Method used for performing positioning, terminal device and positioning device

Abstract

Provided in the present application are a method used for performing positioning, a terminal device and a positioning device. The method comprises: a terminal device receiving a first reference signal sent by a first transmission point; the terminal device measuring the first reference signal to obtain a first phase observation value; the terminal device receiving a second reference signal sent by a second transmission point; the terminal device measuring the second reference signal to obtain a second phase observation value; and the terminal device determining a phase difference on the basis of the first phase observation value and the second phase observation value, wherein the phase difference is used for performing positioning on the terminal device. The moment of receiving the first reference signal is a first moment, the moment of receiving the second reference signal is a second moment, and the time interval between the first moment and the second moment is smaller than or equal to a preset duration.

Description

Positioning method, terminal device and positioning device Technical Field

[0001] The present application relates to the field of communication technology, and more specifically, to a method terminal device and a positioning device for positioning. Background Art

[0002] To improve positioning accuracy, carrier phase difference (CPD) or real-time kinematic (RTK) positioning technologies have emerged. CPD and RTK technologies can eliminate most errors in signal propagation by performing differential processing on phase observations at different transmission points, thereby improving positioning accuracy.

[0003] However, in some scenarios, the above technology still has positioning errors, and there is currently no clear solution on how to reduce positioning errors.

[0004] Summary of the Invention

[0005] The present application provides a method, terminal device, and positioning device for positioning. The following introduces several aspects of the present application.

[0006] In a first aspect, a method for positioning is provided, including: a terminal device receiving a first reference signal sent by a first transmission point; the terminal device measuring the first reference signal to obtain a first phase observation value; the terminal device receiving a second reference signal sent by a second transmission point; the terminal device measuring the second reference signal to obtain a second phase observation value; the terminal device determining a phase difference based on the first phase observation value and the second phase observation value, where the phase difference is used to position the terminal device; wherein the first reference signal is received at a first moment, the second reference signal is received at a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

[0007] In a second aspect, a method for positioning is provided, including: receiving, by a positioning device, a phase difference sent by a terminal device, the phase difference being determined based on a first phase observation value and a second phase observation value, the first phase observation value being obtained by the terminal device measuring a first reference signal sent by a first transmission point, and the second phase observation value being obtained by the terminal device measuring a second reference signal sent by a second transmission point; and locating, by the positioning device, the terminal device based on the phase difference; wherein the first reference signal is received at a first moment, the second reference signal is received at a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

[0008] In a third aspect, a terminal device is provided, comprising: a receiving unit, configured to receive a first reference signal sent by a first transmission point and a second reference signal sent by a second transmission point; a measuring unit, configured to measure the first reference signal to obtain a first phase observation value, and to measure the second reference signal to obtain a second phase observation value; and a determining unit, configured to determine a phase difference based on the first phase observation value and the second phase observation value, wherein the phase difference is used to locate the terminal device; wherein the first reference signal is received at a first moment, the second reference signal is received at a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

[0009] In a fourth aspect, a positioning device is provided, including: a receiving unit, configured to receive a phase difference sent by a terminal device, the phase difference being determined based on a first phase observation value and a second phase observation value, the first phase observation value being obtained by the terminal device measuring a first reference signal sent by a first transmission point, and the second phase observation value being obtained by the terminal device measuring a second reference signal sent by a second transmission point; and a positioning unit, configured to locate the terminal device based on the phase difference; wherein the first reference signal is received at a first moment, the second reference signal is received at a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

[0010] In a fifth aspect, a terminal device is provided, comprising a memory, a processor, and a communication interface, wherein the memory is used to store programs, and the processor is used to call the programs in the memory to execute the method described in the first aspect.

[0011] In a sixth aspect, a positioning device is provided, comprising a memory, a processor, and a communication interface, wherein the memory is used to store a program, and the processor is used to call the program in the memory to execute the method described in the second aspect.

[0012] In a seventh aspect, a device is provided, comprising a processor, configured to call a program from a memory to execute the method described in the first aspect.

[0013] In an eighth aspect, a device is provided, comprising a processor, configured to call a program from a memory to execute the method described in the second aspect.

[0014] In a ninth aspect, a chip is provided, comprising a processor for calling a program from a memory so that a device equipped with the chip executes the method described in the first aspect.

[0015] In a tenth aspect, a chip is provided, comprising a processor for calling a program from a memory so that a device equipped with the chip executes the method described in the second aspect.

[0016] In an eleventh aspect, a computer-readable storage medium is provided, on which a program is stored, wherein the program enables a computer to execute the method described in the first aspect.

[0017] In a twelfth aspect, a computer-readable storage medium is provided, on which a program is stored, wherein the program enables a computer to execute the method described in the second aspect.

[0018] In a thirteenth aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method described in the first aspect.

[0019] In a fourteenth aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method described in the second aspect.

[0020] In a fifteenth aspect, a computer program is provided, which enables a computer to execute the method described in the first aspect.

[0021] In a sixteenth aspect, a computer program is provided, which enables a computer to execute the method described in the second aspect.

[0022] The present application controls the measurement time of the terminal device for the reference signals of different transmission points, so that the terminal device can measure the reference signals of different transmission points within a smaller time range, thereby reducing the phase difference (or phase observation differential value) error caused by the initial phase deviation of the terminal device, which is conducive to improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a wireless communication system 100 used in an embodiment of the present application.

[0024] FIG2 is a schematic diagram of a traditional RTK positioning method.

[0025] FIG3 is a schematic diagram of a network RTK positioning method.

[0026] FIG4 is a schematic diagram of another RTK positioning method.

[0027] FIG5 is a schematic flowchart of a positioning method provided in an embodiment of the present application.

[0028] FIG6 is a schematic block diagram of a terminal device provided in an embodiment of the present application.

[0029] FIG7 is a schematic block diagram of a positioning device provided in an embodiment of the present application.

[0030] FIG8 is a schematic structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solution in this application will be described below with reference to the accompanying drawings.

[0032] Figure 1 illustrates a wireless communication system 100 used in an embodiment of the present application. The wireless communication system 100 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. The network device 110 may provide communication coverage for a specific geographic area and may communicate with the terminal device 120 within the coverage area.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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 V2X or D2D, etc. 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 the base station.

[0037] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and may also be referred to as an access network device or a radio access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. A base station can broadly cover various names as follows, or be replaced with the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, transmission point (TRP), transmission point (TP), master station MeNB, secondary station 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. A 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 can also refer to a communication module, modem or chip used to be set in the aforementioned device or apparatus. The base station can also be a mobile switching center and a device that performs base station functions in device-to-device D2D, vehicle-to-everything (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. The base station can 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 network equipment.

[0038] 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.

[0039] 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.

[0040] 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 the water; they can also be deployed in the air on aircraft, balloons, or satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0041] 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).

[0042] Currently, the most common positioning method uses the Global Navigation Satellite System (GNSS) to locate terminal devices. GNSS relies on a three-dimensional coordinate system to locate terminal devices. For example, by calculating the distance between each satellite (e.g., four satellites) and the terminal device, the terminal device's location coordinates can be obtained.

[0043] However, satellite positioning is subject to errors, including both internal and external errors. These errors include, for example, errors caused by satellite signals penetrating the ionosphere, errors caused by satellite signals penetrating the troposphere, and errors caused by the Doppler effect caused by high-speed satellite movement. These errors affect the accuracy and reliability of the positioning system. In order to better eliminate the above errors and improve positioning accuracy, RTK positioning technology has emerged. RTK technology can also be called carrier phase positioning technology. RTK technology can be understood as a technology that assists GNSS. Because RTK technology can provide real-time centimeter-level positioning accuracy within the operating area, it has been widely used in autonomous driving, drones, precision agriculture, and industrial robots.

[0044] RTK technology is a real-time differential method that processes two observation data sets. By performing differential processing on the two observation data sets, most of the aforementioned errors can be eliminated, such as satellite clock errors, ephemeris errors, ionospheric errors, and tropospheric errors.

[0045] The two observation data can be observation data of one terminal device for two transmission points, or observation data of two terminal devices for the same transmission point, which is not specifically limited in the present embodiment.

[0046] The transmission point can be a satellite or a base station, and the terminal device can be a base station or a mobile station.

[0047] Scene 1

[0048] An RTK system consists of two terminal devices: a base station and a rover. The base station serves as a measurement benchmark and is typically located in a location with a clear field of view. The base station's three-dimensional coordinates are generally known. The rover is the device that requires positioning. A rover is also called a mobile station or user station. Typically, the distance between the base and rover stations does not exceed 20 kilometers. Both the base and rover stations include receivers for observing and receiving reference signals sent by transmission points. The following describes the RTK positioning process, with reference to Figure 2.

[0049] The base station receives the reference signal sent by transmission point 1 and measures the reference signal to obtain first observation data. The base station transmits the first observation data to the rover station in real time via a radio station (or data link). The rover station receives the reference signal sent by transmission point 1 and measures the reference signal to obtain second observation data. Based on the principle of relative positioning, the rover station performs a real-time differential operation on the first observation data and the second observation data to obtain differential data. In some embodiments, the base station and the rover station can measure the reference signal at multiple times to obtain the first observation data and the second observation data at multiple times. The rover station can perform differential processing on the first observation data and the second observation data at multiple times to obtain multiple differential data.

[0050] In some embodiments, the base station can also send observation data for transmission point 2 to the rover. The rover performs a differential calculation on its own observation data for transmission point 2 and the observation data sent by the base station for transmission point 2, generating differential data. The calculation method for other transmission points (such as transmission points 3 and 4) is similar. Based on this differential data, the rover's three-dimensional coordinates and their accuracy can be calculated.

[0051] The RTK technology shown in Figure 2 can be called traditional RTK. Traditional RTK technology is simple to implement and low-cost. However, this approach is limited by the distance between the base station and the rover. The greater the distance between the base and rover, the greater the difference in error factors, and the lower the positioning accuracy. Furthermore, if the distance between the base and rover exceeds the communication range of the radio station, the RTK system will not function.

[0052] In order to overcome the shortcomings of traditional RTK technology, network RTK technology was proposed.

[0053] As shown in Figure 3, a network RTK system can include multiple base stations (e.g., three or more) to form a base station network. Compared to traditional RTK technology, network RTK technology replaces the single-point GNSS error model with a regional GNSS network error model. A base station network consisting of multiple base stations can send data to a central server, which can then simulate a virtual base station based on the received data. Referring to Figure 3, base stations 1 through 5 form a virtual base station. Therefore, network RTK technology can also be referred to as virtual base station technology or virtual reference station technology.

[0054] For the mobile station, it can receive the data sent by the virtual base station, and the mobile station can complete the final measurement operation based on the data sent by the virtual base station.

[0055] The base station can be implemented using a base station on the ground, that is, the base station can be used as a base station. Since the base station has achieved seamless coverage, network RTK has basically achieved seamless coverage.

[0056] Scene 2

[0057] As shown in Figure 4 , an RTK system may include a terminal device, a reference transmission point, and at least one target transmission point. The terminal device may receive a reference signal transmitted by the reference transmission point and measure the reference signal to obtain first observation data. The terminal device may also receive a reference signal transmitted by target transmission point 1 and measure the reference signal to obtain second observation data. The terminal device may perform differential processing on the first observation data and the second observation data to obtain differential data. In some embodiments, the terminal device may measure the reference signal at multiple times to obtain first and second observation data at different times, and perform differential processing on the first and second observation data to obtain multiple differential data.

[0058] In some embodiments, the terminal device may also receive a reference signal transmitted by target transmission point 2 and measure the reference signal to obtain third observation data. The terminal device may perform differential processing on the third observation data and the first observation data to obtain differential data. The calculation method for other target transmission points (such as target transmission point 3) is similar. Based on this differential data, the three-dimensional coordinates of the terminal device and their accuracy can be calculated.

[0059] Typically, communication signals carry various errors during propagation, including satellite errors, atmospheric errors, multipath errors, and equipment errors. These errors can lead to inaccurate data solutions and, consequently, positioning errors. Atmospheric errors are the most influential error on positioning. Taking satellite communications as an example, since navigation satellites are located at altitudes exceeding 20,000 kilometers above the ground, for scenario 1, if the distance between the base station and the rover is small (e.g., within 10 kilometers), most of the errors in the base and rover stations are temporally and spatially correlated. For example, the atmospheric errors carried by the base and rover stations can be assumed to be essentially the same. If a base station and a rover station located close to each other observe navigation satellites simultaneously, and the observation data received by the base and rover stations are subtracted, most errors (such as atmospheric and satellite errors) can be essentially eliminated.

[0060] For scenario 2, since navigation satellites are all at altitudes above 20,000 kilometers, the atmospheric errors carried by different satellites can be assumed to be essentially the same. By subtracting the observation data from different satellites, the vast majority of errors (such as atmospheric and satellite errors) can be eliminated.

[0061] RTK technology, through differential calculations, can achieve centimeter-level positioning accuracy and is widely used in fields requiring dynamic, high-precision positioning. For example, the GPS L1 band has a wavelength of approximately 0.19m, resulting in low measurement noise and negligible multipath effects. Therefore, RTK technology offers high measurement accuracy, achieving a range accuracy of 2mm.

[0062] The above explanation uses satellite communication as an example. Based on similar principles, if the transmission point is a base station, most communication errors can be eliminated through differential operations, thereby improving positioning accuracy.

[0063] The above-mentioned observation data can be a phase observation value (or phase observation value) or a pseudorange observation value. The following mainly uses the observation data as a phase observation value as an example for explanation. Taking the phase observation value as an example, the above-mentioned observation data can be called the reference signal carrier phase (reference signal carrier phase, RSCP), and the above-mentioned differential data can be called the reference signal carrier phase difference (reference signal carrier phase difference, RSCPD). The technology of positioning using RSCPD can also be called CPD technology.

[0064] The following describes the solution of the embodiment of the present application using scenario 2 as an example.

[0065] The terminal device can measure the reference signals sent by different transmission points, calculate the reference signal carrier phase difference (RSCPD), and report the RSCPD to the positioning device. The positioning device can then calculate the terminal device's location information based on the RSCPD.

[0066] For example, the terminal device can receive the reference signal sent by the transmission point i and obtain the reference signal carrier phase (RSCP) of the transmission point i, which is recorded as RSCP i The terminal device can also receive the reference signal sent by transmission point j and obtain the RSCP of transmission point j. j Furthermore, the terminal device can determine that RSCPD = RSCP j -RSCP i .

[0067] Due to the influence of the terminal device's internal hardware (such as the crystal oscillator), the terminal device's initial phase may vary at different times. If the terminal device measures the reference signal sent by different transmission points at different times, the deviation in the terminal device's initial phase will cause errors in the measured RSCPD, resulting in positioning errors.

[0068] Based on this, the present application provides a method for positioning, which controls the measurement time of the terminal device for the reference signals of different transmission points, so that the terminal device can measure the reference signals of different transmission points within a smaller time range, thereby reducing the error of the phase observation differential value (or phase difference), which is conducive to improving positioning accuracy.

[0069] The transmission points (such as the first transmission point and the second transmission point) in the embodiments of the present application may be satellites or base stations. The terminal devices in the embodiments of the present application may be base stations or rover stations. In some embodiments, the terminal devices may also be positioning reporting units (PRUs). The positioning devices in the embodiments of the present application may also be referred to as positioning servers. The positioning devices may, for example, be location management functions (LMFs).

[0070] The following describes the solution of the embodiment of the present application in conjunction with 5.

[0071] In step S510, a terminal device receives a first reference signal sent by a first transmission point. The first reference signal may be a pilot signal, for example, a positioning reference signal (PRS).

[0072] In step S520, the terminal device measures the first reference signal to obtain a first phase observation value. The first phase observation value may be the RSCP mentioned above. The first phase observation value may be understood as the signal phase when the terminal device receives the first reference signal.

[0073] In step S530, the terminal device receives a second reference signal sent by the second transmission point. The second reference signal may be a pilot signal.

[0074] In step S540, the terminal device measures the second reference signal to obtain a second phase observation value. The second phase observation value may be the RSCP mentioned above. The second phase observation value may be understood as the signal phase when the terminal device receives the second reference signal.

[0075] In step S550, the terminal device determines a phase difference based on the first phase observation value and the second phase observation value. For example, the terminal device may perform differential processing on the first phase observation value and the second phase observation value to obtain the phase difference. In some possible implementations, the phase difference = the second phase observation value - the first phase observation value. The phase difference may be the RSCPD mentioned above.

[0076] The phase difference can be used to locate the terminal device. For example, the terminal device can send the phase difference to a positioning device. The positioning device can determine the location of the terminal device based on the phase difference.

[0077] In some embodiments, the method shown in FIG5 may further include step S560 and step S570.

[0078] In step S560, the terminal device sends the phase difference to the positioning device.

[0079] In step S570, the positioning device positions the terminal device based on the phase difference.

[0080] In some embodiments, one of the first transmission point and the second transmission point is a reference transmission point, and the other transmission point is a target transmission point. For example, the first transmission point is a reference transmission point, and the second transmission point is a target transmission point. For another example, the first transmission point is a target transmission point, and the second transmission point is a reference transmission point.

[0081] In some embodiments, a terminal device may receive a reference signal sent by a first transmission point at multiple times to obtain first phase observation values ​​corresponding to the multiple times. The terminal device may also receive a reference signal sent by a second transmission point at multiple times to obtain second phase observation values ​​corresponding to the multiple times. The terminal device may perform differential processing on the first phase observation values ​​and the second phase observation values ​​corresponding to the multiple times to obtain phase differences corresponding to the multiple times.

[0082] In some embodiments, the first reference signal is received at a first moment, the second reference signal is received at a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

[0083] The embodiment of the present application limits the time interval between the first moment and the second moment, so that the terminal device can measure the reference signals sent by the two transmission points in a shorter time, thereby reducing the impact of the initial phase deviation of the terminal device on positioning, which is conducive to improving positioning accuracy.

[0084] The preset duration may be a duration predefined in the protocol, or may be a duration indicated by the network device to the terminal device. For example, the network device may indicate the preset duration to the terminal device via high-layer signaling.

[0085] It should be noted that the shorter the preset time length, the smaller the initial phase deviation of the terminal device, the smaller the impact on the positioning accuracy, and thus the higher the positioning accuracy.

[0086] The embodiment of the present application does not specifically limit the method for determining the preset duration.

[0087] As an example, the preset duration can be determined based on a first time unit. The first time unit can include one or more of the following: a subframe, a time slot, and a symbol. Taking a subframe as an example, the preset duration can be determined based on a subframe. For example, the preset duration can be granular with a subframe, such as 0 subframes, 1 subframe, 2 subframes, etc. In some implementations, the first time unit can also include one or more of the following: seconds, milliseconds, and microseconds.

[0088] If the preset duration is 0 subframes, it means that the first moment and the second moment are in the same subframe. If the preset duration is 1 subframe, it means that the subframe where the first moment is located and the subframe where the second moment is located differ by one subframe. And so on.

[0089] In some embodiments, the first moment and the second moment are within the same first time unit. For example, the first moment and the second moment are within the same subframe. For another example, the first moment and the second moment are within the same time slot. For another example, the first moment and the second moment are within the same symbol. By limiting the first moment and the second moment to the same time unit, the time difference between the first moment and the second moment can be reduced, which is conducive to improving positioning accuracy.

[0090] Taking the case where the first time and the second time are in the same subframe as an example, if the terminal device receives the reference signal sent by the first transmission point in subframe x, the terminal device can detect the reference signal sent by the second transmission point in subframe x. Alternatively, if the terminal device receives the reference signal sent by the second transmission point in subframe y, the terminal device can detect the reference signal sent by the first transmission point in subframe y.

[0091] In some embodiments, if the first time instant and the second time instant are in different first time units, the terminal device may select the first reference signal and the second reference signal that are closest in time to each other for measurement. For example, the second reference signal may be the reference signal transmitted by the second transmission point that is closest to the time instant at which the first reference signal is received. For another example, the first reference signal may be the reference signal transmitted by the first transmission point that is closest to the time instant at which the second reference signal is received.

[0092] For example, if the first reference signal sent by the first transmission point is used as a reference, and the reception time of the first reference signal is the first time, then when receiving the reference signal sent by the second transmission point, the terminal device can select the time closest to the first time to receive the second reference signal. Taking subframes as an example, the subframe where the first time occurs is subframe x, and the subframe where the second time occurs is subframe y. Subframe y is the subframe closest to subframe x among the subframes where the reference signal sent by the second transmission point occurs.

[0093] If the second reference signal sent by the second transmission point is used as a reference, and the second reference signal is received at the second time, then when receiving the reference signal sent by the first transmission point, the terminal device may select the time closest to the second time to receive the first reference signal. Taking subframes as an example, the subframe at the first time is subframe x, and the subframe at the second time is subframe y. Subframe x is the subframe closest to subframe y among the subframes at which the reference signal sent by the first transmission point is located.

[0094] In some embodiments, if the time interval between the first moment and the second moment is greater than a preset duration, the terminal device may perform a first operation. The first operation may include one or more of the following: not sending a phase difference; sending a phase difference; sending a first phase observation value; or sending a second phase observation value. The above contents of the first operation are described below.

[0095] In some embodiments, if the time interval between the first moment and the second moment is greater than a preset duration, the terminal device may not send the phase difference. Because the longer the time interval between the first moment and the second moment, the greater the initial phase deviation of the terminal device, the greater the resulting positioning error. In this case, the phase difference determined by the terminal device will not be suitable for positioning. Based on the above considerations, embodiments of the present application may not send the phase difference when the time interval between the first moment and the second moment is greater than a preset duration, thereby saving air interface resources.

[0096] In some embodiments, if the time interval between the first moment and the second moment is greater than a preset duration, the terminal device may send a phase difference. Although the phase difference determined by the terminal device may have a large error, the terminal device may send the phase difference to the positioning device, which may calibrate the phase difference and use it for positioning, thereby improving data utilization.

[0097] In some embodiments, if the time interval between the first moment and the second moment is greater than a preset duration, the terminal device may send a first phase observation to the positioning device. Although the phase difference determined by the terminal device may be inaccurate, the first phase observation is still accurate. The terminal device may send the first phase observation to the positioning device so that the positioning device can use the first phase observation for positioning.

[0098] In some embodiments, if the time interval between the first moment and the second moment is greater than a preset duration, the terminal device may send a second phase observation to the positioning device. Although the phase difference determined by the terminal device may be inaccurate, the second phase observation is still accurate. The terminal device may send the second phase observation to the positioning device so that the positioning device can use the second phase observation for positioning.

[0099] The first operation may include any one of the above operations, or any combination of the above operations. For example, the first operation may include sending a first phase observation value and sending a second phase observation value. That is, if the time interval between the first moment and the second moment is greater than a preset duration, the terminal device may send the first phase observation value and the second phase observation value.

[0100] In some embodiments, the preset duration and the first moment can be used to determine the first time window. For example, the terminal device can determine the first time window based on the first moment and the preset duration. The terminal device can detect the second reference signal within the first time window. In some possible implementations, the terminal device can use the first moment as a reference and offset the preset duration to obtain the first time window. The above-mentioned offset can refer to a forward offset relative to the first moment, or a backward offset relative to the first moment, or a forward and backward offset relative to the first moment. In other possible implementations, the terminal device can also first offset the first moment by a preset value to obtain the target moment, and then use the target moment as a reference and offset the preset duration to obtain the first time window. The above-mentioned offset can refer to a forward offset relative to the target moment, or a backward offset relative to the target moment, or a forward and backward offset relative to the target moment.

[0101] In some embodiments, if the terminal device does not detect the second reference signal within the first time window, the terminal device may send the first phase observation value and / or the timestamp corresponding to the first phase observation value to the positioning device. The positioning device may perform subsequent positioning based on the first phase observation value and / or the timestamp corresponding to the first phase observation value. For example, the positioning server may use the first phase observation value in combination with phase observation values ​​measured by the terminal device at other times to calibrate the received data.

[0102] In some embodiments, assuming that the first transmission point is a reference transmission point and the second transmission point is a target transmission point, if a terminal device fails to detect the second reference signal within a first time window, this is equivalent to the terminal device failing to detect the reference signal sent by the target transmission point, and the terminal device only receives the reference signal sent by the reference transmission point. Because the reference transmission point is a benchmark transmission point, the terminal device can transmit the first phase observation value corresponding to the reference transmission point to the positioning device, and the positioning device can use the first phase observation value for subsequent positioning.

[0103] Of course, in some embodiments, if the terminal device does not detect the second reference signal within the first time window, the terminal device may not send the first phase observation value to the positioning device.

[0104] In some embodiments, the preset duration and the second moment can be used to determine the second time window. For example, the terminal device can determine the second time window based on the second moment and the preset duration. The terminal device can detect the first reference signal within the second time window. In some possible implementations, the terminal device can use the second moment as a reference and offset the preset duration to obtain the second time window. The above-mentioned offset can refer to a forward offset relative to the second moment, or a backward offset relative to the second moment, or a forward and backward offset relative to the second moment. In other possible implementations, the terminal device can also first offset the second moment by a preset value to obtain the target moment, and then use the target moment as a reference and offset the preset duration to obtain the second time window. The above-mentioned offset can refer to a forward offset relative to the target moment, or a backward offset relative to the target moment, or a forward and backward offset relative to the target moment.

[0105] In some embodiments, if the terminal device does not detect the first reference signal within the second time window, the terminal device may perform a second operation. The second operation may include one or more of the following: not sending the second phase observation value; sending a first indication message, the first indication message being used to indicate a detection failure; sending a second indication message, the second indication message being used to indicate that the first reference signal is not included in the second time window. Of course, in some embodiments, if the terminal device does not detect the first reference signal within the second time window, the terminal device may also send a second phase observation value to the positioning device. This embodiment of the present application does not specifically limit this.

[0106] In some embodiments, assuming that the first transmission point is a reference transmission point and the second transmission point is a target transmission point, if a terminal device fails to detect the first reference signal within the second time window, this is equivalent to the terminal device failing to detect the reference signal transmitted by the reference transmission point and receiving only the reference signal transmitted by the target transmission point. Without the phase observation value corresponding to the reference transmission point, the phase observation value corresponding to the target transmission point is also of little significance. Therefore, the terminal device may not transmit the phase observation value corresponding to the target transmission point to the positioning device. Furthermore, the terminal device may transmit first indication information and / or second indication information to the positioning device to inform the positioning device of the reason for not transmitting the first phase observation value.

[0107] In some embodiments, the terminal device may also send one or more of the following information to the positioning device: the time drift rate of the frequency, the time drift rate of the phase, and the time drift of the phase. The positioning device may use this information to calibrate the received phase observations and / or phase differences to improve positioning accuracy.

[0108] In some embodiments, the frequency of some hardware (such as a crystal oscillator) of a terminal device may drift over time, and the terminal device may calculate the time drift rate of the frequency. In some possible implementations, the terminal device may calculate the time drift of the phase based on the time drift rate of the frequency. In other possible implementations, the terminal device may convert the time drift of the phase into the time drift rate of the phase.

[0109] In some embodiments, if the positioning device receives the time drift rate of the frequency, the positioning device can calculate the time drift of the phase based on the time drift rate of the frequency, and remove the time drift of the phase from the phase difference to obtain the final phase difference. In other embodiments, if the positioning device receives the time drift of the phase, the positioning device can directly remove the time drift of the phase from the phase difference to obtain the final phase difference. In other embodiments, if the positioning device receives the time drift rate of the phase, the positioning device can determine the corresponding phase drift based on the time drift rate of the phase, and then remove the time drift of the phase from the phase difference to obtain the final phase difference. The phase difference after removing the time drift of the phase is relatively accurate and can improve positioning accuracy.

[0110] In some embodiments, the time drift of the phase in the phase difference can also be removed by the terminal device itself. The terminal device can send the phase difference after removing the time drift to the positioning device. The positioning device can directly use this phase difference for subsequent positioning. In other words, the terminal device can determine the phase difference based on the first phase observation value, the second phase observation value, and the time drift of the phase. The terminal device can calculate the phase change within the RSCP measurement interval and remove the phase change from the phase difference to obtain the final phase difference. For example, the final phase difference = the second phase observation value - the first phase observation value - the phase change.

[0111] In some embodiments, the first transmission point and the second transmission point are both reference transmission points, and transmission point i is a target transmission point. The terminal device may only measure the phase difference for the second transmission point as the reference transmission point. The positioning device can use this phase difference to calculate the phase difference for the first transmission point as the reference transmission point. For example, the terminal device only measures the phase difference for transmission point i and the second transmission point. The positioning device can determine the phase difference for transmission point i and the first transmission point based on this phase difference.

[0112] For example, the above phase difference can be determined by the following formula:

[0113] in, represents the phase difference between the first transmission point and the second transmission point, represents the phase difference between transmission point i and the first transmission point, It can be seen from the formula that the phase error of reference transmission point 2 is eliminated.

[0114] In the above embodiment, the positioning device also needs to know the phase difference between the first transmission point and the second transmission point. In some cases, the terminal device may not measure or report the phase difference between the first transmission point and the second transmission point. Based on this, in some embodiments, the positioning device may also send a request message to the first transmission point, where the request message is used to request the terminal device to send one or more of the following information: the phase difference between the first transmission point and the second transmission point (i.e., ), first phase observation value, second phase observation value. After receiving the request message, the first transmission point can send one or more of the following information to the positioning device: the phase difference between the first transmission point and the second transmission point (i.e. ), first phase observation value, second phase observation value.

[0115] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 5 , and the device embodiment of the present application is described in detail below in conjunction with Figures 6 to 8 . It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, and therefore, for portions not described in detail, reference can be made to the above method embodiment.

[0116] FIG6 is a schematic block diagram of a terminal device provided in an embodiment of the present application. The terminal device 600 shown in FIG6 can be any of the terminal devices described above. The terminal device 600 can include a receiving unit 610, a measuring unit 620, and a determining unit 630.

[0117] The receiving unit 610 is configured to receive a first reference signal sent by a first transmission point and a second reference signal sent by a second transmission point.

[0118] The measuring unit 620 is configured to measure the first reference signal to obtain a first phase observation value, and to measure the second reference signal to obtain a second phase observation value.

[0119] The determination unit 630 is used to determine a phase difference based on the first phase observation value and the second phase observation value, where the phase difference is used to locate the terminal device.

[0120] The first reference signal is received at a first moment, the second reference signal is received at a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

[0121] In some possible implementations, the preset duration is determined based on a first time unit, where the first time unit includes one or more of the following: a subframe, a time slot, and a symbol.

[0122] In some possible implementations, the first moment and the second moment are located in the same first time unit.

[0123] In some possible implementations, the first time unit in which the first moment falls and the first time unit in which the second moment falls are different, and the second reference signal is a reference signal sent by the second transmission point that is closest to a time instant at which the first reference signal is received, or the first reference signal is a reference signal sent by the first transmission point that is closest to a time instant at which the second reference signal is received.

[0124] In some possible implementations, the terminal device further includes: an execution unit for performing a first operation if the time interval between the first moment and the second moment is greater than the preset duration, the first operation including one or more of the following: not sending the phase difference; sending the phase difference; sending the first phase observation value; sending the second phase observation value.

[0125] In some possible implementations, the preset duration and the first moment are used to determine a first time window, and the terminal device further includes: a sending unit, configured to send the first phase observation value and / or a timestamp corresponding to the first phase observation value to a positioning device if the second reference signal is not detected within the first time window.

[0126] In some possible implementations, the preset duration and the second moment are used to determine a second time window, and the terminal device also includes: an execution unit, used to perform a second operation if the first reference signal is not detected within the second time window, and the second operation includes one or more of the following: not sending the second phase observation value; sending first indication information, the first indication information is used to indicate detection failure; sending second indication information, the second indication information is used to indicate that the first reference signal is not included in the second time window.

[0127] In some possible implementations, the first transmission point is a reference transmission point, and the second transmission point is a target transmission point.

[0128] In some possible implementations, the preset duration is sent by the network device to the terminal device through high-layer signaling, or the preset duration is a duration predefined in a protocol.

[0129] In some possible implementations, the terminal device further includes: a sending unit, configured to send one or more of the following information to the positioning device: a time drift rate of the frequency, a time drift rate of the phase, and a time drift of the phase.

[0130] In some possible implementations, the determining unit is configured to determine the phase difference based on the first phase observation value, the second phase observation value, and a time drift of the phase.

[0131] In some possible implementations, the first transmission point and the second transmission point are reference transmission points, transmission point i is a target transmission point, and the phase difference between the first transmission point and the transmission point i is determined based on the following formula:

[0132] in, represents the phase difference between transmission point i and the first transmission point, represents the phase difference between transmission point i and the second transmission point, represents the phase difference between the first transmission point and the second transmission point.

[0133] In some possible implementations, the receiving unit is further configured to: receive a request message sent by a positioning device;

[0134] The terminal device further includes a sending unit, which is configured to send one or more of the following information in response to the request message: a phase difference between the first transmission point and the second transmission point, the first phase observation value, and the second phase observation value.

[0135] FIG7 is a schematic block diagram of a positioning device according to an embodiment of the present application. The positioning device shown in FIG7 may include a receiving unit 710 and a positioning unit 720 .

[0136] A receiving unit 710 is configured to receive a phase difference sent by a terminal device, where the phase difference is determined based on a first phase observation value and a second phase observation value, where the first phase observation value is obtained by the terminal device measuring a first reference signal sent by a first transmission point, and the second phase observation value is obtained by the terminal device measuring a second reference signal sent by a second transmission point.

[0137] The positioning unit 720 is configured to position the terminal device based on the phase difference.

[0138] The first reference signal is received at a first moment, the second reference signal is received at a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

[0139] In some possible implementations, the preset duration is determined based on a first time unit, where the first time unit includes one or more of the following: a subframe, a time slot, and a symbol.

[0140] In some possible implementations, the first moment and the second moment are located in the same first time unit.

[0141] In some possible implementations, the first time unit in which the first moment falls and the first time unit in which the second moment falls are different, and the second reference signal is a reference signal sent by the second transmission point that is closest to a time instant at which the first reference signal is received, or the first reference signal is a reference signal sent by the first transmission point that is closest to a time instant at which the second reference signal is received.

[0142] In some possible implementations, the receiving unit is further used to: receive the first phase observation value and / or the second phase observation value sent by the terminal device, and the first phase observation value and / or the second phase observation value are sent when the time interval between the first moment and the second moment is greater than the preset duration.

[0143] In some possible implementations, the preset duration and the first moment are used to determine a first time window, and the receiving unit is further used to: receive the first phase observation value and / or the timestamp corresponding to the first phase observation value sent by the terminal device, wherein the first phase observation value and / or the timestamp corresponding to the first phase observation value are sent by the terminal device when the second reference signal is not detected within the first time window.

[0144] In some possible implementations, the preset duration and the second moment are used to determine a second time window, and the receiving unit is further used to: receive first indication information and / or second indication information sent by the terminal device, the first indication information and / or the second indication information are sent by the terminal device when the first reference signal is not detected within the second time window, wherein the first indication information is used to indicate a detection failure, and the second indication information is used to indicate that the first reference signal is not contained in the second time window.

[0145] In some possible implementations, the first transmission point is a reference transmission point, and the second transmission point is a target transmission point.

[0146] In some possible implementations, the preset duration is sent by the network device to the terminal device through high-layer signaling, or the preset duration is a duration predefined in a protocol.

[0147] In some possible implementations, the receiving unit is further configured to receive one or more of the following information sent by the terminal device: a time drift rate of the frequency, a time drift rate of the phase, and a time drift of the phase.

[0148] In some possible implementations, the phase difference is determined based on the first phase observation value, the second phase observation value, and a time drift of the phase.

[0149] In some possible implementations, the first transmission point and the second transmission point are reference transmission points, transmission point i is a target transmission point, and the phase difference between the first transmission point and the transmission point i is determined based on the following formula:

[0150] in, represents the phase difference between transmission point i and the first transmission point, represents the phase difference between transmission point i and the second transmission point, represents the phase difference between the first transmission point and the second transmission point.

[0151] In some possible implementations, the positioning device further includes: a sending unit, configured to send a request message to the terminal device, where the request message is used to request the terminal device to send one or more of the following information: a phase difference between the first transmission point and the second transmission point, the first phase observation value, and the second phase observation value.

[0152] Figure 8 is a schematic block diagram of a communication device according to an embodiment of the present application. The dashed lines in Figure 8 indicate that the unit or module is optional. The device 800 may be used to implement the method described in the above method embodiment. The device 800 may be a chip, a terminal device, a network device, or a positioning device.

[0153] The device 800 may include one or more processors 810. The processor 810 may support the device 800 to implement the method described in the method embodiment above. The processor 810 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, a discrete gate or transistor logic device, a discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0154] The apparatus 800 may further include one or more memories 820. The memories 820 store programs that can be executed by the processor 810, causing the processor 810 to perform the methods described in the above method embodiments. The memories 820 may be independent of the processor 810 or integrated into the processor 810.

[0155] The apparatus 800 may further include a transceiver 830. The processor 810 may communicate with other devices or chips via the transceiver 830. For example, the processor 810 may transmit and receive data with other devices or chips via the transceiver 830.

[0156] The present application also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to a terminal device or positioning device provided in the present application, and the program causes a computer to execute the method performed by the terminal device or positioning device in each embodiment of the present application.

[0157] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to a terminal device or positioning device provided in the present application, and the program causes a computer to execute the method performed by the terminal device or positioning device in each embodiment of the present application.

[0158] The present application also provides a computer program that can be applied to the terminal device or positioning device provided in the present application, and enables a computer to execute the method performed by the terminal device or positioning device in each embodiment of the present application.

[0159] 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.

[0160] 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.

[0161] 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."

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] 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)).

[0172] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for positioning, characterized in that, it includes: The terminal device receives a first reference signal sent by a first transmission point; The terminal device measures the first reference signal to obtain a first phase observation value; The terminal device receives a second reference signal sent by a second transmission point; The terminal device measures the second reference signal to obtain a second phase observation value; The terminal device determines a phase difference based on the first phase observation value and the second phase observation value, and the phase difference is used to position the terminal device; Wherein, the reception time of the first reference signal is a first time, the reception time of the second reference signal is a second time, and the time interval between the first time and the second time is less than or equal to a preset duration.

2. The method according to claim 1, characterized in that, The preset duration is determined based on a first time unit, and the first time unit includes one or more of the following: sub-frame, time slot, and symbol.

3. The method according to claim 2, characterized in that, The first time and the second time are within the same first time unit.

4. The method according to claim 2, characterized in that, The first time unit where the first time is located and the first time unit where the second time is located are different, and the second reference signal is the reference signal sent by the second transmission point that is closest to the reception time of the first reference signal, or the first reference signal is the reference signal sent by the first transmission point that is closest to the reception time of the second reference signal.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: If the time interval between the first time and the second time is greater than the preset duration, the terminal device performs a first operation, and the first operation includes one or more of the following: Not sending the phase difference; Sending the phase difference; Sending the first phase observation value; Sending the second phase observation value.

6. The method according to claim 1, characterized in that, The preset duration and the first time are used to determine a first time window, and the method further includes: If the terminal device does not detect the second reference signal within the first time window, the terminal device sends the first phase observation value and / or the time stamp corresponding to the first phase observation value to the positioning device.

7. The method according to claim 1, characterized in that, The preset duration and the second time are used to determine a second time window, and the method further includes: If the terminal device does not detect the first reference signal within the second time window, the terminal device performs a second operation, and the second operation includes one or more of the following: Not sending the second phase observation value; Sending first indication information for indicating a detection failure; Sending second indication information for indicating that the first reference signal is not included within the second time window.

8. The method according to claim 6 or 7, It is characterized in that the first transmission point is a reference transmission point, and the second transmission point is a target transmission point.

9. The method according to any one of claims 6-8, It is characterized in that the preset duration is sent by the network device to the terminal device through high-layer signaling, or the preset duration is a predefined duration in the protocol.

10. The method according to any one of claims 1-9, It is characterized in that the method further includes: the terminal device sends one or more of the following information to the positioning device: the time drift rate of the frequency, the time drift rate of the phase, and the phase drift.

11. The method according to any one of claims 1-10, It is characterized in that the terminal device determines the phase difference based on the first phase observation value and the second phase observation value, including: the terminal device determines the phase difference based on the first phase observation value, the second phase observation value, and the time drift of the phase.

12. The method according to any one of claims 1-11, It is characterized in that The first transmission point and the second transmission point are reference transmission points, and the transmission point i is the target transmission point. The phase difference between the first transmission point and the transmission point i is determined based on the following formula: Among them, Indicates the phase difference between the transmission point i and the first transmission point, Indicates the phase difference between the transmission point i and the second transmission point represents the phase difference between the first transmission point and the second transmission point.

13. The method according to claim 12, It is characterized in that the method further includes: the terminal device receives a request message sent by the positioning device; in response to the request message, the terminal device sends one or more of the following information to the positioning device: the phase difference between the first transmission point and the second transmission point, the first phase observation value, and the second phase observation value.

14. A method for positioning, It is characterized in that includes: the positioning device receives the phase difference sent by the terminal device, the phase difference is determined based on the first phase observation value and the second phase observation value, the first phase observation value is obtained by the terminal device measuring the first reference signal sent by the first transmission point, and the second phase observation value is obtained by the terminal device measuring the second reference signal sent by the second transmission point; the positioning device locates the terminal device based on the phase difference; wherein, the reception time of the first reference signal is the first moment, the reception time of the second reference signal is the second moment, and the time interval between the first moment and the second moment is less than or equal to the preset duration.

15. The method according to claim 14, It is characterized in that the preset duration is determined based on the first time unit, and the first time unit includes one or more of the following: subframe, time slot, and symbol.

16. The method according to claim 15, It is characterized in that the first moment and the second moment are within the same first time unit.

17. The method according to claim 15, It is characterized in that the first time unit where the first moment is located and the first time unit where the second moment is located are different, and the second reference signal is the reference signal sent by the second transmission point that is closest in reception time to the first reference signal, or the first reference signal is the reference signal sent by the first transmission point that is closest in reception time to the second reference signal.

18. The method according to any one of claims 14 - 17, wherein, the method further comprises: the positioning device receives the first phase observation value and / or the second phase observation value sent by the terminal device, and the first phase observation value and / or the second phase observation value are sent when the time interval between the first moment and the second moment is greater than the preset duration.

19. The method according to claim 14, wherein, the preset duration and the first moment are used to determine a first time window, and the method further comprises: the positioning device receives the first phase observation value and / or the time stamp corresponding to the first phase observation value sent by the terminal device, wherein the first phase observation value and / or the time stamp corresponding to the first phase observation value are sent when the terminal device does not detect the second reference signal within the first time window.

20. The method according to claim 14, wherein, the preset duration and the second moment are used to determine a second time window, and the method further comprises: the positioning device receives the first indication information and / or the second indication information sent by the terminal device, and the first indication information and / or the second indication information are sent when the terminal device does not detect the first reference signal within the second time window, wherein the first indication information is used to indicate a detection failure, and the second indication information is used to indicate that the first reference signal is not included within the second time window.

21. The method according to claim 19 or 20, wherein, the first transmission point is a reference transmission point, and the second transmission point is a target transmission point.

22. The method according to any one of claims 19 - 21, wherein, the preset duration is sent by the network device to the terminal device through high - layer signaling, or the preset duration is a pre - defined duration in the protocol.

23. The method according to any one of claims 14 - 22, wherein, the method further comprises: the positioning device receives one or more of the following information sent by the terminal device: the time drift rate of the frequency, the time drift rate of the phase, and the phase drift.

24. The method according to any one of claims 14 - 23, wherein, the phase difference is determined based on the first phase observation value, the second phase observation value, and the phase drift.

25. The method according to any one of claims 14 - 24, wherein, it represents the phase difference between the first transmission point and the second transmission point. The first transmission point and the second transmission point are reference transmission points, and the transmission point i is the target transmission point. The phase difference between the first transmission point and the transmission point i is determined based on the following formula: Among them, Indicates the phase difference between the transmission point i and the first transmission point, Indicates the phase difference between the transmission point i and the second transmission point 26. The method according to claim 25, wherein, the method further comprises: the positioning device sends a request message to the terminal device, and the request message is used to request the terminal device to send one or more of the following information: the phase difference between the first transmission point and the second transmission point, the first phase observation value, and the second phase observation value.

27. A terminal device, wherein, it comprises: ​ A receiving unit, configured to receive a first reference signal sent by a first transmission point and receive a second reference signal sent by a second transmission point; A measuring unit, configured to measure the first reference signal to obtain a first phase observation value, and measure the second reference signal to obtain a second phase observation value; A determining unit, configured to determine a phase difference based on the first phase observation value and the second phase observation value, where the phase difference is used to locate the terminal device; Wherein, a reception time of the first reference signal is a first time, a reception time of the second reference signal is a second time, and a time interval between the first time and the second time is less than or equal to a preset duration.

28. The terminal device according to claim 27, wherein, the preset duration is determined based on a first time unit, and the first time unit includes one or more of the following: sub-frame, time slot, and symbol.

29. The terminal device according to claim 28, wherein, the first time and the second time are within the same first time unit.

30. The terminal device according to claim 28, wherein, the first time unit where the first time is located and the first time unit where the second time is located are different, and the second reference signal is the reference signal sent by the second transmission point that is closest in reception time to the first reference signal, or the first reference signal is the reference signal sent by the first transmission point that is closest in reception time to the second reference signal.

31. The terminal device according to any one of claims 27-30, wherein, the terminal device further includes: An execution unit, configured to perform a first operation if a time interval between the first time and the second time is greater than the preset duration, and the first operation includes one or more of the following: Not sending the phase difference; Sending the phase difference; Sending the first phase observation value; Sending the second phase observation value.

32. The terminal device according to claim 27, wherein, the preset duration and the first time are used to determine a first time window, and the terminal device further includes: A sending unit, configured to send the first phase observation value and / or a time stamp corresponding to the first phase observation value to a positioning device if the second reference signal is not detected within the first time window.

33. The terminal device according to claim 27, wherein, the preset duration and the second time are used to determine a second time window, and the terminal device further includes: An execution unit, configured to perform a second operation if the first reference signal is not detected within the second time window, and the second operation includes one or more of the following: Not sending the second phase observation value; Sending first indication information, where the first indication information is used to indicate a detection failure; Sending second indication information, where the second indication information is used to indicate that the first reference signal is not included within the second time window.

34. The terminal device according to claim 32 or 33, It is characterized in that the first transmission point is a reference transmission point, and the second transmission point is a target transmission point.

35. The terminal device according to any one of claims 32 - 34, It is characterized in that the preset duration is sent by the network device to the terminal device through high-layer signaling, or the preset duration is a predefined duration in the protocol.

36. The terminal device according to any one of claims 27 - 35, It is characterized in that the terminal device further includes: a sending unit, configured to send one or more of the following information to the positioning device: the time drift rate of the frequency, the time drift rate of the phase, and the phase drift.

37. The terminal device according to any one of claims 27 - 36, It is characterized in that the determining unit is configured to: determine the phase difference based on the first phase observation value, the second phase observation value, and the time drift of the phase.

38. The terminal device according to any one of claims 27 - 37, It is characterized in that The first transmission point and the second transmission point are reference transmission points, and the transmission point i is the target transmission point. The phase difference between the first transmission point and the transmission point i is determined based on the following formula: Among them, Indicates the phase difference between the transmission point i and the first transmission point Indicates the phase difference between the transmission point i and the second transmission point represents the phase difference between the first transmission point and the second transmission point.

39. The terminal device according to claim 38, It is characterized in that the receiving unit is further configured to: receive a request message sent by the positioning device; the terminal device further includes a sending unit, and in response to the request message, the sending unit is configured to: send one or more of the following information: the phase difference between the first transmission point and the second transmission point, the first phase observation value, and the second phase observation value.

40. A positioning device, It is characterized in that includes: a receiving unit, configured to receive the phase difference sent by the terminal device, the phase difference being determined based on a first phase observation value and a second phase observation value, the first phase observation value being obtained by the terminal device measuring a first reference signal sent by a first transmission point, and the second phase observation value being obtained by the terminal device measuring a second reference signal sent by a second transmission point; a positioning unit, configured to position the terminal device based on the phase difference; wherein the receiving moment of the first reference signal is a first moment, the receiving moment of the second reference signal is a second moment, and the time interval between the first moment and the second moment is less than or equal to a preset duration.

41. The positioning device according to claim 40, It is characterized in that the preset duration is determined based on a first time unit, and the first time unit includes one or more of the following: sub-frame, time slot, and symbol.

42. The positioning device according to claim 41, It is characterized in that the first moment and the second moment are within the same first time unit.

43. The positioning device according to claim 41, It is characterized in that the first time unit where the first moment is located and the first time unit where the second moment is located are different, and the second reference signal is the reference signal sent by the second transmission point that is closest in receiving moment to the first reference signal, or the first reference signal is the reference signal sent by the first transmission point that is closest in receiving moment to the second reference signal.

44. The positioning device according to any one of claims 40-43, wherein, the receiving unit is further configured to: receive the first phase observation value and / or the second phase observation value sent by the terminal device, where the first phase observation value and / or the second phase observation value are sent when the time interval between the first moment and the second moment is greater than the preset duration.

45. The positioning device according to claim 40, wherein, the preset duration and the first moment are used to determine a first time window, and the receiving unit is further configured to: receive the first phase observation value and / or the time stamp corresponding to the first phase observation value sent by the terminal device, wherein the first phase observation value and / or the time stamp corresponding to the first phase observation value are sent when the terminal device does not detect the second reference signal within the first time window.

46. The positioning device according to claim 40, wherein, the preset duration and the second moment are used to determine a second time window, and the receiving unit is further configured to: receive the first indication information and / or the second indication information sent by the terminal device, where the first indication information and / or the second indication information are sent when the terminal device does not detect the first reference signal within the second time window, wherein the first indication information is used to indicate a detection failure, and the second indication information is used to indicate that the first reference signal is not included within the second time window.

47. The positioning device according to claim 45 or 46, wherein, the first transmission point is a reference transmission point, and the second transmission point is a target transmission point.

48. The positioning device according to any one of claims 45-47, wherein, the preset duration is sent by the network device to the terminal device through high-layer signaling, or the preset duration is a pre-defined duration in the protocol.

49. The positioning device according to any one of claims 40-48, wherein, the receiving unit is further configured to: receive one or more of the following information sent by the terminal device: the time drift rate of the frequency, the time drift rate of the phase, and the phase drift.

50. The positioning device according to any one of claims 40-49, wherein, the phase difference is determined based on the first phase observation value, the second phase observation value, and the phase drift.

51. The positioning device according to any one of claims 40-50, wherein, The first transmission point and the second transmission point are reference transmission points, and the transmission point i is the target transmission point. The phase difference between the first transmission point and the transmission point i is determined based on the following formula: Among them, Indicates the phase difference between the transmission point i and the first transmission point, Indicates the phase difference between the transmission point i and the second transmission point represents the phase difference between the first transmission point and the second transmission point.

52. The positioning device according to claim 51, wherein, the positioning device further includes: a sending unit, configured to send a request message to the terminal device, where the request message is used to request the terminal device to send one or more of the following information: the phase difference between the first transmission point and the second transmission point, the first phase observation value, and the second phase observation value.

53. A terminal device, wherein, ​ Comprising a memory, a processor, and a communication interface, the memory is used for storing programs, and the processor is used for calling the programs in the memory so that the terminal device executes the method according to any one of claims 1-13.

54. A positioning device, Characterized in that it comprises a memory, a processor, and a communication interface, the memory is used for storing programs, and the processor is used for calling the programs in the memory so that the positioning device executes the method according to any one of claims 14-26.

55. A device, Characterized in that it comprises a processor, which is used for calling a program from a memory to execute the method according to any one of claims 1-13.

56. A device, Characterized in that it comprises a processor, which is used for calling a program from a memory to execute the method according to any one of claims 14-26.

57. A chip, Characterized in that it comprises a processor, which is used for calling a program from a memory so that the device installed with the chip executes the method according to any one of claims 1-13.

58. A chip, Characterized in that it comprises a processor, which is used for calling a program from a memory so that the device installed with the chip executes the method according to any one of claims 14-26.

59. A computer-readable storage medium, Characterized in that a program is stored thereon, and the program enables a computer to execute the method according to any one of claims 1-13.

60. A computer-readable storage medium, Characterized in that a program is stored thereon, and the program enables a computer to execute the method according to any one of claims 14-26.

61. A computer program product, Characterized in that it comprises a program, and the program enables a computer to execute the method according to any one of claims 1-13.

62. A computer program product, Characterized in that it comprises a program, and the program enables a computer to execute the method according to any one of claims 14-26.

63. A computer program, Characterized in that the computer program enables a computer to execute the method according to any one of claims 1-13.

64. A computer program, Characterized in that the computer program enables a computer to execute the method according to any one of claims 14-26.

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