Method, apparatus and system for determining position information

Abstract

Provided in the present application are a method, apparatus and system for determining position information. The method, apparatus and system can improve the precision of determined position information. The method comprises: a first terminal device receiving from a network device a first reference signal and position information of the network device, and determining first measurement information on the basis of the first reference signal; the first terminal device receiving second measurement information and first state information from at least one second terminal device, wherein the second measurement information is determined by the second terminal device on the basis of a received second reference signal, and the first state information comprises historical state information of the second terminal device and historical state information of an anchor device determined by the second terminal device; and on the basis of the first measurement information, the second measurement information and the first state information that correspond to the at least one second terminal device, second state information, and the position information of the network device, determining current state information of the first terminal device and current state information of the anchor device, wherein the state information comprises position information.

Description

Method, device and system for determining location information Technical Field

[0001] The present application relates to the field of communications, and more particularly, to a method, device, and system for determining location information. Background Art

[0002] With the gradual development of communication technology and the diversification of practical application requirements, existing 5G and future 6G communication systems need to provide not only powerful communication capabilities but also a certain degree of perception capabilities. To achieve this goal, experts and scholars have recently proposed the technical concept of integrated sensing and communication (ISAC), which is also seen as a key link in the evolution of future communication systems. Within the ISAC technical concept, many promising future practical applications, such as mobile robots, autonomous driving, and indoor positioning, require the precise location information of the communication device itself and information about the surrounding environment. This requirement is also known as simultaneous localization and mapping (SLAM) based on communication.

[0003] Currently, communication devices can use the delay measurement values ​​and / or angle measurement values ​​of the reference signal obtained by themselves to determine the location information of the communication device and the information of the surrounding environment. However, the accuracy of the determined location information and the surrounding environment information is not high, resulting in low accuracy of communication-based SLAM.

[0004] Summary of the Invention

[0005] The present application provides a method, device, and system for determining position information, which can improve the accuracy of the determined position information, thereby improving the accuracy of SLAM.

[0006] In a first aspect, a method for determining location information is provided, which can be executed by a first terminal device or a chip or chip system in the first terminal device. The method includes: a first terminal device receives a first reference signal and location information of the network device from a network device; the first terminal device determines first measurement information based on the first reference signal, the first measurement information including a time when the first reference signal is transmitted from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; the first terminal device receives second measurement information and first status information from at least one second terminal device, the second measurement information including a time when the second reference signal, received by the second terminal device, is transmitted from the network device, and an arrival time and an arrival angle of the second reference signal from the network device to the second terminal device, the first status information including historical status information of the second terminal device and historical status information of an anchor device determined by the second terminal device, wherein the anchor device includes a virtual anchor corresponding to the network device; the first terminal device determines third status information based on the first measurement information, the second measurement information and first status information corresponding to the at least one second terminal device, the second status information, and the location information of the network device, the second status information including historical status information of the first terminal device and historical status information of the anchor device determined by the first terminal device, the third status information including current status information of the first terminal device and current status information of the anchor device, and the status information including location information.

[0007] Based on the above technical solution, the first terminal device obtains first measurement information by measuring the first reference signal sent by the network device, and determines the current location information of the first terminal device and the anchor device (virtual anchor point) based on the first measurement information, the historical status information determined by the first terminal device itself, the second measurement information obtained by at least one second terminal device, and the historical status information determined by at least one second terminal device; compared with the solution in which the first terminal device determines the current location information of the first terminal device and the anchor device only based on the first measurement information obtained by itself, the terminal device in this application can not only use its own measurement information and historical status information, but also use the measurement information and historical status information of other terminal devices to determine the location information, and can make more full use of the measurement parameters, thereby improving the accuracy of the determined location information.

[0008] In combination with the first aspect, in some implementations of the first aspect, the state information further includes at least one of speed information or direction information.

[0009] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the first terminal device sending the first measurement information and the second status information to the at least one second terminal device respectively.

[0010] Based on the above implementation method, the second terminal device can determine the current status information of the second terminal device and the current status information of the anchor device based on the measurement information and status information of other terminal devices and the measurement information and status information determined by the second terminal device itself.

[0011] In combination with the first aspect, in some implementations of the first aspect, the method further includes: the first terminal device receives configuration information from the network device, the configuration information indicating at least one of the following: the frequency domain bandwidth, center frequency, or available coding and modulation method of the available time-frequency resources; the first terminal device sends the first measurement information and the second status information to the at least one second terminal device respectively, including: the first terminal device sends the first measurement information and the second status information to the at least one second terminal device respectively according to the configuration information.

[0012] In combination with the first aspect, in some implementations of the first aspect, the first terminal device and the at least one second terminal device have inertial measurement unit IMU capabilities; or, the first terminal device and the at least one second terminal device do not have IMU capabilities.

[0013] Based on the above implementation method, when the first terminal device and at least one second terminal device both have IMU capabilities, the confidence levels of the location information determined by the first terminal device and at least one second terminal device are relatively high; when the first terminal device and at least one second terminal device both do not have IMU capabilities, the confidence levels of the location information determined by the first terminal device and at least one second terminal device are relatively low; in both cases, the location information determined through collaboration by the first terminal device and at least one second terminal device is more accurate than the location information determined by each device based on the measurement information obtained by the respective devices, and can improve the accuracy of the determined location information.

[0014] In a second aspect, a method for determining location information is provided, which can be executed by a first terminal device or a chip or chip system in the first terminal device. The method includes: a first terminal device receives a first reference signal from a network device; the first terminal device determines first measurement information based on the first reference signal, the first measurement information including a time when the first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; the first terminal device sends the first measurement information to a second terminal device; the first terminal device receives positioning result information from the second terminal device, the positioning result information including current state information of the first terminal device and current state information of an anchor device, the positioning result information being determined based on the first measurement information corresponding to at least one first terminal device, second measurement information corresponding to the second terminal device, fourth state information, and location information of the network device, the second measurement information including a time when a second reference signal received by the second terminal device is sent from the network device, and an arrival time and an arrival angle of the second reference signal from the network device to the second terminal device, the fourth state information including historical state information of the first terminal device, historical state information of the second terminal device, and historical state information of the anchor device, the state information including location information, wherein the anchor device includes a virtual anchor point corresponding to the network device, and the at least one first terminal device includes the first terminal device.

[0015] Based on the above technical solution, the second terminal device (main user) determines the current location information corresponding to at least one first terminal device (slave user), the current location information of the second terminal device, and the current location information of the anchor device according to the first measurement information corresponding to at least one first terminal device (slave user), the second measurement information corresponding to the second terminal device, and the historical status information corresponding to the first terminal device, the second terminal device and the anchor device respectively; compared with the solution in which the terminal device determines the current location information of the terminal device and the anchor device only based on the measurement information obtained by itself, the terminal device in this application can not only use its own measurement information but also use the measurement information of other terminal devices to determine the location information, and can make more full use of the measurement parameters, thereby improving the accuracy of the determined location information.

[0016] With reference to the second aspect, in certain implementations of the second aspect, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal; and / or the second measurement information further includes signal-to-noise ratio information corresponding to the second reference signal. A higher SNR indicated by the signal-to-noise ratio information corresponding to the first reference signal indicates a higher degree of credibility of the first measurement information; and a higher SNR indicated by the signal-to-noise ratio information corresponding to the second reference signal indicates a higher degree of credibility of the second measurement information.

[0017] In combination with the second aspect, in some implementations of the second aspect, the state information further includes at least one of speed information or direction information.

[0018] In combination with the second aspect, in some implementations of the second aspect, the method also includes: the first terminal device receives configuration information from the network device, and the configuration information indicates at least one of the following: the frequency domain bandwidth of the available time-frequency resources, the center frequency of the available time-frequency resources, or the available coding modulation method; the first terminal device sends the first measurement information to the second terminal device, including: the first terminal device sends the first measurement information to the second terminal device according to the configuration information.

[0019] In combination with the second aspect, in some implementations of the second aspect, the at least one first terminal device and the second terminal device have IMU capabilities; or, the at least one first terminal device and the second terminal device do not have IMU capabilities.

[0020] Based on the above implementation method, when at least one first terminal device and the second terminal device both have IMU capabilities, the confidence of the location information determined by at least one first terminal device and the second terminal device is relatively high; when at least one first terminal device and the second terminal device do not have IMU capabilities, the confidence of the location information determined by at least one first terminal device and the second terminal device is relatively low; in both cases, the location information determined by at least one first terminal device and the second terminal device through collaboration is more accurate than the location information determined by each device based on the measurement information obtained by itself, and can improve the accuracy of the determined location information.

[0021] According to a third aspect, a method for determining location information is provided, which can be performed by a second terminal device or a chip or chip system in the second terminal device. The method includes: the second terminal device receives a second reference signal from a network device and the location information of the network device; the second terminal device determines second measurement information based on the second reference signal, and the second measurement information includes the time when the second reference signal is sent from the network device, and the arrival time and arrival angle of the second reference signal from the network device to the second terminal device; the second terminal device receives first measurement information from at least one first terminal device, and the first measurement information includes the time when the first reference signal received by the first terminal device is sent from the network device, and the arrival time and arrival angle of the first reference signal from the network device to the first terminal device; the second terminal device determines the location information based on the second reference signal corresponding to the at least one first terminal device. The first measurement information, the second measurement information, the fourth status information, and the location information of the network device are used to determine the current status information corresponding to the at least one first terminal device, the current status information of the second terminal device, and the current status information of the anchor device, respectively. The fourth status information includes the historical status information corresponding to the at least one first terminal device, the historical status information of the second terminal device, and the historical status information of the anchor device, respectively, wherein the anchor device includes a virtual anchor point corresponding to the network device; the second terminal device sends positioning result information to the at least one first terminal device, respectively, and the positioning result information includes the current status information of the first terminal device and the current status information of the anchor device, and the status information includes location information.

[0022] The method provided in the third aspect is a method on the second terminal device side corresponding to the second aspect, and its beneficial effects can refer to the second aspect.

[0023] In combination with the third aspect, in certain implementations of the third aspect, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal; and / or the second measurement information further includes signal-to-noise ratio information corresponding to the second reference signal.

[0024] In combination with the third aspect, in certain implementations of the third aspect, the state information further includes at least one of speed information or direction information.

[0025] In combination with the third aspect, in certain implementations of the third aspect, the method further includes: the second terminal device receives configuration information from the network device, the configuration information indicating at least one of the following: the frequency domain bandwidth of the available time-frequency resources, the center frequency of the available time-frequency resources, or the available coding modulation method; the second terminal device receives the first measurement information from the at least one first terminal device, including: the second terminal device receives the first measurement information from the at least one first terminal device according to the configuration information.

[0026] In combination with the third aspect, in some implementations of the third aspect, the at least one first terminal device and the second terminal device have IMU capabilities; or, the at least one first terminal device and the second terminal device do not have IMU capabilities.

[0027] In a fourth aspect, a method for determining location information is provided, which can be performed by a first terminal device or a chip or chip system in the first terminal device. The method includes: the first terminal device receives a first reference signal from a network device; the first terminal device determines first measurement information based on the first reference signal, the first measurement information including the time when the first reference signal is transmitted from the network device, and the arrival time and arrival angle of the first reference signal from the network device to the first terminal device; the first terminal device sends the first measurement information to the network device; the first terminal device receives first positioning result information from the network device, the first positioning result information including current state information of the first terminal device and current state information of an anchor device, the first positioning result information being determined based on the location information of the network device and first measurement information and second state information respectively corresponding to at least one first terminal device, the second state information including historical state information respectively corresponding to the at least one first terminal device and historical state information of the anchor device, the state information including location information, wherein the anchor device includes a virtual anchor point corresponding to the network device, and the at least one first terminal device includes the first terminal device.

[0028] Based on the above technical solution, a computing node (such as MEC) can determine the current location information corresponding to at least one first terminal device and an anchor device respectively based on the first measurement information and historical status information corresponding to at least one first terminal device, the current status information of the anchor device, and the location information of the network device; compared with the solution in which the terminal device determines the current location information of the terminal device and the anchor device only based on the measurement information obtained by itself, the location information is determined by the measurement information and historical status information corresponding to multiple terminal devices in this application, which can make more effective use of the measurement parameters, thereby improving the accuracy of the determined location information.

[0029] In conjunction with the fourth aspect, in certain implementations of the fourth aspect, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal, wherein a higher SNR indicated by the signal-to-noise ratio information corresponding to the first reference signal indicates a higher credibility of the first measurement information.

[0030] In combination with the fourth aspect, in certain implementations of the fourth aspect, the status information further includes at least one of speed information or direction information.

[0031] In a fifth aspect, a method for determining location information is provided, which can be performed by a computing node or a chip or chip system in the computing node. The method includes: the computing node receives first measurement information corresponding to at least one first terminal device from a network device and the location information of the network device, the first measurement information including the time when a first reference signal received by the first terminal device is sent from the network device, and the arrival time and arrival angle of the first reference signal from the network device to the first terminal device; the computing node determines second positioning result information based on the location information of the network device and the first measurement information and second status information corresponding to the at least one first terminal device, the second positioning result information including the current status information corresponding to the at least one first terminal device and the current status information of the anchor device, the second status information including the historical status information corresponding to the at least one first terminal device and the historical status information of the anchor device, the status information including location information, wherein the anchor device includes a virtual anchor point corresponding to the network device; the computing node sends the second positioning result information to the network device.

[0032] The method provided in the fifth aspect is a method on the computing node side corresponding to the fourth aspect, and its beneficial effects can refer to the fourth aspect.

[0033] In combination with the fifth aspect, in certain implementations of the fifth aspect, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal.

[0034] In combination with the fifth aspect, in certain implementations of the fifth aspect, the status information further includes at least one of speed information or direction information.

[0035] In a sixth aspect, a method for determining location information is provided, which can be executed by a network device or a chip or chip system in the network device. The method includes: a network device sending a first reference signal to at least one first terminal device; the network device receiving first measurement information from the at least one first terminal device, the first measurement information including a time when the first reference signal was sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; the network device sending first measurement information corresponding to the at least one first terminal device and location information of the network device to a computing node; the network device receiving second positioning result information from the computing node, the second positioning result information including current status information corresponding to the at least one first terminal device and current status information of an anchor device, the second positioning result information being determined based on the location information of the network device and the first measurement information and second status information corresponding to the at least one first terminal device, the second status information including historical status information corresponding to the at least one first terminal device and historical status information of the anchor device, wherein the anchor device includes a virtual anchor point corresponding to the network device; the network device sending first positioning result information to the at least one first terminal device, the first positioning result information including current status information of the first terminal device and current status information of the anchor device, the status information including location information.

[0036] The method provided in the sixth aspect is a method on the network device side corresponding to the fourth aspect, and its beneficial effects can refer to the fourth aspect.

[0037] In combination with the sixth aspect, in some implementations of the sixth aspect, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal.

[0038] In combination with the sixth aspect, in certain implementations of the sixth aspect, the status information further includes at least one of speed information or direction information.

[0039] In the seventh aspect, a communication device is provided, which can be applied to the first terminal device described in the first aspect, and the device includes: a transceiver unit for implementing the receiving and sending functions of the method described in the first aspect; a processing unit for implementing the processing functions of the method described in the first aspect, such as determining the first measurement information and determining the third state information.

[0040] In the eighth aspect, a communication device is provided, which can be applied to the first terminal device described in the second aspect, and the device includes: a transceiver unit for implementing the receiving and sending functions of the method described in the second aspect; a processing unit for implementing the processing functions such as determining the first measurement information of the method described in the second aspect.

[0041] In the ninth aspect, a communication device is provided, which can be applied to the second terminal device described in the third aspect, and the device includes: a transceiver unit, used to implement the receiving and sending functions of the method described in the third aspect; a processing unit, used to implement the processing functions of the method described in the third aspect, such as determining the second measurement information and determining the current status information corresponding to at least one first terminal device, the second terminal device and the anchor device.

[0042] In the tenth aspect, a communication device is provided, which can be applied to the first terminal device described in the fourth aspect. The device includes: a transceiver unit for implementing the receiving and sending functions of the method described in the fourth aspect; and a processing unit for implementing the processing functions such as determining the first measurement information of the method described in the fourth aspect.

[0043] In the eleventh aspect, a communication device is provided, which can be applied to the computing node described in the fifth aspect, and the device includes: a transceiver unit for implementing the receiving and sending functions of the method described in the fifth aspect; a processing unit for implementing processing functions such as the second positioning result information of the method described in the fifth aspect.

[0044] In the twelfth aspect, a communication device is provided, which can be applied to the network equipment described in the sixth aspect. The device includes: a transceiver unit, which is used to implement the receiving and sending functions of the method described in the sixth aspect.

[0045] In the thirteenth aspect, a communication device is provided, comprising: a processor and a transceiver, wherein the transceiver is used to receive computer code or instructions and transmit them to the processor, and the processor runs the computer code or instructions so that the method in any possible implementation of the first to sixth aspects or the first to sixth aspects is executed.

[0046] In the fourteenth aspect, a communication system is provided, comprising: the first terminal device in the method described in the second aspect and other communication devices that communicate with the first terminal device; the second terminal device in the method described in the third aspect and other communication devices that communicate with the second terminal device.

[0047] In the fifteenth aspect, a communication system is provided, comprising: the first terminal device in the method described in the fourth aspect and other communication devices communicating with the first terminal device; the computing node in the method described in the fifth aspect and other communication devices communicating with the computing node; the network device in the method described in the sixth aspect and other communication devices communicating with the network device.

[0048] In the sixteenth aspect, a computer-readable storage medium is provided, which stores a computer program; when the computer program runs on a computer, the method in the above-mentioned first to sixth aspects and any possible implementation method of the first to sixth aspects is executed.

[0049] In the seventeenth aspect, a computer program product is provided, comprising a computer program, which, when executed, enables the communication method in the above-mentioned first to sixth aspects and any possible implementation method of the first to sixth aspects to be implemented.

[0050] The solutions provided in the above-mentioned seventh to seventeenth aspects are used to implement or cooperate with the methods provided in the above-mentioned first to sixth aspects, and therefore can achieve the same or corresponding beneficial effects as the first to sixth aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] FIG1 is a schematic diagram of a system architecture applicable to an embodiment of the present application.

[0052] FIG2 is a schematic flow chart of an interactive method for determining location information according to an embodiment of the present application.

[0053] FIG3 is a schematic diagram of the structure of information sent by the second terminal device to the first terminal device.

[0054] FIG4 is a schematic flowchart of the second terminal device sending the second measurement information and the first status information to the first terminal device.

[0055] FIG5 is a schematic diagram of terminal device 1 and terminal device 2 determining the position of an anchor device.

[0056] FIG6 is a schematic diagram of the structure of information sent by the second terminal device to the first terminal device.

[0057] FIG7 is a schematic flow chart of another method for determining location information according to an embodiment of the present application.

[0058] FIG8 is a schematic diagram of the structure of positioning result information sent by the second terminal device to at least one first terminal device.

[0059] FIG9 is a schematic diagram of the structure of information sent by the first terminal device to the second terminal device.

[0060] FIG10 is a schematic flow chart of another method for determining location information according to an embodiment of the present application.

[0061] FIG11 is a schematic diagram of the structure of information sent by the first terminal device to the network device.

[0062] FIG12 is a schematic flow chart of another method for determining location information according to an embodiment of the present application.

[0063] 13 to 19 are schematic block diagrams of communication devices according to embodiments of the present application. DETAILED DESCRIPTION

[0064] The technical solution in this application will be described below with reference to the accompanying drawings.

[0065] The embodiments of the present application can be applied to various communication systems, such as wireless local area network (WLAN), narrowband Internet of Things (NB-IoT), global system for mobile communications (GSM), enhanced data rate for GSM evolution (EDGE), wideband code division multiple access (WCDMA), code division multiple access 2000 (CDMA2000), time division-synchronization code division multiple access (TD-SCDMA), long term evolution (LTE), satellite communication, sidelink (SL), fourth generation (4G) system, fifth generation (5G) system, sixth generation (6G) system, or new communication systems that will appear in the future. In the communication system, including communication equipment, the communication equipment can use air interface resources for wireless communication. The communication equipment may include network equipment and terminal equipment, and the network equipment may also be referred to as base station equipment. Air interface resources may include at least one of time domain resources, frequency domain resources, code resources, and space resources.

[0066] The terminal devices involved in the embodiments of the present application may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, or other processing devices connected to a wireless modem with wireless communication functions. The terminal may be a subscriber unit, user equipment (UE), a cellular phone, a smart phone, a wireless data card, a personal digital assistant (PDA), a tablet computer, a wireless modem (modulator demodulator, modem), a laptop computer, a machine type communication (MTC) terminal, and a wireless terminal in a self-driving vehicle. Among them, the user equipment includes a vehicle user equipment. With the rise of the Internet of Things (IoT) technology, more and more devices that did not previously have communication functions, such as but not limited to household appliances, vehicles, tools, service equipment, and service facilities, have begun to obtain wireless communication functions by configuring wireless communication units, so that they can access wireless communication networks and accept remote control. Such devices have wireless communication functions because they are configured with wireless communication units, and therefore also fall into the category of wireless communication devices. In addition, the terminal device can also be called a mobile station (MS), a mobile device, a mobile terminal, a wireless terminal, a handheld device (handset), a client, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in a smart grid, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. In the embodiment of the present application, the device for realizing the function of the terminal device can be a terminal device; it can also be a device that can support the terminal device to realize the function, such as a chip system, which can be installed in the terminal device. In the embodiment of the present application, the chip system can be composed of a chip, or it can include a chip and other discrete devices. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by taking the device for realizing the function of the terminal device as a terminal device, and the terminal device as a UE as an example.

[0067] Exemplarily, the network device may be an access network device, an evolved Node B (eNB), a radio network controller (RNC), a Node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home evolved Node B (or home Node B, HNB), a baseband unit (BBU), a device that performs base station functions in device to device (D2D), an access point (AP) in a wireless fidelity (WIFI) system, a wireless relay node, a wireless backhaul node, a transmission point (TP) or a transmission and reception point (TRP), etc. It may also be a gNB or transmission point (e.g., TRP or TP) in NR, one or a group (including multiple) antenna panels of a base station in NR, or a network node constituting a gNB or transmission point, such as a baseband unit (BBU) or a distributed unit (D2D). The network device may also be a vehicle-mounted device, a wearable device, a network device in a 6G network, a network device in a future evolved PLMN network, or a network device deployed on a satellite, without limitation. In addition, depending on the size of the service coverage area provided, a base station (BS) can be divided into a macro base station for providing macro cells, a micro base station for providing micro cells (pico cells), a femto base station for providing femto cells, a relay station, and an access point. With the continuous evolution of wireless communication technology, future base stations may also adopt other names.

[0068] The product forms of network equipment are very rich. For example, during the product implementation process, the BBU can be integrated with the radio frequency unit (RFU) in the same device, and the device is connected to the antenna array via a cable (such as but not limited to a feeder). The BBU can also be set separately from the RFU, and the two are connected by optical fiber, and communicate through, for example, but not limited to, the common public radio interface (CPRI) protocol. In this case, the RFU is usually called a remote radio unit (RRU), which is connected to the antenna array via a cable. In addition, the RRU can also be integrated with the antenna array. For example, the active antenna unit (AAU) products currently on the market adopt this structure.

[0069] Furthermore, the BBU can be further broken down into multiple components. For example, the BBU can be further subdivided into a centralized unit (CU) and a distributed unit (DU) based on the real-time nature of the services it handles. The CU handles non-real-time protocols and services, while the DU handles physical layer protocols and real-time services. Furthermore, some physical layer functions can be separated from the BBU or DU and integrated into the AAU.

[0070] To facilitate understanding of the embodiments of the present application, the following briefly introduces the technical solutions related to the embodiments of the present application.

[0071] With the gradual advancement of communication technology and the diversification of practical application requirements, existing 5G and future 6G communication systems must provide not only robust communication capabilities but also a certain degree of perception. To achieve this goal, experts and scholars have recently proposed the ISAC technology concept, which is considered a key component in the evolution of future communication systems. Within the ISAC technology concept, many promising future applications, such as mobile robotics, autonomous driving, and indoor positioning, require accurate location information for the communication device itself and information about its surroundings. This requirement is also known as communication-based SLAM. By acquiring information about the surrounding environment, communication devices can not only support a wide variety of practical applications but also enhance their communication quality and capabilities, achieving a mutually reinforcing effect between communication and perception functions.

[0072] Over the past few decades, most SLAM research has focused on visual SLAM, which uses information provided by optical sensors, such as photos or videos, for simultaneous localization and mapping. Currently, 5G communication systems, with their wide bandwidth and large antenna arrays, can independently estimate the arrival delay and angle of arrival (AOA) of multipath signals at the receiving end. This communication system can provide high-resolution delay and angle parameters, a feature that greatly enhances communication-based SLAM. Using the delay and / or angle measurements of multipath signals to determine the location of a communication device and information about its surroundings is called wireless multipath SLAM.

[0073] The following introduces two wireless multipath SLAM solutions: belief propagation (BP)-SLAM and concurrent mapping, positioning, and synchronization (COMPAS).

[0074] 1. BP-SLAM

[0075] The purpose of wireless multipath SLAM is to solve the following problem: given a series of time delay measurements estimated from downlink reference signals The terminal device needs to estimate its own state information Where N is the number of measurements; at the same time, the terminal device also needs to estimate the number of virtual anchors (VAs) around it and the status information of the virtual anchors. The virtual anchor point is a mirror image of the physical anchor point with respect to the reflection surface. In the embodiment of the present application, the physical anchor point includes a base station; the status information includes location information, etc.

[0076] First, we need to calculate the joint posterior probability density function of the above variables under given delay measurement values, and then use the message passing algorithm to marginalize the joint posterior probability density function to obtain the joint probability density function of the sub-state corresponding to each moment, where z 1:N Including delay measurement value, a 1:N and b 1:N is the data association variable, m 1:N is the number of multipaths. The data association variable refers to the order correspondence between the measurement value z and the virtual anchor point y. The data association problem is usually modeled as a probability problem. The variable a 1:N and b 1:N are all probability distribution functions.

[0077] Since there are multiple unknown quantities, maximize the joint posterior probability density function f(x 1:N ,y 1:N ,a 1:N ,b 1:N ,m 1:N |z 1:N ) is a very complex task. This technical solution uses Bayesian derivation to decompose the joint posterior probability density function into the product of multiple factor functions, establishing a Bayesian model for wireless multipath SLAM. By running the BP algorithm on the factor graph representing the statistical structure of the SLAM problem, probabilistic data association and state estimation are performed. The BP-SLAM solution uses conditional statistical independence to achieve relatively low complexity and high scalability. However, the BP-SLAM solution only considers time delay measurements and does not fully utilize measurement parameters, resulting in low estimation accuracy of state information such as the positioning of terminal devices and virtual anchor points.

[0078] COMPAS

[0079] The COMPAS solution is based on BP-SLAM and uses the angle measurement and delay measurement of multipath signals. First, the state of the terminal device to be estimated is supplemented. In addition to considering the real-time position p of the terminal device, n In addition, the real-time orientation of the terminal device itself is also considered n and the real-time clock deviation ε for the base station n After considering the above-mentioned terminal device status information, the angle measurement value output by the channel estimator is additionally considered to model the geometric relationship between the angle measurement value and the terminal device and the map features.

[0080] Since the state information and measurement values ​​of the terminal device are expanded, the joint posterior probability density function becomes f(x 1:N ,y 1:N ,a 1:N ,b 1:N ,m 1:N |z 1:N ), where z 1:N This includes both time delay and angle measurements. Because the COMPAS solution additionally utilizes angle measurements, it can converge to the correct distribution using fewer computing resources when solving terminal device status information and map features.

[0081] However, the COMPAS solution only utilizes the delay measurement value and angle measurement value of the terminal device at the current moment, and the utilization of the measurement parameters is still not sufficient, resulting in low accuracy of wireless SLAM.

[0082] The present application provides a method for determining location information, which can improve the accuracy of the determined location information, thereby improving the accuracy of SLAM. In the present application, multiple terminal devices collaborate and make full use of historical location information (state information) to determine the location information of multiple terminal devices and virtual anchor points in the same space.

[0083] Figure 1 is a schematic diagram of a system architecture applicable to an embodiment of the present application. The system architecture of Figure 1(a) includes a terminal device and a base station, wherein the functions of the terminal device include: locating its own position, obtaining measurement information from the downlink reference signal of the base station, receiving measurement information and location information broadcast by surrounding users, and performing wireless SLAM calculations; the functions of the base station include: sending downlink reference signals. The system architecture of Figure 1(b) includes a terminal device, a base station and a computing node, and the computing node includes mobile edge computing (MEC). The functions of the terminal device include: obtaining measurement information from the downlink reference signal of the base station, and receiving the location information of the terminal device sent by the base station; the functions of the base station include: receiving measurement information reported by the terminal device, sending the collected measurement information to the MEC, and sending the location information of the terminal device to the terminal device; the functions of the computing node include: receiving the measurement information of the terminal device sent by the base station, performing wireless SLAM calculations, and returning the location information of the terminal device to the base station.

[0084] FIG2 is a schematic flow diagram of a method 200 for determining location information according to an embodiment of the present application. In this embodiment, a distributed wireless SLAM solution is adopted; specifically, a terminal device obtains measurement information by measuring a reference signal sent by a network device, and determines the current location information of the terminal device and the virtual anchor point based on the measurement information obtained by the terminal device itself, the historical status information determined by the terminal device itself, the measurement information obtained by other surrounding terminal devices, and the historical status information determined by other surrounding terminal devices, thereby improving the accuracy of the determined location information. The network device in the embodiment of the present application may be a base station; the status information includes location information.

[0085] 210. The network device sends a first reference signal and location information of the network device to the first terminal device. Correspondingly, the first terminal device receives the first reference signal and location information of the network device from the network device. Exemplarily, the location information of the network device may be coordinate information of the network device.

[0086] Optionally, the first reference signal and the location information of the network device are carried in the same message and sent to the first terminal device; or, the first reference signal and the location information of the network device are carried in different messages and sent to the first terminal device. Exemplarily, the network device periodically broadcasts the location information of the network device via a system message, and correspondingly, the first terminal device receives the broadcasted system message and obtains the location information of the network device based on the system message; the network device sends the first reference signal to the first terminal device, and correspondingly, the first terminal device receives the first reference signal from the network device.

[0087] 220. The first terminal device determines first measurement information based on the first reference signal, where the first measurement information includes the time when the first reference signal is sent from the network device, and the arrival time and arrival angle of the first reference signal from the network device to the first terminal device.

[0088] 230. At least one second terminal device sends its own corresponding second measurement information and first status information to the first terminal device respectively; correspondingly, the first terminal device receives the second measurement information and first status information from at least one second terminal device, the second measurement information includes the time when the second reference signal received by the second terminal device is sent from the network device, and the arrival time (TOA) and arrival angle of the second reference signal from the network device to the second terminal device, the first status information includes the historical status information of the second terminal device and the historical status information of the anchor device determined by the second terminal device, the status information includes location information, wherein the anchor device includes a virtual anchor point corresponding to the network device, and the virtual anchor point corresponding to the network device can be understood as a mirror image of the network device with respect to the reflecting surface.

[0089] Optionally, before at least one second terminal device sends its respective corresponding second measurement information and first status information to the first terminal device, the network device sends a second reference signal and the location information of the network device to at least one second terminal device; correspondingly, the second terminal device receives the second reference signal and the location information of the network device from the network device; the second terminal device determines the second measurement information based on the received second reference signal. Optionally, the second reference signal and the location information of the network device are carried in the same message and sent to the second terminal device; or, the second reference signal and the location information of the network device are carried in different messages and sent to the second terminal device. It should be noted that the first reference signal and the second reference signal are sent by the network device to the first terminal device and the second terminal device respectively within this period, and the location information of the network device is also sent to the first terminal device and the second terminal device respectively within this period.

[0090] Exemplarily, the historical status information of the second terminal device includes the status information of the second terminal device determined by the second terminal device in the previous period; the historical status information of the anchor device determined by the second terminal device includes the status information of the anchor device determined by the second terminal device in the previous period.

[0091] Optionally, the state information further includes at least one of speed information or orientation information. For example, the position information includes a coordinate mean and a coordinate variance; the speed information includes a speed mean and a speed variance; and the orientation information includes a orientation mean and an orientation variance.

[0092] Figure 3 is a structural diagram of the information sent by the second terminal device to the first terminal device, which includes the information type, the identity (ID) of the second terminal device, the second measurement information and the first status information. The information type is used to distinguish whether the information is measurement information or positioning result information. For example, "0" indicates that the information is measurement information, and "1" indicates that the information is positioning result information. The second measurement information includes the timestamp corresponding to when the network device sends the second reference signal (the time when the network device sends the second reference signal), the arrival time TOA and the arrival angle AOA of the second reference signal from the network device to the second terminal device. The first status information includes the historical status information of the second terminal device and the historical status information of the anchor device determined by the second terminal device. The status information includes location information, speed information, and direction information.

[0093] At 240, the first terminal device determines third status information based on the first measurement information, the second measurement information corresponding to at least one second terminal device, the first status information, the second status information, and the location information of the network device, where the second status information includes historical status information of the first terminal device and historical status information of an anchor device determined by the first terminal device, and the third status information includes current status information of the first terminal device and current status information of the anchor device. Specifically, the first terminal device may periodically determine the status information of the first terminal device and the status information of the anchor device.

[0094] In the technical solution provided in the embodiment of the present application, the first terminal device obtains first measurement information by measuring the first reference signal sent by the network device, and determines the current location information of the first terminal device and the anchor device (virtual anchor point) based on the first measurement information, the historical status information determined by the first terminal device itself, the second measurement information obtained by at least one second terminal device, and the historical status information determined by at least one second terminal device; compared with the solution in which the first terminal device determines the current location information of the first terminal device and the anchor device only based on the first measurement information obtained by itself, the terminal device in the present application can not only use its own measurement information and historical status information, but also use the measurement information and historical status information of other terminal devices to determine the location information, and can make more full use of the measurement parameters, thereby improving the accuracy of the determined location information.

[0095] Exemplarily, the historical status information of the first terminal device includes the status information of the first terminal device determined by the first terminal device in the previous period; the historical status information of the anchor device determined by the first terminal device includes the status information of the anchor device determined by the first terminal device in the previous period.

[0096] Exemplarily, the first terminal device determines the current (current period) mean (of the coordinates), variance of the coordinates, mean of the speed, variance of the speed, mean of the orientation, and variance of the orientation of the first terminal device, as well as the current mean of the coordinates, variance of the coordinates, mean of the speed, variance of the speed, mean of the orientation, and variance of the orientation of the anchor device based on the first measurement information, the second measurement information and first status information, second status information corresponding to at least one second terminal device, and the location information of the network device.

[0097] Optionally, the first terminal device sends first measurement information and second status information to at least one second terminal device respectively; correspondingly, the second terminal device receives the first measurement information and second status information from the first terminal device; the second terminal device can determine fifth status information based on the first measurement information, the second status information, the second measurement information and first status information determined by the second terminal device itself, and the second measurement information and first status information determined by other second terminal devices, and the fifth status information includes the current status information of the second terminal device and the current status information of the anchor device determined by the second terminal device. Based on this optional solution, the second terminal device can determine the current status information of the second terminal device and the current status information of the anchor device based on the measurement information and status information of other terminal devices, as well as the measurement information and status information determined by the second terminal device itself. Among them, the structural diagram of the information sent by the first terminal device to at least one second terminal device respectively can be referred to Figure 3, which is not repeated here.

[0098] Optionally, before the first terminal device sends the first measurement information and the second status information to at least one second terminal device respectively, the network device sends configuration information to the first terminal device and the at least one second terminal device, and the configuration information indicates at least one of the following: the frequency domain bandwidth, the center frequency, or the available coding and modulation mode of the available time-frequency resources; correspondingly, the first terminal device receives the configuration information from the network device, and the second terminal device receives the configuration information from the network device; the first terminal device sends the first measurement information and the second status information to the at least one second terminal device according to the configuration information; the second terminal device receives the first measurement information and the second status information from the first terminal device according to the configuration information.

[0099] Optionally, at least one second terminal device sends corresponding second measurement information and first status information to the first terminal device according to the configuration information; correspondingly, the first terminal device receives the second measurement information and first status information from at least one second terminal device according to the configuration information.

[0100] Exemplarily, the network device sends configuration information to the first terminal device and at least one second terminal device by broadcasting. It should be noted that since the frequency domain bandwidth and center frequency (frequency domain resources) of the time-frequency resources that can be used by at least one second terminal device are the same, at least one second terminal device sends its respective corresponding second measurement information and first status information to the first terminal device by random delay. It can be understood that different second terminal devices send the second measurement information and first status information to the first terminal device at different times.

[0101] FIG4 is a schematic flowchart of the second terminal device sending the second measurement information and the first state information to the first terminal device, taking the first terminal device performing SLAM calculation as an example. At the beginning of a cycle, the first terminal device determines the first measurement information by measuring the first reference signal from the network device, and the second terminal device determines the second measurement information by measuring the second reference signal from the network device; the second terminal device performs a random delay and does not immediately send the second measurement information and the first status information to the first terminal device; the second terminal device monitors whether the channel corresponding to the available frequency domain resources is idle; if the channel corresponding to the available frequency domain resources is idle, the second terminal device uses the channel to send the second measurement information and the first status information to the first terminal device; if the channel corresponding to the available frequency domain resources is not idle, the second terminal device performs a random delay again and continues to monitor until the channel is idle, and the terminal device sends the second measurement information and the first status information to the first terminal device; the second terminal device receives measurement information and status information from other terminal devices, for example, the second terminal device receives the first measurement information and the second status information from the first terminal device and the measurement information and status information of other second terminal devices; and based on the measurement information and status information from other terminal devices, the second measurement information and the first status information determined by the second terminal device itself, Determine the current state information of the second terminal device and the current state information of the anchor device. This step can be understood as the second terminal device performing collaborative SLAM calculation; finally, the end of this cycle is reached.

[0102] Figure 5 is a schematic diagram of terminal device 1 and terminal device 2 determining the location of an anchor device. The deviation between the location of the anchor device determined by terminal device 1 based on its own measurement information and the actual location of the anchor device is large, and the deviation between the location of the anchor device determined by terminal device 2 based on its own measurement information and the actual location of the anchor device is also large. However, by exchanging their respective measurement information and historical status information between terminal devices 1 and 2, the deviation between the actual location of the anchor device determined through collaboration is small. Therefore, the location information determined through collaboration by different terminal devices that exchange their respective measurement information and historical status information is more accurate, which can improve the accuracy of the determined location information.

[0103] Optionally, the first terminal device and at least one second terminal device have inertial measurement unit (IMU) capabilities; or, the first terminal device and at least one second terminal device do not have IMU capabilities. It should be noted that a terminal device with IMU capabilities can more accurately locate its own position, and the confidence level of the position information determined by the terminal device with IMU capabilities is higher than the confidence level of the position information determined by the terminal device without IMU capabilities.

[0104] Based on the above scheme, when the first terminal device and at least one second terminal device both have IMU capabilities, the confidence of the location information determined by the first terminal device and at least one second terminal device is relatively high; when the first terminal device and at least one second terminal device do not have IMU capabilities, the confidence of the location information determined by the first terminal device and at least one second terminal device is relatively low; in both cases, the location information determined by the first terminal device and at least one second terminal device through collaboration is more accurate than the location information determined by each device based on the measurement information obtained by itself, and can improve the accuracy of the determined location information.

[0105] Exemplarily, the information (including measurement information) sent by the second terminal device to the first terminal device includes the capability information of the second terminal device, and the capability information of the second terminal device is used to indicate whether the second terminal device has IMU capability. Similarly, the information (including measurement information) sent by the first terminal device to the second terminal device also includes the capability information of the first terminal device, and the capability information of the first terminal device is used to indicate whether the first terminal device has IMU capability. Figure 6 is a schematic diagram of the structure of the information sent by the second terminal device to the first terminal device, which includes the information type, the capability information of the second terminal device, the ID of the second terminal device, the second measurement information, and the first status information.

[0106] Optionally, when the first terminal device has IMU capability and at least one second terminal device does not have IMU capability, the first terminal device will not use the second measurement information and first status information corresponding to at least one second terminal device in the process of determining the current status information of the first terminal device and the current status information of the anchor device, but will only use the first measurement information and second status information determined by the first terminal device.

[0107] Optionally, when the first terminal device does not have IMU capability and at least one second terminal device has IMU capability, the first terminal device will not use the first measurement information and second status information determined by the first terminal device in the process of determining the current status information of the first terminal device and the current status information of the anchor device, but will only use the second measurement information and first status information corresponding to at least one second terminal device.

[0108] Based on the above scheme, when the first terminal device has IMU capability and at least one second terminal device does not have IMU capability, or when the first terminal device does not have IMU capability and at least one second terminal device has IMU capability, since the confidence of the location information determined by the terminal device with IMU capability is higher, only the measurement information and status information corresponding to the terminal device with IMU capability is used in the process of determining the location information, which can improve the accuracy of the determined location information.

[0109] FIG7 is a schematic flow diagram illustrating another method 700 for determining location information according to an embodiment of the present application. In this embodiment, a centralized wireless SLAM solution is employed; specifically, different terminal devices are divided into a master user and multiple (at least one) slave users. The multiple slave users send their respective determined measurement information and historical status information to the master user. The master user determines the current location information of the master user, the multiple slave users, and the virtual anchor point based on its own determined measurement information and historical status information, as well as the measurement information and historical status information corresponding to the multiple slave users, thereby improving the accuracy of the determined location information.

[0110] In the embodiment of the present application, the network device may be a base station, and the state information includes location information. At least one first terminal device is a slave user, and the second terminal device is a master user.

[0111] 710. The network device sends a first reference signal to at least one first terminal device respectively; correspondingly, the first terminal device receives the first reference signal from the network device.

[0112] Exemplarily, the first reference signal is sent by the network device to at least one first terminal device by broadcasting.

[0113] At 720, the first terminal device determines first measurement information based on the first reference signal. The first measurement information includes a time when the first reference signal was transmitted from the network device, and an arrival time and angle of arrival of the first reference signal from the network device to the first terminal device. Specifically, at least one first terminal device determines its respective first measurement information based on the received first reference signal.

[0114] Optionally, the first measurement information further includes signal-to-noise ratio (SNR) information corresponding to the first reference signal. A higher SNR indicated by the signal-to-noise ratio information corresponding to the first reference signal indicates a higher credibility of the first measurement information.

[0115] 730. The network device sends a second reference signal and the location information of the network device to the second terminal device. Correspondingly, the second terminal device receives the second reference signal and the location information of the network device from the network device. Exemplarily, the location information of the network device may be coordinate information of the network device.

[0116] Optionally, the second reference signal and the location information of the network device are carried in the same message and sent to the second terminal device; or, the second reference signal and the location information of the network device are carried in different messages and sent to the second terminal device. Exemplarily, the network device periodically broadcasts the location information of the network device via a system message, and the second terminal device receives the broadcasted system message and obtains the location information of the network device based on the system message; the network device sends the second reference signal to the second terminal device, and the second terminal device receives the second reference signal from the network device.

[0117] 740. The second terminal device determines second measurement information based on the second reference signal, where the second measurement information includes the time when the second reference signal is sent from the network device, and the arrival time and arrival angle of the second reference signal from the network device to the second terminal device.

[0118] Optionally, the second measurement information further includes signal-to-noise ratio information corresponding to the second reference signal. A higher SNR indicated by the signal-to-noise ratio information corresponding to the second reference signal indicates a higher credibility of the second measurement information.

[0119] Optionally, step 710 and step 730 may be performed simultaneously, or step 730 may be performed before step 710. Similarly, step 720 and step 740 may be performed simultaneously, or step 740 may be performed before step 720. This application does not limit this.

[0120] 750. The first terminal device sends first measurement information to the second terminal device; correspondingly, the second terminal device receives the first measurement information from at least one first terminal device.

[0121] Optionally, before the first terminal device sends the first measurement information to the second terminal device, the network device sends configuration information to at least one first terminal device and the second terminal device, and the configuration information indicates at least one of the following: the frequency domain bandwidth, the center frequency, or the available coding and modulation method of the available time-frequency resources; correspondingly, the first terminal device receives the configuration information from the network device, and the second terminal device receives the configuration information from the network device; the first terminal device sends the first measurement information to the second terminal device based on the configuration information; and the second terminal device receives the first measurement information from the second terminal device based on the configuration information.

[0122] Exemplarily, the network device sends configuration information to at least one first terminal device and a second terminal device by broadcasting. It should be noted that, since the frequency domain bandwidth and the center frequency (frequency domain resources) of the time-frequency resources that can be used by at least one first terminal device are the same, at least one first terminal device sends its respective corresponding first measurement information to the second terminal device by random delay. It can be understood that different first terminal devices send the first measurement information to the second terminal device at different times.

[0123] 760. The second terminal device determines the current status information corresponding to at least one first terminal device, the current status information of the second terminal device, and the current status information of the anchor device based on the first measurement information, the second measurement information, the fourth status information, and the location information of the network device corresponding to at least one first terminal device. The fourth status information includes historical status information corresponding to at least one first terminal device, historical status information of the second terminal device, and historical status information of the anchor device. The status information includes location information. The anchor device includes a virtual anchor point corresponding to the network device. The virtual anchor point corresponding to the network device can be understood as a mirror image of the network device with respect to a reflective surface. Specifically, the second terminal device can periodically determine the status information corresponding to at least one first terminal device, the second terminal device, and the anchor device.

[0124] Exemplarily, the historical status information of the first terminal device includes the status information of the first terminal device determined by the second terminal device in the previous period; the historical status information of the second terminal device includes the status information of the second terminal device determined by the second terminal device in the previous period; the historical status information of the anchor device includes the status information of the anchor device determined by the second terminal device in the previous period.

[0125] Optionally, the state information further includes at least one of speed information or orientation information. For example, the position information includes a coordinate mean and a coordinate variance; the speed information includes a speed mean and a speed variance; and the orientation information includes a orientation mean and an orientation variance.

[0126] Exemplarily, the second terminal device determines the mean of the current (current period) coordinates, the variance of the coordinates, the mean of the speed, the variance of the speed, the mean of the orientation, and the variance of the orientation corresponding to at least one first terminal device, the mean of the current coordinates, the variance of the coordinates, the mean of the speed, the variance of the speed, the mean of the orientation, and the variance of the orientation of the second terminal device, as well as the mean of the current coordinates, the variance of the coordinates, the mean of the speed, the variance of the speed, the mean of the orientation, and the variance of the orientation of the anchor device, etc., based on the first measurement information, the second measurement information, the fourth status information, and the location information of the network device corresponding to at least one first terminal device.

[0127] At 770, the second terminal device sends positioning result information to at least one first terminal device. The positioning result information includes current status information of the first terminal device and current status information of the anchor device. It should be noted that the positioning result information corresponding to different first terminal devices may be different. Correspondingly, the first terminal device receives the positioning result information from the second terminal device, where the at least one first terminal device includes the first terminal device.

[0128] In the technical solution provided in the embodiment of the present application, the second terminal device (main user) determines the current location information corresponding to at least one first terminal device (slave user), the current location information of the second terminal device, and the current location information of the anchor device based on the first measurement information corresponding to at least one first terminal device (slave user), the second measurement information corresponding to the second terminal device, and the historical status information corresponding to the first terminal device, the second terminal device and the anchor device respectively; compared with the solution in which the terminal device determines the current location information of the terminal device and the anchor device only based on the measurement information obtained by itself, the terminal device in this application can not only use its own measurement information but also use the measurement information of other terminal devices to determine the location information, and can make more full use of the measurement parameters, thereby improving the accuracy of the determined location information.

[0129] Optionally, the positioning result information sent by the second terminal device includes the current status information corresponding to at least one first terminal device and the current status information of the anchor device. Figure 8 is a schematic diagram of the structure of positioning result information sent by a second terminal device to at least one first terminal device. The positioning result information includes the information type, the ID and current status information corresponding to the at least one first terminal device, and the current status information of the anchor device; the at least one first terminal device includes terminal device 1 and terminal device 2. The information type is "1", indicating that the information is positioning result information.

[0130] Optionally, the second terminal device sends positioning result information to at least one first terminal device according to the above configuration information; correspondingly, the first terminal device receives positioning result information from the second terminal device according to the configuration information.

[0131] Optionally, at least one of the first terminal device and the second terminal device has IMU capabilities; or at least one of the first terminal device and the second terminal device does not have IMU capabilities. It should be noted that a terminal device with IMU capabilities can more accurately locate its own position, and the confidence level of the position information determined by a terminal device with IMU capabilities is higher than the confidence level of the position information determined by a terminal device without IMU capabilities.

[0132] Based on the above scheme, when at least one first terminal device and the second terminal device both have IMU capabilities, the confidence of the location information determined by at least one first terminal device and the second terminal device is relatively high; when at least one first terminal device and the second terminal device do not have IMU capabilities, the confidence of the location information determined by at least one first terminal device and the second terminal device is relatively low; in both cases, the location information determined by at least one first terminal device and the second terminal device through collaboration is more accurate than the location information determined by each device based on the measurement information obtained by each device, and can improve the accuracy of the determined location information.

[0133] Exemplarily, the information (including the first measurement information) sent by the first terminal device to the second terminal device also includes the capability information of the first terminal device, which is used to indicate whether the first terminal device has IMU capabilities. Figure 9 is a schematic diagram of the structure of the information sent by the first terminal device to the second terminal device, which includes the information type, the capability information of the first terminal device, the ID of the first terminal device, and the first measurement information.

[0134] Optionally, at least one first terminal device does not have IMU capabilities, and the second terminal device has IMU capabilities. Because the confidence level of the location information determined by the terminal device with IMU capabilities is higher, using the second terminal device with IMU capabilities to determine the location information corresponding to at least one first terminal device, the second terminal device, and the anchor device can improve the accuracy of the determined location information.

[0135] Figure 10 is a schematic flow diagram of another method 1000 for determining location information according to an embodiment of the present application. This embodiment adopts a centralized wireless SLAM solution based on computing nodes. Specifically, the terminal device obtains measurement information including arrival time and arrival angle by measuring the reference signal sent by the base station, and sends the measurement information to the MEC through the base station. The MEC can determine the current location information corresponding to different terminal devices and virtual anchor points based on the measurement information from different terminal devices and the historical location information corresponding to different terminal devices and virtual anchor points, thereby improving the accuracy of the determined location information.

[0136] The network device in the embodiment of the present application may be a base station, the computing node may be an MEC, and the status information includes location information.

[0137] 1010. The network device sends a first reference signal to at least one first terminal device respectively; correspondingly, the first terminal device receives the first reference signal from the network device.

[0138] Exemplarily, the first reference signal is sent by the network device to at least one first terminal device by broadcasting.

[0139] At 1020, the first terminal device determines first measurement information based on the first reference signal. The first measurement information includes a time when the first reference signal was transmitted from the network device, and an arrival time and angle of arrival of the first reference signal from the network device to the first terminal device. Specifically, at least one first terminal device determines its respective first measurement information based on the received first reference signal.

[0140] Optionally, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal. A higher SNR indicated by the signal-to-noise ratio information corresponding to the first reference signal indicates a higher credibility of the first measurement information.

[0141] 1030. The first terminal device sends first measurement information to the network device, and correspondingly, the network device receives the first measurement information from the first terminal device. Specifically, at least one first terminal device sends first measurement information to the network device, and correspondingly, the network device receives the first measurement information from at least one first terminal device.

[0142] Exemplarily, FIG11 is a schematic diagram of the structure of information (including first measurement information) sent by the first terminal device to the network device, where the information includes the information type, the ID of the first terminal device, and the first measurement information.

[0143] At 1040, the network device sends first measurement information corresponding to at least one first terminal device and the location information of the network device to the computing node. Correspondingly, the computing node receives the first measurement information corresponding to at least one first terminal device and the location information of the network device from the network device. Exemplarily, the location information of the network device may be coordinate information of the network device.

[0144] Optionally, the first measurement information and the location information of the network device are carried in the same message and sent to the computing node; or, the first measurement information and the location information of the network device are carried in different messages and sent to the computing node.

[0145] 1050. The computing node determines second positioning result information based on the location information of the network device, and the first measurement information and second status information corresponding to at least one first terminal device. The second positioning result information includes current status information corresponding to at least one first terminal device and current status information of the anchor device. The second status information includes historical status information corresponding to at least one first terminal device and historical status information of the anchor device. The status information includes location information. The anchor device includes a virtual anchor point corresponding to the network device. The virtual anchor point corresponding to the network device can be understood as a mirror image of the network device with respect to the reflection surface.

[0146] Optionally, the computing node can periodically determine the status information corresponding to at least one first terminal device and the anchor device respectively; accordingly, the first terminal device can periodically send the first measurement information to the network device, and the network device can periodically send the first measurement information corresponding to at least one first terminal device respectively to the computing node.

[0147] Exemplarily, the historical status information of the first terminal device includes the status information of the first terminal device determined by the second terminal device in the previous cycle; the historical status information of the anchor device includes the status information of the anchor device determined by the computing node in the previous cycle.

[0148] Optionally, the state information further includes at least one of speed information or orientation information. For example, the position information includes a coordinate mean and a coordinate variance; the speed information includes a speed mean and a speed variance; and the orientation information includes a orientation mean and an orientation variance.

[0149] Exemplarily, the computing node determines the mean of the current (current period) coordinates, the variance of the coordinates, the mean of the speed, the variance of the speed, the mean of the orientation, and the variance of the orientation, as well as the mean of the current coordinates, the variance of the coordinates, the mean of the speed, the variance of the speed, the mean of the orientation, and the variance of the orientation, etc., of the anchor device based on the location information of the network device and the first measurement information and the second status information corresponding to the at least one first terminal device.

[0150] 1060. The computing node sends second positioning result information to the network device. Correspondingly, the network device receives the second positioning result information from the computing node.

[0151] At 1070, the network device sends first positioning result information to at least one first terminal device. The first positioning result information includes current status information of the first terminal device and current status information of the anchor device. It should be noted that the first positioning result information corresponding to different first terminal devices may be different. Correspondingly, the first terminal device receives the first positioning result information from the network device.

[0152] In the technical solution provided in the embodiments of the present application, a computing node (such as MEC) can determine the current location information corresponding to at least one first terminal device and an anchor device respectively based on the first measurement information and historical status information corresponding to at least one first terminal device, the current status information of the anchor device, and the location information of the network device; compared with the solution in which the terminal device determines the current location information of the terminal device and the anchor device only based on the measurement information obtained by itself, the location information is determined by the measurement information and historical status information corresponding to multiple terminal devices in the present application, which can make more full use of the measurement parameters, thereby improving the accuracy of the determined location information.

[0153] Optionally, the first positioning result information sent by the network device includes current status information corresponding to at least one first terminal device and current status information of the anchor device. The structural diagram of the first positioning result information sent by the network device can be referred to Figure 8 and will not be repeated here.

[0154] Figure 12 is a schematic flow diagram of another method for determining location information in an embodiment of the present application. This embodiment adopts a distributed wireless SLAM solution and a centralized wireless SLAM solution based on computing nodes. The distributed wireless SLAM solution includes: the terminal device obtains measurement information by measuring the reference signal sent by the network device, and determines the current location information of the terminal device and the virtual anchor point based on the measurement information obtained by the terminal device itself, the historical status information determined by the terminal device itself, the measurement information obtained by other terminal devices in the surrounding area, and the historical status information determined by other terminal devices in the surrounding area. The centralized wireless SLAM solution based on computing nodes includes: the terminal device obtains measurement information by measuring the reference signal sent by the base station, and sends the measurement information to the MEC through the base station. The MEC can determine the current location information corresponding to different terminal devices and virtual anchor points based on the measurement information from different terminal devices and the historical location information corresponding to different terminal devices and virtual anchor points. The terminal device corrects or updates the location information determined by the distributed wireless SLAM solution based on the location information determined by the centralized wireless SLAM solution, which can improve the accuracy of the determined location information. Optionally, the terminal device periodically determines the current location information of the terminal device and the virtual anchor point, and the period for determining the location information is T1; the MEC periodically determines the current location information of the terminal device and the virtual anchor point, and the period for determining the location information is T2, and T2 may be greater than T1.

[0155] The network device in the embodiment of the present application may be a base station, the computing node may be an MEC, and the status information includes location information.

[0156] 1201. A network device sends a first reference signal and location information of the network device to a first terminal device. Correspondingly, the first terminal device receives the first reference signal and location information of the network device from the network device. Exemplarily, the location information of the network device may be coordinate information of the network device.

[0157] Optionally, the first reference signal and the location information of the network device are carried in the same message and sent to the first terminal device; or, the first reference signal and the location information of the network device are carried in different messages and sent to the first terminal device.

[0158] 1202. The first terminal device determines first measurement information based on the first reference signal. The first measurement information includes the time when the first reference signal is sent from the network device, and the arrival time and arrival angle of the first reference signal from the network device to the first terminal device.

[0159] 1203. The network device sends a second reference signal and the location information of the network device to at least one second terminal device respectively; correspondingly, the second terminal device receives the second reference signal and the location information of the network device from the network device.

[0160] Optionally, the second reference signal and the location information of the network device are carried in the same message and sent to the second terminal device; or, the second reference signal and the location information of the network device are carried in different messages and sent to the second terminal device.

[0161] 1204. The second terminal device determines second measurement information based on the received second reference signal. The second measurement information includes the time when the second reference signal received by the second terminal device is sent from the network device, and the arrival time and arrival angle of the second reference signal from the network device to the second terminal device.

[0162] Optionally, step 1201 and step 1203 may be performed simultaneously, or step 1203 may be performed before step 1201. Similarly, step 1202 and step 1204 may be performed simultaneously, or step 1204 may be performed before step 1202. This application does not limit this.

[0163] 1205. At least one second terminal device sends its own corresponding second measurement information and first status information to the first terminal device respectively; correspondingly, the first terminal device receives the second measurement information and first status information from at least one second terminal device; the first status information includes the historical status information of the second terminal device and the historical status information of the anchor device determined by the second terminal device, and the status information includes location information, wherein the anchor device includes a virtual anchor point corresponding to the network device, and the virtual anchor point corresponding to the network device can be understood as a mirror image of the network device with respect to the reflection surface.

[0164] Optionally, the state information further includes at least one of speed information or orientation information. For example, the position information includes a coordinate mean and a coordinate variance; the speed information includes a speed mean and a speed variance; and the orientation information includes a orientation mean and an orientation variance.

[0165] At 1206, the first terminal device determines third status information based on the first measurement information, the second measurement information corresponding to at least one second terminal device, the first status information, the second status information, and the location information of the network device, where the second status information includes historical status information of the first terminal device and historical status information of an anchor device determined by the first terminal device, and the third status information includes current status information of the first terminal device and current status information of the anchor device. Specifically, the first terminal device may periodically determine the status information of the first terminal device and the status information of the anchor device.

[0166] Exemplarily, the historical status information of the first terminal device includes the status information of the first terminal device determined by the first terminal device in the previous period; the historical status information of the anchor device determined by the first terminal device includes the status information of the anchor device determined by the first terminal device in the previous period; the historical status information of the second terminal device includes the status information of the second terminal device determined by the second terminal device in the previous period; the historical status information of the anchor device determined by the second terminal device includes the status information of the anchor device determined by the second terminal device in the previous period.

[0167] 1207. The first terminal device sends first measurement information to the network device. Correspondingly, the network device receives the first measurement information from the first terminal device. At least one second terminal device sends second measurement information to the network device. Correspondingly, the network device receives the second measurement information from at least one second terminal device.

[0168] Optionally, step 1207 may be performed immediately after step 1202 or after step 1204 .

[0169] 1208. The network device sends the location information of the network device, the first measurement information, and the second measurement information corresponding to at least one second terminal device to the computing node; correspondingly, the computing node receives the location information of the network device, the first measurement information, and the second measurement information corresponding to at least one second terminal device from the network device.

[0170] At 1209, the computing node determines third positioning result information based on the location information of the network device, the first measurement information, the second measurement information corresponding to the at least one second terminal device, the historical status information of the first terminal device, the historical status information corresponding to the at least one second terminal device, and the historical status information of the anchor device. The third positioning result information includes the current status information of the first terminal device, the current status information corresponding to the at least one second terminal device, and the current status information of the anchor device. Specifically, the computing node may periodically determine the status information of the first terminal device, the status information of the at least one second terminal device, and the status information of the anchor device.

[0171] Exemplarily, the period for determining the status information by the computing node is greater than the period for determining the status information by the terminal device (e.g., the first terminal device or the second terminal device). For example, the period for determining the status information by the computing node is in the order of minutes, while the period for determining the status information by the terminal device is in the order of seconds.

[0172] 1210. The computing node sends third positioning result information to the network device. Correspondingly, the network device receives the third positioning result information from the computing node.

[0173] 1211. The network device sends fourth positioning result information to the first terminal device. The fourth positioning result information includes the current status information of the first terminal device and the current status information of the anchor device. Correspondingly, the first terminal device receives the fourth positioning result information from the network device.

[0174] The network device sends fifth positioning result information to at least one second terminal device respectively, where the fifth positioning result information includes current status information of the second terminal device and current status information of the anchor device; correspondingly, the second terminal device receives the fifth positioning result information from the network device.

[0175] 1212. The first terminal device corrects or updates the third status information based on the fourth positioning result information. Specifically, the first terminal device corrects or updates the current status information of the first terminal device and the current status information of the anchor device determined by the computing node based on the current status information of the first terminal device and the current status information of the anchor device.

[0176] In the technical solution provided in the embodiment of the present application, the first terminal device can correct or update its own determined location information based on the location information determined by the computing node, which can further improve the accuracy of the determined location information.

[0177] The above describes the method for determining location information provided in the embodiment of the present application. The following describes the execution entity for executing the above method for determining location information.

[0178] FIG13 is a schematic block diagram of a communication device 1300 according to an embodiment of the present application. The device can be applied to or deployed in the first terminal device in the method embodiment of FIG2. The communication device 1300 includes:

[0179] The transceiver unit 1310 is configured to receive a first reference signal and location information of a network device from the network device;

[0180] The processing unit 1320 is configured to determine first measurement information based on the first reference signal, where the first measurement information includes a time when the first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the communication apparatus;

[0181] The transceiver unit 1310 is further configured to receive second measurement information and first status information from at least one second terminal device, the second measurement information including a time when a second reference signal received by the second terminal device is transmitted from the network device, and an arrival time and an arrival angle of the second reference signal from the network device to the second terminal device, the first status information including historical status information of the second terminal device and historical status information of an anchor device determined by the second terminal device, wherein the anchor device includes a virtual anchor point corresponding to the network device;

[0182] The processing unit 1320 is also used to determine third status information based on the first measurement information, the second measurement information and first status information corresponding to the at least one second terminal device, the second status information, and the location information of the network device, the second status information including the historical status information of the communication device and the historical status information of the anchor device determined by the processing unit 1320, the third status information including the current status information of the communication device and the current status information of the anchor device, and the status information includes location information.

[0183] Optionally, the status information further includes at least one of speed information or direction information.

[0184] Optionally, the transceiver unit 1310 is further used to send the first measurement information and the second status information to the at least one second terminal device respectively.

[0185] Optionally, the transceiver unit 1310 is further configured to receive configuration information from the network device, where the configuration information indicates at least one of the following: a frequency domain bandwidth, a center frequency, or an available coding and modulation mode of available time-frequency resources;

[0186] The transceiver unit 1310 is specifically configured to send the first measurement information and the second status information to the at least one second terminal device respectively according to the configuration information.

[0187] Optionally, the communication device and the at least one second terminal device have inertial measurement unit IMU capabilities; or, the communication device and the at least one second terminal device do not have IMU capabilities.

[0188] FIG14 is a schematic block diagram of another communication device 1400 according to an embodiment of the present application. The device can be applied to or deployed in the first terminal device in the method embodiment of FIG7. The communication device 1400 includes:

[0189] The transceiver unit 1410 is configured to receive a first reference signal from a network device;

[0190] The processing unit 1420 is configured to determine first measurement information based on the first reference signal, where the first measurement information includes a time when the first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the communication apparatus;

[0191] The transceiver unit 1410 is further configured to send the first measurement information to the second terminal device;

[0192] The transceiver unit 1410 is also used to receive positioning result information from the second terminal device, the positioning result information including current status information of the communication device and current status information of the anchor device, the positioning result information is determined based on the first measurement information corresponding to at least one of the communication devices, the second measurement information corresponding to the second terminal device, the fourth status information, and the location information of the network device, the second measurement information including the time when the second reference signal received by the second terminal device is sent from the network device, and the arrival time and arrival angle of the second reference signal from the network device to the second terminal device, the fourth status information including historical status information of the communication device, historical status information of the second terminal device and historical status information of the anchor device, the status information including location information, wherein the anchor device includes the virtual anchor point corresponding to the network device.

[0193] Optionally, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal; and / or the second measurement information further includes signal-to-noise ratio information corresponding to the second reference signal.

[0194] Optionally, the status information further includes at least one of speed information or direction information.

[0195] Optionally, the transceiver unit 1410 is further configured to receive configuration information from the network device, where the configuration information indicates at least one of the following: a frequency domain bandwidth of available time-frequency resources, a center frequency of the available time-frequency resources, or an available coding and modulation mode;

[0196] The transceiver unit 1410 is specifically configured to send the first measurement information to the second terminal device according to the configuration information.

[0197] Optionally, the communication device and the second terminal device have IMU capabilities; or, the communication device and the second terminal device do not have IMU capabilities.

[0198] FIG15 is a schematic block diagram of another communication device 1500 according to an embodiment of the present application. The device can be applied to or deployed in the second terminal device in the method embodiment of FIG7. The communication device 1500 includes:

[0199] The transceiver unit 1510 is configured to receive a second reference signal and location information of the network device from the network device;

[0200] The processing unit 1520 is configured to determine second measurement information based on the second reference signal, where the second measurement information includes a time when the second reference signal is sent from the network device, and an arrival time and an arrival angle of the second reference signal from the network device to the communication apparatus;

[0201] The transceiver unit 1510 is further configured to receive first measurement information from at least one first terminal device, where the first measurement information includes a time when a first reference signal received by the first terminal device is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device;

[0202] The processing unit 1520 is further configured to determine, based on the first measurement information, the second measurement information, the fourth state information, and the location information of the network device, current state information corresponding to the at least one first terminal device, current state information of the communication device, and current state information of the anchor device, wherein the fourth state information includes historical state information corresponding to the at least one first terminal device, historical state information of the communication device, and historical state information of the anchor device, wherein the anchor device includes a virtual anchor corresponding to the network device;

[0203] The transceiver unit 1510 is further configured to send positioning result information to the at least one first terminal device respectively, where the positioning result information includes current status information of the first terminal device and current status information of the anchor device, and the status information includes location information.

[0204] Optionally, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal; and / or the second measurement information further includes signal-to-noise ratio information corresponding to the second reference signal.

[0205] Optionally, the status information further includes at least one of speed information or direction information.

[0206] Optionally, the transceiver unit 1510 is further configured to receive configuration information from the network device, where the configuration information indicates at least one of the following: a frequency domain bandwidth of available time-frequency resources, a center frequency of the available time-frequency resources, or an available coding and modulation mode;

[0207] The transceiver unit 1510 is specifically configured to receive first measurement information from the at least one first terminal device according to the configuration information.

[0208] Optionally, the at least one first terminal device and the communication device have IMU capabilities; or, the at least one first terminal device and the communication device do not have IMU capabilities.

[0209] FIG16 is a schematic block diagram of another communication device 1600 according to an embodiment of the present application. The device can be applied to or deployed in the first terminal device in the method embodiment of FIG10. The communication device 1600 includes:

[0210] The transceiver unit 1610 is configured to receive a first reference signal from a network device;

[0211] The processing unit 1620 is configured to determine first measurement information based on the first reference signal, where the first measurement information includes a time when the first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the communication apparatus;

[0212] The transceiver unit 1610 is further configured to send the first measurement information to a network device;

[0213] The transceiver unit 1610 is also used to receive first positioning result information from the network device, the first positioning result information including current status information of the communication device and current status information of the anchor device, the first positioning result information is determined based on the location information of the network device, and first measurement information and second status information corresponding to at least one of the communication devices, the second status information including historical status information corresponding to at least one of the communication devices and historical status information of the anchor device, the status information including location information, wherein the anchor device includes a virtual anchor corresponding to the network device.

[0214] Optionally, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal.

[0215] Optionally, the status information further includes at least one of speed information or direction information.

[0216] FIG17 is a schematic block diagram of another communication device 1700 according to an embodiment of the present application. The device can be applied to or deployed in the computing node in the method embodiment of FIG10. The communication device 1700 includes:

[0217] The transceiver unit 1710 is configured to receive first measurement information corresponding to at least one first terminal device from a network device and location information of the network device, the first measurement information including a time when a first reference signal received by the first terminal device is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device;

[0218] Processing unit 1720 is configured to determine second positioning result information based on the location information of the network device, and the first measurement information and second status information respectively corresponding to the at least one first terminal device, where the second positioning result information includes current status information respectively corresponding to the at least one first terminal device and current status information of the anchor device, the second status information includes historical status information respectively corresponding to the at least one first terminal device and historical status information of the anchor device, the status information including location information, wherein the anchor device includes a virtual anchor corresponding to the network device;

[0219] The transceiver unit 1710 is further configured to send the second positioning result information to the network device.

[0220] Optionally, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal.

[0221] Optionally, the status information further includes at least one of speed information or direction information.

[0222] FIG18 is a schematic block diagram of another communication device 1800 according to an embodiment of the present application. The device can be applied to or deployed in the network device in the method embodiment of FIG10. The communication device 1800 includes:

[0223] The transceiver unit 1810 is configured to send a first reference signal to at least one first terminal device;

[0224] The transceiver unit 1810 is further configured to receive first measurement information from the at least one first terminal device, where the first measurement information includes a time when a first reference signal is sent from the communication device, and an arrival time and an arrival angle of the first reference signal from the communication device to the first terminal device;

[0225] The transceiver unit 1810 is further configured to send the first measurement information corresponding to the at least one first terminal device and the location information of the communication device to the computing node;

[0226] The transceiver unit 1810 is further configured to receive second positioning result information from the computing node, the second positioning result information including current status information corresponding to the at least one first terminal device and current status information of the anchor device, the second positioning result information being determined based on the location information of the communication device and the first measurement information and second status information corresponding to the at least one first terminal device, the second status information including historical status information corresponding to the at least one first terminal device and historical status information of the anchor device, wherein the anchor device includes a virtual anchor point corresponding to the communication device;

[0227] The transceiver unit 1810 is further configured to send first positioning result information to the at least one first terminal device respectively, where the first positioning result information includes current status information of the first terminal device and current status information of the anchor device, and the status information includes location information.

[0228] Optionally, the first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal.

[0229] Optionally, the status information further includes at least one of speed information or direction information.

[0230] FIG19 is a schematic block diagram of a communication device 1900 according to an embodiment of the present application. The communication device 1900 includes:

[0231] Processor 1910 and transceiver 1920, wherein the transceiver 1920 is configured to receive computer code or instructions and transmit them to the processor 1910, and the processor 1910 executes the computer code or instructions to implement the method in the embodiment of the present application. The communication device can be the first terminal device, the second terminal device, the first network device, or the second network device in the embodiment of the present application.

[0232] The processor 1910 described above may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above-described method embodiment may be completed by hardware integrated logic circuits within the processor or by software instructions. The processor described above may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component. The methods, steps, and logic block diagrams disclosed in the embodiments of this application may be implemented or executed. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application may be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software module may be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The storage medium is located in a memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above-described method.

[0233] An embodiment of the present application provides a communication system, including: a first terminal device in the method for determining location information provided in an embodiment of the present application and other communication devices communicating with the first terminal device, a second terminal device and other communication devices communicating with the second terminal device.

[0234] An embodiment of the present application provides another communication system, including: a first terminal device in the method for determining location information provided in an embodiment of the present application and other communication devices communicating with the first terminal device, a computing node and other communication devices communicating with the computing node, a network device and other communication devices communicating with the network device.

[0235] The present application also provides a computer-readable storage medium storing a computer program for implementing the method in the above method embodiment. When the computer program is executed on a computer, the computer can implement the method in the above method embodiment.

[0236] An embodiment of the present application further provides a computer program product, which includes computer program code. When the computer program code runs on a computer, the method in the above method embodiment is executed.

[0237] An embodiment of the present application also provides a chip, including a processor, wherein the processor is connected to a memory, the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the chip executes the method in the above method embodiment.

[0238] It should be understood that in the embodiments of the present application, the numbers "first", "second"... are only for distinguishing different objects, such as to distinguish different terminal devices or different measurement information, and do not constitute a limitation on the scope of the embodiments of the present application. The embodiments of the present application are not limited to this.

[0239] In addition, the term "and / or" in this application is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship; the term "at least one" in this application can mean "one" and "two or more". For example, A, B and C can represent seven situations: A exists alone, B exists alone, C exists alone, A and B exist at the same time, A and C exist at the same time, C and B exist at the same time, and A, B and C exist at the same time.

[0240] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0241] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0242] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0243] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0244] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0245] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0246] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for determining location information, characterized in that: include: The first terminal device receives a first reference signal from a network device and location information of the network device; The first terminal device determines first measurement information according to the first reference signal, where the first measurement information includes a time when the first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; The first terminal device receives second measurement information and first status information from at least one second terminal device, the second measurement information includes time when a second reference signal received by the second terminal device is sent from the network device, and arrival time and arrival angle of the second reference signal from the network device to the second terminal device, the first status information includes historical status information of the second terminal device and historical status information of an anchor device determined by the second terminal device, wherein the anchor device includes a virtual anchor point corresponding to the network device; The first terminal device determines third status information based on the first measurement information, the second measurement information and the first status information corresponding to the at least one second terminal device, the second status information, and the location information of the network device, the second status information includes historical status information of the first terminal device and historical status information of the anchor device determined by the first terminal device, the third status information includes current status information of the first terminal device and current status information of the anchor device, and the status information includes location information.

2. The method according to claim 1, characterized in that The state information also includes at least one of speed information or direction information.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: The first terminal device sends the first measurement information and the second state information to the at least one second terminal device respectively.

4. The method according to claim 3, characterized in that: The method further comprises: The first terminal device receives configuration information from the network device, where the configuration information indicates at least one of the following: a frequency domain bandwidth, a center frequency, or an available coding and modulation mode of available time-frequency resources; The first terminal device sends the first measurement information and the second status information to the at least one second terminal device respectively, including: the first terminal device sends the first measurement information and the second status information to the at least one second terminal device respectively according to the configuration information.

5. The method according to any one of claims 1 to 4, characterized in that The first terminal device and the at least one second terminal device have an inertial measurement unit IMU capability; or, The first terminal device and the at least one second terminal device do not have IMU capabilities.

6. A method for determining location information, characterized in that: include: The first terminal device receives a first reference signal from the network device; The first terminal device determines first measurement information according to the first reference signal, where the first measurement information includes a time when the first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; The first terminal device sends the first measurement information to the second terminal device; The first terminal device receives positioning result information from the second terminal device, the positioning result information includes current status information of the first terminal device and current status information of the anchor device, the positioning result information is determined according to the first measurement information corresponding to at least one first terminal device, the second measurement information corresponding to the second terminal device, the fourth status information, and the location information of the network device, the second measurement information includes the time when a second reference signal received by the second terminal device is sent from the network device, and the arrival time and arrival angle of the second reference signal from the network device to the second terminal device, the fourth status information includes historical status information of the first terminal device, historical status information of the second terminal device and historical status information of the anchor device, the status information includes location information, wherein the anchor device includes a virtual anchor point corresponding to the network device, and the at least one first terminal device includes the first terminal device.

7. The method according to claim 6, characterized in that The first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal; and / or, The second measurement information also includes signal-to-noise ratio information corresponding to the second reference signal.

8. The method according to claim 6 or 7, characterized in that: The state information also includes at least one of speed information or direction information.

9. The method according to any one of claims 6 to 8, characterized in that The method further comprises: The first terminal device receives configuration information from the network device, where the configuration information indicates at least one of the following: a frequency domain bandwidth of available time-frequency resources, a center frequency of the available time-frequency resources, or an available coding and modulation mode; The first terminal device sends the first measurement information to the second terminal device, including: the first terminal device sends the first measurement information to the second terminal device according to the configuration information.

10. The method according to any one of claims 6 to 9, characterized in that The at least one first terminal device and the second terminal device have IMU capabilities; or, The at least one first terminal device and the second terminal device do not have IMU capabilities.

11. A method for determining location information, characterized in that: include: The second terminal device receives a second reference signal from the network device and location information of the network device; The second terminal device determines second measurement information according to the second reference signal, where the second measurement information includes a time when the second reference signal is sent from the network device, and an arrival time and an arrival angle of the second reference signal from the network device to the second terminal device; The second terminal device receives first measurement information from at least one first terminal device, where the first measurement information includes a time when a first reference signal received by the first terminal device is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; The second terminal device determines the current state information respectively corresponding to the at least one first terminal device, the current state information of the second terminal device, and the current state information of the anchor device according to the first measurement information, the second measurement information, the fourth state information respectively corresponding to the at least one first terminal device, and the location information of the network device, the fourth state information includes the historical state information respectively corresponding to the at least one first terminal device, the historical state information of the second terminal device, and the historical state information of the anchor device, wherein the anchor device includes a virtual anchor corresponding to the network device; The second terminal device sends positioning result information to the at least one first terminal device respectively, and the positioning result information includes current status information of the first terminal device and current status information of the anchor device, and the status information includes location information.

12. The method according to claim 11, characterized in that The first measurement information further includes signal-to-noise ratio information corresponding to the first reference signal; and / or, The second measurement information also includes signal-to-noise ratio information corresponding to the second reference signal.

13. The method according to claim 11 or 12, characterized in that: The state information also includes at least one of speed information or direction information.

14. The method according to any one of claims 11 to 13, characterized in that The method further comprises: The second terminal device receives configuration information from the network device, where the configuration information indicates at least one of the following: a frequency domain bandwidth of available time-frequency resources, a center frequency of the available time-frequency resources, or an available coding and modulation mode; The second terminal device receives the first measurement information from the at least one first terminal device, including: the second terminal device receives the first measurement information from the at least one first terminal device according to the configuration information.

15. The method according to any one of claims 11 to 14, characterized in that The at least one first terminal device and the second terminal device have IMU capabilities; or, The at least one first terminal device and the second terminal device do not have IMU capabilities.

16. A method for determining location information, characterized in that: include: The first terminal device receives a first reference signal from the network device; The first terminal device determines first measurement information according to the first reference signal, where the first measurement information includes a time when the first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; The first terminal device sends the first measurement information to the network device; The first terminal device receives first positioning result information from the network device, the first positioning result information including current status information of the first terminal device and current status information of an anchor device, the first positioning result information is determined based on the location information of the network device, and first measurement information and second status information respectively corresponding to at least one first terminal device, the second status information includes historical status information respectively corresponding to the at least one first terminal device and historical status information of the anchor device, the status information includes location information, wherein the anchor device includes a virtual anchor point corresponding to the network device, and the at least one first terminal device includes the first terminal device.

17. The method according to claim 16, characterized in that The first measurement information also includes signal-to-noise ratio information corresponding to the first reference signal.

18. The method according to claim 16 or 17, characterized in that The state information also includes at least one of speed information or direction information.

19. A method for determining location information, characterized in that: include: The computing node receives first measurement information respectively corresponding to at least one first terminal device of the network device and the location information of the network device, wherein the first measurement information includes the time when a first reference signal received by the first terminal device is sent from the network device, and the arrival time and arrival angle of the first reference signal from the network device to the first terminal device; The computing node determines second positioning result information according to the location information of the network device, and the first measurement information and the second state information respectively corresponding to the at least one first terminal device, wherein the second positioning result information includes the current state information respectively corresponding to the at least one first terminal device and the current state information of the anchor device, the second state information includes the historical state information respectively corresponding to the at least one first terminal device and the historical state information of the anchor device, the state information includes the location information, wherein the anchor device includes the virtual anchor corresponding to the network device; The computing node sends the second positioning result information to the network device.

20. The method according to claim 19, characterized in that The first measurement information also includes signal-to-noise ratio information corresponding to the first reference signal.

21. The method according to claim 19 or 20, characterized in that The state information also includes at least one of speed information or direction information.

22. A method for determining location information, characterized in that: include: The network device sends a first reference signal to at least one first terminal device; The network device receives first measurement information from the at least one first terminal device, where the first measurement information includes a time when a first reference signal is sent from the network device, and an arrival time and an arrival angle of the first reference signal from the network device to the first terminal device; The network device sends, to the computing node, first measurement information respectively corresponding to the at least one first terminal device and location information of the network device; The network device receives second positioning result information from the computing node, the second positioning result information including current status information corresponding to the at least one first terminal device and current status information of the anchor device, the second positioning result information is determined according to the location information of the network device, and the first measurement information and the second status information corresponding to the at least one first terminal device, the second status information including historical status information corresponding to the at least one first terminal device and historical status information of the anchor device, wherein the anchor device includes a virtual anchor point corresponding to the network device; The network device sends first positioning result information to the at least one first terminal device respectively, where the first positioning result information includes current status information of the first terminal device and current status information of the anchor device, and the status information includes location information.

23. The method according to claim 22, characterized in that The first measurement information also includes signal-to-noise ratio information corresponding to the first reference signal.

24. The method according to claim 22 or 23, characterized in that The state information also includes at least one of speed information or direction information.

25. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 1 to 24.

26. A communication device, characterized in that: include: A processor and a transceiver, wherein the transceiver is used to receive computer codes or instructions and transmit the instructions to the processor, and the processor runs the computer codes or instructions so that the method according to any one of claims 1 to 24 is executed.

27. A communication system, characterized in that: include: A first terminal device and a second terminal device, wherein the first terminal device is used to implement the method according to any one of claims 6 to 10, and the second terminal device is used to implement the method according to any one of claims 11 to 15.

28. A communication system, characterized in that: include: A first terminal device, a network device and a computing node, wherein the first terminal device is used to implement the method described in any one of claims 16 to 18, the computing node is used to implement the method described in any one of claims 19 to 21, and the network device is used to implement the method described in any one of claims 22 to 24.

29. A computer-readable storage medium, characterized in that: include: The computer readable medium stores a computer program; When the computer program is run on a computer or a processor, the method according to any one of claims 1 to 24 is executed.

30. A computer program product, characterized in that A computer program is included which, when executed, causes the method according to any one of claims 1 to 24 to be implemented.

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