined based on the second reference signal modulation sequence. In this embodiment, the backscattering edge not only controls the signal phase in different time units depending on the modulation symbol (e.g., 1 or -1) in the third reference signal modulation sequence, but also controls the on or off state of the backscattering edge. For example, during the on-duration (corresponding to the modulation symbol "1" or "-1" in the third reference signal modulation sequence), the backscattering edge reflects the second signal, while during the off-duration (corresponding to the modulation symbol "0" in the third reference signal modulation sequence), the backscattering edge silently collects battery energy, i.e., does not reflect the signal.

[0047] Based on this, the second communication device can process (e.g., perform addition or subtraction) the received target signal using the orthogonal features of the second or third reference signal modulation sequence to remove interfering signals that affect sensing / positioning calculations, thereby achieving positioning with respect to the first communication device, the second communication device, or the target backscatter edge, where the target backscatter edge is one of at least one backscatter edge involved in the positioning process. To make it clear, for the second communication device, it is clear what the second or third reference signal modulation sequence employed by each of the backscatter edges is.

[0048] For example, referring again to Figure 1b, the target signal received by the second communication device may include one or more of the following: a first signal from the first communication device (which may be called a diameter signal), a second signal from the backscattering end (which may be called a reflected signal), an interference signal from an unknown reflector, and an additive white Gaussian noise (AWGN) signal. Then, based on the orthogonal characteristics of the second reference signal modulation sequence or the third reference signal modulation sequence, the second communication device can eliminate interference from the diameter signal and / or the second signal transmitted by the target backscattering end to the positioning of the target backscattering end, thereby achieving positioning relative to the target backscattering end, or eliminate interference from the second signal transmitted by the backscattering end to the diameter signal, thereby achieving positioning relative to the target backscattering end, etc.

[0049] It should be noted that, similar to the first reference signal modulation sequence described above, the second or third reference signal modulation sequence may be a PRS modulation sequence, a CSI-RS modulation sequence, an SRS modulation sequence, a DMRS modulation sequence, etc. Accordingly, the second signal may be PRS, CSI-RS, SRS, DMRS, etc., and is not limited thereto.

[0050] Furthermore, as one implementation method, the second reference signal modulation sequence may be an orthogonal sequence determined based on the BPSK modulation signal, or an orthogonal sequence determined based on other signals such as frequency-shift keying (FSK), and is not limited thereto.

[0051] In this embodiment, by controlling the signal phase or reflection state at different time units (e.g., slots) of the backscatter edge based on the orthogonal characteristics of the second or third reference signal modulation sequence, the second communication device can further calculate the received target signal based on the characteristics of the second or third reference signal modulation sequence to remove interfering signals that affect the positioning process, thereby achieving positioning relative to the first communication device, the second communication device, or the target backscatter edge, and improving positioning accuracy.

[0052] As shown in Figure 3, this is a flowchart of a positioning method 300 according to an exemplary embodiment of the present application, which may, but is not limited to, be performed by a first communication device, and more specifically, by hardware and / or software installed on the first communication device. In this embodiment, the method 300 may include at least the following steps.

[0053] S310, the backscattering end receives the first signal transmitted by the first communication device.

[0054] To ensure understanding, the implementation process of S310 can be found in the relevant description in Example 200 of the Method, and will not be described further here to avoid repetition.

[0055] S320, the backscattering edge modulates the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence to obtain a second signal.

[0056] To make it understandable, the implementation process of S320 can be described by referring to the relevant description in Example 200 of the Method. In addition, as one possible implementation, the second reference signal modulation sequence may include M+x (where x is 1 or 2) modulation symbols, where M is related to the number of backscattering edges involved in the positioning process, for example, M is equal to the number of backscattering edges involved in the positioning process, i.e., M is an integer of 1 or more.

[0057] Based on this, in one implementation method, the relationship between the modulation time length corresponding to the first reference signal modulation sequence and the modulation time length corresponding to the second reference signal modulation sequence is M+x, as shown in Figure 4a, for example.

[0058] For clarity, if the first reference signal modulation sequence contains N symbols, the sequence length of the reflected signal (i.e., the second signal) modulated by the first and second reference signal modulation sequences may be N × (M + x). For ease of explanation, the modulation time length of the second reference signal modulation sequence described in this embodiment may be equal to the length of one time unit, i.e., the phase control of the backscatter edge is performed on a time unit basis. Here, the time unit and the time units mentioned later may be slots, symbols, subframes, frames, etc., and are not limited thereto.

[0059] Furthermore, in this embodiment, the second reference signal modulation sequence and the third reference signal modulation sequence may be pre-configured at the backscattering end, or they may be acquired by the backscattering end from network-side equipment. For example, the process by which the backscattering end acquires the second reference signal modulation sequence from network-side equipment will be described here in conjunction with the following methods 1 to 5, and the details are as follows.

[0060] Method 1: The backscatter end acquires the second reference signal modulation sequence from the network-side equipment, and the second reference signal modulation sequence is selected by the network-side equipment from a plurality of row vectors included in the first modulation matrix based on the identifier information of the backscatter end.

[0061] Here, the second reference signal modulation sequence selected by the network-side device for each of the backscatter ends may be partially the same or different. That is, for different backscatter ends, the second reference signal modulation sequence employed therein may be the same or different. It should be noted that in this scheme 1, the network-side device needs to instruct each backscatter end on the second reference signal modulation sequence based on the backscatter end identifier information (ID), so each backscatter end needs to instruct the network-side device on its ID before any positioning or sensing operation.

[0062] Method 2: The backscattering end acquires a first modulation matrix from the network-side device and selects the second reference signal modulation sequence from a plurality of row vectors included in the first modulation matrix based on its own identifier information.

[0063] Here, similar to method 1, in method 2, when each of the backscattering ends selects a second reference signal modulation sequence based on its own identifier information, the second reference signal modulation sequences selected by different backscattering ends may be the same or different. In other words, for different backscattering ends, the second reference signal modulation sequences employed by them may be the same or different.

[0064] Method 3: The backscatter end acquires the third reference signal modulation sequence from the network-side equipment, and the third reference signal modulation sequence is selected by the network-side equipment from a plurality of row vectors included in the second modulation matrix based on the identifier information of the backscatter end.

[0065] Method 4: The backscattering end acquires a second modulation matrix from the network-side device and selects the third reference signal modulation sequence from a plurality of row vectors included in the second modulation matrix based on its own identifier information.

[0066] Method 5: The backscattering end acquires the second reference signal modulation sequence from the network-side equipment and determines the third reference signal modulation sequence based on the second reference signal modulation sequence.

[0067] To make this clearer, the aforementioned explanation of the second reference signal modulation sequence can be used to describe the implementation process of methods 3-5. However, it should be noted that, whether it is the second or third reference signal modulation sequence, if it is selected or determined from the modulation vector by the backscatter end itself, the backscatter end needs to report the selected or determined second reference signal modulation sequence and / or third reference signal modulation sequence to the network-side equipment in order to ensure the synchronization of information between the backscatter end and the network-side equipment, and further to ensure the smooth progress of the positioning flow.

[0068] Furthermore, in the aforementioned methods 1 and 5, if the positioning scenario is a UU uplink positioning scenario, the network-side equipment may be a second communication device; if the positioning scenario is a UU downlink positioning scenario, the network-side equipment may be the first communication device; and if the positioning scenario is an SL positioning scenario, the network-side equipment may be the first communication device and / or the second communication device and / or the network-side equipment providing service to the backscatter end, and is not limited thereto.

[0069] Of course, the sequence lengths of the second and third reference signal modulation sequences mentioned above are related to the backscattering edge involved in positioning, and the implementation of the second and third reference signal modulation sequences will be explained in order below.

[0070] One implementation method is to assume that there are M backscattering edges in a positioning scenario, and in order to eliminate interference between each backscattering edge, the characteristics of the second reference signal modulation sequence may be such that the first element in the second reference signal modulation sequence is -1 and all other second elements are 1. In other words, in a positioning scenario, in order to achieve signal phase control, the phase of the reflected signal (i.e., the second signal) at a specified time unit of one backscattering edge may be made negative, and the phase of the reflected signal (i.e., the second signal) at other time units other than the specified time unit may be made positive.

[0071] Considering that the second reference signal modulation sequence is selected from the first modulation matrix, for a plurality of row vectors in the first modulation matrix, corresponding to the second reference signal modulation sequence, the first element in each row vector is -1, all other second elements are 1, and the position of the first element in each row vector is different. For example, the first modulation matrix B is as shown in equation (1).

[0072]

number

[0073] Furthermore, if the sequence length of the first modulation matrix or the second reference signal modulation sequence is greater than 3 (for example, M is greater than 2), then M backscattering ends exist simultaneously, modulating the reflected pilot signal (for example, the second signal) by the second reference signal modulation sequence. As a result, the reflected signals from the backscattering ends affect the positioning performance of the first communication device. That is, when using the second reference signal modulation sequence shown in Figure 4b (i.e., the first modulation matrix in equation (1)), the second communication device can position the backscattering ends, but it cannot achieve positioning relative to the first communication device or itself.

[0074] Based on this, the present application considers adding one more element "-1" to each second reference signal modulation sequence, that is, adjusting the sequence length of the second reference signal modulation sequence to M+2. In other words, the second reference signal modulation sequence is characterized by having two elements "-1", and all other elements besides these two "-1" elements being "1". In other words, when the length of the second reference signal modulation sequence is greater than 3, the first modulation matrix further includes a second column vector, and each element in the second column vector is -1.

[0075] Then, as one implementation method, referring to Figure 4c and equation (2), the second reference signal modulation sequence corresponding to each of the aforementioned backscattering ends is as shown in Figure 4c, and the first modulation matrix is ​​as shown in equation (2).

[0076]

number

[0077] Based on the aforementioned second reference signal modulation sequence, this application employs a third reference signal modulation sequence determined based on the second reference signal modulation sequence, primarily to solve the problem of mutual interference present between backscattering ends. For example, if the backscattering ends are not coordinated with each other, for example, if two or more backscattering ends use the same second reference signal modulation sequence, or if it is required that the number of backscattering ends to be positioned is greater than M, then the phenomenon of mutual interference exists between the backscattering ends. Here, "the number of backscattering ends to be positioned is greater than M" may be understood as the second reference signal modulation sequence being designed on the basis that the maximum number of backscattering ends is M. If the network-side equipment perfectly configures a second reference signal modulation sequence with sequence length and magnitude M for M backscattering ends, then there is no mutual interference between the backscattering ends. However, in actual applications, the network-side equipment is forced to support scenarios where the total number of backscattering ends is greater than M, and then the phenomenon of mutual interference exists between the backscattering ends.

[0078] In contrast, as one implementation method, the present application may include a process for determining a third reference signal modulation sequence based on a second reference signal modulation sequence, which involves multiplying the second reference signal modulation sequence by an on-off vector sequence to obtain the third reference signal modulation sequence. Here, the elements in this on-off vector sequence include at least one third element and at least one fourth element, where the third element is 0 and the fourth element is 1. For example, the on-off vector sequence A is A=[0 1 … 0 1].

[0079] Based on this, if we let L be the number of elements in the on-off vector sequence, and assume that the modulation time length corresponding to the second reference signal modulation sequence and the modulation time length corresponding to the on-off vector sequence are in a relationship of L, then the sequence length of the third reference signal modulation sequence obtained by multiplying the second reference signal modulation sequence and the on-off vector sequence is L × (M + x), and each element in the third reference signal modulation sequence may be 1, 0, or -1.

[0080] In this case, if the backscattering ends can modulate the first signal using a third reference signal modulation sequence as shown in Figure 4d, on the one hand, interference between the backscattering ends can be reduced when the number of backscattering ends is greater than M, and on the other hand, the backscattering ends can be put into a silent state during off-duration, collecting battery energy and ensuring the sustainability of the positioning process. Even if there is partial collision in the second reference signal modulation sequence, the second communication device can still position some of the backscattering ends.

[0081] S330, the backscattering end transmits the second signal to the second communication device.

[0082] Here, the second reference signal modulation sequence is an orthogonal sequence determined based on BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0083] To ensure understanding, the implementation process of S330 can be found in the relevant description in Example 200 of the Method, and will not be described further here to avoid repetition.

[0084] It should be noted that when the second communication device receives the target signal, it can position the first communication device, the second communication device, or the target backscatter end based on the target signal. Here, the target signal includes at least a first signal transmitted by the first communication device and / or a second signal transmitted by at least one backscatter end.

[0085] Based on this, in one implementation, the process by which the second communication device positions itself based on the target signal may include (11)-(13).

[0086] (11) When the length of the second reference signal modulation sequence is 2 or 3, the second communication device positions itself based on the sum of the first target signal and the second target signal, where the first target signal is a signal received by the second communication device in a first time unit, the second target signal is a signal received by the second communication device in a second time unit, and the phase of the modulation symbols in the second reference signal modulation sequence corresponding to the first time unit is the same as the phase of the second reference signal modulation sequence corresponding to the second time unit. The phase of the modulation symbol in the signal is inverse, for example, the modulation symbol corresponding to the first time unit is b=1 and the modulation symbol corresponding to the second time unit is b=-1, and also for example, the modulation symbol corresponding to the first time unit is b=-1 and the modulation symbol corresponding to the second time unit is b=1. This eliminates interference to the positioning signal of the first communication device caused by the second signal transmitted by the backscattering end in the first and second time units through the sum operation of the first target signal and the second target signal, thereby improving positioning accuracy.

[0087] For example, the sum of the first target signal and the second target signal is JPEG0007843850000003.jpg581 That is the case.

[0088] Also, for example, if the length of the second reference signal modulation sequence is 3, the sum of the first target signal and the second target signal is, JPEG0007843850000004.jpg587 That is the case.

[0089] To make it understandable, JPEG0007843850000005.jpg49 is the target signal received by the second communication device in the mth slot, as shown in the following equation, for example.

[0090]

number

[0091] JPEG0007843850000008.jpg14164

[0092] (12) When the length of the second reference signal modulation sequence is greater than 3, the second communication device positions the first communication device based on the sum of the third target signal and the fourth target signal, where the third target signal is the signal received by the second communication device in the M+2th time unit, and the fourth target signal is the signal obtained after the second communication device has weighted the signals received from the 1st time unit to the M+1th time unit.

[0093] Here, if the length of the second reference signal modulation sequence is greater than 3, the sum of the third target signal and the fourth target signal is:

number

[0094] (13) The process by which the second communication device positions a target backscatter end based on the target signal may include, when the target backscatter end is the m-th backscatter end of the at least one backscatter end and the length of the second reference signal modulation sequence is 2, the second communication device positioning the m-th backscatter end based on the difference between a fifth target signal and a sixth target signal, where the fifth target signal is a signal received by the second communication device in a third time unit, the sixth target signal is a signal received by the second communication device in a fourth time unit, the modulation symbol corresponding to the third time unit is 1, and the modulation symbols corresponding to the fourth time unit are both -1. By doing so, the difference calculation between the fifth target signal and the sixth target signal eliminates interference to the positioning signal of the target backscatter end by the first signal transmitted by the first communication device in the third and fourth time units, thereby improving positioning accuracy.

[0095] Based on this, one implementation method is the difference between the fifth target signal and the sixth target signal. JPEG0007843850000010.jpg59 is

number

[0096] JPEG0007843850000012.jpg54164

[0097] Based on this, the positioning process in (11)-(13) above will be explained below by linking Examples 1-4 based on a second or third reference signal modulation sequence, and the details are as follows. It should be noted that, for the sake of simplicity, the reflected signals of unknown reflectors are not considered in Examples 1-4.

[0098] Example 1 Assuming the positioning scenario is as shown in Figure 4e, i.e., a UU uplink positioning scenario in a Bistatic Backscatter scenario, where the time unit is a slot, and the length of the second reference signal modulation sequence is 2 (M=1, i.e., there is one backscatter edge as shown in Figure 4e), then the target signal received by the second communication device in the mth slot... JPEG0007843850000013.jpg410 may be as shown in equation (3).

[0099]

number

[0100] JPEG0007843850000015.jpg49164

[0101]

number

[0102] JPEG0007843850000017.jpg36164

[0103]

number

[0104] As can be seen from equation (5) above, interference from the backscattering edge on the positioning process of the first communication device can be completely eliminated, and a relatively good SNR gain can be obtained.

[0105] JPEG0007843850000019.jpg42164

[0106]

number

[0107] As can be seen from equation (7) above, interference from the first communication device on the backscattering edge positioning process can be completely eliminated, and a relatively good SNR gain can be obtained.

[0108] Example 2 Assuming that the aforementioned time unit is a slot and the length of the second reference signal modulation sequence is 3 (M=2, i.e., there are two backscattering ends 1 and 2 in the positioning scenario), the target signal received by the second communication device in the mth slot is JPEG0007843850000021.jpg410 may be as shown in equation (9).

[0109]

number

[0110] JPEG0007843850000023.jpg50164

[0111]

number

[0112] JPEG0007843850000025.jpg36164

[0113]

number

[0114] As can be seen from equation (11) above, interference from the backscatter edge on the positioning process of the first communication device can be completely eliminated, and a relatively good SNR gain can be obtained.

[0115] JPEG0007843850000027.jpg58164

[0116]

number

[0117] As can be seen from equations (13) and (14) above, interference from the first communication device on the backscattering edge positioning process can be completely eliminated, and a relatively good SNR gain can be obtained.

[0118] Example 3 Assuming that the time unit is a slot and the second reference signal modulation sequence has a length > 3 (M > 2, i.e., there are two or more backscattering edges in the positioning scenario), the target signal received by the second communication device in the mth slot JPEG0007843850000029.jpg410 may be as shown in equation (16).

[0119]

number

[0120] JPEG0007843850000031.jpg23164

[0121]

number

[0122] As can be seen from equation (17) above, interference from the backscatter edge on the positioning process of the first communication device can be completely eliminated, and a relatively good SNR gain can be obtained.

[0123] JPEG0007843850000033.jpg23164

[0124]

number

[0125] As can be seen from equation (19) above, interference from the first communication device on the backscattering edge positioning process can be completely eliminated, and a relatively good SNR gain can be obtained.

[0126] Example 4 JPEG0007843850000035.jpg66164

[0127]

number

[0128] Then, the target signal received by the second communication device in slot m JPEG0007843850000037.jpg410 is as shown in equation (22).

[0129]

number

[0130] Based on this, the second communication device positions its backscattering edge in four different positioning blocks based on the On-Off vector sequence. The positioning status of each of the four different positioning blocks is described below.

[0131] Positioning status of positioning block 1 JPEG0007843850000039.jpg23164

[0132]

number

[0133] JPEG0007843850000041.jpg43164

[0134]

number

[0135] As can be seen from equation (24) above, interference from the backscattering edge on the positioning process of the first communication device can be completely eliminated, and a relatively good SNR gain can be obtained.

[0136] Positioning status of positioning block 2 With respect to positioning block 2, the second communication device can simultaneously acquire positioning signals from the first communication device and the backscattering end 2 and backscattering end 3, and can eliminate interference between the backscattering end and the first communication device, as well as interference between the backscattering end 2 and backscattering end 3.

[0137] Positioning status of positioning block 3 JPEG0007843850000043.jpg33164

[0138]

number

[0139] As can be seen from equation (26), since the backscattering end 1 and the backscattering end 3 collide completely, the second communication device cannot obtain the necessary positioning parameters (e.g., Time Difference of Arrival, TDOA) between the backscattering end 1 and the backscattering end 3. However, with respect to the first communication device, the second communication device can obtain a positioning signal for the first communication device using equation (27), and its corresponding SNR is as shown in equation (28).

[0140]

number

[0141] Furthermore, since there is no collision between backscatter end 2 and backscatter ends 1 and 3, the second communication device can acquire a positioning signal for backscatter end 2 using equation (29), and the corresponding SNR is as shown in equation (30).

[0142]

number

[0143] Positioning status of positioning block 4 With respect to positioning block 2, the second communication device can simultaneously acquire positioning signals from the first communication device and backscattering end 1 and backscattering end 2, and can eliminate interference between the backscattering end and the first communication device, as well as interference between backscattering end 1 and backscattering end 2. The processing steps can be found in the description above and will not be explained further here.

[0144] Example 5 The aforementioned positioning scenario is the Sidelink positioning scenario shown in Figure 4g, i.e., the Sidelink positioning scenario in the Bistatic Backscatter scenario, where the time unit is a slot, the first communication device is a Sidelink UE (SUE), and the second communication device is a Road Side Unit (RSU). Considering that it is difficult to find four or more RSUs around a single SUE, positioning by other surrounding SUEs is also possible. However, due to the mobility of the SUEs, the positional accuracy of the SUEs themselves becomes very inaccurate, and this leads to a significant decrease in the overall accuracy of Sidelink positioning. In order to improve the accuracy of Sidelink positioning, it is essential to deploy RSUs densely, but this significantly increases the cost of Sidelink deployment.

[0145] In contrast, this application utilizes the properties of backscatter to provide positioning support for SUE. For example, referring again to Figure 4e, if there is one SUE, one RSU, K backscatter edges and J unknown reflectors (Objects), the target signal received by the RSU in the mth slot may be as shown in equation (31).

[0146]

number

[0147] The SUE positioning signal, supported by the backscattering end, can be obtained from the transmitted signal of the m-th backscattering end. For example, positioning for the SUE can be achieved here by subtracting the (m+1)th slot signal from the first slot signal according to equation (32).

[0148]

number

[0149] According to equation (32), RSU is the total delay time it takes for the first signal transmitted by SUE to be reflected by the m-th backscattering edge and arrive at RSU, i.e., The file JPEG0007843850000050.jpg416 can be calculated.

[0150] JPEG0007843850000051.jpg56164

[0151] Of course, considering that the second communication device directly positions itself based on the target signal, and that there is no exchange of information between the backscatter ends, it is unavoidable that the reflected signals of the backscatter ends will collide simultaneously (for example, if different backscatter ends select the same second reference signal modulation sequence). However, if only a small number of reflected signals from backscatter ends (i.e., the second signals) collide, the second communication device can distinguish and determine the ID of the backscatter end and the corresponding coordinate position using its positioning algorithm. If only a small number of reflected signals from backscatter ends (i.e., the second signals) collide, the second communication device may not be able to effectively solve the collision problem of the reflected signals from the backscatter ends and may not be able to achieve effective positioning. Alternatively, due to limitations in the computing power or hardware capabilities of the second communication device, it may not be able to position at least one of the first communication device, the second communication device, and the at least one backscatter end based on the first signal and / or at least one second signal.

[0152] In this case, the second communication device acquires at least one of the first, second, and third measurement parameters based on the first signal and / or at least one of the second signal, and transmits at least one of the first, second, and third measurement parameters to the sensing function (SF), which can classify the positioning data (e.g., the third measurement parameter) corresponding to the received backscattered edge using unsupervised learning of the expectation maximization (EM) algorithm (K-Means Clustering). The SF then uses the positioning algorithm to estimate the position / velocity of the backscattered edge. It should be noted that EM is primarily used in scenarios of backscattered edge collisions.

[0153] For example, the second communication device can simultaneously acquire positional information of multiple backscattering ends using a specific positioning algorithm (e.g., Multiple Signal Classification (MUSIC)). In this case, if the second communication device cannot determine the position of a backscattering end and the associated information of its ID due to collisions between the backscattering ends, the second communication device can transmit at least one of the first measurement parameter, the second measurement parameter, and the third measurement parameter to the SF, thereby allowing the SF to comprehensively determine the positional information and ID information of the backscattering ends.

[0154] It should be noted that the first measurement parameter is used for positioning the first communication device, the second measurement parameter is used for positioning the second communication device, and the third measurement parameter is used for positioning the at least one backscatter edge. For example, the first, second, and third measurement parameters may include, but are not limited to, parameters such as TDOA and Time of Arrival (ToA).

[0155] As shown in Figure 5, this is a flowchart of a positioning method 500 according to an exemplary embodiment of the present application, which may, but is not limited to, be performed by a second communication device, and more specifically, by hardware and / or software installed on a first communication device. In this embodiment, the method 500 may include at least the following steps.

[0156] S510, the second communication device receives a target signal which includes at least a first signal transmitted by the first communication device and / or a second signal transmitted by at least one backscattering end.

[0157] S520, the second communication device positions at least one of the first communication device, the second communication device, and the target backscattering edge based on the first signal and / or at least one of the second signals.

[0158] Here, the target backscatter edge is one of the at least one backscatter edge, the second signal is obtained by modulating the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0159] Selectively, the second reference signal modulation sequence includes M+x modulation symbols, where x is 1 or 2, where M is related to the number of backscatter edges involved in the positioning process, and M is an integer greater than or equal to 1, where the modulation time length corresponding to the first reference signal modulation sequence and the modulation time length corresponding to the second reference signal modulation sequence are in a relationship of M+x times, and the first signal is obtained based on the first reference signal modulation sequence.

[0160] Selectively, the first reference signal modulation sequence includes a positioning reference signal modulation sequence, and / or the second reference signal modulation sequence includes a positioning reference signal modulation sequence.

[0161] The step of selectively positioning the second communication device based on the first signal and / or at least one of the second signals is, when the length of the second reference signal modulation sequence is 2 or 3, the step of positioning the second communication device based on the sum of a first target signal and a second target signal, wherein the first target signal is a signal received by the second communication device in a first time unit, and the second target signal is a signal received by the second communication device in a second time unit, and the modulation sequence in the second reference signal modulation sequence corresponding to the first time unit The method includes one of the following steps: the phase of Boll is inverse to the phase of the modulation symbols in the second reference signal modulation sequence corresponding to the second time unit; and, if the length of the second reference signal modulation sequence is greater than 3, the second communication device positions the first communication device based on the sum of a third target signal and a fourth target signal, wherein the third target signal is a signal received by the second communication device in the M+2th time unit, and the fourth target signal is a signal obtained after weighting the signals received by the second communication device from the 1st time unit to the M+1th time unit.

[0162] Selectively, when the length of the second reference signal modulation sequence is 2, the sum of the first target signal and the second target signal is:

number

number

number

[0163] Selectively, the step of the second communication device positioning the at least one backscatter end based on the first signal and / or at least one of the second signals includes, when the target backscatter end is the m-th backscatter end of the at least one backscatter end and the length of the second reference signal modulation sequence is 2, the step of the second communication device positioning the m-th backscatter end based on the difference between a fifth target signal and a sixth target signal, where the fifth target signal is a signal received by the second communication device in a third time unit, the sixth target signal is a signal received by the second communication device in a fourth time unit, the modulation symbol corresponding to the third time unit is 1, and the modulation symbols corresponding to the fourth time unit are both -1.

[0164] Selectively, the difference between the fifth target signal and the sixth target signal. JPEG0007843850000055.jpg59 is

number

[0165] The step of selectively positioning the second communication device on the first signal and / or at least one of the second signals, the second communication device and the target backscatter edge, includes the steps of the second communication device obtaining at least one of a first measurement parameter, a second measurement parameter and a third measurement parameter on the first signal and / or at least one of the second signals, and the second communication device transmitting at least one of the first measurement parameter, the second measurement parameter and the third measurement parameter to a sensing function, wherein the first measurement parameter is used for positioning the first communication device, the second measurement parameter is used for positioning the second communication device, and the third measurement parameter is used for positioning the at least one backscatter edge.

[0166] Selectively, when the positioning scenario is a UU uplink positioning scenario, the first communication device is a terminal and the second communication device is a network-side device; when the positioning scenario is a UU downlink positioning scenario, the first communication device is a network-side device and the second communication device is a terminal; and when the positioning scenario is a sidelink positioning scenario, both the first and second communication devices are terminals.

[0167] To ensure understanding, the implementation process of each implementation in Example 500 of this method can achieve the same or applicable technical effects by referring to the relevant descriptions in Examples 200-300 of this method, and to avoid repetition of explanation, it will not be explained further here.

[0168] As shown in Figure 6, this is a flowchart of a positioning method 600 according to one exemplary embodiment of the present application, which may, but is not limited to, be performed by network-side equipment, and more specifically, by hardware and / or software installed on network-side equipment. In this embodiment, the method 600 may include at least the following steps.

[0169] S610, the network-side device transmits a second reference signal modulation sequence and / or a third reference signal modulation sequence to each of the backscatter ends based on the identifier information of at least one backscatter end, and the network-side device transmits a first modulation matrix and / or a second modulation matrix to at least one backscatter end.

[0170] Here, the second reference signal modulation sequence is one of a plurality of row vectors included in the first modulation matrix, and the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is one of a plurality of row vectors included in the second modulation matrix, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0171] Selectively, for at least one of the backscattering ends, at least a portion of the second reference signal modulation sequence corresponding to each backscattering end is different.

[0172] Selectively, the first element in each row vector of the first modulation matrix is ​​-1, and all other second elements are 1.

[0173] Selectively, each element in the first column vector of the first modulation matrix is ​​1.

[0174] Selectively, the first modulation matrix B is,

number

[0175] Selectively, if the length of the second reference signal modulation sequence is greater than 3, the first modulation matrix further includes a second column vector, where each element in the second column vector is -1.

[0176] Selectively, the first modulation matrix B is,

number

[0177] The step of a network-side device selectively determining a third reference signal modulation sequence based on the second reference signal modulation sequence includes the step of the network-side device multiplying the second reference signal modulation sequence by an on-off vector sequence to obtain the third reference signal modulation sequence, wherein the elements in the on-off vector sequence include at least one third element and at least one fourth element, the third element being 0 and the fourth element being 1.

[0178] Selectively, the number of elements in the on-off vector sequence A is L, and the time length of the second reference signal modulation sequence and the time length of the third reference signal modulation sequence are related by a factor of L.

[0179] Selectively, the on-off vector sequence A is A=[0 1 … 0 1].

[0180] To ensure understanding, the implementation process of each implementation in Example 600 of this method can achieve the same or applicable technical effects by referring to the relevant descriptions in Examples 200-300 of this method, and will not be further explained here to avoid repetition.

[0181] In the positioning method according to the embodiment of this application, the execution body may be a positioning device. In the embodiment of this application, the positioning device according to the embodiment of this application will be described using the execution of the positioning method by the positioning device as an example.

[0182] As shown in Figure 7, this is a schematic diagram of the structure of a positioning device 700 according to an exemplary embodiment of the present application, the positioning device 700 includes a first receiving module for receiving a first signal transmitted by a first communication device, a modulation module for modulating the first signal to obtain a second signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, and a first transmitting module for transmitting the second signal to a second communication device, wherein the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0183] Selectively, the second reference signal modulation sequence includes M+x modulation symbols, where x is 1 or 2, where M is related to the number of backscatter edges involved in the positioning process, and M is an integer greater than or equal to 1, where the modulation time length corresponding to the first reference signal modulation sequence and the modulation time length corresponding to the second reference signal modulation sequence are in a relationship of M+x times, and the first signal is obtained based on the first reference signal modulation sequence.

[0184] Selectively, at least one of the first reference signal modulation sequence and the second reference signal modulation sequence includes a positioning reference signal modulation sequence.

[0185] Selectively, before the step in which the backscattering end modulates the first signal based on a second or third reference signal modulation sequence to obtain a second signal, the method includes the steps of: the backscattering end obtaining the second reference signal modulation sequence from a network-side device, wherein the second reference signal modulation sequence is selected by the network-side device from a plurality of row vectors included in the first modulation matrix based on identifier information of the backscattering end; and the backscattering end obtaining the third reference signal modulation sequence from a network-side device, wherein the third reference signal modulation sequence is included in the second modulation matrix based on identifier information of the backscattering end. The method further includes one of the following steps: selecting from a plurality of row vectors; the backscattering end obtaining a first modulation matrix from a network-side device and selecting the second reference signal modulation sequence from a plurality of row vectors included in the first modulation matrix based on its own identifier information; the backscattering end obtaining a second modulation matrix from a network-side device and selecting the third reference signal modulation sequence from a plurality of row vectors included in the second modulation matrix based on its own identifier information; and the backscattering end obtaining the second reference signal modulation sequence from a network-side device and determining the third reference signal modulation sequence based on the second reference signal modulation sequence.

[0186] Selectively, the first element in each row vector of the first modulation matrix is ​​-1, and all other second elements are 1, and the positions of the first elements in each row vector are different.

[0187] Selectively, each element in the first column vector of the first modulation matrix is ​​1.

[0188] Selectively, the first modulation matrix B is,

number

[0189] Selectively, if the length of the second reference signal modulation sequence is greater than 3, the first modulation matrix further includes a second column vector, where each element in the second column vector is -1.

[0190] Selectively, the first modulation matrix B is,

number

[0191] The step of selectively determining the third reference signal modulation sequence based on the second reference signal modulation sequence includes the step of the backscattering edge multiplying the second reference signal modulation sequence and an on-off vector sequence to obtain the third reference signal modulation sequence, wherein the elements in the on-off vector sequence include at least one third element and at least one fourth element, the third element being 0 and the fourth element being 1.

[0192] Selectively, the number of elements in the on-off vector sequence is L, and the modulation time length corresponding to the second reference signal modulation sequence and the modulation time length corresponding to the on-off vector sequence are related by a factor of L.

[0193] Selectively, the on-off vector sequence A is A=[0 1 … 0 1].

[0194] Selectively, when the positioning scenario is a UU uplink positioning scenario, the first communication device is a terminal and the second communication device is a network-side device; when the positioning scenario is a UU downlink positioning scenario, the first communication device is a network-side device and the second communication device is a terminal; and when the positioning scenario is a sidelink positioning scenario, both the first and second communication devices are terminals.

[0195] As shown in Figure 8, this is a schematic diagram of the structure of a positioning device 800 according to an exemplary embodiment of the present application, the positioning device 800 includes a second receiving module for receiving a target signal which includes at least a first signal transmitted by a first communication device and / or a second signal transmitted by at least one backscattering end, and a positioning module for positioning at least one of the first communication device, the second communication device, and the target backscattering end based on the first signal and / or at least one of the second signal, wherein the target backscattering end is any one of the at least one backscattering end, the second signal is obtained by modulating the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0196] Selectively, the second reference signal modulation sequence includes M+x modulation symbols, where x is 1 or 2, where M is related to the number of backscatter edges involved in the positioning process, and M is an integer greater than or equal to 1, where the modulation time length corresponding to the first reference signal modulation sequence and the modulation time length corresponding to the second reference signal modulation sequence are in a relationship of M+x times, and the first signal is obtained based on the first reference signal modulation sequence.

[0197] Selectively, the first reference signal modulation sequence includes a positioning reference signal modulation sequence, and / or the second reference signal modulation sequence includes a positioning reference signal modulation sequence.

[0198] The step of selectively positioning the second communication device based on the first signal and / or at least one of the second signals is, when the length of the second reference signal modulation sequence is 2 or 3, the step of positioning the second communication device based on the sum of a first target signal and a second target signal, wherein the first target signal is a signal received by the second communication device in a first time unit, and the second target signal is a signal received by the second communication device in a second time unit, and the modulation sequence in the second reference signal modulation sequence corresponding to the first time unit The method includes one of the following steps: the phase of Boll is inverse to the phase of the modulation symbols in the second reference signal modulation sequence corresponding to the second time unit; and, if the length of the second reference signal modulation sequence is greater than 3, the second communication device positions the first communication device based on the sum of a third target signal and a fourth target signal, wherein the third target signal is a signal received by the second communication device in the M+2th time unit, and the fourth target signal is a signal obtained after weighting the signals received by the second communication device from the 1st time unit to the M+1th time unit.

[0199] Selectively, when the length of the second reference signal modulation sequence is 2, the sum of the first target signal and the second target signal is:

number

number

number

[0200] Selectively, the step of the second communication device positioning the at least one backscatter end based on the first signal and / or at least one of the second signals includes, when the target backscatter end is the m-th backscatter end of the at least one backscatter end and the length of the second reference signal modulation sequence is 2, the step of the second communication device positioning the m-th backscatter end based on the difference between a fifth target signal and a sixth target signal, where the fifth target signal is a signal received by the second communication device in a third time unit, the sixth target signal is a signal received by the second communication device in a fourth time unit, the modulation symbol corresponding to the third time unit is 1, and the modulation symbols corresponding to the fourth time unit are both -1.

[0201] Selectively, the difference between the fifth target signal and the sixth target signal. JPEG0007843850000065.jpg59 is

number

[0202] The step of selectively positioning the second communication device on the first signal and / or at least one of the second signals, the second communication device and the target backscatter edge, includes the steps of the second communication device obtaining at least one of a first measurement parameter, a second measurement parameter and a third measurement parameter on the first signal and / or at least one of the second signals, and the second communication device transmitting at least one of the first measurement parameter, the second measurement parameter and the third measurement parameter to a sensing function, wherein the first measurement parameter is used for positioning the first communication device, the second measurement parameter is used for positioning the second communication device, and the third measurement parameter is used for positioning the at least one backscatter edge.

[0203] Selectively, when the positioning scenario is a UU uplink positioning scenario, the first communication device is a terminal and the second communication device is a network-side device; when the positioning scenario is a UU downlink positioning scenario, the first communication device is a network-side device and the second communication device is a terminal; and when the positioning scenario is a sidelink positioning scenario, both the first and second communication devices are terminals.

[0204] As shown in Figure 9, this is a schematic diagram of the structure of a positioning device 900 according to an exemplary embodiment of the present application, the positioning device 900 includes a second transmitting module for transmitting a second reference signal modulation sequence and / or a third reference signal modulation sequence to each of the backscattering ends based on identifier information of at least one backscattering end, or the second transmitting module is used to transmit a first modulation matrix and / or a second modulation matrix to at least one backscattering end, where the second reference signal modulation sequence is one of a plurality of row vectors included in the first modulation matrix, and the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is one of a plurality of row vectors included in the second modulation matrix, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0205] Selectively, for at least one of the backscattering ends, at least a portion of the second reference signal modulation sequence corresponding to each backscattering end is different.

[0206] Selectively, the first element in each row vector of the first modulation matrix is ​​-1, and all other second elements are 1.

[0207] Selectively, each element in the first column vector of the first modulation matrix is ​​1.

[0208] Selectively, the first modulation matrix B is,

number

[0209] Optionally, when the length of the second reference signal modulation sequence is greater than 3, the first modulation matrix further includes a second column vector, and each element in the second column vector is -1.

[0210] Optionally, the first modulation matrix B is

Number

[0211] Optionally, the step of the network-side device determining the third reference signal modulation sequence based on the second reference signal modulation sequence includes the step of the network-side device multiplying the second reference signal modulation sequence by an on-off vector sequence to obtain the third reference signal modulation sequence, where the elements in the on-off vector sequence include at least one third element and at least one fourth element, the third element is 0, and the fourth element is 1.

[0212] Optionally, the number of elements in the on-off vector sequence A is L, and there is a relationship of L times between the time length of the second reference signal modulation sequence and the time length of the third reference signal modulation sequence.

[0213] Optionally, the on-off vector sequence A is A = [0 1 … 0 1].

[0214] The positioning device in the embodiments of the present application may be a communication device, such as a communication device having an operating system, such as a terminal or a network-side device. Exemplarily, the terminal may include, but is not limited to, the types of terminals 11 listed above, and the network-side device may include, but is not limited to, the types of network-side devices 12 listed above. The embodiments of the present application are not specifically limited.

[0215] The positioning devices 700-900 according to the embodiments of this application can implement each process realized by the embodiments of the methods shown in Figures 2 to 6 and achieve the same technical effects, and to avoid repetition, they will not be described further here.

[0216] Selectively, as shown in Figure 10, embodiments of this application further provide a communication device 1000 which includes a processor 1001 and a memory 1002, the memory 1002 storing a program or instruction that can be executed on the processor 1001, for example, if the communication device 1000 is a terminal, when this program or instruction is executed by the processor 1001, each step of the embodiment of the positioning method described above can be realized and the same technical effect can be achieved. If the communication device 1000 is a network-side device, when this program or instruction is executed by the processor 1001, each step of the embodiment of the positioning method described above can be realized and the same technical effect can be achieved, and to avoid repetition of the explanation, this will not be explained further here.

[0217] In one implementation, the communication device 1000 may be a terminal, which may include a processor and a communication interface, the communication interface being coupled with the processor, the processor executing programs or instructions and being used to implement the steps of the method described in Embodiments 200-500 of the Method. This embodiment of the terminal corresponds to the embodiments of the method on the first and second communication device sides, and each implementation process and implementation method of the embodiments of the Method can be applied to this embodiment of the terminal and achieve the same technical effects. Specifically, Figure 11 is a schematic diagram of the hardware structure realizing the terminal of the embodiment of this application.

[0218] The terminal 1100 includes, but is not limited to, some of the following components: a radio frequency unit 1101, a network module 1102, an audio output unit 1103, an input unit 1104, a sensor 1105, a display unit 1106, a user input unit 1107, an interface unit 1108, a memory 1109, and a processor 1110.

[0219] As those skilled in the art will understand, the terminal 1100 may further include a power supply (e.g., a battery) to power each component, and the power supply may be logically connected to the processor 1110 by a power management system, thereby enabling functions such as charge / discharge management and power consumption management by the power management system. The terminal structure shown in Figure 11 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than the number shown, or combinations of some components, or different arrangements of components, which will not be described further here.

[0220] It should be understood that in the embodiments of this application, the input unit 1104 may include a graphics processing unit (GPU) 11041 and a microphone 11042, the graphics processor 11041 processing still images or video image data obtained by an image capture device (e.g., a camera) in video capture mode or image capture mode. The display unit 1106 may include a display panel 11061, which may be configured in the form of a liquid crystal display, organic light-emitting diodes, etc. The user input unit 1107 includes at least one of a touch panel 11071 and other input devices 11072. The touch panel 11071 is also called a touchscreen. The touch panel 11071 may include two parts: a touch detection device and a touch controller. The other input devices 11072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control buttons, switch buttons, etc.), a trackball, a mouse, or an operating lever, and will not be described further here.

[0221] In the embodiments of this application, the radio frequency unit 1101 can receive downlink data from network-side equipment, transmit it to the processor 1110 for processing, and transmit uplink data to network-side equipment. Generally, the radio frequency unit 1101 includes, but is not limited to, an antenna, amplifier, transceiver, coupler, low-noise amplifier, duplexer, etc.

[0222] Memory 1109 may be used to store software programs or instructions and various data. Memory 1109 may include a first storage area mainly for storing programs or instructions and a second storage area for storing data, wherein the first storage area can store an operating system, an application program or instructions necessary for at least one function (e.g., audio playback function, image playback function, etc.). Memory 1109 may include volatile memory or non-volatile memory, or memory 1109 may include both volatile and non-volatile memory. Here, non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM), or flash memory. The volatile memory may be random access memory (RAM), and may include static random access memory (Static RAM, SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DD reference signal DRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM, SLDRAM), and direct Rambus random access memory (Direct Rambus RAM, DRRAM). The memory 1109 in the embodiments of this application includes, but is not limited to, these and any other suitable types of memory.

[0223] The processor 1110 may include one or more processing units. Selectively, the processor 1110 integrates an application processor and a modem processor, where the application processor primarily handles operations related to the operating system, user interface, and application programs, and the modem processor primarily handles wireless communication signals, such as a baseband processor. To be clear, the above-mentioned modem processor does not necessarily have to be integrated into the processor 1110.

[0224] Here, the radio frequency unit 1101 is used to receive a first signal transmitted by a first communication device, the processor 1110 is used to modulate the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence to obtain a second signal, and the radio frequency unit 1101 is further used to transmit the second signal to a second communication device, where the second reference signal modulation sequence is an orthogonal sequence determined based on on-off keying OOK modulation information.

[0225] Alternatively, the radio frequency unit 1101 is used to receive a target signal which includes at least a first signal transmitted by a first communication device and / or a second signal transmitted by at least one backscattering end, and the processor 1110 is used to position at least one of the first communication device, the second communication device and the target backscattering end based on the first signal and / or at least one of the second signal, wherein the target backscattering end is any one of the at least one backscattering end, the second signal is obtained by modulating the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence.

[0226] In this embodiment, by controlling the signal phase or reflection state at different time units (e.g., slots) of the backscatter edge based on the orthogonal characteristics of the second or third reference signal modulation sequence, the second communication device can further calculate the received target signal based on the characteristics of the second or third reference signal modulation sequence to remove interfering signals that affect the positioning process, thereby achieving positioning relative to the first communication device, the second communication device, or the target backscatter edge, and improving positioning accuracy.

[0227] In another implementation, the communication device 1000 may be a network-side device, which may include a processor and a communication interface, the communication interface being coupled with the processor, the processor running a program or instructions and used to implement the steps of the method described in Examples 200-600. This embodiment of the network-side device corresponds to the embodiment of the first communication device side, the second communication device side, or the network-side device side method, and each implementation process and implementation of the embodiment of the above method can be applied to this embodiment of the network-side device and achieve the same technical effects.

[0228] Specifically, embodiments of this application further provide network-side equipment. As shown in Figure 12, this network-side equipment 1200 includes an antenna 1201, a radio frequency device 1202, a baseband device 1203, a processor 1204, and a memory 1205. The antenna 1201 and the radio frequency device 1202 are connected. In the uplink direction, the radio frequency device 1202 receives information via the antenna 1201 and transmits the received information to the baseband device 1203 for processing. In the downlink direction, the baseband device 1203 processes the information to be transmitted and transmits it to the radio frequency device 1202, which processes the received information and then transmits it via the antenna 1201.

[0229] In the above embodiments, the method executed by the network-side device may be implemented in the baseband device 1203, and this baseband device 1203 includes a baseband processor.

[0230] The baseband device 1203 may, for example, include at least one baseband board, and a plurality of chips are installed on this baseband board. As shown in FIG. 12, one of the chips is, for example, a baseband processor, which is connected to the memory 1205 through a bus interface, calls a program in the memory 1205, and executes the network device operations shown in the embodiments of the above method.

[0231] This network-side device may further include a network interface 1206, and this interface is, for example, a common public radio interface (CPRI).

[0232] Specifically, the network-side device 1200 in the embodiments of the present invention further includes instructions or programs stored in the memory 1205 and executable on the processor 1204. The processor 1204 calls the instructions or programs in the memory 1205, executes the method executed by each module shown in FIG. 6, and can achieve the same technical effect. To avoid repetition of the description, it will not be described further here.

[0233] The embodiments of the present application further provide a readable storage medium, in which programs or instructions are stored. When these programs or instructions are executed by a processor, each process of the embodiments of the above positioning method is realized, and the same technical effect can be achieved. To avoid repetition of the description, it will not be described further here.

[0234] Here, the processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory ROM, random access memory RAM, magnetic disk, or optical disk.

[0235] Embodiments of this application further provide a chip comprising a processor and a communication interface, the communication interface being coupled with the processor, the processor running programs or instructions for network-side equipment, and used to implement each process of the embodiment of the positioning method described above and achieving the same technical effects, which are not described further here to avoid repetition of the description.

[0236] It should be understood that the chips referred to in the embodiments of this application may also be called system-level chips, system chips, chip systems, or system-on-a-chip, etc.

[0237] Embodiments of this application further provide a computer program product comprising a processor, memory, and a program or instruction stored in the memory and operable on the processor, wherein when the program or instruction is executed by the processor, each process of the embodiment of the positioning method described above can be realized and the same technical effects can be achieved, and to avoid repetition of the description, no further explanation is provided here.

[0238] Embodiments of this application further provide a positioning system comprising a first communication device and a second communication device, wherein the first communication device may be used to perform the steps of Embodiments 200-300 of the above method, and the second communication device may be used to perform the steps of the method of Embodiment 500 described above.

[0239] Furthermore, if the second communication device or the first communication device is a network-side device, the second communication device or the first communication device may be used to perform the steps in Embodiment 600 of the above method. Alternatively, if neither the first communication device nor the second communication device is a network-side device, the positioning system may further include a network-side device for performing the steps in Embodiment 600 of the above method.

[0240] It should be noted that, in this specification, the terms “include,” “incorporate,” or any other variation thereof are intended to cover non-exclusive “include,” thereby including not only those elements but also other elements not explicitly listed, or elements specific to such process, method, article, or apparatus. Unless otherwise specified, the phrase “includes one of…” does not preclude the presence of other identical elements in a process, method, article, or apparatus containing that element. It should also be noted that the scope of methods and apparatus in embodiments of this application is not limited to performing functions in the order illustrated or discussed, but may include performing functions in a manner that is essentially simultaneous or in reverse order based on the functions involved, and methods described in a different procedure than those described, for example, can be performed, and various steps can be added, omitted, or combined. Furthermore, features described by reference to some examples can be combined with other examples. That is, the features in each of the above examples and embodiments can be combined with each other.

[0241] As will be clearly evident to those skilled in the art from the above description of the embodiments, the methods of the above embodiments can be implemented in the form of software and a necessary general-purpose hardware platform. Of course, they may also be implemented in hardware, but in many cases the former is a more preferred embodiment. With this understanding in mind, the parts of the invention that substantially contribute to or to the prior art may be embodied in the form of a computer software product, which is stored on a single storage medium (e.g., ROM / RAM, magnetic disk, optical disk) and includes some instructions for causing a single terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of this invention.

[0242] The above describes embodiments of this application, accompanied by drawings; however, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can, by the suggestion of this application, make many forms, as long as they do not deviate from the spirit and claims of this application, and all of these fall within the scope of protection of this application.

[0243] [Cross-reference of related applications] This application claims priority to Chinese Patent Application No. 202111676440.5, filed in China on December 31, 2021, and all contents of that application are incorporated herein by reference.

Claims

1. It is a positioning method, The backscattering end receives a first signal transmitted by a first communication device, The backscattering edge modulates the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence to obtain a second signal, The backscattering end includes the step of transmitting the second signal to a second communication device, Here, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence. The second reference signal modulation sequence includes M+x modulation symbols, where x is 1 or 2, and where M is an integer greater than or equal to 1, relating to the number of backscatter edges involved in the positioning process. Here, the relationship between the modulation time length corresponding to the first reference signal modulation sequence and the modulation time length corresponding to the second reference signal modulation sequence is M + x, and the first signal is obtained based on the first reference signal modulation sequence. At least one of the first reference signal modulation sequence and the second reference signal modulation sequence includes a positioning reference signal modulation sequence. Positioning methods.

2. Before the step in which the backscattering edge modulates the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence to obtain a second signal, the positioning method performs the following steps: The step of the backscattering end acquiring the second reference signal modulation sequence from a network-side device, wherein the second reference signal modulation sequence is selected by the network-side device from a plurality of row vectors included in the first modulation matrix based on identifier information of the backscattering end, The step of the backscattering end acquiring the third reference signal modulation sequence from the network-side equipment, wherein the third reference signal modulation sequence is selected by the network-side equipment from a plurality of row vectors included in the second modulation matrix based on the identifier information of the backscattering end, The steps include: the backscattering end acquires a first modulation matrix from a network-side device and selects the second reference signal modulation sequence from a plurality of row vectors included in the first modulation matrix based on its own identifier information; The steps include: the backscattering end acquires a second modulation matrix from the network-side device and selects the third reference signal modulation sequence from a plurality of row vectors included in the second modulation matrix based on its own identifier information; The method further includes one of the following steps: the backscattering end acquires the second reference signal modulation sequence from the network-side equipment, and determines the third reference signal modulation sequence based on the second reference signal modulation sequence. In the first modulation matrix, the first element in each row vector is -1, and all other second elements are 1, and the positions of the first elements in each row vector are different. The positioning method according to claim 1.

3. Each element in the first column vector of the first modulation matrix is ​​1. The first modulation matrix B is, [Math 1] That is, The positioning method according to claim 2.

4. If the length of the second reference signal modulation sequence is greater than 3, the first modulation matrix further includes a second column vector, where each element of the second column vector is -1. The first modulation matrix B is, [Math 2] The positioning method according to claim 2.

5. The step of determining the third reference signal modulation sequence based on the second reference signal modulation sequence is: The backscattering edge includes the step of multiplying the second reference signal modulation sequence and the on-off vector sequence to obtain the third reference signal modulation sequence, The positioning method according to claim 1, wherein the elements in the on-off vector sequence include at least one third element and at least one fourth element, the third element being 0 and the fourth element being 1.

6. The number of elements in the on-off vector sequence is L, and the modulation time length corresponding to the second reference signal modulation sequence and the modulation time length corresponding to the on-off vector sequence are related by a factor of L. The positioning method according to claim 5.

7. When the positioning scenario is a UU uplink positioning scenario, the first communication device is a terminal, and the second communication device is a network-side device. When the positioning scenario is a UU downlink positioning scenario, the first communication device is the network-side device, and the second communication device is a terminal. The positioning method according to claim 1, wherein, when the positioning scenario is a sidelink positioning scenario, both the first communication device and the second communication device are terminals.

8. It is a positioning method, The steps include: a second communication device receiving a target signal which includes at least a first signal transmitted by the first communication device and / or a second signal transmitted by at least one backscatter end; The second communication device includes the step of positioning at least one of the first communication device, the second communication device, and the target backscattering end based on the first signal and / or at least one of the second signals, Here, the target backscattering edge is one of the at least one backscattering edge, the second signal is obtained by modulating the first signal based on a second reference signal modulation sequence or a third reference signal modulation sequence, the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence. The second reference signal modulation sequence includes M+x modulation symbols, where x is 1 or 2, and where M is an integer greater than or equal to 1, relating to the number of backscatter edges involved in the positioning process. Here, the relationship between the modulation time length corresponding to the first reference signal modulation sequence and the modulation time length corresponding to the second reference signal modulation sequence is M + x, and the first signal is obtained based on the first reference signal modulation sequence. At least one of the first reference signal modulation sequence and the second reference signal modulation sequence includes a positioning reference signal modulation sequence. Positioning methods.

9. The step of the second communication device positioning the first communication device based on the first signal and / or at least one of the second signals is: When the length of the second reference signal modulation sequence is 2 or 3, the second communication device positions itself based on the sum of the first target signal and the second target signal, wherein the first target signal is a signal received by the second communication device in a first time unit, the second target signal is a signal received by the second communication device in a second time unit, and the phase of the modulation symbol in the second reference signal modulation sequence corresponding to the first time unit is inverse to the phase of the modulation symbol in the second reference signal modulation sequence corresponding to the second time unit. If the length of the second reference signal modulation sequence is greater than 3, the second communication device positions the first communication device based on the sum of a third target signal and a fourth target signal, the third target signal being a signal received by the second communication device in the M+2th time unit, and the fourth target signal being a signal obtained after weighting the signals received by the second communication device from the 1st time unit to the M+1th time unit. When the length of the second reference signal modulation sequence is 2, the sum of the first target signal and the second target signal is: [Math 3] And, When the length of the second reference signal modulation sequence is 3, the sum of the first target signal and the second target signal is: [Math 4] And, When the length of the second reference signal modulation sequence is greater than 3, the sum of the third target signal and the fourth target signal is: [Math 5] That is, The positioning method according to claim 8.

10. The step of the second communication device positioning the at least one backscattering end based on the first signal and / or at least one of the second signals is: The second communication device positions the m-th backscattering end based on the difference between a fifth target signal and a sixth target signal, where the fifth target signal is a signal received by the second communication device in a third time unit, the sixth target signal is a signal received by the second communication device in a fourth time unit, the modulation symbol corresponding to the third time unit is 1, and the modulation symbols corresponding to the fourth time unit are both -1. 【number】 [Math 6] And, 【number】 The positioning method according to claim 8.

11. The step of the second communication device positioning at least one of the first communication device, the second communication device, and the target backscattering end based on the first signal and / or at least one of the second signals is: The second communication device obtains at least one of a first measurement parameter, a second measurement parameter, and a third measurement parameter based on the first signal and / or at least one of the second signals. The second communication device includes the step of transmitting at least one of the first measurement parameter, the second measurement parameter, and the third measurement parameter to a sensing function, The positioning method according to claim 8, wherein the first measurement parameter is used for positioning the first communication device, the second measurement parameter is used for positioning the second communication device, and the third measurement parameter is used for positioning the at least one backscattering edge.

12. It is a positioning method, The steps include: a network-side device transmitting a second reference signal modulation sequence and / or a third reference signal modulation sequence to each of the backscattering ends based on identifier information of at least one backscattering end; The step includes one of the following steps: the network-side device transmits a first modulation matrix and / or a second modulation matrix to at least one backscattering end; Here, the second reference signal modulation sequence is one of a plurality of row vectors included in the first modulation matrix, and the second reference signal modulation sequence is an orthogonal sequence determined based on binary phase shift keying BPSK modulation information. The third reference signal modulation sequence is one of the row vectors included in the second modulation matrix, and the third reference signal modulation sequence is determined based on the second reference signal modulation sequence. The second reference signal modulation sequence includes M+x modulation symbols, where x is 1 or 2, and where M is an integer greater than or equal to 1, relating to the number of backscatter edges involved in the positioning process. Here, the relationship between the modulation time length corresponding to the first reference signal modulation sequence and the modulation time length corresponding to the second reference signal modulation sequence is M + x, and the first signal is obtained based on the first reference signal modulation sequence. At least one of the first reference signal modulation sequence and the second reference signal modulation sequence includes a positioning reference signal modulation sequence. Positioning methods.

13. The step of the network-side equipment determining the third reference signal modulation sequence based on the second reference signal modulation sequence is: The network-side device includes the step of multiplying the second reference signal modulation sequence and the on-off vector sequence to obtain the third reference signal modulation sequence, The positioning method according to claim 12, wherein the elements in the on-off vector sequence include at least one third element and at least one fourth element, the third element being 0 and the fourth element being 1.

14. A communication device comprising a processor and a memory, wherein the memory stores a program or instruction that can be executed on the processor, and when the program or instruction is executed by the processor, the device realizes the steps of the positioning method described in any one of claims 1 to 7, or the steps of the positioning method described in any one of claims 8 to 11, or the steps of the positioning method described in claim 12 or 13.

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