Positioning method, apparatus and system and storage medium

Abstract

A positioning method, apparatus and system and a storage medium, for use in improving the positioning precision. In the present application, a first apparatus determines a first integer ambiguity on the basis of first measurement information. The first measurement information comprises time measurement information and / or carrier phase measurement information. The first measurement information is obtained by performing measurement on the basis of at least one first reference signal. The first apparatus may further acquire first information, the first information indicating the reliability of the first integer ambiguity. As the first information indicates the reliability of the first integer ambiguity, the positioning precision can be improved by performing positioning on the basis of the first information and the first integer ambiguity.

Description

Positioning method, device, system and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on June 29, 2023, with application number 202310794329.9 and application name “A positioning method, device, system and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of positioning technology, and in particular to a positioning method, device, system and storage medium. Background Art

[0004] With the rapid advancement of communications technology, high-precision positioning has been identified as a key research project within the 3rd Generation Partnership Project (3GPP) for fifth-generation mobile networks (5G). New Radio (NR) positioning is primarily targeted for outdoor and indoor applications of enhanced mobile broadband (eMBB), ultra-reliable and low latency communications (URLLC), and massive machine-type communications (mMTC) / Internet of Things (IoT). It also requires high security, scalability, high availability, and guaranteed accuracy in high-speed applications.

[0005] The 3GPP standard supports multiple positioning technologies, such as carrier phase positioning, time difference of arrival (TDOA), angle of departure (AOD), time difference of arrival (TDOA), angle of arrival (AOA), and round-trip time (RTT). During positioning based on one or more positioning technologies, a measurement device (such as a base station or terminal) can measure a received reference signal to obtain measurement information. This measurement information can be used to locate the transmitter and / or receiver of the reference signal. The measurement information can include the value of a measurement parameter. The measurement parameter can be associated with the positioning technology. For example, if the positioning technology is AOA, the measurement parameter can include angle of arrival (AOA); if the positioning technology is TDOA, the measurement parameter can include time difference of arrival of the reference signal.

[0006] For example, in some positioning technologies (such as carrier phase positioning technology), measurement information can be used to determine the integer ambiguity, which is used to determine the distance between the transmitter and receiver of the reference signal, and this distance is used to locate the transmitter of the reference signal and / or the receiver of the reference signal.

[0007] With the development of positioning technology, how to improve positioning accuracy has become an urgent problem that needs to be solved.

[0008] Summary of the Invention

[0009] The present application provides a positioning method, apparatus, system, and storage medium for obtaining integer ambiguity and information indicating the reliability of the integer ambiguity, thereby improving positioning accuracy.

[0010] In a first aspect, the present application provides a positioning method, which can be performed by a first device, such as a terminal, a chip system inside a terminal, a network device, a chip system inside a network device, a positioning management device, or a chip system inside a positioning management device.

[0011] In the present application, a first device determines at least one first integer ambiguity based on first measurement information. The first measurement information includes time measurement information and / or carrier phase measurement information. The first measurement information is obtained by measuring at least one first reference signal. The first device obtains the first information. The first information indicates the reliability of the at least one first integer ambiguity.

[0012] In this application, the first information and at least one first integer ambiguity are used for positioning. The first information and at least one first integer ambiguity can be used to locate the terminal. The at least one first reference signal may include a reference signal sent by another device (such as a base station or another terminal) to the terminal, or may include a reference signal sent by the terminal to another device (such as a base station or another terminal).

[0013] In this application, at least one first integer ambiguity may be one or more first integer ambiguities. Multiple first integer ambiguities may correspond to multiple first information. For example, multiple first integer ambiguities and multiple first information may correspond one-to-one, with one first information indicating the reliability of one first integer ambiguity. Alternatively, one first information may correspond to multiple first integer ambiguities, and the first information may indicate the reliability of multiple first integer ambiguities.

[0014] Since the first device of the present application can obtain the first information, and the first information indicates the reliability of at least one first integer ambiguity, the first information can assist in determining a more accurate integer ambiguity, thereby improving the positioning accuracy when positioning is performed based on the integer ambiguity.

[0015] This application is applicable to a variety of scenarios, and two possible scenarios are illustrated below.

[0016] Scenario 1: The first device may be a terminal, a chip system inside a terminal, a network device, or a chip system inside a network device, and the second device may be a positioning management device or a chip system inside a positioning management device. For example, the first device sends at least one first integer ambiguity and first information. Correspondingly, the second device receives at least one first integer ambiguity and first information. The second device performs positioning based on at least one first integer ambiguity and the first information. For example, the second device determines a third integer ambiguity based on at least one first integer ambiguity and the first information, and the third integer ambiguity is used for positioning, such as the third integer ambiguity is used to locate the terminal. In this way, the second device can determine a more accurate integer ambiguity with the assistance of the first information. For example, the second device can select the integer ambiguity with the highest reliability for positioning. For another example, the second device can select multiple integer ambiguities with higher reliability for positioning, thereby improving positioning accuracy.

[0017] In scenario two, the first device may be a positioning management device or a chip system inside the positioning management device. For example, before the first device determines at least one first integer ambiguity based on the first measurement information, it also receives the first measurement information. The first device performs positioning based on at least one first integer ambiguity and the first information. For example, the first device determines a third integer ambiguity based on at least one first integer ambiguity and the first information, and the third integer ambiguity is used for positioning, such as the third integer ambiguity is used to locate the terminal. In this solution, the first device may receive the first measurement information from other devices, such as receiving the first measurement information from a terminal or a network device. The first device may obtain the first information based on the measurement information, and may then improve the positioning accuracy based on the first information.

[0018] In one possible implementation, the first information includes information indicating the following: a likelihood ratio of at least one first integer ambiguity being accurate. The likelihood ratio of the first integer ambiguity being accurate can be replaced with a probability of the first integer ambiguity being accurate, a degree of accuracy of the first integer ambiguity, or the like. The likelihood ratio can more accurately reflect the degree of accuracy of the first integer ambiguity, thereby further improving positioning accuracy.

[0019] There are many ways for the first device to determine the first integer ambiguity, and two possible ways are illustrated below.

[0020] In a first approach, a first device determines a first integer ambiguity set based on first measurement information. The first integer ambiguity set includes at least one integer ambiguity. The first integer ambiguity set includes a first integer ambiguity among the at least one first integer ambiguity. In this approach, the first device may determine the first integer ambiguity set, then consider the integer ambiguities in the first integer ambiguity set as first integer ambiguities, and further determine the reliability of the at least one first integer ambiguity.

[0021] In a second approach, a first integer ambiguity in at least one first integer ambiguity is determined based on integer ambiguities in a first integer ambiguity set. In this approach, the first device may determine a first integer ambiguity set and then determine a first integer ambiguity based on the integer ambiguities in the first integer ambiguity set. For example, if the first integer ambiguity set includes two integer ambiguities, the integer ambiguity of the center frequency of the frequencies corresponding to the two integer ambiguities may be considered the first integer ambiguity, and the first integer ambiguity may not belong to the integer ambiguity set.

[0022] In another possible implementation, at least one first integer ambiguity may partially belong to the first integer ambiguity set, partially not belong to the first integer ambiguity set, or entirely belong to the first integer ambiguity set, or entirely not belong to the first integer ambiguity set. This can increase the flexibility of the solution.

[0023] In one possible implementation, the first device determines at least one second integer ambiguity based on second measurement information; the second measurement information includes time measurement information and / or carrier phase measurement information. The second measurement information is obtained by measuring at least one second reference signal. The first device obtains the at least one second integer ambiguity and second information, where the second information indicates the reliability of the at least one second integer ambiguity. The at least one second integer ambiguity, the second information, the at least one first integer ambiguity, and the first information are used to determine a third integer ambiguity.

[0024] In this application, at least one second integer ambiguity may be one or more second integer ambiguities. Multiple second integer ambiguities may correspond to multiple second information. For example, multiple second integer ambiguities and multiple second information may correspond one-to-one, with one second information indicating the reliability of one second integer ambiguity. Alternatively, one second information may correspond to multiple second integer ambiguities, and the second information may indicate the reliability of multiple second integer ambiguities.

[0025] Since the first device also obtains the second information and at least one second integer ambiguity, and the second information indicates the reliability of the at least one second integer ambiguity, a more accurate integer ambiguity can be determined based on the first information and the second information, thereby improving positioning accuracy when positioning is performed based on the integer ambiguity.

[0026] In a scenario to which the present application is applicable, the first device may be a terminal, a chip system inside a terminal, a network device, or a chip system inside a network device, and the second device may be a positioning management device or a chip system inside a positioning management device. For example, the first device sends at least one second integer ambiguity and second information. Correspondingly, the second device receives at least one second integer ambiguity and second information. The second device determines a third integer ambiguity based on at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information, and the third integer ambiguity is used for positioning. In this way, the second device can determine a more accurate integer ambiguity with the assistance of the first information and the second information, thereby improving positioning accuracy.

[0027] In another scenario to which the present application is applicable, the first device may be a positioning management device or a chip system inside the positioning management device. For example, before the first device determines at least one second integer ambiguity based on the second measurement information, the first device receives the second measurement information. The first device determines a third integer ambiguity based on at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information, and the third integer ambiguity is used for positioning. In this solution, the first device may receive the first measurement information from other devices, and may also receive the second measurement information from other devices, such as receiving the first measurement information and the second measurement information from a terminal or a network device. The first device may obtain the first information and the second information based on these measurement information, and may then further improve the positioning accuracy based on the first information and the second information.

[0028] In one possible implementation, the second information includes information indicating the following: a likelihood ratio of at least one second integer ambiguity being accurate. The likelihood ratio of the second integer ambiguity being accurate can be replaced with a probability of the second integer ambiguity being accurate, a degree of accuracy of the second integer ambiguity, or the like. The likelihood ratio can more accurately reflect the degree of accuracy of the second integer ambiguity, thereby further improving positioning accuracy.

[0029] There are many ways for the first device to determine the second integer ambiguity, and two possible ways are illustrated below.

[0030] In a first approach, the first device determines a second integer ambiguity set based on the second measurement information. The second integer ambiguity set includes at least one integer ambiguity. The second integer ambiguity set includes a second integer ambiguity among the at least one second integer ambiguity. In this approach, the first device may determine the second integer ambiguity set, then consider the integer ambiguities in the second integer ambiguity set as second integer ambiguities, and further determine the reliability of the at least one second integer ambiguity.

[0031] In a second approach, the second integer ambiguity in the at least one second integer ambiguity is determined based on the integer ambiguities in the second integer ambiguity set. In this approach, the first apparatus may determine the second integer ambiguity set and then determine the second integer ambiguity based on the integer ambiguities in the second integer ambiguity set. For example, if the second integer ambiguity set includes two integer ambiguities, the integer ambiguity of the center frequency of the frequencies corresponding to the two integer ambiguities may be considered the second integer ambiguity, and the second integer ambiguity may not belong to the integer ambiguity set.

[0032] In another possible implementation, at least one second integer ambiguity may partially belong to the second integer ambiguity set, partially not belong to the second integer ambiguity set, or completely belong to the second integer ambiguity set, or completely not belong to the second integer ambiguity set. This can increase the flexibility of the solution.

[0033] In a possible implementation, the second information and the first information are the same information. For example, the first device determines a likelihood (or reliability) that is a likelihood (or reliability) of the first integer ambiguity and the second integer ambiguity.

[0034] In one possible implementation, the first measurement information is obtained based on measurement information of a first frequency point of at least one first reference signal. The second measurement information is obtained based on measurement information of a second frequency point of at least one second reference signal. The first frequency point and the second frequency point are different.

[0035] In one possible implementation, one of the at least one first reference signal and the second of the at least one second reference signal are the same reference signal, which facilitates network-side configuration. For example, the first reference signal and the second reference signal have the same resource identifier and the same resource set identifier.

[0036] In one possible implementation, the degree of closeness between the first distance value and the second distance value is positively correlated with a likelihood that at least one first integer ambiguity is correct. The first distance value is determined based on the first integer ambiguity. In another possible implementation, the degree of closeness between the first distance value and the second distance value is positively correlated with a likelihood that at least one second integer ambiguity is correct. The second distance value is determined based on the second integer ambiguity.

[0037] For example, the first distance value can be used to indicate the distance from the transmitter of the first reference signal to the first communication device. The second distance value is used to indicate the distance from the transmitter of the second reference signal to the first communication device. The transmitter of the first reference signal and the transmitter of the second reference signal can be the same. Therefore, the two distance values ​​corresponding to the first reference signal and the second reference signal (i.e., the first distance value and the second distance value) should be close or the same. The closer the first distance value and the second distance value are, the higher the degree of accuracy of the first distance value and the second distance value, and then it can be determined that the first integer ambiguity used to determine the first distance value and the second integer ambiguity used to determine the second distance value are more accurate. It can be seen that it is very reasonable to reflect the correct likelihood of the two integer ambiguities based on the closeness of the two distance values ​​in this application, and the solution is simple and easy to implement.

[0038] In one possible implementation, the first distance value is further determined based on the first wavelength corresponding to the first frequency and the carrier phase measurement information in the first measurement information. In another possible implementation, the second distance value is further determined based on the second wavelength corresponding to the second frequency and the carrier phase measurement information in the second measurement information.

[0039] In one possible implementation, the at least one first integer ambiguity is determined based on at least one of a third range value, a first wavelength corresponding to a first frequency point, or an error in time measurement information in the first measurement information. In another possible implementation, the at least one second integer ambiguity is determined based on at least one of a third range value, a second wavelength corresponding to a second frequency point, or an error in time measurement information in the second measurement information.

[0040] The third distance value may be used to indicate a distance from a transmitting end of the first reference signal and / or the second reference signal to the first communication device.

[0041] For example, the third distance value is determined according to: the time measurement information included in the first measurement information and / or the time measurement information included in the second measurement information.

[0042] For another example, the third distance value is determined based on at least one of the third wavelength corresponding to the third frequency point, the fourth integer ambiguity corresponding to the third frequency point, the carrier phase measurement information included in the first measurement information, or the carrier phase measurement information included in the second measurement information; the third frequency point is determined based on the first frequency point and the second frequency point.

[0043] In this way, at least one first integer ambiguity and at least one second integer ambiguity may be calculated based on the third distance value.

[0044] In one possible implementation, the third frequency point is the center frequency point of a bandwidth. The bandwidth can be understood as the bandwidth of the frequency domain resources occupied by the first reference signal and / or the second reference signal. The bandwidth includes the first frequency point and the second frequency point, and the center frequency point is located between the first frequency point and the second frequency point. The first frequency point and the second frequency point can be regarded as the frequency points at both ends of the bandwidth. Since the phase information corresponding to the center frequency point is more accurate than that of frequency points #1 and frequency point #2, positioning based on the integer ambiguity corresponding to the center frequency point can further improve the accuracy and robustness of positioning.

[0045] In one possible implementation, the fourth integer ambiguity corresponding to the third frequency point is determined based on the third wavelength and a fourth distance value. The third distance value is used to indicate a distance from a transmitter of the first reference signal and / or the second reference signal to the first communication device.

[0046] In one possible implementation, the fourth distance value is determined based on time measurement information included in the first measurement information and / or time measurement information included in the second measurement information. In this way, the third distance value determined based on at least one of the third wavelength corresponding to the third frequency, the fourth integer ambiguity corresponding to the third frequency, the carrier phase measurement information included in the first measurement information, or the carrier phase measurement information included in the second measurement information can be more accurate. Consequently, the first integer ambiguity and the second integer ambiguity determined based on the third distance value can be more accurate.

[0047] In one possible implementation, the first information includes a soft bit value, and the second information includes a soft bit value. In this way, the accuracy of the first integer ambiguity and / or the second integer ambiguity can be expressed more accurately.

[0048] In one possible implementation, the first measurement information is obtained by measuring at least one first reference signal, where the at least one first reference signal includes a third reference signal and a fourth reference signal. The carrier phase measurement information in the first measurement information includes at least one of the following:

[0049] Information indicating a first phase, where the first phase is obtained by measuring a third reference signal from a fourth device by a third device;

[0050] Information indicating a first phase difference, where the first phase difference is obtained based on the first phase and the second phase, where the second phase is obtained by measuring a fourth reference signal from a fifth device by the third device;

[0051] information indicating a second phase difference, where the second phase difference is obtained based on the first phase and a third phase, where the third phase is obtained by measuring a third reference signal from the fourth device by the sixth device;

[0052] Information indicating a third phase difference, where the third phase difference is obtained based on the first phase difference and the fourth phase difference, the fourth phase difference is obtained based on the fourth phase and the fifth phase, the fourth phase is obtained by measuring the third reference signal from the fourth device by the sixth device, and the fifth phase is obtained by measuring the fourth reference signal from the fifth device by the sixth device;

[0053] Or, information indicating a fourth phase difference, where the fourth phase difference is determined according to the acquired phase arrival error PAE, and the fourth phase difference is further determined according to the first phase and / or the first phase difference.

[0054] In a possible implementation, the time measurement information includes at least one of the following: time of arrival (TOA), relative time of arrival (RTOA), reference signal time difference (RSTD), or Rx-Tx Time Difference, etc.

[0055] In one possible implementation, the carrier phase measurement information includes at least one of the following: reference signal carrier phase (RSCP), reference signal carrier phase difference (RSCPD), multi-subband carrier phase, multi-subband carrier phase difference, multi-frequency carrier phase or multi-frequency carrier phase difference, etc.

[0056] In a second aspect, the present application provides a positioning method, in which the second device may be a positioning management device or a chip system inside the positioning management device.

[0057] In the present application, a second device receives at least one first integer ambiguity and first information. The at least one first integer ambiguity is determined based on first measurement information. The first measurement information includes time measurement information and / or carrier phase measurement information. The first measurement information is obtained by measurement based on a first reference signal. The first information indicates the reliability of the at least one first integer ambiguity. The second device performs positioning based on the at least one first integer ambiguity and the first information, such as positioning a terminal. For example, the second device determines a third integer ambiguity based on the at least one first integer ambiguity and the first information, and the third integer ambiguity is used for positioning.

[0058] Since the second device of the present application can obtain at least one first integer ambiguity and the first information, and since the first information indicates the reliability of at least one first integer ambiguity, the first information can assist in determining a more accurate integer ambiguity, thereby improving positioning accuracy when positioning is performed based on integer ambiguity.

[0059] In one possible implementation, a second device receives at least one second integer ambiguity and second information. The at least one second integer ambiguity is determined based on second measurement information. The second measurement information includes time measurement information and / or carrier phase measurement information. The second measurement information is obtained by measurement based on a second reference signal. The second information indicates the reliability of the at least one second integer ambiguity. The second device performs positioning based on the at least one first integer ambiguity, the first information, the at least one second integer ambiguity, and the second information. For example, the second device determines a third integer ambiguity based on the at least one first integer ambiguity, the first information, the at least one second integer ambiguity, and the second information. The third integer ambiguity is used for positioning.

[0060] Since the second device of the present application can obtain at least one first integer ambiguity, the first information, at least one second integer ambiguity and the second information, and since the first information indicates the reliability of at least one first integer ambiguity and the second information indicates the reliability of at least one second integer ambiguity, the first information and the second information can assist in determining a more accurate integer ambiguity, thereby improving positioning accuracy when positioning is performed based on integer ambiguities.

[0061] For the relevant description of the first integer ambiguity, the first information, the second integer ambiguity and the second information, please refer to the relevant introduction of the first aspect mentioned above and will not be repeated here.

[0062] In a third aspect, a communication device is provided, which may be the aforementioned first device or second device. The communication device may include a communication unit and a processing unit to perform any of the aforementioned first and second aspects, or any possible implementation of the first and second aspects. The communication unit is configured to perform functions related to sending and receiving.

[0063] Optionally, the communication unit includes a transceiver unit, which may include a receiving unit and a transmitting unit. The receiving unit may be used to perform functions related to reception, and the transmitting unit may be used to perform functions related to transmission. In one design, the communication device is a communication chip, the processing unit may be one or more processors or processor cores, and the communication unit may be an input / output circuit or port of the communication chip.

[0064] In another design, the communication unit may be a transceiver, which may include a transmitter and a receiver, or a transceiver, which may include a transmitter and a receiver. The receiver (or receivers) may be used to perform functions related to reception, and the transmitter (or transmitter) receiving unit may be used to perform functions related to transmission.

[0065] Optionally, the communication device further includes modules that can be used to execute any one of the first to second aspects above, or execute any possible implementation of the first to second aspects.

[0066] In a fourth aspect, a communication device is provided, which may be the aforementioned first device or second device. The communication device may include a processor and a memory to perform any aspect of the aforementioned first to second aspects, or to perform any possible implementation of the aforementioned first to second aspects. Optionally, a transceiver is further included, the memory is used to store a computer program or instruction, and the processor is used to call and run the computer program or instruction from the memory. When the processor executes the computer program or instruction in the memory, the communication device performs any aspect of the aforementioned first to second aspects, or to perform any possible implementation of the aforementioned first to second aspects.

[0067] Optionally, there are one or more processors and one or more memories.

[0068] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0069] Optionally, the transceiver may include a transmitter (emitter) and a receiver (receiver).

[0070] In a fifth aspect, a communication device is provided. This communication device can be the aforementioned first device or second device. The communication device can include a processor to perform any of the aforementioned first and second aspects, or any possible implementation of the first and second aspects. The processor is coupled to a memory. Optionally, the communication device also includes a memory. Optionally, the communication device also includes a communication interface, and the processor is coupled to the communication interface.

[0071] In one implementation, when the communication device is the first device or the second device, the communication interface may be a transceiver or an input / output interface. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input / output interface may be an input / output circuit.

[0072] In another implementation, when the communication device is a chip or a chip system, the communication interface may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or related circuits on the chip or chip system. The processor may also be embodied as a processing circuit or a logic circuit.

[0073] In a sixth aspect, a system is provided, which includes the above-mentioned first device.

[0074] In a possible implementation, the system may further include a second device.

[0075] In a seventh aspect, a system is provided, which includes the above-mentioned first device.

[0076] In a possible implementation manner, the system may further include a device for sending measurement information, where the device for sending measurement information is used to send first measurement information.

[0077] In an eighth aspect, a computer program product is provided, which includes: a computer program (also referred to as code, or instructions), which, when executed, enables a computer to execute any one of the above-mentioned first to second aspects, or any possible implementation of the first to second aspects.

[0078] In the ninth aspect, a computer-readable storage medium is provided, which stores a computer program (also referred to as code, or instructions). When the computer program is run on a computer, the computer executes any one of the above-mentioned first to second aspects, or executes any possible implementation of the first to second aspects.

[0079] In a tenth aspect, a processing device is provided, comprising: an interface circuit and a processing circuit. The interface circuit may include an input circuit and an output circuit. The processing circuit is configured to receive signals via the input circuit and transmit signals via the output circuit, thereby implementing any of the first and second aspects above, or any possible implementation of the first and second aspects.

[0080] In a specific implementation, the processing device may be a chip, the input circuit may be an input pin, the output circuit may be an output pin, and the processing circuit may be a transistor, a gate circuit, a trigger, or various logic circuits. The input signal received by the input circuit may be, for example, but not limited to, received and input by a receiver, and the signal output by the output circuit may be, for example, but not limited to, output to and transmitted by a transmitter. The input circuit and the output circuit may be the same circuit, which functions as an input circuit and an output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0081] In one implementation, when the communication device is the first device or the second device, the interface circuit may be a radio frequency processing chip in the first device or the second device, and the processing circuit may be a baseband processing chip in the first device or the second device.

[0082] In another implementation, the communication device may be a component of the first device or the second device, such as an integrated circuit product such as a system-on-chip (SoC) or a communication chip. The interface circuit may be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processing circuit may be a logic circuit on the chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Figure 1 is a possible schematic diagram of integer ambiguity;

[0084] FIG2A is a schematic diagram of the architecture of a communication system applicable to an embodiment of the present application;

[0085] FIG2B is a schematic diagram of the architecture of another communication system applicable to the embodiment of the present application;

[0086] FIG2C is a schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0087] FIG2D is a schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0088] FIG2E is a schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0089] FIG2F is a schematic diagram of the architecture of another communication system applicable to the embodiments of the present application;

[0090] FIG3 is a schematic diagram of a possible flow chart of a positioning method provided in an embodiment of the present application;

[0091] FIG4 is a schematic diagram of a possible flow chart of a positioning method provided in an embodiment of the present application;

[0092] FIG5 is a schematic diagram of a possible flow chart of a positioning method provided in an embodiment of the present application;

[0093] FIG6 is a schematic diagram of a possible flow chart of a positioning method provided in an embodiment of the present application;

[0094] FIG7 is a schematic diagram of a possible flow chart of a positioning method provided in an embodiment of the present application;

[0095] FIG8 is a schematic diagram of a possible flow chart of a positioning method provided in an embodiment of the present application;

[0096] FIG9 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0097] FIG10 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0098] The following is an introduction to the nouns and terms involved in the embodiments of this application.

[0099] (1) Reference signal.

[0100] In an embodiment of the present application, the reference signal may be, for example, a dual-subband reference signal (DS-RS), a synchronization signal-physical sidelink broadcast channel block (SSB), a positioning reference signal (PRS) (such as a sidelink (SL)-PRS), a sounding reference signal (SRS), a channel state information reference signal (CSI-RS), a demodulation reference signal (DMRS), or at least one of a phase-tracking reference signal (PTRS).

[0101] The sidelink in the embodiment of the present application may also be referred to as a sidelink, a sidelink, a direct link, an edge link or an auxiliary link, etc. In the embodiment of the present application, the above terms all refer to links established between devices of the same type, and their meanings are the same. The so-called devices of the same type may be links between terminals, etc. For links between terminals, there are device-to-device (D2D) links defined in version (Rel)-12 / 13 of the 3rd Generation Partnership Project (3GPP), and there are also vehicle-to-vehicle, vehicle-to-mobile phone, or vehicle-to-any entity's vehicle-to-everything (V2X) links defined by 3GPP for the Internet of Vehicles, including Rel-14 / 15. It also includes V2X links based on NR systems in Rel-16 and subsequent versions that are currently being studied by 3GPP.

[0102] The present embodiments involve the concept of a reference signal. For example, a first reference signal and a second reference signal may be the same reference signal. When two reference signals are the same reference signal, it can be understood that the resource identifiers (IDs) and resource set IDs corresponding to the two reference signals are the same. It can also be understood that the reference signal transmitter sends a reference signal. This reference signal can be referred to as a first reference signal or a second reference signal.

[0103] (2) Integer ambiguity.

[0104] Integer ambiguity in the embodiments of the present application can be understood as the number of integers of wavelengths included in the distance between the transmitter and receiver of the reference signal. Integer ambiguity can be called integer ambiguity.

[0105] FIG1 exemplarily shows a possible schematic diagram of integer ambiguity. As shown in FIG1 , d in FIG1 is the distance between the reference signal transmitter and the receiver, and d satisfies: in, is the carrier phase measurement information measured by the receiving end, N is the integer ambiguity, N is a positive integer, the value of N is used to indicate that the distance d includes N carrier integer cycles, and λ is the wavelength of the carrier.

[0106] FIG2A exemplarily shows a schematic diagram of the architecture of a communication system applicable to an embodiment of the present application. As shown in FIG2A , the communication system includes a radio access network 100 and a core network 200. Optionally, the communication system 1000 may also include the Internet 300. The radio access network 100 may include at least one radio access network device (such as 110a and 110b in FIG2A ) and may also include at least one terminal (such as 120a-120j in FIG2A ). The terminal is connected to the radio access network device wirelessly, and the radio access network device is connected to the core network via wireless or wired means. The core network device and the radio access network device may be independent and different physical devices, or the functions of the core network device and the logical functions of the radio access network device may be integrated into the same physical device, or the functions of some core network devices and some radio access network devices may be integrated into one physical device. Terminals and radio access network devices may be connected to each other via wired or wireless means. FIG2A is only a schematic diagram. The communication system may further include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in FIG2A .

[0107] The network devices involved in the embodiments of the present application include, for example, radio access network (RAN) devices. The radio access network devices may be base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs), transmission nodes (TPs), next-generation NodeBs (gNBs) in fifth-generation (5G) mobile communication systems, next-generation base stations in sixth-generation (6G) mobile communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems.

[0108] In another possible scenario, multiple RAN nodes collaborate to assist terminals in achieving wireless access, with different RAN nodes implementing portions of the base station's functionality. For example, a RAN node can be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU).

[0109] The CU and DU can be set up separately, or they can also be included in the same network element, such as the baseband unit (BBU). The CU here completes the functions of the radio resource control protocol and the packet data convergence protocol (PDCP) of the base station, and can also complete the function of the service data adaptation protocol (SDAP); the DU completes the functions of the radio link control layer and the medium access control (MAC) layer of the base station, and can also complete the functions of part or all of the physical layer. For detailed descriptions of the above-mentioned protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The RU can be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH).

[0110] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (ORAN) system, CU may also be called an open CU (open-CU, O-CU), DU may also be called an open DU (open-DU, O-DU), CU-CP may also be called an open CU-CP (open-CU-CP, O-CU-CP), CU-UP may also be called O-CU-UP, and RU may also be called an open RU (open-RU, O-RU). For the convenience of description, this application takes CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0111] In the embodiment of the present application, when the first device is a network device or a chip system inside the network device, the steps executed by the first device (such as one of the following steps 301, 302, 401, 402, 404, 405, 502, 503, 504, 602, 603, 605, 606 or 607, etc.) can be executed by a module inside the network device, such as one or more of CU, DU, O-RU, O-DU, O-CU-UP or O-CU-CP.

[0112] The wireless access network device can be a macro base station (such as 110a in Figure 2A), a micro base station or an indoor station (such as 110b in Figure 2A), a relay node, a donor node, etc. The embodiments of this application do not limit the specific technology and device form used by the wireless access network device. For ease of description, the following description uses a base station as an example of a wireless access network device.

[0113] The terminal may also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, drone, helicopter, airplane, ship, robot, robotic arm, smart home device, sensor, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.

[0114] The above-mentioned terminal can establish a connection with the operator network through the interface provided by the operator network (such as N1, etc.) and use the data and / or voice services provided by the operator network. The terminal can also access the domain name system (DNS) through the operator network and use the operator services deployed on the DNS and / or services provided by a third party. The above-mentioned third party can be a service provider outside the operator network and the terminal, and can provide other data and / or voice services to the terminal. The specific form of the above-mentioned third party can be determined according to the actual application scenario and is not limited here.

[0115] The terminal may also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, drone, helicopter, airplane, ship, robot, robotic arm, smart home device, road side unit (RSU), etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.

[0116] Base stations and terminals can be fixed or mobile. They can be deployed on land, indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of base stations and terminals.

[0117] The roles of base stations and terminals can be relative. For example, the helicopter or drone 120i in Figure 2A can be configured as a mobile base station. To terminals 120j accessing the wireless access network 100 via 120i, terminal 120i is a base station. However, to base station 110a, 120i is a terminal, meaning that communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via a base station-to-base station interface protocol. In this case, 120i is also a base station relative to 110a. Therefore, base stations and terminals can be collectively referred to as communication devices. 110a and 110b in Figure 2A can be referred to as communication devices with base station functionality, while 120a-120j in Figure 2A can be referred to as communication devices with terminal functionality.

[0118] Communication between base stations and terminals, between base stations, and between terminals can be carried out through authorized spectrum, unauthorized spectrum, or both; communication can be carried out through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communication.

[0119] In the embodiments of the present application, the functions of the base station may also be performed by a module (such as a chip) in the base station, or by a control subsystem that includes the base station functions. The control subsystem that includes the base station functions here may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal may also be performed by a module (such as a chip or modem) in the terminal, or by a device that includes the terminal functions.

[0120] In this application, a base station sends downlink signals or downlink information to a terminal, and the downlink information is carried on a downlink channel; the terminal sends uplink signals or uplink information to the base station, and the uplink information is carried on an uplink channel. In order to communicate with the base station, the terminal needs to establish a wireless connection with the cell controlled by the base station. The cell with which the terminal has established a wireless connection is called the serving cell of the terminal. When the terminal communicates with the serving cell, it will also be subject to interference from signals in neighboring cells.

[0121] The core network involved in the embodiments of the present application may include network equipment that processes and forwards user signaling and data. For example, it includes access and mobility management function (AMF), session management function (SMF), user plane gateway, positioning management equipment and other core network equipment. Among them, the user plane gateway can be a server with functions such as mobility management, routing, and forwarding of user plane data, generally located on the network side, such as a serving gateway (SGW) or a packet data network gateway (PGW) or a user plane network element function entity (UPF). AMF and SMF are equivalent to the mobility management entity (MME) in the long term evolution (LTE) system. AMF is mainly responsible for access, and SMF is mainly responsible for session management. Of course, the core network can also include other network elements, which are not listed here one by one.

[0122] The positioning management device has a positioning function. The positioning management device involved in the embodiments of the present application may include a positioning management function (LMF) or a positioning management component (LMC), or may be a local location management function (LLMF) located in a network device, or a positioning server, which is not limited in the embodiments of the present application. For ease of description, the following embodiments are all introduced using the LMF as an example.

[0123] Based on the content shown in Figure 2A, Figure 2B exemplarily shows a schematic diagram of a communication system architecture applicable to embodiments of the present application. This communication system uses the positioning architecture in LTE and NR Rel-16 as an example. As shown in Figure 2B, the network elements / modules involved mainly include the next generation radio access network (NG-RAN), terminals, and the core network. NG is the abbreviation for next generation (NG).

[0124] The core network includes the location management function (LMF), access and mobility management function (AMF), service location protocol (SLP), and evolved serving mobile location center (E-SMLC). The LMF is connected to the AMF, and the two LMFs are connected via the NLs interface. Terminal devices communicate with the serving base station via the Uu link. Ng-eNBs are LTE base stations, and gNBs are NR base stations. The base stations communicate with the AMF via the NG control plane (NG-C) interface, with the AMF acting as a router for communication between the gNB and the LMF. The LMF estimates the location of the terminal device, and the AMFs communicate with each other via the network layer signaling (NLs) interface. The LMF is responsible for supporting different types of location services for the terminal, including positioning the terminal and delivering assistance data to the terminal. The LMF can calculate the terminal's location based on measurement results from other network elements. The AMF can receive location service requests related to the terminal from the 5th generation core network location services (5GC LCS) entity, or the AMF itself can start some location services on behalf of a specific terminal and forward the location service request to the LMF. After obtaining the location information returned by the terminal, the relevant location information is returned to the 5GC LCS entity.

[0125] The NG RAN may include the next generation node B (gNB) and the next generation evolved node B (ng-eNB). The gNB and ng-eNB are connected via the Xn interface, and the LMF is connected to the ng-eNB / gNB via the NG-C interface.

[0126] One or more network devices on the NG RAN side configure resources for sending reference signals and send the reference signals to the terminal. The terminal measures the reference signals and other downlink signals and feeds the measurement results back to the LMF to support positioning. It should be understood that this reference signal is used for positioning and can also be called a positioning reference signal. Therefore, the positioning reference signal can be a PRS, a common reference signal (CRS), a channel state information (CSI)-RS, etc.

[0127] The positioning method provided in the embodiment of the present application can be applied to various communication systems, for example: LTE system, fifth generation (5th generation, 5G) system, such as NR, and next generation communication system, such as 6G system. Of course, the technical solution of the embodiment of the present application can also be applied to other communication systems, as long as the communication system has a positioning demand for the terminal. In addition, the communication system can also be applied to future-oriented communication technologies. The system described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. It is known to those skilled in the art that with the evolution of network architecture, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0128] FIG2C shows the network architecture of another communication system applicable to an embodiment of the present application, which includes a core network, an NG-RAN, and a terminal. The core network includes network elements / modules such as the LMF, AMF, secure user plane location (SUPL) location platform (SLP), and enhanced serving mobile location center (E-SMLC). The NG-RAN includes network elements / modules such as the gNB and ng-eNB. The specific functions of the LMF, AMF, SLP, E-SMLC, gNB, and ng-eNB network elements / modules and the connection relationships between the network elements / modules can be found in the description of the relevant part of FIG2B above and will not be repeated here.

[0129] Unlike Figure 2B, the network architecture shown in Figure 2C adds a LMC to the NG-RAN. The LMC is deployed within the base station, such as in the gNB or ng-ENB. In this network architecture, the LMC is a function within the base station, eliminating the need for new interfaces. The LMC can also assume some of the functionality of the LMF. In this architecture, the gNB does not need to report positioning signal measurement results to the LMF in the core network, thereby reducing signaling overhead and positioning latency.

[0130] Figure 2D illustrates the network architecture of another communication system applicable to embodiments of the present application. As shown in Figure 2D , the communication system also includes a core network, NG-RAN, and terminals. Unlike Figure 2C , the LMC in the network architecture shown in Figure 2D operates as an independent logical node in the NG-RAN and connects to the base station via a new interface. For example, in Figure 2D , the LMC connects to the gNB-CU via the Itf interface. In Figure 2D , the gNB-DU can connect to the gNB-CU via the F1 interface.

[0131] Figure 2E shows the network architecture of another communication system applicable to embodiments of the present application. As shown in Figure 2E , the communication system also includes a core network, NG-RAN, and terminals. The LMC is an independent logical node in the NG-RAN. Unlike Figure 2D , the LMC can be connected to multiple base stations simultaneously via a new interface. Figure 2E uses the example of the LMC being connected to two base stations simultaneously. In specific implementations, the LMC can also be connected to more base stations.

[0132] Figure 2F shows the network architecture of another communication system to which an embodiment of the present application is applicable. As shown in Figure 2F, the communication system includes (R)AN, AMF and LMF, and multiple terminals. Multiple terminals can be connected via PC5, and reference signals can be transmitted between two terminals. One terminal can be regarded as a transmitter of the reference signal, and one or more terminals can be regarded as a receiver of the reference signal. The receiver of the reference signal can measure the received reference signal to obtain measurement information, which can be used for positioning. In another possible implementation, an LMC can be integrated into the terminal.

[0133] It should be understood that Figures 2B, 2C, 2D, 2E, and 2F are exemplary illustrations of communication systems applicable to embodiments of the present application, and do not specifically limit the type, quantity, connection method, etc. of network elements included in the communication systems applicable to the present application. Furthermore, the network elements / modules indicated by dashed lines in Figures 2B, 2C, 2D, 2E, and 2F are not essential but optional, for example, an E-SMLC or SLP is not essential; or, the network elements / modules indicated by dashed lines represent another form of existence, for example, a gNB or ng-eNB is also referred to as a transmission reception point (TRP) in some embodiments, and a terminal is referred to as a SUPL-enabled terminal (SET) in some embodiments, where SUPL is an abbreviation for secure user plane location (SUPL).

[0134] Based on the embodiments shown in Figures 2A, 2B, 2C, 2D, 2E and 2F and the other contents mentioned above, Figure 3 exemplarily shows a flow chart of a positioning method provided in an embodiment of the present application.

[0135] For ease of understanding, Figure 3 is described from an interactive perspective. The first device in Figure 3 can be the terminal shown in Figure 2A, Figure 2B, Figure 2C, Figure 2D, Figure 2E, or Figure 2F, a chip system within the terminal, a network device, or a chip system within the network device. The second device in Figure 3 can be the positioning management device shown in Figure 2A, Figure 2B, Figure 2C, Figure 2D, Figure 2E, or Figure 2F, or a chip system within the positioning management device. The first device reports the first integer ambiguity and the first information to the second device, so that the second device can perform positioning.

[0136] Referring to FIG3 , the method includes:

[0137] Step 301: A first device determines at least one first integer ambiguity based on first measurement information.

[0138] In the embodiment of the present application, the first measurement information may be obtained by the first device measuring at least one first reference signal (for the sake of distinction, the reference signal used to determine the first measurement information in the embodiment of the present application is referred to as the first reference signal), or it may be received by the first device from other devices. For the sake of distinction, in the embodiment of the present application, the device that measures the reference signal is referred to as a measuring device. The measuring device may be the first device or may not be the first device (the measuring device may send the first measurement information to the first device after obtaining the first measurement information); or there may be multiple measuring devices, and the multiple measuring devices may include the first device and other devices. Part or all of the content in the first measurement information may include: information directly obtained by the measuring device measuring at least one reference signal, and may also include information obtained by the measuring device further processing the information. The more accurate integer ambiguity (such as the third integer ambiguity) obtained based on the first measurement information in the solution provided in the embodiment of the present application can be used for positioning, such as for positioning the first device, or for positioning other devices (other devices may include, for example, the transmitting end or measuring end of the first reference signal).

[0139] The first measurement information includes time measurement information and / or carrier phase measurement information.

[0140] The time measurement information in the embodiment of the present application includes at least one of the following: TOA, RTOA, RSTD or sending and receiving time difference, etc.

[0141] The carrier phase measurement information in the embodiment of the present application includes at least one of the following: RSCP, RSCPD, carrier phase of multiple subbands, carrier phase difference of multiple subbands, carrier phase of multiple frequencies, or carrier phase difference of multiple frequencies.

[0142] The following introduces information that may be included in the carrier phase measurement information in the first measurement information, for example, it may include at least one of the following information A1, information A2, information A3, information A4 or information A5.

[0143] The third and sixth apparatuses in the following embodiments may be apparatuses for receiving reference signals and may be used to measure reference signals. The fourth and fifth apparatuses may be apparatuses for transmitting reference signals. Any of the third, fourth, fifth, and sixth apparatuses may be the terminal described in Figures 2A, 2B, 2C, 2D, 2E, or 2F, a chip system within a terminal, a network device, or a chip system within a network device.

[0144] Information A1 is used to indicate information of the first phase.

[0145] The information indicating the first phase may include the first phase (or referred to as a first phase value or first phase information).

[0146] The first phase is obtained by measuring a third reference signal (at least one first reference signal includes the third reference signal) from the fourth device by the third device.

[0147] In the embodiment of the present application, the third device may be the first device. Alternatively, the third device and the first device may be two different devices. In the case where the third device and the first device are two different devices, the third device may send information indicating the first phase to the first device.

[0148] When the first measurement information includes information indicating the first phase, since the information indicating the first phase may include more measurement information, the first device may perform positioning based on more measurement information, thereby improving positioning accuracy.

[0149] Information A2 is used to indicate the first phase difference.

[0150] The first phase difference is obtained based on the first phase and the second phase (for example, the first phase difference is the difference between the first phase and the second phase). The second phase is obtained by the third device measuring a fourth reference signal (at least one of the first reference signals includes the fourth reference signal) from the fifth device.

[0151] The information indicating the first phase difference includes the first phase difference, or the information indicating the first phase difference includes the first phase and the second phase.

[0152] In the case that the third device and the first device are two different devices, the third device may send information indicating the first phase difference to the first device.

[0153] In the embodiment of the present application, when the first measurement information includes information indicating the first phase difference, some errors, such as errors in the random initial phase of the reference signal or synchronization errors, can be eliminated in the process of determining the first integer ambiguity based on the first phase difference.

[0154] For example, multiple base stations each send reference signals to a terminal, and the terminal measures the reference signals from the multiple base stations to obtain a first phase and a second phase, respectively. Alternatively, a terminal sends reference signals to multiple base stations, and the multiple base stations each measure the reference signals from the terminal to obtain a first phase and a second phase, respectively. In both scenarios, since the terminal's error is fixed, when the difference between the first phase and the second phase is used to calculate the first integer ambiguity, the error on the terminal side can be eliminated. For example, it can eliminate the error in measuring multiple reference signals on the terminal side, or eliminate the random initial phase error of the reference signal sent by the terminal side.

[0155] For another example, multiple terminals each send a reference signal to a base station, and the base station measures the reference signals from the multiple terminals to obtain a first phase and a second phase, respectively. Alternatively, a base station sends a reference signal to multiple terminals, and the multiple terminals each measure the reference signal from the base station to obtain a first phase and a second phase, respectively. In both scenarios, since the base station's error is fixed, when the difference between the first phase and the second phase is used to calculate the first integer ambiguity, the error on the base station side can be eliminated. For example, it can eliminate the error in measuring multiple reference signals on the base station side, or eliminate the random initial phase error of the reference signal sent by the base station side.

[0156] Information A3 is used to indicate the second phase difference.

[0157] The second phase difference is obtained based on the first phase and the third phase (for example, the second phase difference is the difference between the first phase and the third phase). The third phase is obtained by the sixth device measuring the third reference signal from the fourth device.

[0158] The information indicating the second phase difference includes the second phase difference, or the information indicating the second phase difference includes the first phase and / or the third phase.

[0159] In this embodiment of the present application, the sixth device and the third device are two different devices. The sixth device can send information indicating the third phase to the first device, and the third device can send information indicating the first phase to the first device. Alternatively, the sixth device can send information indicating the third phase to the third device, and the third device can send information indicating the second phase difference to the first device.

[0160] In the embodiment of the present application, when the first measurement information includes information for indicating the second phase difference, the error caused by the reference signal transmitting end can be eliminated in the process of determining the first integer ambiguity based on the second phase difference, and the error caused by the reference signal receiving end can also be eliminated, such as the error of the random initial phase of the reference signal or the synchronization error, etc., thereby further improving the positioning accuracy.

[0161] Information A4 is used to indicate the third phase difference.

[0162] The third phase difference is obtained based on the first phase difference and the fourth phase difference (for example, the third phase difference is the difference between the first phase and the fourth phase). The fourth phase difference is obtained based on the fourth phase and the fifth phase (for example, the fourth phase difference is the difference between the fourth phase and the fifth phase). The fourth phase is obtained by the sixth device measuring the third reference signal from the fourth device. The fifth phase is obtained by the sixth device measuring the fourth reference signal from the fifth device.

[0163] The information indicating the third phase difference includes the third phase difference, or the information indicating the third phase difference includes the information indicating the first phase difference and the information indicating the fourth phase difference, or the information indicating the fourth phase difference includes the fourth phase difference, or includes the fourth phase and the fifth phase.

[0164] In the embodiment of the present application, when the first measurement information includes information for indicating the third phase difference, the error caused by the reference signal transmitting end can be eliminated in the process of determining the first integer ambiguity based on the third phase difference, and the error caused by the reference signal receiving end can also be eliminated, such as the error of the random initial phase of the reference signal or the synchronization error, etc., thereby further improving the positioning accuracy.

[0165] In one possible implementation, the third device and the sixth device are terminals or chip systems inside terminals, and the fourth device and the fifth device are network devices (such as base stations) or chip systems inside network devices (such as base stations). The sixth device can communicate with the third device, and the sixth device can send information indicating the fourth phase difference to the third device. So that the third device calculates the third phase difference based on the fourth phase difference and the first phase difference. The third device can be the first device; or the third device and the first device are two different devices, and the third device can send information indicating the third phase difference to the first device. In this solution, the first device can determine the first integer ambiguity based on the phase difference between the phase differences, and then can improve the accuracy of the first integer ambiguity, thereby improving the positioning accuracy.

[0166] In another possible implementation, the third device and the sixth device are network devices (such as base stations) or chip systems inside network devices (such as base stations), and the fourth device and the fifth device are terminals or chip systems inside terminals. The sixth device and the third device can communicate with the first device respectively. For example, the first device is a base station, and the third device and the sixth device are different TRPs under the base station. The sixth device can send information indicating the fourth phase difference to the first device. The third device can send information indicating the first phase difference to the first device. The first device calculates the third phase difference based on the first phase difference and the fourth phase difference. In this solution, the first device can determine the first integer ambiguity based on the phase difference between the phase differences, and then improve the accuracy of the first integer ambiguity, thereby improving the positioning accuracy.

[0167] Information A5 is used to indicate the fourth phase difference.

[0168] The fourth phase difference is determined based on the acquired phase arrival error (PAE), and the fourth phase difference is further determined based on the first phase difference or the first phase. For example, the fourth phase difference is the difference between the PAE and the first phase, or the fourth phase difference is the difference between the PAE and the first phase difference.

[0169] The information indicating the fourth phase difference includes the fourth phase difference. Alternatively, the information indicating the fourth phase difference includes the information indicating the first phase difference and the information indicating the first phase.

[0170] The first device can receive PAE from other devices (such as a positioning management device). PAE can be used to calibrate the phase deviations of different reference signals. For example, the UE and / or the positioning reference unit (PRU) receive reference signals from one or more base stations, and the UE and / or the PRU measures the reference signals to obtain a first phase or a first phase difference. The PRU in the embodiment of the present application can be understood as a device that can perform some tasks related to communication, such as some tasks related to the positioning process. For example, the PRU can measure the received reference signal, and for example, the PRU can send a reference signal. The PRU can be understood as a terminal or a chip device inside the terminal. Since the clocks between multiple base stations may be out of sync, there will be a certain phase deviation in the reference signals sent by different base stations. PAE can calibrate the phase deviation between multiple reference signals sent by different base stations. Since the first device combines PAE and the first phase (or first phase difference) to determine the first integer ambiguity, this solution can improve the accuracy of the first integer ambiguity, thereby improving the positioning accuracy.

[0171] If the first device and the third device are the same device, the first device can determine the first integer ambiguity based on PAE and the first phase and / or first phase difference measured by itself without receiving carrier phase measurement information (phase and / or phase difference) from other devices, and then improve the accuracy of the first integer ambiguity, thereby improving positioning accuracy, and reducing the process of interaction between the first device and other devices, thereby reducing the complexity of the solution while improving positioning accuracy.

[0172] In the embodiment of the present application, several examples of information that may be included in the first measurement information are listed through the above-mentioned information A1, information A2, information A3, information A4 and information A5. The carrier phase measurement information in the first measurement information may also include other information, such as the difference between more than two phase differences.

[0173] For example, UE#1 measures frequency #1 and frequency #2 of reference signal #1 of base station #1 to obtain phase #1 and phase #2, and the difference between phase #1 and phase #2 is considered as phase difference #1.

[0174] UE #1 measures frequency #1 and frequency #2 of reference signal #2 of base station #2, and obtains phase #3 and phase #4. The difference between phase #3 and phase #4 is considered as phase difference #2. The difference between phase difference #1 and phase difference #2 is considered as phase difference #3.

[0175] PRU #1 measures frequency #1 and frequency #2 of reference signal #1 of base station #1 to obtain phase #5 and phase #6. The difference between phase #5 and phase #6 is considered as phase difference #4.

[0176] The difference between phase difference #3 and phase difference #4 is considered as phase difference #5.

[0177] The carrier phase measurement information in the first measurement information can include information indicating phase difference #5. As can be seen, in this example, the carrier phase measurement information in the first measurement information can include the differences between the three phase differences. This can further reduce the impact of errors on the accuracy of the first integer ambiguity, improve the accuracy of the first integer ambiguity, and thereby enhance positioning accuracy. Similarly, the carrier phase information in the first measurement information can include more differences between phase differences, which will not be further described.

[0178] Step 302: The first device obtains first information.

[0179] There are multiple possible implementations of step 302. In one possible implementation, the first device determines the first information based on the first measurement information and at least one first integer ambiguity.

[0180] The first information indicates a reliability of at least one first integer ambiguity.

[0181] The first information in the embodiment of the present application may indicate the reliability of one or more first integer ambiguities.

[0182] The first information may be in various forms. For example, the first information may include information indicating the likelihood of at least one first integer ambiguity being accurate. In the embodiment of the present application, likelihood may be replaced by probability, degree, or the like.

[0183] The first information may include a soft bit value. A soft bit value is understood to be a bit value carried on one or more bits, and the bit value may be 1 or 0, or may be a value other than 1 and 0, such as a number between 1 and 0. For example, the first information occupies one or more bits. When the bit value of these bits is 0.9, the first information indicates that the likelihood of at least one first integer ambiguity being accurate is 90% (or it can be understood that the probability of at least one first integer ambiguity being accurate is 90%); when the bit value of these bits is 0.7, the first information indicates that the likelihood of at least one first integer ambiguity being accurate is 70% (or it can be understood that the probability of at least one first integer ambiguity being accurate is 70%).

[0184] Since the soft bit value can be a decimal, the soft bit value can more flexibly and accurately indicate the accuracy of the first integer ambiguity. Therefore, the second device can determine a more accurate integer ambiguity in combination with the first information, thereby improving the accuracy and robustness of positioning. For example, the second device can perform positioning based on the integer ambiguity with a larger (or maximum) likelihood. On the other hand, since the first information is a soft bit value, the device used for positioning can determine the accuracy of the first integer ambiguity, and then use each first integer ambiguity according to the accuracy, thereby increasing the number of first integer ambiguities that can be used. For some scenarios with a small number of first integer ambiguities, the solution in the embodiment of the present application can determine the location information of the device to be located based on the first integer ambiguity, and can also determine the accuracy of the location information based on the first information, thereby improving the robustness of positioning.

[0185] For another example, the first information may be information indicating whether at least one first integer ambiguity is reliable (or unreliable). For example, the first information occupies one bit. When the bit value of this bit is 1, the first information indicates that at least one first integer ambiguity is reliable; when the bit value of this bit is 0, the first information indicates that at least one first integer ambiguity is unreliable. In this way, the second device can determine a more accurate integer ambiguity based on the first information. For example, the second device can perform positioning based on the integer ambiguity with the larger (or maximum) likelihood, thereby improving positioning accuracy.

[0186] In one possible implementation, the first device may determine an integer ambiguity set based on the measurement information. In this embodiment of the present application, the integer ambiguity set may include one or more integer ambiguities. For the sake of distinction, in this embodiment of the present application, the integer ambiguity set determined by the first device based on the first measurement information is referred to as the first integer ambiguity set. In this embodiment of the present application, the integer ambiguity set (e.g., the first integer ambiguity set and the subsequent second integer ambiguity set) may be replaced by integer ambiguity ranges, integer ambiguity sets, integer ambiguity groups, etc.

[0187] In the embodiments of the present application, the at least one first integer ambiguity acquired by the first apparatus may include integer ambiguities in the first integer ambiguity set and / or integer ambiguities outside the first integer ambiguity set (the integer ambiguities outside the first integer ambiguity set may be determined based on the first integer ambiguity set). Two possible implementations are described below through Implementation B1 and Implementation B2.

[0188] In embodiment B1, the at least one first integer ambiguity may include: integer ambiguities in the first integer ambiguity set.

[0189] For example, the first integer ambiguity set includes two integer ambiguities, N#1 and N#2, where the value of N#1 is 6 and the value of N#2 is 10. In one possible implementation, the first device calculates that the likelihood that N#1 and N#2 are correct is 90% (the specific calculation method will be described later and will not be elaborated here).

[0190] In one possible implementation, the at least one first integer ambiguity acquired by the first device in step 302 includes a value of N#1 and a value of N#2 (i.e., the at least one first integer ambiguity acquired by the first device is a first integer ambiguity set that includes two integer ambiguities), and the first information acquired by the first device is 90%. The first information is one, and the one first information indicates the likelihood that the multiple integer ambiguities (N#1 and N#2) are correct. When the first device reports the first information, since the one first information indicates the likelihood that the multiple integer ambiguities are correct, this solution can save signaling overhead.

[0191] In another possible implementation, the first device determines the likelihood that N#1 (or N#2) is correct (i.e., the likelihood that a single integer ambiguity is correct) based on the likelihood that N#1 and N#2 are correct. For example, if the likelihood that N#1 and N#2 are correct is 90%, the first device may determine the likelihood that N#1 (or N#2) is correct to be 90%, or another value (e.g., 91% or 89%) (e.g., by adding or subtracting 90% from a preset value). Then, in step 302, the at least one first integer ambiguity obtained by the first device includes the value of N#1 (or N#2) (i.e., the at least one first integer ambiguity obtained by the first device is an integer ambiguity included in the first integer ambiguity set), and the first information obtained by the first device is 90% (or 91% or 89%). The first information is one, and the first information indicates the likelihood that N#1 (or N#2) is correct. Alternatively, the first device obtains N#1 and N#2 and two pieces of first information, one of which indicates the likelihood that N#1 is correct, and the other indicates the likelihood that N#2 is correct. In this solution, each integer ambiguity can correspond to a likelihood, which is more flexible and can more accurately determine the accuracy of each integer ambiguity.

[0192] In embodiment B2, a first integer ambiguity in the at least one first integer ambiguity may be determined based on integer ambiguities in the first integer ambiguity set.

[0193] In one possible implementation, part or all of the at least one first integer ambiguity may include integer ambiguities outside the first integer ambiguity set.

[0194] For example, the first integer ambiguity set includes two integer ambiguities, N#1 and N#2, where the value of N#1 is 6 and the value of N#2 is 10. In one possible implementation, the first device calculates that the likelihood that N#1 and N#2 are correct is 90% (the specific calculation method will be described later and will not be elaborated here).

[0195] N#1 corresponds to frequency #1, and can also be understood as N#1 being obtained based on the measurement results of the reference signal of frequency #1. N#2 corresponds to frequency #2, and can also be understood as N#2 being obtained based on the measurement results of the reference signal of frequency #2. The center frequency between frequency #1 and frequency #2 is denoted as frequency #3. Based on N#1 and N#2, the integer ambiguity N#3 corresponding to frequency #3 is calculated (the calculation method of N#3 is described later and is not explained here). N#3 does not belong to the first integer ambiguity set.

[0196] The first device determines the likelihood that N#3 is correct based on the likelihoods that N#1 and N#2 are correct. For example, if the likelihood that N#1 and N#2 are correct is 90%, the first device may determine the likelihood that N#3 is correct to be 90%, or another value (e.g., 91% or 89%) (e.g., by adding or subtracting 90% from a preset value). Then, in step 302, the at least one first integer ambiguity obtained by the first device includes the value of N#3 (i.e., the at least one first integer ambiguity obtained by the first device includes an integer ambiguity outside the first integer ambiguity set), and the first information obtained by the first device is 90% (or 91% or 89%). The first information is one, indicating the likelihood that N#3 is correct. N#3 can be considered as the integer ambiguity corresponding to the center frequency. The center frequency can be considered as the center frequency of a bandwidth. The bandwidth includes frequency #1 and frequency #2. Frequency #1 and frequency #2 can be considered as frequencies at both ends of the bandwidth. The bandwidth can be considered as the bandwidth occupied by one or more first reference signals. Since the phase information corresponding to the center frequency is more accurate than that of frequency points #1 and #2, positioning based on the integer ambiguity corresponding to the center frequency can further improve the accuracy and robustness of positioning.

[0197] Step 303: The first device sends at least one first integer ambiguity and first information.

[0198] Correspondingly, the second device receives at least one first integer ambiguity and the first information.

[0199] The first integer ambiguity and the first information may be sent via one or more messages. For example, the first integer ambiguity and the first information may be carried in an LTE Positioning Protocol (LPP) provide location information message. For another example, the first integer ambiguity and the first information may be carried in an LPP provide location information (NRPPa measurement response) message. NRPPa stands for New Radio Positioning Protocol Annex (NRPPa).

[0200] In step 304 , the second device performs positioning according to the at least one first integer ambiguity and the first information.

[0201] There are various ways in which the second device can perform positioning with the aid of the first information. For example, with the aid of the first information, a more accurate integer ambiguity can be selected, thereby improving positioning accuracy. Alternatively, with the aid of the first information, the second device can provide information indicating the accuracy of location information (e.g., location information of the terminal to be located). For example, if the second device determines that the reliability of the first integer ambiguity and the second integer ambiguity indicated by the first information is high, the reliability of the location information obtained by the second device based on the first integer ambiguity is also high. The second device can provide information indicating that the reliability of the location information is high.

[0202] In a possible implementation, the second device determines a third integer ambiguity based on the at least one first integer ambiguity and the first information. The third integer ambiguity is used for positioning.

[0203] In this solution, the second device can determine the third integer ambiguity in combination with the first information, thereby improving the accuracy of the third integer ambiguity and further improving the positioning accuracy.

[0204] In the embodiments of the present application, there are various schemes for determining the third integer ambiguity. For example, the third integer ambiguity may be the integer ambiguity obtained by the first device (including at least one first integer ambiguity) with the highest (or relatively high) likelihood of being correct. Alternatively, the third integer ambiguity may be the average (or weighted average) of multiple integer ambiguities with relatively high likelihood of being correct among the integer ambiguities obtained by the first device (including at least one first integer ambiguity).

[0205] In the solution provided in the embodiments of the present application, a more accurate third integer ambiguity obtained based on the first integer ambiguity and the first information can be used for positioning. The third integer ambiguity can be used to locate the first device or other devices (such as a transmitter or a measurement end of the first reference signal).

[0206] Based on the embodiments shown in Figures 2A, 2B, 2C, 2D, 2E, 2F, and 3, as well as the other contents described above, Figure 4 exemplarily illustrates a flow chart of a positioning method provided by an embodiment of the present application. Figure 4 can be considered an extended embodiment of Figure 3. In the embodiment shown in Figure 4, the first apparatus can also obtain at least one second integer ambiguity and second information. The at least one second integer ambiguity, the first information, the at least one second integer ambiguity, and the second information can be used to determine a third integer ambiguity.

[0207] FIG4 is introduced from the perspective of interaction. For the description of the first device and the second device in FIG4 , please refer to the relevant description of FIG3 , which will not be repeated here.

[0208] Referring to FIG. 4 , the method includes:

[0209] Step 401: A first device determines at least one first integer ambiguity based on first measurement information.

[0210] The content of step 401 refers to the content of the aforementioned step 301 and will not be repeated here.

[0211] Step 402: The first device obtains first information.

[0212] The content of step 402 refers to the content of the aforementioned step 302 and will not be repeated here.

[0213] Step 403: The first device sends at least one first integer ambiguity and first information.

[0214] The content of step 403 refers to the content of the aforementioned step 303 and will not be repeated here.

[0215] Step 404: The first device determines at least one second integer ambiguity based on the second measurement information.

[0216] In the embodiment of the present application, the second measurement information may be obtained by the first device measuring at least one second reference signal (for distinction, the reference signal used to determine the second measurement information in the embodiment of the present application is referred to as the second reference signal), or may be received by the first device from other devices.

[0217] The second measurement information includes time measurement information and / or carrier phase measurement information. For details about the time measurement information and / or carrier phase measurement information, please refer to the above description and will not be repeated here.

[0218] The carrier phase measurement information in the second measurement information may include information indicating a phase and / or information indicating a phase difference. The phase difference indicated by the information indicating a phase difference may be the difference between two phases or the difference between two (or more than two) phase differences. For related details, please refer to the aforementioned content regarding the first measurement information.

[0219] For example, the second measurement information may include at least one of the following information C1, information C2, information C3, information C4, or information C5. The manner in which the first apparatus acquires at least one of the following information C1, information C2, information C3, information C4, or information C5 can be referred to as the manner in which the first apparatus acquires at least one of the following information A1, information A2, information A3, information A4, or information A5, and is not further described.

[0220] The relevant descriptions of the third device, the sixth device, the fourth device and the fifth device in the following embodiments can refer to the relevant descriptions of the aforementioned step 301 and are not repeated here.

[0221] Information C1 is used to indicate information of the sixth phase.

[0222] The information indicating the sixth phase may include the sixth phase.

[0223] The sixth phase is obtained by measuring the fifth reference signal (the at least one second reference signal includes the fifth reference signal) from the fourth device by the third device.

[0224] The manner in which the first device obtains the information C1 can refer to the aforementioned manner in which the first device obtains the information A1, and will not be described in detail.

[0225] Information C2 is used to indicate the fifth phase difference.

[0226] The fifth phase difference is obtained based on the sixth phase and the seventh phase (for example, the fifth phase difference is the difference between the sixth phase and the seventh phase). The seventh phase is obtained by the third device measuring the sixth reference signal (the at least one second reference signal includes the sixth reference signal) from the fifth device.

[0227] The information indicating the fifth phase difference includes the fifth phase difference, or the information indicating the fifth phase difference includes the sixth phase and the seventh phase.

[0228] The manner in which the first device obtains the information C2 can refer to the aforementioned manner in which the first device obtains the information A2, and will not be described in detail.

[0229] Information C3 is used to indicate information of the sixth phase difference.

[0230] The sixth phase difference is obtained based on the sixth phase and the eighth phase (eg, the sixth phase difference is the difference between the sixth phase and the eighth phase). The eighth phase is obtained by the sixth device measuring the fifth reference signal from the fourth device.

[0231] The information indicating the sixth phase difference includes the sixth phase difference, or the information indicating the sixth phase difference includes the sixth phase and / or the eighth phase.

[0232] The manner in which the first device obtains the information C3 can refer to the aforementioned manner in which the first device obtains the information A3, and will not be described in detail.

[0233] Information C4 is used to indicate the seventh phase difference.

[0234] The seventh phase difference is obtained based on the fifth phase difference and the eighth phase difference (for example, the seventh phase difference is the difference between the sixth phase and the ninth phase). The eighth phase difference is obtained based on the ninth phase and the tenth phase (for example, the eighth phase difference is the difference between the ninth phase and the tenth phase). The ninth phase is obtained by measuring the fifth reference signal from the fourth device using the sixth device. The tenth phase is obtained by measuring the sixth reference signal from the fifth device using the sixth device.

[0235] The information indicating the seventh phase difference includes the seventh phase difference. Alternatively, the information indicating the seventh phase difference includes the information indicating the fifth phase difference and the information indicating the eighth phase difference. The information indicating the eighth phase difference includes the eighth phase difference, or includes the ninth phase and the tenth phase.

[0236] The manner in which the first device obtains the information C4 can refer to the aforementioned manner in which the first device obtains the information A4, and will not be described in detail.

[0237] Information C5 is used to indicate the eighth phase difference.

[0238] The eighth phase difference is determined based on the acquired phase arrival error (PAE), and the eighth phase difference is further determined based on the fifth phase difference or the sixth phase difference. For example, the eighth phase difference is the difference between the PAE and the sixth phase, or the eighth phase difference is the difference between the PAE and the fifth phase difference.

[0239] The information indicating the eighth phase difference includes the eighth phase difference. Alternatively, the information indicating the eighth phase difference includes the information indicating the fifth phase difference and the information indicating the sixth phase difference.

[0240] The manner in which the first device obtains the information C5 can refer to the aforementioned manner in which the first device obtains the information A5, and will not be described in detail.

[0241] In the embodiment of the present application, one first reference signal among at least one first reference signal (for example, the at least one first reference signal includes a third reference signal and a fourth reference signal) and a second reference signal among at least one second reference signal (for example, the at least one second reference signal includes a fifth reference signal and a sixth reference signal) may be the same (or different) reference signals. For example, the third reference signal and the fifth reference signal may be the same (or different) reference signals. For another example, the fourth reference signal and the sixth reference signal may be the same (or different) reference signals.

[0242] For example, the third and fifth reference signals are two reference signals, and the transmitter of the third and fifth reference signals is the same. The transmitter transmits the third and fifth reference signals at two different frequency points. The third and fifth reference signals are DS-RS signals, and the transmitter transmits resources at the two ends and no resources in between. The time domain resources of the third and fifth reference signals are the same. In this way, the transmit power of the third and fifth reference signals can be increased, thereby improving the accuracy of the measurement results measured by the measurement end, and thus improving positioning accuracy.

[0243] For example, the third and fifth reference signals are the same reference signal. This reference signal covers two frequencies, and the measurement endpoint measures at both frequencies, obtaining two phase information points. In this solution, the network device can be configured with only one reference signal, making configuration relatively simple and easy.

[0244] In another possible implementation, the first measurement information is obtained by measuring at a first frequency point of at least one first reference signal, and the second measurement information is obtained by measuring at a second frequency point of at least one second reference signal. The first frequency point and the second frequency point are different.

[0245] For example, the first measurement information is obtained based on measurement information of the first frequency point of the third reference signal and measurement information of the first frequency point of the fourth reference signal. The second measurement information is obtained based on measurement information of the second frequency point of the third reference signal (the third reference signal and the fifth reference signal are the same reference signal) and measurement information of the second frequency point of the fourth reference signal (the fourth reference signal and the sixth reference signal are the same reference signal).

[0246] For example, the transmitter of the reference signal may send the reference signal in the entire bandwidth. The reference signal may be called a first reference signal or a second reference signal. That is, the first reference signal and the second reference signal are the same reference signal.

[0247] For another example, a reference signal transmitter may transmit reference signals at both ends of the entire bandwidth (i.e., at the first frequency point and the second frequency point), while not transmitting a signal in the middle. This reference signal can also be understood as occupying the bandwidth at both ends of the entire bandwidth. This reference signal can be referred to as the first reference signal or the second reference signal, i.e., the first reference signal and the second reference signal are the same reference signal. Alternatively, the reference signal corresponding to the first frequency point can be referred to as the first reference signal, and the reference signal corresponding to the second frequency point can be referred to as the second reference signal.

[0248] Step 405: The first device obtains second information.

[0249] There are multiple possible implementations of step 405. In one possible implementation, the first device determines the second information based on the second measurement information and at least one second integer ambiguity.

[0250] The second information indicates a reliability of the at least one second integer ambiguity.

[0251] The second information in the embodiment of the present application may indicate the reliability of one or more second integer ambiguities.

[0252] The second information can take various specific forms. For example, the second information includes information indicating the likelihood that at least one second integer ambiguity is accurate. The form of the second information can refer to the aforementioned related content of the first information, with the difference being that the first information indicates the reliability of the first integer ambiguity, while the second information indicates the reliability of the second integer ambiguity. The content is similar and will not be further described.

[0253] For purposes of distinction, in the embodiments of the present application, the integer ambiguity set determined by the first apparatus based on the second measurement information is referred to as the second integer ambiguity set. For details regarding the second integer ambiguity set, refer to the aforementioned description of the first integer ambiguity set and will not be repeated here. Similarly, the at least one second integer ambiguity acquired by the first apparatus may include integer ambiguities within the second integer ambiguity set and / or integer ambiguities outside the second integer ambiguity set (integer ambiguities outside the second integer ambiguity set may be determined based on the second integer ambiguity set). For related implementations, refer to the aforementioned Implementation B1 and Implementation B2 and will not be repeated here.

[0254] In one possible implementation, the second information and the first information in the embodiments of the present application are the same information, and the information is used to indicate the correct likelihood of at least one first integer ambiguity and at least one second integer ambiguity; or, the information is used to indicate the correct likelihood of at least one first integer ambiguity and the correct likelihood of at least one second integer ambiguity.

[0255] With respect to the above-mentioned step 403 and step 406, an embodiment of the present application provides an implementation method for determining the first information and the second information. In this implementation method, the first information and the second information are determined based on the first distance value and the second distance value.

[0256] In the embodiment of the present application, the first distance value can be understood as the distance corresponding to the first frequency point of the first reference signal, or as the distance traveled by the reference signal at the first frequency point of the first reference signal from the transmitting end to the receiving end (the receiving end of the reference signal). In the embodiment of the present application, the second distance value can be understood as the distance corresponding to the second frequency point of the second reference signal, or as the distance traveled by the reference signal at the second frequency point of the second reference signal from the transmitting end to the receiving end (the receiving end of the reference signal). In the embodiment of the present application, the receiving end of the reference signal may be the first device or may not be the first device.

[0257] The degree of closeness between the first distance value and the second distance value is positively correlated with the likelihood that at least one first integer ambiguity is correct. For example, the closer the first distance value and the second distance value are, the greater the likelihood that the first integer ambiguity is correct. For another example, the greater the difference between the first distance value and the second distance value, the smaller the likelihood that the first integer ambiguity is correct. Alternatively, a correlation relationship between the degree of closeness between the first distance value and the second distance value (such as the difference range between the first distance value and the second distance value) and the likelihood that the first integer ambiguity is correct can be set. The larger the maximum value of the difference range is, the greater the likelihood that the first integer ambiguity is correct, and vice versa. The degree of closeness between the first distance value and the second distance value is positively correlated with the likelihood that at least one second integer ambiguity is correct. For related content, please refer to the description of the likelihood that at least one second integer ambiguity is correct, and no further details will be given.

[0258] The likelihood that the second integer ambiguity is correct may be equal to the likelihood that the first integer ambiguity is correct, the first information and the second information are one piece of information, and the first information (or the second information) indicates the likelihood that the first integer ambiguity is correct and indicates the likelihood that the second integer ambiguity is correct.

[0259] In another possible implementation, the degree of proximity between the first distance value and the second distance value is positively correlated with the likelihood of the first and second integer ambiguities being correct. Alternatively, it can be understood that multiple integer ambiguities (including a first integer ambiguity and a second integer ambiguity) correspond to a likelihood, and the likelihood indicates the likelihood of the combination of the multiple integer ambiguities being correct. Alternatively, it can be understood that the first information and the second information are a single piece of information, and that the information indicates the likelihood of the combination of the first and second integer ambiguities being correct.

[0260] For example, at least one first integer ambiguity includes N#11 and N#12, and at least one second integer ambiguity includes N#21 and N#22. For example, N#11 and N#21 may be associated with a likelihood of 90%, indicating that the accuracy of the pair of the first integer ambiguity value N#11 and the second integer ambiguity value N#21 is 90%. For another example, N#11 and N#22 may be associated with a likelihood of 85%, indicating that the accuracy of the pair of the first integer ambiguity value N#11 and the second integer ambiguity value N#22 is 85%.

[0261] In an embodiment of the present application, the first device may deem the correct likelihoods corresponding to multiple integer ambiguities (the multiple integer ambiguities include a first integer ambiguity and a second integer ambiguity) as the correct likelihood of a single integer ambiguity within the multiple integer ambiguities. Alternatively, the first device may infer the correct likelihood of a single integer ambiguity within the multiple integer ambiguities based on the correct likelihoods corresponding to the multiple integer ambiguities. For example, at least one first integer ambiguity includes N#11 and N#12, and at least one second integer ambiguity includes N#21 and N#22. N#11 and N#21 may correspond to a likelihood of 90%, and N#11 and N#22 may correspond to a likelihood of 85%. The first device may determine the likelihood of N#11 as 90% or 85%, or the average of 90% and 85%, or the sum (or difference) of 90% and a preset value (e.g., 2%), etc.

[0262] In one possible implementation, the relationship between the first distance value, the second distance value, and the likelihood that the second integer ambiguity is correct and the likelihood that the first integer ambiguity is correct can be expressed by the following formula (1):

[0263] p(N 1 , N 2 )∝1 / (|d2-d1|)…………Formula (1)

[0264] In formula (1), N 1 represents the first full-cycle ambiguity, N 2 is the first full cycle ambiguity, p(N 1 , N 2 ) represents the likelihood that the first and second integer ambiguities are correct, d1 is the first distance value, d2 is the second distance value, |d2-d1| represents the absolute value of the difference between the second distance value and the first distance value, and ∝ represents correlation.

[0265] In the embodiment of the present application, N 1 The value can be taken from at least one (one or more) first integer ambiguity. 2 It can represent the value of at least one (one or more) second integer ambiguity. For example, at least one first integer ambiguity includes N#11 and N#12, at least one second integer ambiguity includes N#21 and N#22, N 1 and N 2 The values ​​can be N#11 and N#21 (p(N 1 , N 2 ) is used to represent the likelihood that the combination of N#11 and N#21 is correct), and can also be taken as N#11 and N#22 (p(N 1 , N 2) is used to represent the likelihood that the combination of N#11 and N#22 is correct), and can also be taken as N#12 and N#21 (p(N 1 , N 2 ) is used to represent the likelihood that the combination of N#12 and N#21 is correct), and can also be taken as N#12 and N#22 (p(N 1 , N 2 ) is used to represent the likelihood that the value of the combination of N#12 and N#22 is correct).

[0266] In the embodiment of the present application, the likelihood ratio can be determined by combining more integer ambiguities, for example, combining three distance values ​​corresponding to three integer ambiguities. When the three distance values ​​are closer, the accurate likelihood ratio of the three integer ambiguities corresponding to the three distance values ​​is greater, or the correlation between the three integer ambiguities is stronger. In this case, one likelihood ratio can indicate the likelihood ratio corresponding to the three integer ambiguities.

[0267] In a possible implementation, the first distance value may be determined based on the first integer ambiguity. The first distance value is also determined based on the first wavelength corresponding to the first frequency point and the carrier phase measurement information in the first measurement information.

[0268] For example, the first distance value can be determined using the following formula (2):

[0269] d1=λ1(N 1 +φ1 / 2π)……Formula (2)

[0270] In formula (2), d1 is the first distance value, λ1 is the wavelength corresponding to the first frequency point, N 1 is the first integer ambiguity, φ1 is the carrier phase measurement information in the first measurement information, π is pi, and / is division.

[0271] In an embodiment of the present application, the first distance value may also be determined by other means. For example, the first device may determine the first distance value based on other measurement information of the reference signal corresponding to the first frequency point. For example, the first distance value may be determined based on time measurement information such as TOA and / or carrier phase measurement information such as phase in the measurement information.

[0272] In a possible implementation, the second distance value may be determined based on the second integer ambiguity. The second distance value is further determined based on the second wavelength corresponding to the second frequency point and the carrier phase measurement information in the second measurement information.

[0273] For example, the second distance value can be determined using the following formula (3):

[0274] d2=λ2(N 2 +φ2 / 2π)……Formula (3)

[0275] In formula (3), d2 is the second distance value, λ2 is the wavelength corresponding to the second frequency point, and N 2 is the second integer ambiguity, φ2 is the carrier phase measurement information in the second measurement information, π is pi, and / is division.

[0276] In the embodiment of the present application, the second distance value can also be determined by other means. For example, the first device can determine the second distance value based on other measurement information of the reference signal corresponding to the second frequency point. For example, the second distance value can be determined based on time measurement information such as TOA and / or carrier phase measurement information such as phase in the measurement information.

[0277] In a possible implementation, at least one first integer ambiguity is determined based on at least one of a third range value, a first wavelength corresponding to the first frequency point, or an error amount of time measurement information in the first measurement information.

[0278] For example, at least one first integer ambiguity is determined based on the first integer ambiguity set, such as whether the first integer ambiguity belongs to or does not belong to the first integer ambiguity set. For details, see the previous description and are not repeated here. The first integer ambiguity set can be determined based on at least one of a third distance value, a first wavelength corresponding to the first frequency, or an error in time measurement information in the first measurement information. In this embodiment of the present application, the third distance value can be the distance traveled by the first reference signal or the second reference signal (the first reference signal and the second reference signal can be the same reference signal) from the transmitting end to the receiving end.

[0279] For example, the first integer ambiguity set can be determined using the following formula (4):

[0280] In formula (4), is the first full cycle ambiguity set, d v1 is the third distance value, λ1 is the wavelength corresponding to the first frequency point, is the error range of the first full-cycle ambiguity, and / is division.

[0281] In the embodiment of the present application It can be an integer value, for example, a value in {1,2,3,4...}. It can be obtained based on the error value of the parameter obtained by measuring the first reference signal, such as the error range of the time measurement information (such as TOA) and / or carrier phase measurement information in the measurement information of the first reference signal. For example, the TOA measurement quality will correspond to a TOA error value, and the TOA error value can be converted into a distance error value. The distance error value is divided by the wavelength corresponding to the first frequency point of the first reference signal, and the value obtained can be used as The value of .

[0282] In the embodiment of the present application, the first integer ambiguity can also be determined by other methods.

[0283] In a possible implementation, at least one second integer ambiguity is determined based on at least one of a third range value, a second wavelength corresponding to the second frequency point, or an error amount of time measurement information in the second measurement information.

[0284] For example, the at least one second integer ambiguity may be determined based on a second integer ambiguity set. For example, the second integer ambiguity may belong to or not belong to the second integer ambiguity set. For related details, see the previous description and are not repeated here. The second integer ambiguity set may be determined based on at least one of the third range value, the second wavelength corresponding to the second frequency, or an error in time measurement information in the second measurement information.

[0285] For example, the second integer ambiguity set can be determined using the following formula (5):

[0286] In formula (5), is the second full cycle ambiguity set, d v1 is the third distance value, λ2 is the wavelength corresponding to the second frequency point, is the error range of the second full cycle ambiguity, and / is division.

[0287] In the embodiment of the present application It can be an integer value, for example, a value in {1,2,3,4...}. It can be obtained based on the error value of the parameter obtained by measuring the second reference signal, such as the error range of the time measurement information (such as TOA) and / or carrier phase measurement information in the measurement information of the second reference signal. For example, the TOA measurement quality will correspond to a TOA error value, and the TOA error value can be converted into a distance error value. The distance error value is divided by the wavelength corresponding to the second frequency point of the second reference signal, and the value obtained can be used as The value of .

[0288] In one possible implementation, the first reference signal and the second reference signal may be the same reference signal, and the error value of the parameter obtained by measuring the first reference signal (such as TOA) and the error value of the parameter obtained by measuring the second reference signal (such as TOA) may be the same value.

[0289] In the above embodiment, in one possible embodiment, the third distance value is determined based on at least one of the third wavelength corresponding to the third frequency point, the fourth full-cycle ambiguity corresponding to the third frequency point, the carrier phase measurement information included in the first measurement information, or the carrier phase measurement information included in the second measurement information. The third frequency point is determined based on the first frequency point and the second frequency point. For example, the third frequency point is a frequency point between the first frequency point and the second frequency point. For another example, the third frequency point is the center frequency point of a bandwidth. The bandwidth can be understood as the bandwidth of the frequency domain resources occupied by the first reference signal and / or the second reference signal. The bandwidth includes the first frequency point and the second frequency point, the center frequency point is located between the first frequency point and the second frequency point, and the first frequency point and the second frequency point can be regarded as the frequency points at both ends of the bandwidth. For example, f v =|f1-f2|, f v is the frequency of the third frequency point, f1 is the frequency of the first frequency point, and f2 is the frequency of the second frequency point.

[0290] For example, the third distance value can be determined using the following formula (6):

[0291] In formula (6), d v1 is the third distance value, is the third wavelength corresponding to the third frequency point, is the fourth integer ambiguity corresponding to the third frequency point, φ1 is the carrier phase measurement information in the first measurement information, φ2 is the carrier phase measurement information in the second measurement information, and π is pi.

[0292] The fourth full cycle ambiguity corresponding to the third frequency point can be determined based on the third wavelength and the fourth distance value. For example: N v1 =[d0 / λ v1 ], is the fourth full cycle ambiguity corresponding to the third frequency point, is the third wavelength corresponding to the third frequency point, and d0 is the fourth distance value. The fourth distance value can be determined based on the time measurement information included in the first measurement information and / or the time measurement information included in the second measurement information, such as d0=τ0×c, where d0 is the fourth distance value, τ0 is the time measurement information (such as TOA) obtained by measuring the first reference signal (or the second reference signal), c is the speed of light, and × is multiplication. The third wavelength corresponding to the third frequency point can be determined based on the first wavelength and the second wavelength, such as is the third wavelength corresponding to the third frequency point, λ1 is the first wavelength corresponding to the first frequency point, and λ2 is the second wavelength corresponding to the second frequency point.

[0293] For example, the first reference signal (the first and second reference signals are the same) occupies a 600MHz bandwidth, the first frequency is 2.1GHz, the second frequency is 2.6GHz, and the third frequency is 2.35GHz. The third wavelength is calculated to be 0.6 meters. Because this solution combines the measurement information of the first and second frequencies to determine the third distance, it can improve the accuracy of the third distance and, in turn, improve positioning accuracy.

[0294] In yet another possible implementation, the third distance value may be determined according to time measurement information included in the first measurement information and / or time measurement information included in the second measurement information.

[0295] For example, the third distance value can be determined using the following formula (7):

[0296] d v1 =τ0×c……Formula (7)

[0297] In formula (7), d v1 is the third distance value, τ0 is the time measurement information (such as TOA) obtained by measuring the first reference signal (or the second reference signal), c is the speed of light, and × is multiplication.

[0298] In step 406 , the first device sends at least one second integer ambiguity and second information.

[0299] Correspondingly, the second device receives at least one second integer ambiguity and second information.

[0300] The first integer ambiguity, the first information, the second integer ambiguity, and the second information may be sent via one or more messages. The second integer ambiguity and the second information may be carried in an LPP Provide Location Information message, or in an LPP Provide Location Information NRPPa Measurement Response message.

[0301] Step 407 : The second device performs positioning according to the at least one first integer ambiguity, the first information, the at least one second integer ambiguity, and the second information.

[0302] There are many ways for the second device to perform positioning with the assistance of the first information and the second information. For example, with the assistance of the first information and the second information, a more accurate integer ambiguity can be selected to thereby improve positioning accuracy. Alternatively, the second device can provide information indicating the accuracy of location information (such as the location information of the terminal to be located) with the assistance of the first information and the second information. For example, if the second device determines that the reliability of the first integer ambiguity and the second integer ambiguity indicated by the first information and the second information is high, the reliability of the location information obtained by the second device based on the first integer ambiguity and the second integer ambiguity is also high, and the second device can provide information indicating that the reliability of the location information is high.

[0303] In a possible implementation, the second device determines the third integer ambiguity based on the at least one first integer ambiguity, the first information, the at least one second integer ambiguity, and the second information.

[0304] In the embodiment shown in FIG4 , there is no necessary order relationship between any one of step 404, step 405 and step 406 and any one of step 401, step 402 and step 403. For example, any one of step 404, step 405 and step 406 may be located before step 403, or before step 402, or before step 401, etc.

[0305] Step 401 and step 404 may be one step or two steps. Step 402 and step 405 may be one step or two steps. Step 403 and step 406 may be one step or two steps. For example, at least one first integer ambiguity, the first information, at least one second integer ambiguity, and the second information may be carried in one message or in multiple messages.

[0306] In this solution, the first device can combine more information to determine the third integer ambiguity, thereby improving the accuracy of the third integer ambiguity and further improving the positioning accuracy.

[0307] In the embodiments of the present application, there are various schemes for determining the third integer ambiguity. For example, the third integer ambiguity may be the integer ambiguity obtained by the first device (including at least one first integer ambiguity and at least one second integer ambiguity) with the highest (or relatively high) likelihood of being correct. Alternatively, the third integer ambiguity may be the average (or weighted average) of multiple integer ambiguities obtained by the first device (including at least one first integer ambiguity and at least one second integer ambiguity) with a relatively high likelihood of being correct.

[0308] Based on the embodiments shown in Figures 2A, 2B, 2C, 2D, 2E, 2F, 3 and 4 and the other contents mentioned above, Figures 5 and 6 exemplarily show flow charts of several positioning methods provided in the embodiments of the present application.

[0309] In the embodiments shown in Figures 5 and 6, the first device may be the positioning management device or a chip system within the positioning management device of Figures 2A, 2B, 2C, 2D, 2E, 2F, 3, or 4. In the embodiments of the present application, the first device may receive measurement information (e.g., the first measurement information and / or the second measurement information), determine a third integer ambiguity, and then perform positioning based on the third integer ambiguity.

[0310] Referring to FIG5 , the method includes:

[0311] Step 501: The measuring device sends first measurement information.

[0312] Correspondingly, the first device receives first measurement information from the measuring device.

[0313] The measuring device in step 501 may refer to a device for measuring the first reference signal to obtain the first measurement information. The measuring device may be a terminal in Figure 2A, Figure 2B, Figure 2C, Figure 2D, Figure 2E, or Figure 2F, a chip system within the terminal, a network device, or a chip system within the network device.

[0314] Step 502: The first device determines at least one first integer ambiguity according to first measurement information.

[0315] The content of step 502 refers to the content of the aforementioned step 301 and will not be repeated here.

[0316] Step 503: The first device obtains first information.

[0317] The content of step 503 refers to the content of the aforementioned step 302 and will not be repeated here.

[0318] In step 504 , the first device performs positioning according to the at least one first integer ambiguity and the first information.

[0319] The content of step 504 refers to the content of the aforementioned step 304 and will not be repeated here.

[0320] Referring to FIG6 , the method includes:

[0321] Step 601: The measuring device sends first measurement information.

[0322] Correspondingly, the first device receives first measurement information from the measuring device.

[0323] The content of step 601 refers to the content of the aforementioned step 501 and will not be repeated here.

[0324] Step 602: The first device determines at least one first integer ambiguity based on first measurement information.

[0325] The content of step 602 refers to the content of the aforementioned step 401 and will not be repeated here.

[0326] Step 603: The first device obtains first information.

[0327] The content of step 603 refers to the content of the aforementioned step 402 and will not be repeated here.

[0328] Step 604: The measuring device sends second measurement information.

[0329] Correspondingly, the first device receives second measurement information from the measuring device.

[0330] The measuring device in step 604 may refer to a device for measuring the second reference signal to obtain the second measurement information. The measuring device may be a terminal in Figure 2A, Figure 2B, Figure 2C, Figure 2D, Figure 2E, or Figure 2F, a chip system within the terminal, a network device, or a chip system within the network device.

[0331] The measuring device in step 604 and the measuring device in step 601 can be the same device (shown as the same device in FIG6 ), or they can be two different devices. Step 601 and step 604 can be one step or two steps, and the first measurement information and the second measurement information can be sent via one message or multiple messages.

[0332] Step 605: The first device determines at least one second integer ambiguity based on the second measurement information.

[0333] The content of step 605 refers to the content of the aforementioned step 404 and will not be repeated here.

[0334] Step 606: The first device obtains second information.

[0335] The content of step 606 refers to the content of the aforementioned step 405 and will not be repeated here.

[0336] Step 607: The first device performs positioning according to the at least one first integer ambiguity, the first information, the at least one second integer ambiguity, and the second information.

[0337] The content of step 607 can refer to the content of the aforementioned step 407 and will not be repeated here.

[0338] As can be seen from the solutions provided in Figures 3, 4, 5, and 6, in the solutions provided by the embodiments of the present application, other devices can report the determined integer ambiguity and the correct likelihood ratio used to indicate the integer ambiguity to the positioning management device, so that the positioning management device can determine a more accurate integer ambiguity (the embodiments shown in Figures 3 and 4). In another possible implementation, the positioning management device can obtain measurement information, then determine the integer ambiguity and the correct likelihood ratio used to indicate the integer ambiguity, and then determine a more accurate integer ambiguity based on this information (the embodiments shown in Figures 5 and 6). The embodiments of the present application provide a variety of solutions, which can increase the flexibility of the solutions.

[0339] Based on the embodiments shown in Figures 2A, 2B, 2C, 2D, 2E, 2F, 3, 4, 5 and 6 and the other contents mentioned above, Figures 7 and 8 exemplarily show flow charts of several positioning methods provided in the embodiments of the present application.

[0340] Figures 7 and 8 can be considered as an extended embodiment of Figures 3, 4, 5, or 6. Figure 7 can be considered as an example of downlink positioning, in which a network device (a network device may include an access network device, such as a base station and / or a neighboring base station) sends a reference signal, and the terminal measures the reference signal. Figure 8 can be considered as an example of uplink positioning, in which a terminal sends a reference signal, and the network device measures the reference signal.

[0341] The PRU in the embodiment of the present application can also be regarded as a type of terminal. The types of terminals in the embodiment of the present application are not limited to UE and PRU. The terminals in Figures 7 and 8 can also be of other types, and the types of any two terminals shown in Figures 7 and 8 can also be the same or different.

[0342] Referring to FIG. 7 , the method includes:

[0343] Step 701: The positioning management device sends an information request to a base station (and / or a neighboring base station).

[0344] The information request may include, for example, a gNB / TRP information request.

[0345] Before step 701, the LMF may obtain the capabilities of the terminal (UE and / or PRU) through the LPP capability transfer process.

[0346] Step 702: The base station (and / or neighboring base stations) sends an information response to the positioning management device.

[0347] The information response may include cell information, coordinates, identifiers or PRS configuration of the base station (and / or neighboring base stations).

[0348] Step 703: The positioning management device sends auxiliary data transmission to the terminal (UE).

[0349] The assistance data transmission may be used to transmit assistance information, such as PRS configuration, coordinates of the base station (and / or neighboring base stations), etc. The assistance data transmission may include, for example, assistance data transfer.

[0350] Step 704: The positioning management device sends a positioning information request to the terminal (UE and / or PRU).

[0351] The positioning information request is used to request the terminal (UE and / or PRU) to measure the received reference signal (such as PRS).

[0352] Step 705: The base station (and / or neighboring base stations) sends a reference signal (such as a PRS).

[0353] The reference signal in step 705 may also be other reference signals, and FIG7 takes the reference signal as PRS as an example for illustration. The reference signal in step 705 may be understood as the first reference signal and the second reference signal in FIG3, FIG4, FIG5 or FIG6.

[0354] Step 706: The terminal (UE and / or PRU) measures the received reference signal.

[0355] In step 706, the terminal measures the reference signal and obtains measurement information, which can be understood as the first measurement information and / or the second measurement information in FIG3, FIG4, FIG5 or FIG6.

[0356] Step 707: The terminal (UE and / or PRU) sends a positioning information response to the positioning management device.

[0357] When Figure 7 is regarded as an extended embodiment of the embodiments shown in Figures 3 and 4 above, the first device can be regarded as the terminal in Figure 7 or the chip system inside the terminal, and the second device can be regarded as the positioning management device in Figure 7 or the chip system inside the positioning management device. The positioning information response in step 707 may include: at least one first integer ambiguity, the first information, at least one second integer ambiguity or at least one of the second information.

[0358] When Figure 7 is considered as an extended embodiment of the embodiments shown in Figures 5 and 6, the first apparatus can be considered as the location management device or a chip system within the location management device in Figure 7. The location information response in step 707 may include: first measurement information and / or second measurement information.

[0359] Referring to FIG8 , the method includes:

[0360] Step 801: The positioning management device sends a positioning information request to a base station.

[0361] The positioning information request may include, for example, an NRPPa positioning information request.

[0362] Step 802: The base station determines uplink reference signal (eg, SRS) resources.

[0363] In step 803, the base station sends reference signal (such as SRS) configuration information to the terminal (UE and / or PRU). FIG8 illustrates the example of the base station sending SRS configuration information to the terminal.

[0364] Step 804: The base station (and / or neighboring base stations) sends a positioning information response to the positioning management device.

[0365] The positioning information response may include, for example, an NRPPa positioning information response.

[0366] The positioning information response may include cell information, coordinates or ID of the base station (and / or neighboring base stations).

[0367] Step 805: The positioning management device sends a measurement request to the base station (and / or neighboring base stations).

[0368] The measurement request is used to request the base station (and / or neighboring base stations) to measure the received reference signal (such as SRS).

[0369] Step 806: The terminal (UE and / or PRU) sends a reference signal (such as SRS).

[0370] The reference signal in step 806 may also be other reference signals, and is shown in Figure 8 using the SRS as an example. The reference signal in step 806 may be understood as the first reference signal and the second reference signal in Figures 3, 4, 5, or 6.

[0371] Step 807: The base station (and / or neighboring base stations) measures the received reference signal.

[0372] In step 807, the terminal measures the reference signal and obtains measurement information, which can be understood as the first measurement information and / or the second measurement information in FIG3, FIG4, FIG5 or FIG6.

[0373] Step 808: The base station (and / or neighboring base stations) sends a measurement response to the positioning management device.

[0374] When Figure 8 is regarded as an extended embodiment of the embodiments shown in Figures 3 and 4 above, the first device can be regarded as the terminal in Figure 8 or the chip system inside the terminal, and the second device can be regarded as the positioning management device in Figure 8 or the chip system inside the positioning management device. The measurement response in step 808 may include: at least one first integer ambiguity, first information, at least one second integer ambiguity or at least one of the second information.

[0375] When Figure 8 is considered as an extended embodiment of the embodiments shown in Figures 5 and 6, the first apparatus can be considered as the location management device or a chip system within the location management device in Figure 8. The measurement response in step 808 may include: first measurement information and / or second measurement information.

[0376] It is understandable that in order to implement the functions in the above embodiments, the network equipment (such as the base station and / or the neighboring base station) and the terminal include hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0377] Figures 9 and 10 are schematic diagrams of the structures of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the terminal or base station in the above-mentioned method embodiments, and thus can also achieve the beneficial effects possessed by the above-mentioned method embodiments. In the embodiments of the present application, the communication device can be a terminal (such as the terminal 120 shown in Figure 2A), a RAN node (such as the RAN node 110 shown in Figure 2A) or a positioning management device as shown in Figures 2A, 2B, 2C, 2D, 2E or 2F, or a module (such as a chip) applied to the terminal, RAN node or positioning management device shown in Figures 2A, 2B, 2C, 2D, 2E or 2F.

[0378] As shown in Figure 9, communication device 1300 includes a processing unit 1310 and a transceiver unit 1320. Communication device 1300 is configured to implement the functions of the first device or the second device in the method embodiments shown in Figures 3, 4, 5, 6, 7, and 8. Transceiver unit 1320 may include a receiving unit and a transmitting unit. The receiving unit may be configured to implement the reception-related functions performed by the first device or the second device in the method embodiments shown in Figures 3, 4, 5, 6, 7, and 8, and the transmitting unit may be configured to implement the transmission-related functions performed by the first device or the second device in the method embodiments shown in Figures 3, 4, 5, 6, 7, and 8. Processing unit 1310 is configured to implement the functions performed by the first device or the second device in the method embodiments shown in Figures 3, 4, 5, 6, 7, and 8, except for transmission and reception.

[0379] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is used to: determine the first integer ambiguity according to the first measurement information and obtain the first information.

[0380] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is further used to send the first integer ambiguity and the first information through the transceiver unit 1320.

[0381] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is also used to, through the transceiver unit 1320: determine the second integer ambiguity based on the second measurement information, and obtain the second information.

[0382] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is further used to send the second integer ambiguity and the second information through the transceiver unit 1320.

[0383] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is further used to: determine a first integer ambiguity set based on the first measurement information.

[0384] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is used to: determine the first integer ambiguity according to the first measurement information and obtain the first information.

[0385] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is also used to: receive the first measurement information through the transceiver unit 1320; and perform positioning based on the first integer ambiguity and the first information.

[0386] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is also used to, through the transceiver unit 1320: determine the second integer ambiguity based on the second measurement information, and obtain the second information.

[0387] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is also used to: receive the second measurement information through the transceiver unit 1320; and perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

[0388] When the communication device 1300 is used to implement the function of the first device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is further used to: determine a first integer ambiguity set based on the first measurement information.

[0389] When the communication device 1300 is used to implement the function of the second device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is used to: receive the first integer ambiguity and the first information through the transceiver unit 1320; and perform positioning according to the first integer ambiguity and the first information.

[0390] When the communication device 1300 is used to implement the function of the second device in the method embodiments shown in Figures 3, 4, 5, 6, 7 and 8: the processing unit 1310 is further used to: receive the second integer ambiguity and the second information through the transceiver unit 1320; and perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

[0391] As shown in Figure 10, communication device 1400 includes a processor 1410 and an interface circuit 1420. Processor 1410 and interface circuit 1420 are coupled to each other. It is understood that interface circuit 1420 can be a transceiver or an input / output interface. Optionally, communication device 1400 may also include a memory 1430 for storing instructions executed by processor 1410, input data required by processor 1410 to execute instructions, or data generated after processor 1410 executes instructions.

[0392] When the communication device 1400 is used to implement the methods shown in Figures 3, 4, 5, 6, 7 and 8, the processor 1410 is used to implement the functions of the above-mentioned processing unit 1310, and the interface circuit 1420 is used to implement the functions of the above-mentioned transceiver unit 1320.

[0393] When the above-mentioned communication device is a chip applied to a terminal, the terminal chip implements the functions of the terminal device in the above-mentioned method embodiment. When the terminal chip receives information from the base station, it can be understood that the information is first received by other modules in the terminal (such as a radio frequency module or antenna) and then sent to the terminal chip by these modules. When the terminal chip sends information to the base station, it can be understood that the information is first sent to other modules in the terminal (such as a radio frequency module or antenna) and then sent to the base station by these modules.

[0394] When the above-mentioned communication device is a chip applied to a base station, the base station chip implements the functions of the network device in the above-mentioned method embodiment. When the base station chip receives information from the terminal, it can be understood that the information is first received by other modules in the base station (such as a radio frequency module or antenna) and then sent to the base station chip by these modules. When the base station chip sends information to the terminal, it can be understood that the information is sent to other modules in the base station (such as a radio frequency module or antenna) and then sent to the terminal by these modules.

[0395] In this application, when entity A sends information to entity B, it can be done directly from A to B or indirectly through another entity. Similarly, when entity B receives information from entity A, it can be done directly from entity B or indirectly through another entity. Entities A and B herein can be RAN nodes or terminals, or modules within a RAN node or terminal. The sending and receiving of information can be information exchange between a RAN node and a terminal, for example, between a base station and a terminal; the sending and receiving of information can also be information exchange between two RAN nodes, for example, between a CU and a DU; the sending and receiving of information can also be information exchange between different modules within a device, for example, between a terminal chip and other modules in the terminal, or between a base station chip and other modules within the base station.

[0396] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0397] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, mobile hard disks, compact disc read-only memory (CD-ROM) or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. The processor and the storage medium can also be present in a base station or a terminal as discrete components.

[0398] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, all or part of the processes or functions of the embodiments of the present application are performed. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media, such as floppy disks, hard disks, or magnetic tapes; optical media, such as digital video disks; or semiconductor media, such as solid-state drives. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0399] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0400] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of this application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0401] It is understood that the various numbers involved in the embodiments of this application (such as the numerical numbers "first" and "second", and the letter numbers "parameter A", "parameter B", "parameter C", etc.) are only for the convenience of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic.

Claims

1. A positioning method, characterized in that: The method comprises: The first device determines a first integer ambiguity according to first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The first device sends the first integer ambiguity and first information, wherein the first information indicates reliability of the first integer ambiguity; A second device receives the first integer ambiguity and the first information; The second device performs positioning according to the first integer ambiguity and the first information.

2. The method according to claim 1, characterized in that The method further comprises: The first device determines a second integer ambiguity according to second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The first device sends the second integer ambiguity and second information, wherein the second information indicates reliability of the second integer ambiguity; The second device receives the second integer ambiguity and the second information; The second device performs positioning according to the first integer ambiguity and the first information, including: The second device performs positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

3. A positioning method, characterized in that: The method comprises: The first device receives first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The first device determines a first integer ambiguity according to the first measurement information; The first device performs positioning according to the first integer ambiguity and first information, where the first information indicates reliability of the first integer ambiguity.

4. The method according to claim 3, characterized in that The method further comprises: The first device receives second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The first device determines a second integer ambiguity according to the second measurement information; The first device performs positioning according to the first integer ambiguity and the first information, including: The first device performs positioning according to the first integer ambiguity, the first information, the second integer ambiguity, and the second information, wherein the second information indicates reliability of the second integer ambiguity.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: The first device determines the first information according to the first measurement information and the first integer ambiguity.

6. The method according to any one of claims 1 to 5, characterized in that: The first device determines a first integer ambiguity according to the first measurement information, including: The first device determines a first integer ambiguity set according to the first measurement information, wherein the first integer ambiguity set includes at least one integer ambiguity; The first integer ambiguity is an integer ambiguity in the first integer ambiguity set; or the first integer ambiguity is determined according to the integer ambiguities in the first integer ambiguity set.

7. The method according to any one of claims 2, 4, 5 and 6, characterized in that The method further comprises: The first device determines the second information according to the second measurement information and the second integer ambiguity.

8. The method according to any one of claims 2, 4 and 7, characterized in that The first measurement information is obtained according to measurement information of a first frequency point of the at least one first reference signal; The second measurement information is obtained according to measurement information of a second frequency point of the at least one second reference signal; The first frequency point is different from the second frequency point.

9. The method according to any one of claims 2, 4, 7 and 8, characterized in that One first reference signal among the at least one first reference signal and one second reference signal among the at least one second reference signal are the same reference signal.

10. The method according to any one of claims 2, 4 and 7-9, characterized in that The first information and the second information are one piece of information, and the first information is used to indicate the reliability of the first integer ambiguity and the second integer ambiguity.

11. The method according to any one of claims 1 to 10, characterized in that: The at least one first reference signal includes a third reference signal and a fourth reference signal; The carrier phase measurement information in the first measurement information includes at least one of the following: Information indicating a first phase, where the first phase is obtained by measuring the third reference signal from the fourth device by the third device; information indicating a first phase difference, where the first phase difference is obtained based on the first phase and a second phase, where the second phase is obtained by the third device measuring the fourth reference signal from the fifth device; information for indicating a second phase difference, where the second phase difference is obtained according to the first phase and a third phase, where the third phase is obtained by the sixth device measuring the third reference signal from the fourth device; Information indicating a third phase difference, wherein the third phase difference is obtained based on the first phase difference and a fourth phase difference, the fourth phase difference is obtained based on the fourth phase and a fifth phase, the fourth phase is obtained by the sixth device measuring the third reference signal from the fourth device, and the fifth phase is obtained by the sixth device measuring the fourth reference signal from the fifth device; or, Information used to indicate a fourth phase difference, where the fourth phase difference is determined according to the acquired phase arrival error PAE, and the fourth phase difference is also determined according to the first phase and / or the first phase difference.

12. A positioning device, characterized in that: The device comprises a processing unit and a transceiver unit; The processing unit is configured to determine a first integer ambiguity according to first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The transceiver unit is used to send the first integer ambiguity and first information, where the first information indicates the reliability of the first integer ambiguity, and the first integer ambiguity and the first information are used for positioning.

13. The device according to claim 12, characterized in that The processing unit is further configured to: determine a second integer ambiguity according to second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The transceiver unit is further used to: send the second integer ambiguity and second information, where the second information indicates the reliability of the second integer ambiguity, and the second integer ambiguity and the second information are used to perform positioning in combination with the first integer ambiguity and the first information.

14. A positioning device, characterized in that: The device comprises a processing unit and a transceiver unit; The transceiver unit is configured to receive first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The processing unit is configured to determine a first integer ambiguity according to the first measurement information, and perform positioning according to the first integer ambiguity and first information, wherein the first information indicates reliability of the first integer ambiguity.

15. The device according to claim 14, characterized in that The transceiver unit is further used to: receive second measurement information, where the second measurement information includes time measurement information and / or carrier phase measurement information, and the second measurement information is obtained by measuring at least one second reference signal; The processing unit is further configured to: determine a second integer ambiguity according to the second measurement information; The processing unit is specifically configured to perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information, wherein the second information indicates reliability of the second integer ambiguity.

16. The device according to any one of claims 12 to 15, characterized in that The processing unit is also used for: The first information is determined according to the first measurement information and the first integer ambiguity.

17. The device according to any one of claims 12 to 16, characterized in that: The processing unit is specifically used for: Determine a first integer ambiguity set according to the first measurement information, the first integer ambiguity set comprising at least one integer ambiguity; The first integer ambiguity is an integer ambiguity in the first integer ambiguity set; or the first integer ambiguity is Determined based on the integer ambiguities in the first integer ambiguity set.

18. The device according to any one of claims 13, 15, 16 and 17, characterized in that The processing unit is also used for: The second information is determined according to the second measurement information and the second integer ambiguity.

19. A positioning device, characterized in that: The device comprises a processing unit and a transceiver unit; The transceiver unit is configured to receive a first integer ambiguity and first information, where the first integer ambiguity is determined according to first measurement information, the first measurement information includes time measurement information and / or carrier phase measurement information, the first measurement information is obtained by measuring at least one first reference signal, and the first information indicates reliability of the first integer ambiguity; The processing unit is used to perform positioning according to the first integer ambiguity and the first information.

20. The device according to claim 19, characterized in that The processing unit is further configured to: The transceiver unit is further configured to: receive a second integer ambiguity and second information, where the second integer ambiguity is determined according to second measurement information, the second measurement information includes time measurement information and / or carrier phase measurement information, the second measurement information is obtained by measuring at least one second reference signal, and the second information indicates reliability of the second integer ambiguity; The processing unit is further used to perform positioning according to the first integer ambiguity, the first information, the second integer ambiguity and the second information.

21. A communication device, characterized in that: The method comprises a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices and transmit them to the processor or send signals from the processor to other communication devices, and the processor is used to implement the method as described in any one of claims 1 to 11 through a logic circuit or by executing code instructions.

22. A communication system, characterized in that: The first device and the second device include: The first device is configured to determine a first integer ambiguity according to first measurement information, and send the first integer ambiguity and first information, wherein the first measurement information includes time measurement information and / or carrier phase measurement information, the first measurement information is obtained by measuring at least one first reference signal, and the first information indicates reliability of the first integer ambiguity; The second device is used to receive the first integer ambiguity and the first information, and perform positioning according to the first integer ambiguity and the first information.

23. A communication system, characterized in that: The method comprises a first device and a device for sending measurement information: The device for sending measurement information is used to send first measurement information, where the first measurement information includes time measurement information and / or carrier phase measurement information, and the first measurement information is obtained by measuring at least one first reference signal; The first device is used to determine a first integer ambiguity according to first measurement information, and perform positioning according to the first integer ambiguity and first information, wherein the first information indicates the reliability of the first integer ambiguity.

24. A computer-readable storage medium, characterized in that: The storage medium stores a computer program or an instruction. When the computer program or the instruction is executed by the communication device, the method according to any one of claims 1 to 11 is implemented.

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