Wireless communication method, and terminal device, base station and positioning server

Abstract

Provided are a wireless communication method, and a terminal device, a base station and a positioning server. The method comprises: a terminal device receiving a first positioning signal sent by a base station; and the terminal device sending a second positioning signal to the base station, wherein the first positioning signal and the second positioning signal are used for performing RTT positioning on the terminal device, the moment at which the terminal device receives the first positioning signal is a first moment, the moment at which the terminal device sends the second positioning signal is a second moment, the difference value between the first moment and the second moment is a first difference value, and the first difference value is determined on the basis of a TA. Provided in the present application is another method for calculating a time difference (i.e., a first difference value) between the transmission and reception of a positioning signal on a terminal device side, that is, the first difference value is determined on the basis of a TA.

Description

Wireless communication method, terminal device, base station and positioning server

[0001] This application claims priority to PCT patent application No. PCT / CN2023 / 129811 filed on November 3, 2023, entitled “Wireless Communication Method and Communication Device,” and PCT patent application No. PCT / CN2023 / 131063 filed on November 10, 2023, entitled “Wireless Communication Method and Communication Device,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of communication technology, and more particularly, to a wireless communication method and a communication device. Background Art

[0003] In a communication system, terminal device positioning can be achieved based on round trip time (RTT). The RTT can be determined between a base station and a terminal device by transmitting uplink (UL) and downlink (DL) positioning signals. Based on the RTT, a positioning server can determine the distance between the terminal device and the base station. Furthermore, based on this distance, the positioning server can locate the terminal device.

[0004] Summary of the Invention

[0005] The present application provides a wireless communication method, a terminal device, a base station, and a positioning server. The following introduces various aspects of the present application.

[0006] In a first aspect, a wireless communication method is provided, the method comprising: a terminal device receiving a first positioning signal sent by a base station; the terminal device sending a second positioning signal to the base station; wherein the first positioning signal and the second positioning signal are used to perform RTT positioning of the terminal device, the moment when the terminal device receives the first positioning signal is a first moment, the moment when the terminal device sends the second positioning signal is a second moment, the difference between the first moment and the second moment is a first difference, and the first difference is determined based on a timing advance (TA).

[0007] In a second aspect, a wireless communication method is provided, which includes: a base station sends a first positioning signal to a terminal device; the base station receives a second positioning signal sent by the terminal device; wherein the first positioning signal and the second positioning signal are used to perform RTT positioning of the terminal device, the moment when the terminal device receives the first positioning signal is the first moment, the moment when the terminal device sends the second positioning signal is the second moment, the difference between the first moment and the second moment is a first difference, and the first difference is determined based on TA.

[0008] In a third aspect, a wireless communication method is provided, the method comprising: a positioning server determining a first difference based on TA; wherein, the positioning server performs RTT positioning of a terminal device through a first positioning signal and a second positioning signal, a moment when the terminal device receives the first positioning signal sent by the base station is a first moment, a moment when the terminal device sends the second positioning signal to the base station is a second moment, and a difference between the first moment and the second moment is the first difference.

[0009] In a fourth aspect, a terminal device is provided, comprising: a first receiving unit for receiving a first positioning signal sent by a base station; a first sending unit for sending a second positioning signal to the base station; wherein the first positioning signal and the second positioning signal are used to perform RTT positioning of the terminal device, the moment when the terminal device receives the first positioning signal is the first moment, the moment when the terminal device sends the second positioning signal is the second moment, the difference between the first moment and the second moment is a first difference, and the first difference is determined based on TA.

[0010] In the fifth aspect, a base station is provided, which includes: a second sending unit for sending a first positioning signal to a terminal device; a second receiving unit for receiving a second positioning signal sent by the terminal device; wherein the first positioning signal and the second positioning signal are used to perform RTT positioning of the terminal device, the moment when the terminal device receives the first positioning signal is the first moment, the moment when the terminal device sends the second positioning signal is the second moment, the difference between the first moment and the second moment is a first difference, and the first difference is determined based on TA.

[0011] In the sixth aspect, a positioning server is provided, which includes: a determination unit for determining a first difference based on TA; wherein, the positioning server performs RTT positioning on the terminal device through the first positioning signal and the second positioning signal, the moment when the terminal device receives the first positioning signal sent by the base station is the first moment, and the moment when the terminal device sends the second positioning signal to the base station is the second moment, and the difference between the first moment and the second moment is the first difference.

[0012] In the seventh aspect, a terminal device is provided, comprising a processor and a memory, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the terminal device executes part or all of the steps in the method of the first aspect.

[0013] In an eighth aspect, a base station is provided, comprising a processor and a memory, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the base station executes part or all of the steps in the method of the second aspect.

[0014] In a ninth aspect, a positioning server is provided, comprising a processor and a memory, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the positioning server executes part or all of the steps in the method of the third aspect.

[0015] In a tenth aspect, an embodiment of the present application provides a communication system, which includes the above-mentioned communication device. In another possible design, the system may also include other devices that interact with the communication device in the solution provided in the embodiment of the present application.

[0016] In the eleventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program enables a communication device to execute part or all of the steps in the methods of the above aspects.

[0017] In a twelfth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a communication device to perform some or all of the steps of the methods of the various aspects described above. In some implementations, the computer program product may be a software installation package.

[0018] In the thirteenth aspect, an embodiment of the present application provides a chip, which includes a memory and a processor. The processor can call and run a computer program from the memory to implement some or all of the steps described in the methods of the above aspects.

[0019] This application proposes another method for determining the time difference between sending and receiving positioning signals on the terminal device side (i.e., the first difference), that is, determining the first difference based on the TA. In the case where it is inconvenient to obtain the first difference through the terminal device, this application can determine the first difference through the TA, thereby achieving the positioning of the terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a schematic diagram of a wireless communication system used in an embodiment of the present application.

[0021] FIG. 2A is a diagram illustrating an example of a method for determining RTT.

[0022] FIG2B is an example diagram of a single-path delay.

[0023] FIG3 is an example diagram of a multi-RTT positioning scenario.

[0024] FIG4 is a schematic flowchart of a wireless communication method provided in an embodiment of the present application.

[0025] FIG5 is a timing diagram of an example provided in an embodiment of the present application.

[0026] FIG6 is another timing diagram provided by an embodiment of the present application.

[0027] FIG7 is another timing diagram provided by an embodiment of the present application.

[0028] FIG8 is another timing example diagram provided in an embodiment of the present application.

[0029] FIG9 is a schematic structural diagram of a terminal device provided in an embodiment of the present application.

[0030] FIG10 is a schematic structural diagram of a base station provided in an embodiment of the present application.

[0031] FIG11 is a schematic structural diagram of a positioning server provided in an embodiment of the present application.

[0032] FIG12 is a schematic structural diagram of a device for communication provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solution in this application will be described below with reference to the accompanying drawings.

[0034] Communication System

[0035] FIG1 illustrates a wireless communication system 100 used in an embodiment of the present application. The wireless communication system 100 may include communication devices. The communication devices may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120.

[0036] FIG1 exemplarily shows a network device and two terminals. Optionally, the wireless communication system 100 may include multiple network devices and each network device may include other numbers of terminal devices within its coverage area, which is not limited in the embodiments of the present application.

[0037] Optionally, the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiment of the present application.

[0038] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth generation (5G) system or new radio (NR), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), etc. The technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0039] The terminal device in the embodiments of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device in the embodiments of the present application may refer to a device that provides voice and / or data connectivity to a user and can be used to connect people, objects and machines, such as a handheld device with wireless connection function, a vehicle-mounted device, etc. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. Optionally, the UE can be used to act as a base station. For example, the UE can act as a scheduling entity that provides sidelink signals between UEs in vehicle-to-everything (V2X) or device-to-device (D2D) networks. For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and smart home devices communicate without relaying the communication signal through a base station.

[0040] The network device in the embodiments of the present application may be a device for communicating with a terminal device. The network device may also include an access network device. The access network device may provide communication coverage for a specific geographical area and may communicate with the terminal device 120 located within the coverage area. The access network device may also be referred to as a radio access network device or a base station. The access network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects the terminal device to a wireless network. Access network equipment can broadly cover various names as follows, or replace the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master eNB (MeNB), secondary eNB (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station can be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof. A base station may also refer to a communication module, modem, or chip used to be set in the aforementioned device or apparatus. A base station may also be a mobile switching center and a device that performs base station functions in D2D, V2X, and machine-to-machine (M2M) communications, a network-side device in a 6G network, or a device that performs base station functions in future communication systems. A base station may support networks with the same or different access technologies. The embodiments of this application do not limit the specific technology and specific device form used by the access network device.

[0041] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0042] The communication equipment involved in the wireless communication system can include not only access network equipment and terminal equipment, but also core network elements. Core network elements can be implemented by equipment, that is, core network elements are core network equipment.

[0043] The core network elements in the embodiments of the present application may include network elements that process and forward user signaling and data. For example, the core network equipment may include core network access and mobility management function (AMF), session management function (SMF), user plane gateway, location management function (LMF) and other core network equipment. Among them, the user plane gateway may be a server with functions such as mobility management, routing, and forwarding of user plane data, generally located on the network side, such as a serving gateway (SGW) or a packet data network gateway (PGW) or a user plane network element function entity (UPF). Of course, the core network may also include other network elements, which are not listed here one by one.

[0044] In some deployments, the network device in the embodiments of the present application may refer to a CU or a DU, or the network device may include a CU and a DU. The gNB may also include an AAU.

[0045] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0046] It should be understood that all or part of the functions of the communication device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (such as a cloud platform).

[0047] TA

[0048] In wireless communications, uplink transmission can use discrete Fourier transform spread OFDM (DFT-s-OFDM), resulting in the entire frequency band corresponding to the same symbol being shared among multiple users. In order to ensure the orthogonality of the uplink signals of each user, the communication system requires that the time difference between the signals of each terminal device arriving at the serving cell base station does not exceed the time length corresponding to the cyclic prefix (CP). To this end, terminal devices that are far away from the base station must send signals in advance relative to terminal devices that are close to the base station. The base station can indicate the amount of time that needs to be sent in advance. For example, the base station can notify the terminal device of the amount of time that needs to be advanced for uplink transmission through a timing advance command (TAC). Alternatively, the terminal device can adjust the amount of time sent in advance based on measurements.

[0049] Based on the TA, the terminal device can adjust the uplink transmission commands. In other words, the terminal device can send uplink symbols in advance according to the commands used for the transmission of the physical uplink shared channel (PUSCH), physical uplink control channel (PUCCH) and channel sounding reference signal (SRS).

[0050] Positioning technology

[0051] As communication technologies mature, some communication systems (such as 5G systems) can implement a growing number of communication algorithms. These algorithms can include high-speed information transmission and positioning technologies. For example, terminal device positioning can be achieved not only through GNSS but also through communication algorithms to meet the needs of communication systems.

[0052] Some wireless communication systems may include a server. The location coordinates of a terminal device may be calculated in the server. Such a server may also be called a positioning server.

[0053] The positioning server may be a network device with a positioning function provided by an operator. The network device with a positioning function may be a core network device or a cloud server. For example, the positioning server involved in the embodiment of the present application may include one or more of a location management function (LMF), a location management component (LMC), and a local location management function (LLMF) located in the network device, and the embodiment of the present application is not limited to this.

[0054] Among positioning technologies, RTT positioning technology is given priority due to its high accuracy and its independence from timing synchronization between network devices and terminal devices. The following describes RTT positioning technology.

[0055] RTT positioning

[0056] In a communication system, RTT positioning can determine the location of a responding device based on a positioning signal transmitted between the responding device and the initializing device. The positioning signal can be, for example, a reference signal or a pilot signal. In some embodiments, the positioning signal can also be referred to as an RTT measurement signal.

[0057] The responding device may be a device to be located, and the initializing device may be a device used to locate the responding device. For example, the responding device may be a terminal device, and the initializing device may be a base station.

[0058] It should be noted that, for ease of description, the following embodiments are mostly described using a terminal device as the responding device, that is, the positioning of the terminal device is described. This application can also be applied to the positioning of other communication devices. For the positioning of other communication devices, the "terminal device" in the embodiments can be replaced with the communication device in question.

[0059] Fig. 2 is an example diagram of a method for RTT positioning, which may include steps S210 to S240.

[0060] Step S210: The initializing device sends an RTT measurement request to the responding device.

[0061] Step S220: The initializing device sends an RTT measurement signal 1 to the responding device.

[0062] The initializing device sends RTT measurement signal 1 at time t0. Due to transmission delay, the responding device receives RTT measurement signal 1 at time t1. That is, the time of arrival (TOA) of RTT measurement signal 1 is at time t1.

[0063] The RTT measurement signal 1 may include, for example, a DL positioning reference signal (PRS).

[0064] Step S230: The responding device sends an RTT measurement signal 2 to the initializing device.

[0065] The responding device sends RTT measurement signal 2 at time t2. Due to transmission delay, the initiating device receives RTT measurement signal 2 at time t3. That is, the arrival time of RTT measurement signal 2 is time t3.

[0066] The RTT measurement signal 2 may include, for example, a sounding reference signal (SRS).

[0067] When the initialization device is a base station, the difference between time t3 and time t0 (t3-t0) can be expressed as the base station receiving and sending time difference. The base station receiving and sending time difference (abbreviated as receiving and sending time difference or receiving and sending difference) can be expressed as the time difference between the gNB and the base station. Rx-Tx For the convenience of description, the sending and receiving time difference of the initialization device in the following text is all represented by gNB. Rx-Tx Take this as an example.

[0068] In some embodiments, the gNB Rx-Tx Can meet: gNB Rx-Tx =T gNB-RX -T gNB-TX Among them, T gNB-RX It can be the transmission reference point (TRP) (or simply reference point) containing the reception timing of the uplink subframe #i of the SRS associated with the terminal device, defined by the first detected time path. gNB-TX It can be the TRP transmission timing of the downlink subframe #j that is closest in time to the subframe #i received from the terminal device. A plurality of SRS resources can be used to determine the start of one subframe containing SRS.

[0069] Step S240: The responding device sends the difference between time t2 and time t1 (t2-t1) to the initializing device via an RTT report. In the case where the responding device is a terminal device, the difference between time t1 and time t2 can be expressed as the time difference between the terminal device receiving and sending. The time difference between the terminal device receiving and sending (abbreviated as the receiving and sending time difference or the receiving and sending difference) can be obtained, for example, by UE Tx-Rx or UE Rx-Tx express.

[0070] In some embodiments, the UE Tx-Rx Can meet: UETx-Rx =T UE-TX -T UE-RX UE Rx-Tx Can meet: UE Rx-Tx =T UE-RX -T UE- TX Understandably, UE Tx-Rx =-UE Rx-Tx That is, through UE Tx-Rx =-UE Rx-Tx , which can realize UE Tx-Rx With UE Rx-Tx mutual replacement.

[0071] Time difference between sending and receiving UE Tx-Rx 、T UE-TX 、T UE-RX There are many ways to express it. For example, T UE-RX The timing of the downlink subframe #i received by the terminal device from the transmission point (TP) is defined by the first detected time path. UE-TX The timing indication may be sent by the terminal device in the uplink subframe #j that is closest in time to the subframe #i received from the TP. A plurality of DL PRSs or channel state information reference signals (CSI-RS) may be used to determine this subframe.

[0072] Based on time t0, time t3 and the difference between time t2 and time t1, RTT can be calculated. For example, RTT can satisfy: RTT = t3 - t0 - (t2 - t1). Or, based on UE Tx-Rx and gNB Rx-Tx The RTT can be obtained. That is, the RTT can satisfy: RTT = gNB Rx- Tx -UE Tx-Rx .

[0073] For example, the terminal device may transmit an RTT report to the positioning server, where the RTT report may include the UE time measured for at least one network device. Tx-Rx The network device may transmit an RTT report to the positioning server, which may include the gNB Rx-Tx The positioning server can be based on RTT = gNB Rx-Tx -UE Tx-Rx Determine RTT. RTT report can also be called measurement report.

[0074] After obtaining the RTT, the one-way path delay can be obtained. For example, the one-way path delay Td can satisfy Td = abs(gNB Rx-Tx -UE Tx- Rx ) / 2, or, Td = abs(gNB Rx-Tx +UE Rx-Tx ) / 2. As shown in Figure 2B, gNB Rx-Tx and UE Tx-Rx The time difference between them is equal to 2 times the single path delay Td.

[0075] The distance d between the initializing device and the responding device may satisfy: d = Td × c, where c represents the speed of light.

[0076] Based on the distance between the initializing device and the responding device, the responding device can be located.

[0077] In some embodiments, RTT positioning technology can be combined with angle-of-arrival (AOA) to achieve positioning. For example, when only one initiating device participates in the positioning of the responding device, RTT and AOA can be combined to achieve positioning.

[0078] In some embodiments, RTT positioning technology can use multiple RTTs to achieve positioning. For example, in a communication system, multiple RTTs can be measured between a base station and a terminal device. Based on these multiple RTTs, the distance between the terminal device and each base station can be determined, thereby calculating the terminal device's location.

[0079] As shown in Figure 3, terminal device positioning can be achieved using three base stations. In Figure 3, the three base stations are gNB1, gNB2, and gNB3. The distance between the terminal device and the corresponding gNB is calculated based on the RTT1 between gNB1 and the terminal device, the RTT2 between gNB2 and the terminal device, and the RTT3 between gNB3 and the terminal device, thereby determining the terminal device's location.

[0080] It should be noted that FIG3 is only an example, and the positioning of the terminal device can be achieved through other numbers of base stations.

[0081] In related technologies, positioning using multiple base stations typically requires strict synchronization between them. This is because even a small synchronization error can result in significant ranging errors. For example, a 1 nanosecond synchronization error can result in a 0.3-meter ranging error. Therefore, when synchronization accuracy is required at the decimeter level, the base station synchronization error must be controlled within nanoseconds. However, this is difficult for base stations to achieve. However, RTT technology does not require strict synchronization between stations and can be applied both indoors and outdoors.

[0082] This application proposes to use TA for RTT positioning.

[0083] FIG4 is a schematic flowchart of a wireless communication method provided in an embodiment of the present application.

[0084] The method shown in FIG4 can be performed by a terminal device and a network device. The network device may include a base station and / or a positioning server. It should be noted that the base station and the positioning server may be located on the same device or on different devices.

[0085] It should be noted that the network device can be a terrestrial communication device or a non-terrestrial communication device (such as a satellite). In other words, the method shown in FIG4 can be applied not only to a terrestrial network (TN) system but also to a non-terrestrial network (NTN) system.

[0086] The method shown in FIG. 4 may include steps S410 to S430 .

[0087] Step S410: The base station sends a first positioning signal to the terminal device.

[0088] Step S420: The terminal device sends a second positioning signal to the base station.

[0089] Both the first positioning signal and the second positioning signal are used to locate the terminal device. The first positioning signal may be a downlink positioning signal. For example, the first positioning signal may include a PRS. The second positioning signal may be an uplink positioning signal. For example, the first positioning signal may include an SRS.

[0090] As described above, RTT positioning of a terminal device can be performed based on the first positioning signal and the second positioning signal. RTT positioning requires determining the time difference between sending and receiving. The time difference between sending and receiving on the terminal device side can be the first difference. The time difference between sending and receiving on the base station side can be the second difference.

[0091] For example, the time when the terminal device receives the first positioning signal may be the first time. The time when the terminal device sends the second positioning signal may be the second time. The difference between the first time and the second time may be the first difference. It is understood that the first difference may be the difference between the actual time when the terminal device sends the second positioning signal and receives the first positioning signal, that is, the actual time difference between sending and receiving on the terminal device side.

[0092] For another example, the time when the base station transmits the first positioning signal may be the third time. The time when the base station receives the second positioning signal may be the fourth time. The difference between the fourth time and the third time may be the second difference. It is understood that the second difference may be the difference between the actual time when the base station receives the second positioning signal and transmits the first positioning signal, that is, the actual time difference between transmission and reception on the base station side.

[0093] It should be noted that the "difference between A and B" described in this application may include any of the following: AB, BA, or abs(AB). Here, abs(AB) represents the absolute value. Therefore, the difference between A and B can be positive, negative, or 0.

[0094] The inventors of this application have analyzed that TA actually reflects the distance information between the terminal device and the base station. Therefore, this application proposes that RTT positioning can be achieved based on TA.

[0095] Exemplarily, the first difference may be determined based on the TA. For example, the method shown in FIG4 may include step S430. In step S430, the positioning server may determine the first difference based on the TA. For another example, the base station may determine the first difference based on the TA and indicate the first difference to the positioning server.

[0096] Therefore, the network side can determine the first difference value through the TA information. Therefore, the terminal device may not report the first difference value, thereby reducing the power and resources consumed by reporting the first difference value.

[0097] As shown in Figure 5, when the terminal device reports the time difference between sending and receiving, it uses the timing of the uplink subframe as a reference, but the time of actually receiving the first signal is determined by the subframe header according to the timing of the downlink subframe. As shown in Figure 5, TA1, this application proposes that TA1 can be expressed as the sum of an integer number of subframes and a subframe that is less than one. In other words, TA can satisfy n*t s +t 0_UE Where n can be an integer. s is the length of a subframe. 0_UE It indicates the time that is less than one subframe after subtracting an integer number of subframes from TA. As can be seen from Figure 5, t 0_UE UE Tx-Rx .

[0098] It can be seen that the time difference between sending and receiving reported by the terminal equipment marked in Figure 5 is UE Tx-Rx It can be reflected by TA information. Alternatively, TA information can reflect UE Tx-Rx That is, the TA information can contain t 0_UE information.

[0099] In some embodiments, the first difference may be indicated by a first time difference. The first time difference may be a value obtained by taking the modulus of the first difference with respect to the subframe length. That is, the first time difference may be a value less than one subframe after subtracting an integer multiple of subframes from the first difference. For example, the first difference may be: Min(mod(first moment - second moment, Ts), Ts-mod(first moment - second moment, Ts). Where Ts is the subframe length.

[0100] When the terminal device and / or base station are moving slowly, the signal propagation delay is less than one subframe. In this case, the present application proposes to obtain a first time difference by subtracting integer multiples of subframes from the first difference, and use the first time difference to represent or indicate the first difference. That is, the first time difference can represent the time difference between sending and receiving on the terminal device side.

[0101] The following is an example of Figure 6. As shown in Figure 6, the terminal device receives the first positioning signal in downlink subframe i. The uplink subframe closest to downlink subframe i is subframe j. The terminal device sends the second positioning signal in subframe l. The first difference can be represented by the "transmission and reception time difference" in Figure 6. The first time difference can be represented by T in Figure 6. d-UE According to the related art, the difference between subframe i and subframe j can be used to represent UE Tx-Rx (i.e. T in Figure 6 UE-RX -T UE-TX ). As can be seen from Figure 6, T UE-RX -T UE-TX and T d_UE Satisfy: abs(T UE-RX -T UE-TX )+abs(T d_UE )=Ts. Where Ts represents the length of the subframe. According to Figure 6, consider T UE-RX -T UE-TX is a negative value, T d_UE =Ts+T UE-RX -T UE-TX .

[0102] As can be seen from Figure 6, through T d_UE Not only the actual transmission and reception time difference can be determined, but also the value representing the transmission and reception time difference in the related art (eg the difference between subframe i and subframe j) can be determined.

[0103] The terminal device may report information related to the first time difference to the network device. For example, the terminal device may report the first time difference to the network device. Taking Figure 6 as an example, the terminal device may report T d_UE For another example, the terminal device may report the difference between the first time difference and the subframe length to the network device. Continuing with FIG6 as an example, the terminal device may report T UE-RX -TUE-TX It is understood that, regardless of which information is reported, the information related to the first time difference is less than or equal to the first difference. Therefore, compared with reporting the first difference, reporting the first time difference can save communication resources. Alternatively, when occupying the same amount of communication resources, the indication accuracy of the first time difference can be higher than the first difference.

[0104] In some embodiments, the terminal device may send first information. The first information may be used to indicate the movement of the terminal device.

[0105] When the propagation delay and subframe length are comparable, the movement time of the terminal device corresponding to one subframe length is hundreds of seconds. For a satellite base station, the movement time of the satellite base station corresponding to one subframe length is also tens of seconds. The positioning server can determine whether the propagation time corresponding to the moving distance of the terminal device exceeds the length of one subframe based on one or more of the moving speed of the satellite base station, the moving speed of the terminal device, and the position solution result. Therefore, based on the movement of the terminal device indicated by the first information, it can be determined whether the propagation delay of the signal is less than one subframe. Alternatively, based on the movement of the terminal device, it can be determined whether the terminal device may have moved a distance corresponding to one or more subframes within the time corresponding to the receiving and sending time difference of the base station and / or the terminal device. The specific analysis is as follows.

[0106] When the propagation delay is comparable to the subframe length (i.e., the propagation delay is close to or greater than the length of a subframe), the equivalent movement time for a terminal device is several hundred seconds, and the corresponding movement time for a base station (e.g., a non-terrestrial communication base station) is also several tens of seconds. The positioning server can determine whether the propagation time corresponding to the terminal device's movement distance exceeds the length of a subframe based on one or more of the base station's movement speed, the user's movement speed, and the position solution result.

[0107] In some embodiments, the first information can be used to indicate one or more of the following information: whether the terminal device has speed measurement capability; whether the terminal device has obtained the moving speed; moving speed; whether the terminal device has obtained the moving type of the terminal device; moving type; whether the terminal device has obtained the moving speed range that the terminal device can reach; moving speed range.

[0108] The mobility type may include the device type of the terminal device, which may include: high-speed rail, freight truck, car, airplane, ship, pedestrian, bicycle / shared bicycle, etc.

[0109] It is understood that in some cases, the first information may be used to indicate inherent attributes of the terminal device. Therefore, the first information may be included in the capability information of the terminal device. For example, the first information may be used to indicate one or more of the following: whether the terminal device has speed measurement capability, whether the terminal device has obtained the range of mobile speeds that the terminal device can reach, whether the terminal device has obtained the mobile type of the terminal device, etc.

[0110] In some cases, the first information may be used to indicate dynamic information of the terminal device. For example, the first information may be used to indicate one or more of the following: moving speed, moving speed range, and moving type.

[0111] In some embodiments, the network device may send a first request message to the terminal device. The first request message may be used to request the terminal device to send the first information. In response to receiving the first request message, the terminal device may send the first information. For example, if the terminal device's capability information does not include the first information, the network device may request the first information through the first request message.

[0112] Optionally, the first request information may be used to request speed-related information. The first information may include speed-related information. The speed-related information may include one or more of the following: the terminal device's moving speed, a moving speed range, and a moving type. When the network device requests speed-related information from the terminal device, the terminal device may report the terminal device's speed-related information based on the network device's request.

[0113] As described above, the first difference can be indicated by a first time difference. Similarly, the second difference can be indicated by a second time difference. The second time difference can be the value obtained by taking the modulus of the second difference with respect to the subframe length. For example, the second time difference can be: Min(mod(time when the base station receives the second positioning signal - time when the base station sends the first positioning signal, Ts), Ts-mod(time when the base station receives the second positioning signal - time when the base station sends the first positioning signal, Ts). Where Ts is the subframe length.

[0114] The base station may report the second time difference or the difference between the second time difference and the subframe length to the positioning server.

[0115] As shown in Figure 7, the subframe in which the base station sends the first positioning signal is subframe i. The subframe in which the base station receives the second positioning signal is subframe l. The second difference is marked by the "transmitting and receiving time difference" in Figure 7. The time corresponding to the second difference after removing the integer multiple of the subframe number is T d_gNB . T d_gNB This is the second time difference. d_gNB The difference between the receiving and sending data reported by the base station is T gNB-RX -T gNB-TXThe duration of can be the same. That is, T d_gNB =T gNB-RX -T gNB-TX .

[0116] The propagation delay Td between the terminal device and the base station may satisfy: Td=(T2+T1) / 2, where T2 may represent the second time difference and T1 may represent the first time difference.

[0117] Combining Figures 6 and 7, the single path propagation time Td between the terminal device and the base station can be calculated. Td can satisfy Td = (T d_gNB +T d_UE ) / 2. gNB-RX -T gNB-TX and T UE-RX -T UE-TX Substitute this formula. We can get Td=[(T gNB-RX -T gNB-TX )+Ts+T UE-RX -T UE-TX ) / 2. Ignoring the influence of integer multiples of Ts, Td can satisfy: Td=[(T gNB-RX -T gNB-TX )+T UE-RX -T UE-TX ) / 2.

[0118] The method shown in FIG4 may further include step S425. In step S425, the base station sends second information to the positioning server. The second information may be used to indicate a time interval (TA). Based on the TA, the positioning server may determine a time difference between transmission and reception on the terminal device side, thereby locating the terminal device.

[0119] In some embodiments, the base station may determine the TA and send the second information to the positioning server. In some embodiments, the TA is determined by the terminal device itself. In this case, the terminal device may send the second information. For example, the terminal device may directly send the second information to the positioning server. In another example, the terminal device may send the second information to the base station, which may forward the second information to the positioning server.

[0120] Optionally, the second information may include one or more of the following: a TA value, a value obtained by modulo the TA value with respect to a subframe length. It is understood that the time length of the value obtained by modulo the TA value with respect to a subframe length is less than one subframe.

[0121] It should be noted that the TA value may include one or more TA values. For example, the TA corresponding to the time period during which the first positioning signal is transmitted may be the first TA. The TA corresponding to the time period during which the second positioning signal is transmitted may be the second TA. The TA value may include both the first TA and the second TA. In other words, the second information may indicate the first TA and / or the second TA. As shown in Figure 8, the first TA is TA#i in Figure 8. The second TA is TA#1 in Figure 8. In this case, the second information may indicate both TA#i and TA#1.

[0122] Optionally, when the base station sends the second information, the second information may include one or more of the following: a second difference, a second time difference, a difference between the first time difference and the second time difference, and a difference between the first difference and the second difference. As described above, the second difference may be the actual transmit and receive time difference on the base station side. The second time difference is the value obtained by taking the remainder of the second difference with respect to the subframe length. The first time difference and the second time difference may be the difference between the transmit and receive time difference on the base station side (represented by the second time difference) and the remaining duration after deducting an integer multiple of subframes from the value of TA.

[0123] It is understandable that when the base station determines the TA, the terminal device does not need to report the positioning measurement. The base station only needs to send the relevant information of the positioning measurement to the positioning server to achieve the RTT positioning of the terminal device. Therefore, the solution provided by the embodiment of the present application can reduce the information reported by the terminal device, thereby reducing the use of communication resources.

[0124] It should be noted that, from the above analysis, after subtracting the integer multiple subframes from the transmit and receive time difference on the terminal device side, the transmit and receive time difference on the terminal device side can be determined by the TA. This requires that the uplink and downlink on the terminal device side are strictly aligned after taking into account the influence of the TA. In other words, when the uplink and downlink on the terminal device side are synchronized, the terminal device may not report the transmit and receive time difference. From an implementation perspective, since the uplink and downlink are both on one side, that is, both on the terminal device side, the uplink and downlink clocks can be strictly aligned on the terminal device side. Therefore, strict uplink and downlink alignment on the terminal device side is achievable.

[0125] In some embodiments, the terminal device may send third information to a network device. The network device may include a base station and / or a positioning server. The base station may, for example, include a base station corresponding to a serving cell. The third information may be used to indicate or confirm whether the terminal device reports the first difference.

[0126] For example, the third information may be used to indicate whether the terminal device reports the first difference. In other words, the terminal device may inform the network device via the third information whether the terminal device reports the first difference.

[0127] For another example, the network device may send fourth information, which may be used to instruct or request the terminal device whether to report the first difference. In response to receiving the fourth information, the terminal device may send third information. The third information may be used to confirm whether the terminal device reports the first difference.

[0128] In some embodiments, the terminal device may receive fourth information sent by a network device. The network device may include a base station and / or a positioning server. The base station may, for example, include a base station corresponding to a serving cell. The fourth information may be used to indicate or confirm whether the terminal device reports the first difference.

[0129] For example, the fourth information may be used to instruct the terminal device whether to report the first difference. In other words, the terminal device may perform a corresponding action according to the instruction of the fourth information.

[0130] For another example, the terminal device may send a third message to request not to send the first difference. The third message may be sent when reporting capabilities. The fourth message may be used to confirm the terminal device's request. If the fourth message confirms that the terminal device may not send the first difference, the terminal device may not send the first difference. If the fourth message confirms that the terminal device cannot not send the first difference, the terminal device still needs to send the first difference.

[0131] It should be noted that the "sending the first difference" mentioned above refers to the indication information of the terminal device sending the first difference. This application does not limit the specific format of the indication information of the first difference. In addition, this application does not limit the representation method of the first difference. For example, "sending the first difference" may include: sending the first time difference. For another example, "sending the first difference" may include: sending the actual sending and receiving time. For another example, "sending the first time difference" may include: sending the difference between subframe i and subframe j. Among them, subframe i is the subframe for receiving the first positioning signal, and subframe j is the uplink subframe closest to subframe i.

[0132] If the terminal device does not need to send the first difference, it can still send the second positioning signal even if it does not receive the first positioning signal. The network device can determine the signal propagation delay based on the time when the second positioning signal is received, the time when the first positioning signal is sent, and the time delay (TA), thereby performing positioning.

[0133] In some embodiments, the terminal device can adjust the time-of-arrival (TA) based on the detected first positioning signal and synchronization signal. In some cases, the downlink synchronization accuracy of the terminal device is lower than the estimated accuracy required for positioning. After detecting the first positioning signal, the terminal device can obtain a more accurate downlink signal arrival time accuracy. This accuracy can be higher than, or even much higher than, the time accuracy of synchronization. Therefore, adjusting the TA based on the first positioning signal and synchronization signal can make the transmit and receive time difference on the terminal device side determined based on the TA more accurate.

[0134] Optionally, the adjusted TA value TA2 may satisfy: TA2 = TA1 - 2ΔT. TA1 represents the TA value before adjustment, and ΔT represents the difference between the time when the first positioning signal is detected and the time when the synchronization signal is detected. That is, ΔT = the time when the first positioning signal is detected - the time when the downlink synchronization signal is detected during downlink synchronization. It is understandable that when the time when the first positioning signal is detected is earlier than the time when the synchronization signal is detected, it indicates that the actual downlink signal delay is smaller, and the uplink signal should be advanced less. When the time when the first positioning signal is detected is later than the time when the synchronization signal is detected, it indicates that the actual downlink signal delay is greater, and the uplink signal should be advanced more.

[0135] It can be understood that based on the present application, the terminal device can fine-tune the uplink transmission when sending an uplink signal (such as a second positioning signal), so that the base station can calculate the time difference between sending and receiving and / or the propagation delay with reliable accuracy.

[0136] It should be noted that the purpose of adjusting TA in this application is to enable the network device to more accurately calculate the transmit and receive time difference (e.g., the first time difference). The purpose of adjusting TA in this application may not be to ensure the orthogonality of the uplink signals of each user. If the orthogonality of the uplink signals is to be ensured, the adjusted TA can satisfy: TA + 2ΔT.

[0137] It should be noted that the present application performs fine-tuning of the TA based on the first positioning signal and synchronization signal. Therefore, the orthogonality of the uplink signal is minimally affected. In other words, this technical solution can more accurately calculate the first time difference while ensuring the orthogonality of the uplink signal to a certain extent.

[0138] In some embodiments, if the first positioning signal does not meet the first condition, the terminal device may not send the second positioning signal and / or the first difference. For example, if the terminal device needs to report the first difference, if the first positioning signal does not meet the first condition, the terminal device may not send the first difference.

[0139] It is understood that the second positioning signal and / or the first difference can serve as signal confirmation feedback. That is, the second positioning signal and / or the first difference can be used to confirm whether the first positioning signal meets the first condition. If the second positioning signal and / or the first difference is sent, the first positioning signal meets the first condition; if the second positioning signal and / or the first difference is not sent, the first positioning signal does not meet the first condition.

[0140] If the terminal device does not correctly receive the first positioning signal, but the terminal device still sends the second positioning signal, the base station may mistakenly believe that the terminal device has correctly received the first positioning signal, and / or the terminal device side fine-tunes the uplink timing when sending the second positioning signal (for example, adjusts the TA), resulting in incorrect base station detection results. Based on the present application, if the base station does not receive the second positioning signal and / or the first difference sent by the terminal device, the base station can determine that the first positioning signal received by the terminal device does not meet the first condition, and / or the terminal device does not fine-tune the uplink timing, thereby determining that the positioning measurement is invalid.

[0141] The first condition may be related to the terminal device's detection of the first positioning signal. For example, the first condition may include one or more of the following: the terminal device detects the first positioning signal, and the accuracy of the first positioning signal detected by the terminal device is greater than or equal to a first threshold. In other words, if the terminal device detects the first positioning signal and / or the accuracy of the detected first positioning signal is high, the terminal device may send the second positioning signal.

[0142] It should be noted that the first threshold may satisfy one or more of the following: predefined by a protocol, pre-set, or configured by a network device. The network device may configure the first threshold via high-layer signaling.

[0143] In some embodiments, when the first positioning signal does not meet the first condition, the terminal device may also send indication information to indicate that the first positioning signal does not meet the first condition. This indication information may be reported on the resource that originally needs to report the first difference. For example, when both the terminal device and the base station need to report their respective transmit and receive time differences, if the terminal device does not detect the first positioning signal, the terminal device may not report the first difference. Alternatively, the terminal device may report indication information of measurement failure on the resource unit that originally reported the first difference.

[0144] The method embodiments of the present application are described in detail above, and the device embodiments of the present application are described in detail below. It should be understood that the description of the method embodiments corresponds to the description of the device embodiments, so for parts not described in detail, reference can be made to the above method embodiments.

[0145] 9 is a schematic structural diagram of a terminal device 900 provided in an embodiment of the present application. The terminal device 900 includes a first receiving unit 910 and a first sending unit 920.

[0146] The first receiving unit 910 is used to receive a first positioning signal sent by a base station; the first sending unit 920 is used to send a second positioning signal to the base station; wherein, the first positioning signal and the second positioning signal are used to perform loop time RTT positioning on the terminal device, the moment when the terminal device receives the first positioning signal is the first moment, and the moment when the terminal device sends the second positioning signal is the second moment, the difference between the first moment and the second moment is the first difference, and the first difference is determined based on the time advance TA.

[0147] In some embodiments, the terminal device 900 is further used to: send first information; wherein the first information is used to indicate the movement status of the terminal device.

[0148] In some embodiments, the first information is used to indicate one or more of the following information: whether the terminal device has speed measurement capability; whether the terminal device has obtained the moving speed; moving speed; whether the terminal device has obtained the moving type of the terminal device; moving type; whether the terminal device has obtained the moving speed range that the terminal device can reach; moving speed range.

[0149] In some embodiments, sending the first information includes: sending the first information in response to receiving first request information; wherein the first request information is used to request the terminal device to send the first information.

[0150] In some embodiments, the first difference is indicated by a first time difference, where the first time difference is a value obtained by modulo the first difference with respect to a subframe length.

[0151] In some embodiments, the moment when the base station sends the first positioning signal is the third moment, and the moment when the base station receives the second positioning signal is the fourth moment. The difference between the fourth moment and the third moment is the second difference. The second difference is indicated by the second time difference. The second time difference is the value obtained by taking the remainder of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td = (T2 + T1) / 2, where T2 represents the second time difference and T1 represents the first time difference.

[0152] In some embodiments, the terminal device 900 is further used to: send second information; wherein the second information is used to indicate the TA.

[0153] In some embodiments, the second information is used to indicate one or more of the following information: a value of TA; a value obtained by modulo the value of TA with respect to a subframe length.

[0154] In some embodiments, the terminal device 900 is further used to: send third information; wherein the third information is used to indicate or confirm: whether the terminal device reports the first difference.

[0155] In some embodiments, the terminal device 900 is further used to: receive fourth information; wherein the fourth information is used to indicate or confirm whether the terminal device reports the first difference.

[0156] In some embodiments, the terminal device 900 is further configured to adjust the TA based on the detection of the first positioning signal and the synchronization signal.

[0157] In some embodiments, the adjusted TA value TA2 satisfies TA2 = TA1 - 2ΔT, where TA1 represents the TA value before adjustment, and ΔT represents the difference between the time when the first positioning signal is detected and the time when the synchronization signal is detected.

[0158] In some embodiments, the first sending unit is specifically configured to: not send the second positioning signal and / or the first difference when the first positioning signal does not meet the first condition.

[0159] In some embodiments, the first condition includes one or more of the following: the terminal device detects a first positioning signal; the accuracy of the terminal device detecting the first positioning signal is greater than or equal to a first threshold.

[0160] In some embodiments, the first threshold may satisfy one or more of the following: predefined by a protocol, preset, or configured by a network device.

[0161] In an optional embodiment, the first receiving unit 910 or the first sending unit 920 may be a transceiver 1230. The terminal device 900 may further include a processor 1210 and a memory 1220, as specifically shown in FIG12 .

[0162] FIG10 is a schematic structural diagram of a base station 1000 provided in an embodiment of the present application. The base station 1000 includes a second sending unit 1010 and a second receiving unit 1020 .

[0163] The second sending unit 1010 is used to send a first positioning signal to the terminal device; the second receiving unit 1020 is used to receive the second positioning signal sent by the terminal device; wherein, the first positioning signal and the second positioning signal are used to perform loop time RTT positioning on the terminal device, the moment when the terminal device receives the first positioning signal is the first moment, and the moment when the terminal device sends the second positioning signal is the second moment, the difference between the first moment and the second moment is the first difference, and the first difference is determined based on the time advance TA.

[0164] In some embodiments, the base station 1000 is further used to: receive first information; wherein the first information is used to indicate the movement status of the terminal device.

[0165] In some embodiments, the first information is used to indicate one or more of the following information: whether the terminal device has speed measurement capability; whether the terminal device has obtained the moving speed; moving speed; whether the terminal device has obtained the moving type of the terminal device; moving type; whether the terminal device has obtained the moving speed range that the terminal device can reach; moving speed range.

[0166] In some embodiments, receiving the first information includes: receiving the first information in response to sending the first request information; wherein the first request information is used to request the terminal device to send the first information.

[0167] In some embodiments, the first difference is indicated by a first time difference, where the first time difference is a value obtained by modulo the first difference with respect to a subframe length.

[0168] In some embodiments, the moment when the base station sends the first positioning signal is the third moment, and the moment when the base station receives the second positioning signal is the fourth moment. The difference between the fourth moment and the third moment is the second difference. The second difference is indicated by the second time difference. The second time difference is the value obtained by taking the remainder of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td = (T2 + T1) / 2, where T2 represents the second time difference and T1 represents the first time difference.

[0169] In some embodiments, the base station 1000 is further configured to: send second information to the positioning server;

[0170] The second information is used to indicate TA.

[0171] In some embodiments, the second information is used to indicate one or more of the following information: the value of TA; the value of TA modulo the subframe length; the second time difference; the difference between the first time difference and the second time difference; wherein, the moment when the base station sends the first positioning signal is the third moment, the moment when the base station receives the second positioning signal is the fourth moment, the difference between the fourth moment and the third moment is the second difference, the second difference is indicated by the second time difference, and the second time difference is the value obtained by modulo the second difference with respect to the subframe length.

[0172] In some embodiments, the base station 1000 is further used to: receive third information; wherein the third information is used to indicate or confirm: whether the terminal device reports the first difference.

[0173] In some embodiments, the base station 1000 is further used to: send fourth information; wherein the fourth information is used to indicate or confirm whether the terminal device reports the first difference.

[0174] In some embodiments, the second receiving unit is specifically configured to: not receive the second positioning signal and / or the first difference if the first positioning signal does not satisfy the first condition.

[0175] In some embodiments, the first condition includes one or more of the following: the terminal device detects a first positioning signal; the accuracy of the terminal device detecting the first positioning signal is greater than or equal to a first threshold.

[0176] In some embodiments, the first threshold may satisfy one or more of the following: predefined by a protocol, preset, or configured by a network device.

[0177] In an optional embodiment, the second receiving unit 1020 or the second sending unit 1010 may be a transceiver 1230. The base station 1000 may further include a processor 1210 and a memory 1220, as specifically shown in FIG12 .

[0178] FIG11 is a schematic structural diagram of a positioning server 1100 provided in an embodiment of the present application. The positioning server 1100 may include a determining unit 1110 .

[0179] The determination unit 1110 is used to determine a first difference based on the time advance TA; wherein, the positioning server performs loop time RTT positioning on the terminal device through the first positioning signal and the second positioning signal, the moment when the terminal device receives the first positioning signal sent by the base station is the first moment, and the moment when the terminal device sends the second positioning signal to the base station is the second moment, and the difference between the first moment and the second moment is the first difference.

[0180] In some embodiments, the positioning server 1100 is further used to: receive first information; wherein the first information is used to indicate the movement status of the terminal device.

[0181] In some embodiments, the first information is used to indicate one or more of the following information: whether the terminal device has speed measurement capability; whether the terminal device has obtained the moving speed; moving speed; whether the terminal device has obtained the moving type of the terminal device; moving type; whether the terminal device has obtained the moving speed range that the terminal device can reach; moving speed range.

[0182] In some embodiments, receiving the first information includes: receiving the first information in response to sending the first request information; wherein the first request information is used to request the terminal device to send the first information.

[0183] In some embodiments, the first difference is indicated by a first time difference, where the first time difference is a value obtained by modulo the first difference with respect to a subframe length.

[0184] In some embodiments, the moment when the base station sends the first positioning signal is the third moment, and the moment when the base station receives the second positioning signal is the fourth moment. The difference between the fourth moment and the third moment is the second difference. The second difference is indicated by the second time difference. The second time difference is the value obtained by taking the remainder of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td = (T2 + T1) / 2, where T2 represents the second time difference and T1 represents the first time difference.

[0185] In some embodiments, the positioning server 1100 is further used to: receive second information; wherein the second information is used to indicate the TA.

[0186] In some embodiments, the second information is used to indicate one or more of the following information: the value of TA; the second time difference obtained by taking the modulus of the TA value with respect to the subframe length; the difference between the first time difference and the second time difference; wherein, the moment when the base station sends the first positioning signal is the third moment, the moment when the base station receives the second positioning signal is the fourth moment, the difference between the fourth moment and the third moment is the second difference, the second difference is indicated by the second time difference, and the second time difference is the value obtained by taking the modulus of the second difference with respect to the subframe length.

[0187] In some embodiments, the positioning server 1100 is further used to: receive third information; wherein the third information is used to indicate or confirm: whether the terminal device reports the first difference.

[0188] In some embodiments, the positioning server 1100 is further used to: send fourth information; wherein the fourth information is used to indicate or confirm whether the terminal device reports the first difference.

[0189] In an optional embodiment, the determining unit 1110 may be a processor 1210. The positioning server 1100 may further include a transceiver 1230 and a memory 1220, as specifically shown in FIG12 .

[0190] Figure 12 is a schematic block diagram of a communication device according to an embodiment of the present application. The dashed lines in Figure 12 indicate that the unit or module is optional. Apparatus 1200 may be used to implement the method described in the above method embodiment. Apparatus 1200 may be a chip, a terminal device, or a network device.

[0191] The device 1200 may include one or more processors 1210. The processor 1210 may support the device 1200 to implement the method described in the above method embodiment. The processor 1210 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another 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, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0192] The apparatus 1200 may further include one or more memories 1220. The memories 1220 store programs that can be executed by the processor 1210, causing the processor 1210 to perform the methods described in the above method embodiments. The memories 1220 may be independent of the processor 1210 or integrated into the processor 1210.

[0193] The apparatus 1200 may further include a transceiver 1230. The processor 1210 may communicate with other devices or chips via the transceiver 1230. For example, the processor 1210 may transmit and receive data with other devices or chips via the transceiver 1230.

[0194] The present invention also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to the communication device provided in the present invention, and the program enables a computer to execute the method performed by the communication device in each embodiment of the present invention.

[0195] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to the communication device provided in the present application, and the program causes a computer to execute the method performed by the communication device in each embodiment of the present application.

[0196] The embodiments of the present application also provide a computer program. The computer program can be applied to the communication device provided in the embodiments of the present application, and the computer program enables a computer to execute the method executed by the communication device in each embodiment of the present application.

[0197] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first", "second", "third", and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0198] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0199] In the embodiment of the present application, "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should be understood that determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0200] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0201] In the embodiments of the present application, "pre-definition" or "pre-configuration" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device and a network device). The present application does not limit the specific implementation method. For example, pre-definition may refer to information defined in a protocol.

[0202] In the embodiments of the present application, the “protocol” may refer to a standard protocol in the communications field, for example, it may include an LTE protocol, an NR protocol, and related protocols used in future communication systems, and the present application does not limit this.

[0203] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0204] In the embodiments of this application, the term "include" can refer to direct inclusion or indirect inclusion. Alternatively, the term "include" in the embodiments of this application can be replaced with "indicates" or "is used to determine." For example, "A includes B" can be replaced with "A indicates B" or "A is used to determine B."

[0205] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0206] 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.

[0207] 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.

[0208] 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.

[0209] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0210] 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 wireless communication method, characterized in that: include: The terminal device receives a first positioning signal sent by the base station; The terminal device sends a second positioning signal to the base station; Among them, the first positioning signal and the second positioning signal are used to perform RTT positioning on the terminal device, the time when the terminal device receives the first positioning signal is the first time, the time when the terminal device sends the second positioning signal is the second time, the difference between the first time and the second time is the first difference, and the first difference is determined based on the time advance TA.

2. The method according to claim 1, characterized in that Also includes: The terminal device sends first information; The first information is used to indicate the movement status of the terminal device.

3. The method according to claim 2, characterized in that The first information is used to indicate one or more of the following information: Whether the terminal device has speed measurement capability; Whether the terminal device obtains the moving speed; the moving speed; Whether the terminal device has acquired the mobile type of the terminal device; the type of movement; Whether the terminal device has obtained the range of movement speeds that the terminal device can reach; The moving speed range.

4. The method according to claim 2 or 3, characterized in that: The terminal device sending the first information includes: In response to receiving the first request information, the terminal device sends the first information; The first request information is used to request the terminal device to send the first information.

5. The method according to any one of claims 1 to 4, characterized in that The first difference is indicated by a first time difference, which is a value obtained by taking the modulus of the first difference with respect to the subframe length. The moment when the base station sends the first positioning signal is a third moment, and the moment when the base station receives the second positioning signal is a fourth moment. The difference between the fourth moment and the third moment is a second difference. The second difference is indicated by a second time difference, which is a value obtained by taking the modulus of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td=(T2+T1) / 2, where T2 represents the second time difference and T1 represents the first time difference.

6. The method according to any one of claims 1 to 5, characterized in that Also includes: The terminal device sends second information; The second information is used to indicate the TA.

7. The method according to claim 6, characterized in that The second information is used to indicate one or more of the following information: The value of the TA; The value of TA is obtained by modulo the subframe length.

8. The method according to any one of claims 1 to 7, characterized in that Also includes: The terminal device sends third information; The third information is used to indicate or confirm whether the terminal device reports the first difference.

9. The method according to any one of claims 1 to 8, characterized in that Also includes: The terminal device receives fourth information; The fourth information is used to indicate or confirm whether the terminal device reports the first difference.

10. The method according to any one of claims 1 to 9, characterized in that Also includes: The terminal device adjusts the TA according to the detection of the first positioning signal and the synchronization signal.

11. The method according to claim 10, characterized in that The adjusted TA value TA2 satisfies TA2=TA1-2ΔT, where TA1 represents the TA value before adjustment, and ΔT represents the difference between the moment when the first positioning signal is detected and the moment when the synchronization signal is detected.

12. The method according to any one of claims 1 to 11, characterized in that The terminal device sending a second positioning signal to the base station includes: When the first positioning signal does not satisfy the first condition, the terminal device does not send the second positioning signal and / or the first difference.

13. The method according to claim 12, characterized in that The first condition includes one or more of the following: The terminal device detects the first positioning signal; The terminal device detects that the accuracy of the first positioning signal is greater than or equal to a first threshold.

14. The method according to claim 13, characterized in that The first threshold satisfies one or more of the following: predefined by a protocol, preset, and configured by a network device.

15. A wireless communication method, characterized in that: include: The base station sends a first positioning signal to the terminal device; The base station receives a second positioning signal sent by the terminal device; Among them, the first positioning signal and the second positioning signal are used to perform RTT positioning on the terminal device, the time when the terminal device receives the first positioning signal is the first time, the time when the terminal device sends the second positioning signal is the second time, the difference between the first time and the second time is the first difference, and the first difference is determined based on the time advance TA.

16. The method according to claim 15, characterized in that Also includes: The base station receives first information; The first information is used to indicate the movement status of the terminal device.

17. The method according to claim 16, characterized in that The first information is used to indicate one or more of the following information: Whether the terminal device has speed measurement capability; Whether the terminal device obtains the moving speed; the moving speed; Whether the terminal device has acquired the mobile type of the terminal device; the type of movement; Whether the terminal device has obtained the range of movement speeds that the terminal device can reach; The moving speed range.

18. The method according to claim 16 or 17, characterized in that The base station receiving the first information includes: In response to sending the first request information, the base station receives the first information; The first request information is used to request the terminal device to send the first information.

19. The method according to any one of claims 15 to 18, characterized in that The first difference is indicated by a first time difference, which is a value obtained by taking the modulus of the first difference with respect to the subframe length. The time when the base station sends the first positioning signal is the third time, and the time when the base station receives the second positioning signal is the fourth time. The difference between the fourth time and the third time is the second difference. The second difference is indicated by a second time difference, which is a value obtained by taking the modulus of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td=(T2+T1) / 2, wherein T2 represents the second time difference and T1 represents the first time difference.

20. The method according to any one of claims 15 to 19, characterized in that Also includes: The base station sends second information to the positioning server; The second information is used to indicate the TA.

21. The method according to claim 20, characterized in that The second information is used to indicate one or more of the following information: The value of the TA; The value of TA is obtained by taking the modulus of the subframe length; Second time difference; a difference between the first time difference and the second time difference; Among them, the moment when the base station sends the first positioning signal is the third moment, the moment when the base station receives the second positioning signal is the fourth moment, the difference between the fourth moment and the third moment is the second difference, the second difference is indicated by the second time difference, and the second time difference is the value obtained by taking the modulus of the second difference with respect to the subframe length.

22. The method according to any one of claims 15 to 21, characterized in that Also includes: The base station receives third information; The third information is used to indicate or confirm whether the terminal device reports the first difference.

23. The method according to any one of claims 15 to 22, characterized in that Also includes: The base station sends fourth information; The fourth information is used to indicate or confirm whether the terminal device reports the first difference.

24. The method according to any one of claims 15 to 23, characterized in that The base station receiving the second positioning signal sent by the terminal device includes: When the first positioning signal does not satisfy the first condition, the base station does not receive the second positioning signal and / or the first difference.

25. The method according to claim 24, characterized in that The first condition includes one or more of the following: The terminal device detects the first positioning signal; The terminal device detects that the accuracy of the first positioning signal is greater than or equal to a first threshold.

26. The method according to claim 25, characterized in that The first threshold satisfies one or more of the following: predefined by a protocol, preset, and configured by a network device.

27. A wireless communication method, characterized in that: include: The positioning server determines a first difference according to the time advance TA; In which, the positioning server performs RTT positioning on the terminal device through the first positioning signal and the second positioning signal, the moment when the terminal device receives the first positioning signal sent by the base station is the first moment, the moment when the terminal device sends the second positioning signal to the base station is the second moment, and the difference between the first moment and the second moment is the first difference.

28. The method according to claim 27, characterized in that Also includes: The positioning server receives first information; The first information is used to indicate the movement status of the terminal device.

29. The method according to claim 28, characterized in that The first information is used to indicate one or more of the following information: Whether the terminal device has speed measurement capability; Whether the terminal device obtains the moving speed; the moving speed; Whether the terminal device has acquired the mobile type of the terminal device; the type of movement; Whether the terminal device has obtained the range of movement speeds that the terminal device can reach; The moving speed range.

30. The method according to claim 28 or 29, characterized in that The positioning server receiving the first information includes: In response to sending the first request information, the positioning server receives the first information; The first request information is used to request the terminal device to send the first information.

31. The method according to any one of claims 27 to 30, characterized in that The first difference is indicated by a first time difference, which is a value obtained by taking the modulus of the first difference with respect to the subframe length. The moment when the base station sends the first positioning signal is a third moment, and the moment when the base station receives the second positioning signal is a fourth moment. The difference between the fourth moment and the third moment is a second difference. The second difference is indicated by a second time difference, which is a value obtained by taking the modulus of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td=(T2+T1) / 2, where T2 represents the second time difference and T1 represents the first time difference.

32. The method according to any one of claims 27 to 31, characterized in that Also includes: The positioning server receives second information; The second information is used to indicate the TA.

33. The method according to claim 32, characterized in that The second information is used to indicate one or more of the following information: The value of the TA; The value of TA is a second time difference obtained by taking the modulus of the subframe length; a difference between the first time difference and the second time difference; Among them, the moment when the base station sends the first positioning signal is the third moment, the moment when the base station receives the second positioning signal is the fourth moment, the difference between the fourth moment and the third moment is the second difference, the second difference is indicated by the second time difference, and the second time difference is the value obtained by taking the modulus of the second difference with respect to the subframe length.

34. The method according to any one of claims 27 to 33, characterized in that Also includes: The positioning server receives third information; The third information is used to indicate or confirm whether the terminal device reports the first difference.

35. The method according to any one of claims 27 to 34, characterized in that Also includes: The positioning server sends fourth information; The fourth information is used to indicate or confirm whether the terminal device reports the first difference.

36. A terminal device, characterized in that: include: A first receiving unit, configured to receive a first positioning signal sent by a base station; A first sending unit, configured to send a second positioning signal to the base station; Among them, the first positioning signal and the second positioning signal are used to perform RTT positioning on the terminal device, the time when the terminal device receives the first positioning signal is the first time, the time when the terminal device sends the second positioning signal is the second time, the difference between the first time and the second time is the first difference, and the first difference is determined based on the time advance TA.

37. The terminal device according to claim 36, characterized in that: The terminal device is also used for: Sending the first message; The first information is used to indicate the movement status of the terminal device.

38. The terminal device according to claim 37, characterized in that: The first information is used to indicate one or more of the following information: Whether the terminal device has speed measurement capability; Whether the terminal device obtains the moving speed; the moving speed; Whether the terminal device has acquired the mobile type of the terminal device; the type of movement; Whether the terminal device has obtained the range of movement speeds that the terminal device can reach; The moving speed range.

39. The terminal device according to claim 37 or 38, characterized in that: The sending of the first information comprises: In response to receiving the first request information, sending the first information; The first request information is used to request the terminal device to send the first information.

40. The terminal device according to any one of claims 36 to 39, characterized in that: The first difference is indicated by a first time difference, which is a value obtained by taking the modulus of the first difference with respect to the subframe length. The time when the base station sends the first positioning signal is the third time, and the time when the base station receives the second positioning signal is the fourth time. The difference between the fourth time and the third time is the second difference. The second difference is indicated by a second time difference, which is a value obtained by taking the modulus of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td=(T2+T1) / 2, wherein T2 represents the second time difference and T1 represents the first time difference.

41. The terminal device according to any one of claims 36 to 40, characterized in that: The terminal device is also used for: sending a second message; The second information is used to indicate the TA.

42. The terminal device according to claim 41, characterized in that: The second information is used to indicate one or more of the following information: The value of the TA; The value of TA is obtained by modulo the subframe length.

43. The terminal device according to any one of claims 36 to 42, characterized in that: The terminal device is also used for: Sending a third message; The third information is used to indicate or confirm whether the terminal device reports the first difference.

44. The terminal device according to any one of claims 36 to 43, characterized in that: The terminal device is also used for: receiving fourth information; The fourth information is used to indicate or confirm whether the terminal device reports the first difference.

45. The terminal device according to any one of claims 36 to 44, characterized in that: The terminal device is also used for: The TA is adjusted according to the detection of the first positioning signal and the synchronization signal.

46. ​​The terminal device according to claim 45, characterized in that: The adjusted TA value TA2 satisfies TA2=TA1-2ΔT, where TA1 represents the TA value before adjustment, and ΔT represents the difference between the moment when the first positioning signal is detected and the moment when the synchronization signal is detected.

47. The terminal device according to any one of claims 36 to 46, characterized in that: The first sending unit is specifically configured to: If the first positioning signal does not meet the first condition, the second positioning signal and / or the first difference is not sent.

48. The terminal device according to claim 47, characterized in that: The first condition includes one or more of the following: The terminal device detects the first positioning signal; The terminal device detects that the accuracy of the first positioning signal is greater than or equal to a first threshold.

49. The terminal device according to claim 48, characterized in that: The first threshold satisfies one or more of the following: predefined by a protocol, preset, and configured by a network device.

50. A base station, characterized in that: include: A second sending unit, configured to send a first positioning signal to a terminal device; A second receiving unit, configured to receive a second positioning signal sent by the terminal device; Among them, the first positioning signal and the second positioning signal are used to perform RTT positioning on the terminal device, the time when the terminal device receives the first positioning signal is the first time, the time when the terminal device sends the second positioning signal is the second time, the difference between the first time and the second time is the first difference, and the first difference is determined based on the time advance TA.

51. The base station according to claim 50, characterized in that The base station is also used for: receiving a first message; The first information is used to indicate the movement status of the terminal device.

52. The base station according to claim 51, characterized in that The first information is used to indicate one or more of the following information: Whether the terminal device has speed measurement capability; Whether the terminal device obtains the moving speed; the moving speed; Whether the terminal device has acquired the mobile type of the terminal device; the type of movement; Whether the terminal device has obtained the range of movement speeds that the terminal device can reach; The moving speed range.

53. The base station according to claim 51 or 52, characterized in that: The receiving the first information comprises: In response to sending the first request information, receiving the first information; The first request information is used to request the terminal device to send the first information.

54. The base station according to any one of claims 50 to 53, characterized in that: The first difference is indicated by a first time difference, which is a value obtained by taking the modulus of the first difference with respect to the subframe length. The time when the base station sends the first positioning signal is the third time, and the time when the base station receives the second positioning signal is the fourth time. The difference between the fourth time and the third time is the second difference. The second difference is indicated by a second time difference, which is a value obtained by taking the modulus of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td=(T2+T1) / 2, wherein T2 represents the second time difference and T1 represents the first time difference.

55. The base station according to any one of claims 50-54, characterized in that: The base station is also used for: Sending second information to the positioning server; The second information is used to indicate the TA.

56. The base station according to claim 55, characterized in that The second information is used to indicate one or more of the following information: The value of the TA; The value of TA is obtained by taking the modulus of the subframe length; Second time difference; a difference between the first time difference and the second time difference; Among them, the moment when the base station sends the first positioning signal is the third moment, the moment when the base station receives the second positioning signal is the fourth moment, the difference between the fourth moment and the third moment is the second difference, the second difference is indicated by the second time difference, and the second time difference is the value obtained by taking the modulus of the second difference with respect to the subframe length.

57. The base station according to any one of claims 50 to 56, characterized in that: The base station is also used for: receiving third information; The third information is used to indicate or confirm whether the terminal device reports the first difference.

58. The base station according to any one of claims 50 to 57, characterized in that: The base station is also used for: Sending the fourth message; The fourth information is used to indicate or confirm whether the terminal device reports the first difference.

59. The base station according to any one of claims 50 to 58, characterized in that: The second receiving unit is specifically configured to: If the first positioning signal does not satisfy the first condition, the second positioning signal and / or the first difference is not received.

60. The base station according to claim 59, characterized in that The first condition includes one or more of the following: The terminal device detects the first positioning signal; The terminal device detects that the accuracy of the first positioning signal is greater than or equal to a first threshold.

61. The base station according to claim 60, characterized in that The first threshold satisfies one or more of the following: predefined by a protocol, preset, and configured by a network device.

62. A positioning server, characterized in that: include: A determining unit, configured to determine a first difference according to a timing advance TA; In which, the positioning server performs RTT positioning on the terminal device through the first positioning signal and the second positioning signal, the moment when the terminal device receives the first positioning signal sent by the base station is the first moment, the moment when the terminal device sends the second positioning signal to the base station is the second moment, and the difference between the first moment and the second moment is the first difference.

63. The positioning server according to claim 62, characterized in that: The positioning server is also used for: receiving a first message; The first information is used to indicate the movement status of the terminal device.

64. The positioning server according to claim 63, characterized in that: The first information is used to indicate one or more of the following information: Whether the terminal device has speed measurement capability; Whether the terminal device obtains the moving speed; the moving speed; Whether the terminal device has acquired the mobile type of the terminal device; the type of movement; Whether the terminal device has obtained the range of movement speeds that the terminal device can reach; The moving speed range.

65. The positioning server according to claim 63 or 64, characterized in that: The receiving the first information comprises: In response to sending the first request information, receiving the first information; The first request information is used to request the terminal device to send the first information.

66. The positioning server according to any one of claims 62-65, characterized in that: The first difference is indicated by a first time difference, which is a value obtained by taking the modulus of the first difference with respect to the subframe length. The time when the base station sends the first positioning signal is the third time, and the time when the base station receives the second positioning signal is the fourth time. The difference between the fourth time and the third time is the second difference. The second difference is indicated by a second time difference, which is a value obtained by taking the modulus of the second difference with respect to the subframe length. The signal propagation delay Td between the terminal device and the base station satisfies: Td=(T2+T1) / 2, wherein T2 represents the second time difference and T1 represents the first time difference.

67. The positioning server according to any one of claims 62-66, characterized in that: The positioning server is also used for: receiving second information; The second information is used to indicate the TA.

68. The positioning server according to claim 67, characterized in that: The second information is used to indicate one or more of the following information: The value of the TA; The value of TA is a second time difference obtained by taking the modulus of the subframe length; a difference between the first time difference and the second time difference; Among them, the moment when the base station sends the first positioning signal is the third moment, the moment when the base station receives the second positioning signal is the fourth moment, the difference between the fourth moment and the third moment is the second difference, the second difference is indicated by the second time difference, and the second time difference is the value obtained by taking the modulus of the second difference with respect to the subframe length.

69. The positioning server according to any one of claims 62-68, characterized in that: The positioning server is also used for: receiving third information; The third information is used to indicate or confirm whether the terminal device reports the first difference.

70. The positioning server according to any one of claims 62-69, characterized in that: The positioning server is also used for: Sending the fourth message; The fourth information is used to indicate or confirm whether the terminal device reports the first difference.

71. A terminal device, characterized in that: The method comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory so that the terminal device executes the method according to any one of claims 1 to 14.

72. A base station, characterized in that: It comprises a memory and a processor, the memory is used to store a program, and the processor is used to call the program in the memory so that the base station executes the method as described in any one of claims 15-26.

73. A positioning server, characterized in that: It comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory so that the positioning server executes the method as described in any one of claims 27-35.

74. A device, characterized in that The device comprises a processor, configured to call a program from a memory so as to cause the device to execute a method as claimed in any one of claims 1 to 35.

75. A chip, characterized in that: It comprises a processor, which is used to call a program from a memory, so that a device equipped with the chip executes a method as claimed in any one of claims 1 to 35.

76. A computer-readable storage medium, characterized in that A program is stored thereon, the program causing a computer to execute the method according to any one of claims 1 to 35.

77. A computer program product, characterized in that The method comprises a program which causes a computer to execute the method according to any one of claims 1 to 35.

78. A computer program, characterized in that The computer program causes a computer to execute the method according to any one of claims 1 to 35.

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