Positioning methods and communication devices

Abstract

Positioning methods and communication devices. A method comprises: a receiving device receives first information (S410), the first information being used for indicating a first parameter of a transmitting device, and the first parameter being related to positioning of the receiving device; and the receiving device uses the first parameter to process first phase differences in respect of a plurality of transmitting devices, so as to obtain a target phase difference (S420), the target phase difference being used for positioning the receiving device.

Description

Positioning method and communication device Technical Field

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

[0002] Currently, a commonly used positioning method is carrier phase differential positioning. This method uses the phase difference of the signal measured by the receiving device to perform positioning. This differential processing eliminates most errors during signal propagation, improving positioning accuracy.

[0003] However, as user positioning becomes more and more complex, users have higher and higher requirements for positioning reporting parameters. The current positioning method cannot meet users' needs in this regard.

[0004] Summary of the Invention

[0005] The present application provides a method and communication device for positioning. The following describes several aspects of the embodiments of the present application.

[0006] In a first aspect, a method for positioning is provided, including: a receiving device receives first information, where the first information is used to indicate a first parameter of a transmitting device, and the first parameter is related to the positioning of the receiving device; the receiving device uses the first parameter to process a first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to position the receiving device.

[0007] In a second aspect, a method for positioning is provided, including: a positioning device receives first information, the first information is used to indicate a first parameter of a transmitting device, and the first parameter is related to the positioning of the receiving device; the positioning device receives second information sent by the receiving device, the second information includes a first phase difference for multiple transmitting devices; the positioning device uses the first parameter to process the first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to locate the receiving device.

[0008] According to a third aspect, a method for positioning is provided, including: a transmitting device sends first information to a positioning device, where the first information is used to indicate a first parameter of the transmitting device, and the first parameter is related to the positioning of a receiving device; wherein the first parameter is used by the positioning device to process the first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to position the receiving device.

[0009] In a fourth aspect, a method for positioning is provided, including: a receiving device measures a first reference signal sent by a first transmitting device to obtain a first phase; the receiving device measures a second reference signal sent by a second transmitting device to obtain a second phase, wherein the second parameters of the first reference signal and the second reference signal are different, and the second parameter includes wavelength and / or frequency; the receiving device determines a target phase difference based on the second parameter of the first reference signal, the second parameter of the second reference signal, the first phase and the second phase, and the target phase difference is used to position the receiving device.

[0010] In a fifth aspect, a method for positioning is provided, including: a receiving device measures a first reference signal sent by a first transmitting device to obtain a first phase; the receiving device measures a second reference signal sent by a second transmitting device to obtain a second phase, wherein the second parameters of the first reference signal and the second reference signal are different, and the second parameter includes wavelength and / or frequency; the receiving device sends fourth information to a positioning device, the fourth information being used to indicate the first phase and the second phase, the second parameter of the first reference signal and the second parameter of the second reference signal, and the fourth information being used to position the receiving device.

[0011] In a sixth aspect, a method for positioning is provided, including: a positioning device receives fifth information sent by a receiving device, the fifth information being used to indicate a first phase and a second phase, the first phase being obtained by measuring a first reference signal sent by a first transmitting device, and the second phase being obtained by measuring a second reference signal sent by a second transmitting device, the first reference signal and the second reference signal having different second parameters, the second parameter including wavelength and / or frequency; the positioning device receives sixth information, the sixth information being used to indicate the second parameter of the first reference signal and the second parameter of the second reference signal; the positioning device determines a target phase difference based on the first phase, the second phase, the second parameter of the first reference signal and the second parameter of the second reference signal, and the target phase difference is used to position the receiving device.

[0012] In the seventh aspect, a communication device is provided, which is a receiving device, including: a receiving unit, used to receive first information, wherein the first information is used to indicate a first parameter of a transmitting device, and the first parameter is related to the positioning of the receiving device; a processing unit, used to use the first parameter to process a first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to position the receiving device.

[0013] In an eighth aspect, a communication device is provided, which is a positioning device and includes: a receiving unit for receiving first information, wherein the first information is used to indicate a first parameter of a transmitting device, and the first parameter is related to the positioning of the receiving device; the receiving unit is also used to receive second information sent by the device, and the second information includes a first phase difference for multiple transmitting devices; a processing unit is used to use the first parameter to process the first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to locate the receiving device.

[0014] In the ninth aspect, a communication device is provided, which is a transmitting device, including: a sending unit, used to send first information to a positioning device, the first information is used to indicate a first parameter of the transmitting device, and the first parameter is related to the positioning of the receiving device; wherein, the first parameter is used by the positioning device to process the first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to locate the receiving device.

[0015] In the tenth aspect, a communication device is provided, which is a receiving device, comprising: a measuring unit, used to measure a first reference signal sent by a first transmitting device to obtain a first phase, and to measure a second reference signal sent by a second transmitting device to obtain a second phase, wherein the second parameters of the first reference signal and the second reference signal are different, and the second parameter includes wavelength and / or frequency; a determination unit, used to determine a target phase difference based on the second parameter of the first reference signal, the second parameter of the second reference signal, the first phase and the second phase, and the target phase difference is used to position the receiving device.

[0016] In the eleventh aspect, a communication device is provided, which is a receiving device, comprising: a measuring unit, used to measure a first reference signal sent by a first transmitting device to obtain a first phase, and to measure a second reference signal sent by a second transmitting device to obtain a second phase, wherein the second parameters of the first reference signal and the second reference signal are different, and the second parameter includes wavelength and / or frequency; a sending unit, used to send fourth information to a positioning device, the fourth information being used to indicate the first phase and the second phase, the second parameter of the first reference signal and the second parameter of the second reference signal, and the fourth information being used to position the receiving device.

[0017] In the twelfth aspect, a communication device is provided, which is a positioning device, including: a receiving unit for receiving fifth information sent by the receiving device, the fifth information is used to indicate a first phase and a second phase, the first phase is obtained by measuring a first reference signal sent by a first transmitting device, and the second phase is obtained by measuring a second reference signal sent by a second transmitting device, the first reference signal and the second reference signal have different second parameters, and the second parameter includes a wavelength and / or frequency; the receiving unit is also used to receive sixth information, the sixth information is used to indicate the second parameter of the first reference signal and the second parameter of the second reference signal; a determination unit is used to determine a target phase difference based on the first phase, the second phase, the second parameter of the first reference signal and the second parameter of the second reference signal, and the target phase difference is used to position the receiving device.

[0018] In a thirteenth aspect, a communication device is provided, comprising: a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory to execute the method described in any one of the first to sixth aspects.

[0019] In a fourteenth aspect, a device is provided, comprising a processor for calling a program from a memory to execute the method described in any one of aspects one to six.

[0020] In a fifteenth 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 any one of the first to sixth aspects.

[0021] In a sixteenth aspect, a computer-readable storage medium is provided, on which a program is stored, wherein the program enables a computer to execute the method as described in any one of the first to sixth aspects.

[0022] In the seventeenth aspect, a computer program product is provided, comprising a program, wherein the program enables a computer to execute the method as described in any one of the first to sixth aspects.

[0023] In an eighteenth aspect, a computer program is provided, wherein the computer program enables a computer to execute the method as described in any one of aspects one to six.

[0024] In the embodiments of the present application, the first phase difference can be processed based on the first parameter (such as the initial phase, hardware delay, and clock error) to obtain a target phase difference, and the target phase difference can be used to locate the receiving device. Because the first parameter is taken into account when determining the target phase difference, the influence of the first parameter on the positioning result can be reduced, thereby improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG1 is a wireless communication system 100 used in an embodiment of the present application.

[0026] FIG2 is a schematic diagram of a phase differential positioning method used in an embodiment of the present application.

[0027] FIG3 is a schematic diagram of a reception phase of a reference signal.

[0028] FIG4 is a schematic flowchart of a method for positioning when the frequencies of reference signals are the same, provided in an embodiment of the present application.

[0029] FIG5 is a schematic flowchart of another method for positioning when the frequencies of reference signals are the same, provided in an embodiment of the present application.

[0030] FIG6 is a schematic flowchart of another method for positioning when the frequencies of reference signals are the same, provided in an embodiment of the present application.

[0031] FIG7 is a schematic flowchart of a method for positioning when the frequencies of reference signals are different, provided in an embodiment of the present application.

[0032] FIG8 is a schematic flowchart of another method for positioning when the frequencies of reference signals are different, provided in an embodiment of the present application.

[0033] FIG9 is a schematic flowchart of another method for positioning when the frequencies of reference signals are different, provided in an embodiment of the present application.

[0034] FIG10 is a schematic block diagram of a communication device provided in an embodiment of the present application.

[0035] FIG11 is a schematic block diagram of another communication device provided in an embodiment of the present application.

[0036] FIG12 is a schematic block diagram of another communication device provided in an embodiment of the present application.

[0037] FIG13 is a schematic block diagram of another communication device provided in an embodiment of the present application.

[0038] FIG14 is a schematic block diagram of another communication device provided in an embodiment of the present application.

[0039] Figure 15 is a schematic block diagram of another communication device provided in an embodiment of the present application.

[0040] FIG16 is a schematic structural diagram of another device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solution in this application will be described below with reference to the accompanying drawings.

[0042] 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.

[0043] FIG1 exemplarily shows a network device and two terminal devices. Optionally, the wireless communication system 100 may include multiple network devices and each network device may include another number of terminal devices within its coverage area, which is not limited in this embodiment of the present application.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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).

[0052] Currently, commonly used positioning methods can use carrier phase difference (CPD) technology or real-time kinematic (RTK) positioning technology. This positioning method can make a difference based on the signal phase measured by the receiving device, and then perform positioning based on the phase difference obtained by the difference. Because this method uses differential processing, it can eliminate most of the errors in the signal propagation process and improve positioning accuracy. The positioning method involved in the embodiment of the present application is introduced below in conjunction with Figure 2.

[0053] Referring to Figure 2 , the positioning system may include a receiving device, a reference transmitting device, and at least one target transmitting device. The receiving device may be a terminal device or a CPE. The transmitting device may also be a transmission point. For example, the transmitting device may be a satellite. Of course, in some embodiments, the transmitting device may also be a base station. The base station may include, for example, a serving cell base station and / or a neighboring cell base station.

[0054] The receiving device can receive a reference signal sent by a reference transmitting device and measure the reference signal to obtain a first phase (or first observation data). The receiving device can also receive a reference signal sent by a target transmitting device 1 and measure the reference signal to obtain a second phase (or second observation data). The receiving device can perform differential processing on the first phase and the second phase to obtain a phase difference (or differential data). In some embodiments, the receiving device can measure the reference signal at multiple times to obtain the first phase and the second phase at different times, and perform differential processing on the first phase and the second phase to obtain multiple phase differences.

[0055] In some embodiments, the receiving device can also receive a reference signal sent by target transmitting device 2 and measure the reference signal to obtain a third phase. The receiving device can perform differential processing on the third phase and the first phase to obtain a phase difference. The calculation method for other target transmitting devices (such as target transmitting device 3) is similar. Based on these phase differences, the three-dimensional coordinates of the receiving device and their accuracy can be calculated.

[0056] The reference signal involved in the embodiment of the present application may be, for example, a positioning reference signal (PRS).

[0057] As shown in Figure 3, if the propagation distance of a wireless signal (such as a reference signal) is different, the phase of the signal received by the receiving device will also be different. The x-axis in Figure 3 can represent the propagation distance, and the y-axis represents the phase of the received wireless signal. a, b, and c represent different propagation distances.

[0058] From the earliest wireless communication systems to the current fifth-generation mobile communication systems, the operating frequencies of communication systems have become increasingly higher. As the operating frequency increases, the communication signal's ability to resist interference decreases, and the complexity of delay detection increases, which in turn complicates positioning processing. As the signal's carrier frequency increases, the signal's wavelength shortens. For example, at a 40 GHz operating frequency, the signal's wavelength is approximately 6 mm. When the signal propagation distance differs by more than 1 mm, the signal phase difference approaches 90 degrees. Therefore, phase information can more precisely reflect the distance between the receiving device and the transmitting device, allowing carrier phase positioning to achieve highly accurate positioning results.

[0059] Typically, communication signals carry various errors during propagation, including satellite errors, atmospheric errors, multipath errors, and device errors. These errors can lead to inaccurate data resolution and, consequently, positioning errors. For transmitters and receivers located close together, the receiver can eliminate errors such as atmospheric errors by subtracting the phases measured for the different transmitters, as well as errors introduced by the receiver itself.

[0060] In some embodiments, the receiving device may be a terminal device, or a positioning reporting unit (PRU). The positioning device in the embodiments of the present application may be a unit having a positioning solution function. The positioning device may be a positioning server, a location management function (LMF), a serving cell, a positioning reference unit, or a terminal device.

[0061] During wireless signal propagation, the phase measured by the receiving device depends not only on the distance between the receiving and transmitting devices, but also on other factors. For example, the measured phase is also affected by factors such as the receiving device's clock error, hardware delay, and multipath. Another example is the measured phase, which is also affected by factors such as the transmitting device's clock error and hardware delay.

[0062] The original phase observation equation can be as follows:

[0063] Where r represents the receiver; s represents the transmitting device or the number of the transmitting device; i represents the frequency; Represents the phase (or phase observation value), in meters; λ i The wavelength of the carrier phase is expressed in meters; represents the geometric distance between the transmitting device and the receiving device, in meters; c represents the speed of light, in m / s; dt r Indicates the clock difference of the receiving device in seconds; dt s Indicates the clock error of the transmitting device in seconds; represents the ionospheric delay in meters; represents the tropospheric delay in meters; Indicates the initial phase of the receiving device, in cycles; δ′ r,i Indicates the hardware delay of the receiving device in weeks; Indicates the initial phase of the transmitting device in cycles; Indicates the hardware delay of the transmitting device in weeks; Represents multipath, noise and other errors of phase observation value, in meters; Indicates the phase error caused by other interference, the unit is cycle.

[0064] In some embodiments, the aforementioned hardware delay may also be referred to as phase hardware delay.

[0065] Convert the above formula into an expression of phase (unit is cycle), and the calculation formula of phase is as follows:

[0066] Where r represents the receiver; s represents the transmitting device or the number of the transmitting device; i represents the frequency; Represents the phase (or phase observation value), the unit is cycle; λ i The wavelength of the carrier phase is expressed in meters; represents the geometric distance between the transmitting device and the receiving device, in meters; c represents the speed of light, in m / s; dt r Indicates the clock difference of the receiving device in seconds; dt sIndicates the clock error of the transmitting device in seconds; represents the ionospheric delay in meters; represents the tropospheric delay in meters; Indicates the initial phase of the receiving device, in cycles; δ r,i Indicates the hardware delay of the receiving device in weeks; Indicates the initial phase of the transmitting device in cycles; Indicates the hardware delay of the transmitting device in weeks; Represents multipath, noise and other errors of the phase observation value, in meters.

[0067] The receiving device receives signals from different transmitting devices and obtains the signal phase information for each transmitting device. Assume that the receiving device estimates the phase of the reference signals from transmitting devices s1 and s2 respectively. The phase calculation formula is as follows:

[0068] Where r represents the receiver; s1 and s2 represent the transmitting device or the number of the transmitting device; i represents the frequency; Indicates the phase of the transmitting device s1, Indicates the phase of the transmitting device s2, in cycles; λ i Indicates the wavelength of the reference signal in meters; Indicates the geometric distance between the receiving device and the transmitting device s1, represents the geometric distance between the receiving device and the transmitting device s2, in meters; c represents the speed of light, in m / s; dt r Indicates the clock difference of the receiving device in seconds; dt s1 represents the clock difference of the transmitting device s1, dt s2 Indicates the clock difference of the transmitting device s2, in seconds; represents the ionospheric delay of the transmitting device s1, represents the ionospheric delay of the transmitting device s2, in meters; represents the tropospheric delay of the transmitting device s1, represents the tropospheric delay of the transmitting device s2, in meters; Indicates the initial phase of the receiving device in cycles; represents the initial phase of the transmitting device s1, Indicates the initial phase of the transmitting device s2, in cycles; δ r，i Indicates the phase hardware delay of the receiving device, in cycles; Indicates the phase hardware delay of the transmitting device s1, Indicates the phase hardware delay of the transmitting device s2, in cycles; Represents multipath, noise and other errors of the phase observation value, in meters.

[0069] Ionospheric delay is caused by ionized gases in the ionosphere, and this delay affects the signal propagation from the transmitting device to the receiving device. Although ionospheric delay is a common source of error, its impact can be partially eliminated or reduced through differential technology (or differential GNSS technology). Taking satellite communications as an example, differential technology refers to the use of multiple satellite signals. By calculating the differences between different satellite signals, the common errors caused by the ionosphere can be reduced. Differential technology deploys one or more reference stations on the ground, measures the difference between the signals they receive and the actual position, and broadcasts this difference information to users for delay correction. Therefore, the receiving device estimates the phase of the signals from satellites s1 and s2 and calculates the carrier phase difference, which can ignore the impact of ionospheric delay.

[0070] Tropospheric delay is caused by water vapor in the atmosphere, which affects signal propagation from the transmitter to the receiver. This effect can be reduced by differentiating the reference signals from different receivers. For example, when using multiple satellite signals, atmospheric conditions vary relatively slowly across space. Therefore, the effect of tropospheric delay can be eliminated or reduced by calculating the difference between the signals from different satellites. This differencing process is called Doppler differencing. By differentiating multiple satellite signals, common errors caused by the atmosphere can be reduced. This is widely used in differential positioning technology (or differential GNSS technology). In this technology, several base stations measure the difference between their received satellite signals and their true position and transmit this difference information to users, allowing them to make delay corrections. In general, tropospheric delay can be eliminated or reduced through Doppler differencing, thereby improving the accuracy and reliability of positioning systems. Therefore, the receiving device estimates the phase of the signals from satellites s1 and s2 and calculates the carrier phase difference, thus ignoring the effect of tropospheric delay.

[0071] Although differential technology can improve positioning accuracy, the current positioning method still cannot meet people's increasingly high positioning needs. Therefore, how to further improve positioning accuracy has become an urgent problem to be solved.

[0072] As described above, a receiving device can measure the reference signals transmitted by different transmitting devices to obtain the signal phases. It can then subtract the phases of the signals to obtain a phase difference, which can be used to locate the receiving device. The reference signals sent by different transmitting devices can have the same or different frequencies. The following discusses both scenarios.

[0073] It should be noted that different frequencies of the reference signals may also refer to different wavelengths of the reference signals or different operating frequencies of the reference signals. The same frequencies of the reference signals may also refer to the same wavelengths of the reference signals or the same operating frequencies of the reference signals.

[0074] 1. The operating frequency of the reference signal is the same

[0075] Assuming that the operating frequencies of the reference signals of transmitters s1 and s2 are the same, that is, the wavelengths of the reference signals sent by receivers s1 and s2 are the same, the phase difference is calculated as follows:

[0076] If the receiving device performing phase estimation is the same, factors such as the initial phase, hardware delay, and clock error of the receiving device can be eliminated. The formula after eliminating these factors is as follows:

[0077] Clock error is the deviation of the clock of a receiving or transmitting device relative to the GNSS system time. This error is due to the imperfect accuracy of the atomic clock or other clock devices in the transmitting or receiving device. While modern transmitting device clocks are quite accurate, some error still exists. In many applications, the transmitting device's clock error can generally be considered a constant value because it changes relatively slowly. In receiving devices (such as GNSS receivers), this error is taken into account and corrected accordingly. Clock correction is typically performed via navigation messages sent by the transmitting device. These messages may contain information about the transmitting device's clock and calibration parameters, allowing the receiving device to accurately calculate the transmitting device's position. While the transmitting device's clock error is generally considered in the receiving device's calculations, some high-precision applications, particularly those in scientific research or engineering where extreme accuracy is crucial, may require more sophisticated processing of the clock error. In these cases, more complex models may be needed to account for variations in the transmitting device's clock error. Overall, in many common applications, the transmitting device's clock error can be considered a source of error that can be corrected and managed, but in some applications with extremely high accuracy requirements, more careful handling of the transmitting device's clock error may be necessary.

[0078] If the clock error of the transmitting device is ignored, the phase difference can be calculated as follows:

[0079] Signal transmission equipment (such as antennas and amplifiers) on wireless communication devices introduces latency. This latency is typically due to the propagation and processing time required for wireless signals as they pass through the hardware components of the communication device. Taking satellites as an example, satellite hardware latency errors are generally difficult to completely eliminate because they are dependent on the specific hardware design and implementation of the satellite. However, in GNSS systems, these errors are typically measured and modeled on the satellite side to enable appropriate corrections. This correction is typically achieved by providing relevant information in navigation messages or by using advanced signal processing techniques. On the GNSS receiver side, information from received navigation messages can be used to estimate and correct for hardware latency. Furthermore, high-precision GNSS receivers may use multipath modeling and correction to further minimize hardware latency errors. While satellite hardware latency errors cannot be completely eliminated, effective modeling and correction can reduce their impact within the GNSS system, thereby improving positioning accuracy. Continuous technological development and improvements are helping to further reduce this type of error.

[0080] As can be seen from the above, it is currently impossible to completely eliminate the primary parameters of the transmitting device (such as initial phase, hardware delay, and clock error), and these parameters will affect positioning accuracy. Current positioning methods directly perform positioning based on the primary phase difference between multiple transmitting devices, without considering the impact of the transmitting device's primary parameters on positioning, resulting in inaccurate positioning.

[0081] Based on this, an embodiment of the present application provides a positioning method that processes a first phase difference based on a first parameter to obtain a target phase difference, and uses the target phase difference to locate a receiving device. Because the first parameter is taken into account when determining the target phase difference, the influence of the first parameter on the positioning result can be reduced, thereby improving positioning accuracy. The solution of this embodiment of the present application is described in detail below with reference to Figure 4.

[0082] 4 , in step S410 , a receiving device receives first information.

[0083] The first information is used to indicate a first parameter of the transmitting device, and the first parameter is related to the positioning of the receiving device, or in other words, the first parameter can be used to locate the receiving device. In some implementations, the first parameter may refer to a parameter that will affect the positioning of the receiving device. For example, the first parameter may include one or more of the following: initial phase, hardware delay, and clock difference. Of course, in some embodiments, the first parameter may include one or more of the following: initial phase difference, hardware delay difference, and clock difference difference. The initial phase difference may refer to the difference between the initial phase of the first transmitting device and the initial phase of the second transmitting device; the hardware delay difference may refer to the difference between the hardware delay of the first transmitting device and the hardware delay of the second transmitting device; the clock difference difference may refer to the difference between the clock difference of the first transmitting device and the clock difference of the second transmitting device. By reporting the difference values ​​of various parameters, the amount of data reported can be reduced.

[0084] In some implementations, the phase difference reported by the receiving device includes phase differences due to different initial phases or hardware delays between different transmitting ends. In this case, the receiving device or the transmitting device can send a first parameter to the positioning device so that the positioning device can locate the receiving device based on the first parameter. If the first parameter is sent from the receiving device to the positioning device, the transmitting device can first send the first parameter to the receiving device, and then the receiving device can send the first parameter to the positioning device.

[0085] In some embodiments, a transmitting device may be a device capable of transmitting a reference signal for positioning. The transmitting device may be a transmission point or a base station. The transmitting device may include a reference transmitting device and a target transmitting device. In some implementations, the transmitting device may be a satellite. The first parameter may be the satellite's initial phase, hardware delay, and clock error.

[0086] In some embodiments, the first information may include a first parameter. For example, the first parameter may include one or more of the following: initial phase, hardware delay, and clock error. The first information may include the initial phase, hardware delay, and clock error of the transmitting device.

[0087] In step S420, the receiving device processes the first phase differences for the multiple transmitting devices using the first parameter to obtain a target phase difference, which is used to locate the receiving device.

[0088] In some embodiments, the first phase difference may be a phase difference between two transmitting devices. Assuming the multiple transmitting devices include a first transmitting device and a second transmitting device, the first phase difference may be the difference between a first phase and a second phase, where the first phase is the phase for the first transmitting device and the second phase is the phase for the second transmitting device. It should be noted that the phase for the first transmitting device may refer to a phase obtained by measuring a reference signal sent by the first transmitting device, and the phase for the second transmitting device may refer to a phase obtained by measuring a reference signal sent by the second transmitting device.

[0089] In some implementations, a first transmitting device may send a first reference signal to a receiving device, and the receiving device may measure the first reference signal to obtain a first phase. The first phase may, for example, be the signal phase when the receiving device receives the first reference signal. A second transmitting device may send a second reference signal to the receiving device, and the receiving device may measure the second reference signal to obtain a second phase. The second phase may, for example, be the signal phase when the receiving device receives the second reference signal. In some implementations, the receiving device may subtract the first phase from the second phase to obtain a first phase difference.

[0090] In some embodiments, one of the first transmitting device and the second transmitting device is a reference transmitting device, and the other is a target transmitting device.

[0091] In some embodiments, the frequency of the first reference signal is the same as the frequency of the second reference signal, or in other words, the wavelength of the first reference signal is the same as the wavelength of the second reference signal. In some implementations, the frequency of the reference signal may also be referred to as the operating frequency of the reference signal. The difference between the second parameter of the first reference signal and the second parameter of the second reference signal can also be understood as the difference between the carrier frequency of the first transmitting device and the carrier frequency of the second transmitting device.

[0092] As mentioned above, the first phase difference may be the phase difference between the first transmitting device and the second transmitting device. The receiving device may determine the target phase difference based on the first phase difference and the first difference. The first difference may be the difference between the first parameter of the first transmitting device and the first parameter of the second transmitting device. Taking the example that the first parameter includes the initial phase, the first difference may include the difference between the initial phase of the first transmitting device and the initial phase of the second transmitting device (which may be recorded as difference 1). Taking the example that the first parameter includes the hardware delay, the first difference may include the difference between the hardware delay of the first transmitting device and the hardware delay of the second transmitting device (recorded as difference 2). Taking the example that the first parameter includes the clock difference, the first difference may include the difference between the clock difference of the first transmitting device and the clock difference of the second transmitting device (recorded as difference 3).

[0093] In some embodiments, the first parameter may include multiple of an initial phase, a hardware delay, and a clock error. If the first parameter includes multiple parameters, the first difference may include the sum of the multiple differences. For example, if the first parameter includes an initial phase and a hardware delay, the first difference may include the sum of difference 1 and difference 2. For another example, if the first parameter includes hardware delay and a clock error, the first difference may include the sum of difference 2 and difference 3. For another example, if the first parameter includes an initial phase and a clock error, the first difference may include the sum of difference 1 and difference 2. For another example, if the first parameter includes an initial phase, a hardware delay, and a clock error, the first difference may include the sum of difference 1, difference 2, and difference 3.

[0094] In some embodiments, the receiving device may perform subtraction of the first phase difference with the first difference value to obtain a target phase difference. For example, the target phase difference = the first phase difference - the first difference value.

[0095] In some embodiments, the influence of the clock error of the transmitting device on the positioning can be ignored. If the first parameter includes the hardware delay and the initial phase, the target phase difference can be determined based on the following formula:

[0096] in, represents a first phase for a first transmitting device, represents the second phase for the second transmitting device, represents the first phase difference, represents the initial phase of the first transmitting device, represents the initial phase of the second transmitting device, Indicates the hardware delay of the first transmitting device, Indicates the hardware delay of the second transmitting device.

[0097] In some implementations, the first parameter may be sent to the receiving device by one or more of the following devices: a transmitting device, a base station, and a positioning device.

[0098] The above description uses the example of a receiving device calculating the target phase difference. The target phase difference can also be calculated by a positioning device. Below, in conjunction with Figure 5, the solution of an embodiment of the present application is described from the perspective of a positioning device. The solution shown in Figure 5 is similar to the solution shown in Figure 4. For solutions not described in detail, please refer to the description above. For example, in some implementations, the positioning device calculates the target phase difference in a similar manner to the receiving device. For solutions not described in detail below, please refer to the description above.

[0099] 5 , in step S510 , the positioning device receives first information. The first information is used to indicate a first parameter of the transmitting device, and the first parameter may be related to the positioning of the receiving device.

[0100] In some embodiments, the first information may be sent by a transmitting device to the positioning device, or may be sent by the transmitting device to the positioning device via a receiving device. In some implementations, the first information may be sent to the positioning device after a request from the positioning device. For example, the positioning device may send a request message to the transmitting device, and upon receiving the request message, the transmitting device may send the first information to the positioning device.

[0101] In step S520 , the positioning device receives second information, where the second information includes first phase differences for a plurality of transmitting devices.

[0102] In some embodiments, the second information may be sent by a transmitting device or a receiving device to the positioning device. In some implementations, the second information may be sent to the positioning device after a request from the positioning device. For example, the positioning device may send a request message to the receiving device, and upon receiving the request message, the receiving device may send the second information to the positioning device.

[0103] In step S530, the positioning device processes the first phase differences for the multiple transmitting devices using the first parameter to obtain a target phase difference, which is used to position the receiving device.

[0104] In some implementations, the first parameter may include one or more of the following: initial phase, hardware delay, and clock error.

[0105] In some implementations, the multiple transmitting devices include a first transmitting device and a second transmitting device, and the reference signals transmitted by the first transmitting device and the second transmitting device have the same frequency. The first phase difference is the phase difference between the first transmitting device and the second transmitting device. The positioning device may subtract the first phase difference from the first difference to obtain a target phase difference. The first difference may be the difference between a first parameter of the first transmitting device and a first parameter of the second transmitting device.

[0106] In some implementations, the first parameter may include hardware delay and initial phase, and the target phase difference may be determined based on the following formula:

[0107] in, represents a first phase for a first transmitting device, represents the second phase for the second transmitting device, represents the first phase difference, represents the initial phase of the first transmitting device, represents the initial phase of the second transmitting device, Indicates the hardware delay of the first transmitting device, Indicates the hardware delay of the second transmitting device.

[0108] In some implementations, the first parameter is sent to the positioning device by one or more of the following devices: a transmitting device, a receiving device, a base station, and a positioning reference unit.

[0109] Figure 6 shows another positioning method provided by an embodiment of the present application. Figure 6 describes the solution of the embodiment of the present application from the perspective of the transmitting device. It is understood that the method shown in Figure 6 is similar to the methods shown in Figures 4 and 5. For details not described in detail, please refer to the description of Figures 4 and 5 above.

[0110] 6 , in step S610 , the transmitting device sends first information to the positioning device, where the first information is used to indicate a first parameter of the transmitting device. The first parameter is related to the positioning of the receiving device, or in other words, the first parameter can be used to locate the receiving device.

[0111] After receiving the first information, the positioning device can locate the receiving device based on the first information (or first parameter). For example, the positioning device can determine the target phase difference described above based on the first information and locate the receiving device based on the target phase difference.

[0112] In some implementations, the receiving device may send a first phase and a second phase to the positioning device. The first phase is the phase measured by the receiving device based on a first reference signal sent by the first transmitting device. The second phase is the phase measured by the receiving device based on a second reference signal sent by the second transmitting device. After receiving the first and second phases, the positioning device may determine a target phase difference based on a first parameter. The positioning device may process the first and second phases in a manner similar to the processing by the receiving device in FIG. 4 , and will not be further described here.

[0113] In some implementations, the receiving device may also send the difference between the first phase and the second phase to the positioning device. The positioning device may process the difference based on the first parameter to obtain the target phase difference. The positioning device may process the difference in a manner similar to that of the receiving device in FIG. 4 , and will not be further described here.

[0114] In some embodiments, the first parameter may include one or more of the following: initial phase, hardware delay, clock difference, difference between the initial phase of the first transmitting device and the initial phase of the second transmitting device, difference between the hardware delay of the first transmitting device and the hardware delay of the second transmitting device, difference between the clock difference of the first transmitting device and the clock difference of the second transmitting device, a second parameter related to the reference signal sent by the transmitting device, and first indication information.

[0115] In some implementations, the first indication information may be used to indicate whether the second parameter of the first reference signal is the same as the second parameter of the second reference signal. The first reference signal may be a reference signal sent by the first transmitting device, and the second reference signal may be a reference signal sent by the second transmitting device. In some implementations, the second parameter may include wavelength and / or frequency.

[0116] In some implementations, if the first indication information indicates that the second parameter of the first reference signal is the same as the second parameter of the second reference signal, the positioning device may locate the receiving device according to the scheme described above. If the first indication information indicates that the second parameter of the first reference signal is different from the second parameter of the second reference signal, the positioning device may locate the receiving device according to the scheme described below where the operating frequencies of the reference signals are different.

[0117] 2. The operating frequency of the reference signal is different

[0118] In the process of positioning the receiving device, the second parameters (such as wavelength or frequency) of the reference signals sent by different transmitting devices may be different. In other words, the frequencies of the reference signals sent by different transmitting devices are different, or the wavelengths of the reference signals sent by different transmitting devices are different. In this case, if the difference in the second parameters is not taken into account and the receiving device is positioned directly based on the measured phase difference, inaccurate positioning will result.

[0119] When the frequencies of the reference signals sent by transmitters s1 and s2 are different, if the phases measured by the receiving devices are directly subtracted, the phase difference is calculated using the following formula:

[0120] The distance between the receiving device and the transmitting device is extracted using the following formula:

[0121] The phase difference in the above formula cannot directly reflect the difference in distance between the transmitter and receiver. In other words, the phase difference is the difference between the distance between the transmitter s1 and the receiver and the distance between the transmitter s2 and the receiver multiplied by different coefficients.

[0122] Based on this, an embodiment of the present application provides a method for positioning. By determining a target phase difference based on a second parameter and then using the target phase difference to position the receiving device, the accuracy of the positioning result can be improved. The solution of the embodiment of the present application is described in detail below with reference to Figures 6 and 7.

[0123] Example 1

[0124] 7 , in step S710 , a receiving device measures a first reference signal sent by a first transmitting device to obtain a first phase.

[0125] In some embodiments, the receiving device may receive a first reference signal sent by the first transmitting device and measure the first reference signal to obtain a first phase. The first phase may be, for example, a signal phase when the receiving device receives the first reference signal.

[0126] In step S720, the receiving device measures the second reference signal sent by the second transmitting device to obtain a second phase.

[0127] In some embodiments, the receiving device may receive a second reference signal sent by the second transmitting device and measure the second reference signal to obtain a second phase. The second phase may be, for example, a signal phase when the receiving device receives the second reference signal.

[0128] The second parameter of the first reference signal differs from the second parameter of the second reference signal. The second parameter may include wavelength and / or frequency. For example, the wavelength of the first reference signal differs from the wavelength of the second reference signal. In another example, the frequency of the first reference signal differs from the frequency of the second reference signal. In some implementations, the frequency of the reference signal may also be referred to as the operating frequency of the reference signal. The difference between the second parameter of the first reference signal and the second parameter of the second reference signal can also be understood as the difference between the carrier frequency of the first transmitting device and the carrier frequency of the second transmitting device.

[0129] In step S730, the receiving device determines a target phase difference based on the second parameter of the first reference signal, the second parameter of the second reference signal, the first phase, and the second phase. The target phase difference can be used to locate the receiving device.

[0130] In some implementations, the receiving device may process the first phase and the second phase using the second parameter of the first reference signal and the second parameter of the second reference signal to obtain a target phase difference. For example, if the second parameter includes wavelength, the receiving device may process the first phase and the second phase using the wavelength of the first reference signal and the wavelength of the second reference signal to obtain the target phase difference.

[0131] In some embodiments, the receiving device may determine the third phase based on the first phase and the third parameter. The third parameter is determined based on the second parameter of the first reference signal. The embodiments of the present application do not specifically limit the method for determining the third parameter. As an example, the third parameter may be the second parameter of the first reference signal. As another example, the third parameter may be obtained by transforming the second parameter of the first reference signal. For example, the third parameter may be obtained by scaling the second parameter according to a certain ratio. For example, the third parameter may be obtained by scaling the second parameter according to a certain ratio. By scaling the second parameter before performing subsequent calculations, the amount of computation can be reduced, shortening the processing time required by the receiving device and facilitating reduced positioning latency.

[0132] For example, for the same distance, different wavelengths will result in different signal phases when the signal reaches the user's receiving device. The terminal device can convert the phase for the target transmitting device into the phase for the reference transmitting point. The terminal device can convert the measured phase into distance based on the actual wavelength, then convert the distance into phase based on the wavelength of the reference signal transmitted by the reference transmitting device, and report the converted phase to the positioning device. When solving the position, the positioning device does not need to know the actual wavelength of the signal. Instead, it calculates the distance and solves the position based on a single wavelength, namely the wavelength of the reference signal transmitted by the reference transmitting point. This reduces the amount of reporting, the amount of calculation required by the positioning server, and the complexity of data maintenance.

[0133] For example, the third parameter can be determined based on the following formula:

[0134] The third parameter = the second parameter / a

[0135] Wherein, a is a number greater than 1. a can be an integer or a decimal. It should be noted that the second parameter in the above formula refers to the second parameter of the first reference signal.

[0136] In some embodiments, the receiving device may determine the fourth phase based on the second phase and the fourth parameter. The fourth parameter is determined based on the second parameter of the second reference signal. The embodiments of the present application do not specifically limit the method for determining the fourth parameter. As an example, the fourth parameter may be the second parameter of the second reference signal. As another example, the fourth parameter may be obtained by transforming the second parameter of the second reference signal. For example, the fourth parameter may be obtained by scaling the second parameter according to a certain ratio. For example, the fourth parameter may be obtained by scaling the second parameter according to a certain ratio. By scaling the second parameter before performing subsequent calculations, the amount of computation can be reduced, shortening the processing time required by the receiving device and facilitating reduced positioning latency.

[0137] For example, the fourth parameter can be determined based on the following formula:

[0138] Fourth parameter = second parameter / a

[0139] Wherein, a is a number greater than 1. a can be an integer or a decimal. It should be noted that the second parameter in the above formula refers to the second parameter of the second reference signal.

[0140] In some embodiments, the third parameter and the fourth parameter are determined in the same manner. For example, the third parameter is the second parameter of the first reference signal, and the fourth parameter is the second parameter of the second reference signal. In another example, the third parameter is the second parameter of the first reference signal scaled down by a first ratio, and the fourth parameter is the second parameter of the second reference signal scaled down by the first ratio.

[0141] In some embodiments, the third phase is determined based on the product of the first phase and the third parameter, and the fourth phase is determined based on the product of the second phase and the fourth parameter. For example, the third phase = first phase * third parameter, and the fourth phase = second phase * fourth parameter.

[0142] In some embodiments, the receiving device may determine a target phase difference based on the difference between the third phase and the fourth phase. There are various ways to determine the target phase difference, which are not specifically limited in the embodiments of the present application. As an example, the target phase difference is equal to the difference between the third phase and the fourth phase. As another example, the target phase difference may be obtained by performing certain processing on the difference between the third phase and the fourth phase. This is described in detail below.

[0143] The following first introduces an example where both the third parameter and the fourth parameter are wavelengths. That is, the third parameter may be the wavelength of the first reference signal, and the fourth parameter may be the wavelength of the second reference signal.

[0144] In some implementations, the target phase difference may be determined based on the following formula:

[0145] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, represents the first phase, Indicates the second phase.

[0146] Combined with the above formula, the calculation formula for the converted target phase difference is as follows:

[0147] Furthermore, the above formula can be transformed into:

[0148] When the frequencies of the reference signals sent by the first transmitting device and the second transmitting device are not much different, the ionospheric delays of the first transmitting device and the second transmitting device are also slightly different, and the tropospheric delays of the first transmitting device and the second transmitting device are also slightly different, then by eliminating the ionospheric delay and the tropospheric delay, the above formula can be converted to:

[0149] Combining the initial phase and hardware delay of the receiving device, the above formula can be transformed into:

[0150] As can be seen from the above formula, the embodiment of the present application introduces the second parameter so that the target phase difference can basically reflect the distance information between the receiving device and the transmitting device, thereby improving the positioning accuracy.

[0151] In some implementations, the receiving device may determine the target phase difference based on the difference between the third phase and the fourth phase (denoted as the first difference) and a fifth parameter of the receiving device. The fifth parameter may include hardware delay and / or initial phase. By considering the fifth parameter of the receiving device during positioning, the impact of the fifth parameter on positioning accuracy can be reduced, thereby improving positioning accuracy.

[0152] Taking the fifth parameter including hardware delay and initial phase as an example, the target phase difference can be determined based on the following formula:

[0153] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, represents the first phase, represents the second phase, represents the initial phase of the receiving device, δ r,i Indicates the hardware latency of the receiving device.

[0154] Combined with the previous formula, the calculation formula of the target phase difference can be converted into the following formula:

[0155] It can be seen from the above formula that the embodiment of the present application eliminates the error caused by hardware delay and initial phase in the phase difference, so that the target phase difference can basically reflect the distance information between the receiving device and the transmitting device, thereby improving the positioning accuracy.

[0156] Taking the fifth parameter including hardware delay as an example, the target phase difference can be determined based on the following formula:

[0157] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2represents the wavelength of the second transmitting device, represents the first phase, represents the second phase, δ r,i Indicates the hardware latency of the receiving device.

[0158] Taking the fifth parameter including the initial phase as an example, the target phase difference can be determined based on the following formula:

[0159] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, represents the first phase, represents the second phase, Indicates the initial phase of the receiving device.

[0160] In some embodiments, since the sixth parameter of the transmitting device (such as one or more of clock error, hardware delay and initial phase) will also affect the positioning accuracy, when calculating the target phase difference, the target phase difference can be determined based on the sixth parameter to reduce the impact of the sixth parameter on the positioning accuracy and improve the positioning accuracy.

[0161] In some embodiments, the receiving device may determine the target phase difference based on the first difference, the fifth parameter of the receiving device, the sixth parameter of the first transmitting device, and the sixth parameter of the second transmitting device.

[0162] In some implementations, the target phase difference may be determined based on the following formula:

[0163] In some embodiments, the above It can be determined based on the following formula:

[0164] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, represents the first phase, represents the second phase, represents the initial phase of the receiving device, δ r,i represents the hardware delay of the receiving device, c represents the speed of light, and dt s2 represents the clock difference of the second transmitting device, dt s1 represents the clock error of the first transmitting device, represents the initial phase of the first transmitting device, Indicates the hardware delay of the first transmitting device, represents the initial phase of the second transmitting device, Indicates the hardware delay of the second transmitting device.

[0165] It can be understood that the above determination of the target phase difference (such as ) is only an example, and the target phase difference can also be determined based on other formulas, which is not specifically limited in the embodiments of the present application.

[0166] For example, if the sixth parameter includes a clock error, then

[0167] For another example, if the sixth parameter includes hardware delay, then

[0168] For another example, if the sixth parameter includes the initial phase, then

[0169] For another example, if the sixth parameter includes clock error and hardware delay, then

[0170] For another example, if the sixth parameter includes the clock error and the initial phase, then

[0171] For another example, if the sixth parameter includes hardware delay and initial phase, then

[0172] In some embodiments, the third parameter and / or the fourth parameter may be determined based on a ratio of a wavelength of the first reference signal to a wavelength of the second reference signal. For example, the ratio of the third parameter to the fourth parameter is a first ratio, the ratio of the wavelength of the first reference signal to the wavelength of the second reference signal is a second ratio, and the first ratio is equal to the second ratio.

[0173] In some implementations, the target phase difference may be determined based on the following formula:

[0174] in, represents the first phase, represents the second phase, p represents the third parameter, and q represents the fourth parameter.

[0175] In some implementations, one of the third and fourth parameters is set to 1. Normalizing one of the third and fourth parameters can significantly reduce the computational complexity of determining the target phase difference, thereby reducing positioning latency. For example, assuming the second ratio is 2, the third parameter can be set to 2, and the fourth parameter can be set to 1.

[0176] In some implementations, the values ​​of the third parameter and the fourth parameter can be integers or decimals. For example, assuming the second ratio is 1.5, the value of the third parameter can be 1.5 and the value of the fourth parameter can be 1. Alternatively, the value of the third parameter can be 3 and the value of the fourth parameter can be 2. By setting the values ​​of the third parameter and the fourth parameter to integers, it is also helpful to reduce the calculation amount of determining the target phase difference and reduce positioning delay.

[0177] In some embodiments, the third parameter and the fourth parameter may also be referred to as weights.

[0178] In some embodiments, if the target phase difference is determined based on a third parameter and a fourth parameter (such as p and q described above), the receiving device may send third information indicating the third parameter and / or the fourth parameter to the positioning device. After receiving the third information, the positioning device may process the target phase difference based on the third information to locate the receiving device.

[0179] Example 2

[0180] Figure 8 is a positioning method provided by an embodiment of the present application. By sending a second parameter (such as wavelength and / or frequency, etc.) for the phase of the transmitting device and the reference signal sent by the transmitting device to the positioning device, the positioning device can use the second parameter to process the phase of the transmitting device, thereby locating the receiving device.

[0181] 8 , in step S810 , a receiving device measures a first reference signal sent by a first transmitting device to obtain a first phase.

[0182] In some embodiments, the receiving device may receive a first reference signal sent by the first transmitting device and measure the first reference signal to obtain a first phase. The first phase may be, for example, a signal phase when the receiving device receives the first reference signal.

[0183] In step S820, the receiving device measures the second reference signal sent by the second transmitting device to obtain a second phase.

[0184] In some embodiments, the receiving device may receive a second reference signal sent by the second transmitting device and measure the second reference signal to obtain a second phase. The second phase may be, for example, a signal phase when the receiving device receives the second reference signal.

[0185] The second parameter of the first reference signal differs from the second parameter of the second reference signal. The second parameter may include wavelength and / or frequency. For example, the wavelength of the first reference signal differs from the wavelength of the second reference signal. In another example, the frequency of the first reference signal differs from the frequency of the second reference signal. In some implementations, the frequency of the reference signal may also be referred to as the operating frequency of the reference signal. The difference between the second parameter of the first reference signal and the second parameter of the second reference signal can also be understood as the difference between the carrier frequency of the first transmitting device and the carrier frequency of the second transmitting device.

[0186] In step S830, the receiving device sends fourth information to the positioning device. The fourth information may be used to indicate the following information: the first phase and the second phase, the second parameter of the first reference signal and the second parameter of the second reference signal.

[0187] The fourth information can be used to locate the receiving device. For example, the positioning device can use the second parameter of the first reference signal and the second parameter of the second reference signal to process the first phase and the second phase to locate the receiving device. The positioning device can process the phase in a manner similar to the phase processing performed by the receiving device in Example 1 above. For the sake of brevity, this description is not repeated here. For example, the positioning device can determine a target phase difference based on the fourth information. The target phase difference can be determined in a manner similar to Example 1.

[0188] The second parameter may be proactively sent by the receiving device to the positioning device or sent upon request by the positioning device. In some implementations, the receiving device may receive a request message from the positioning device requesting the second parameter of the first reference signal and / or the second parameter of the second reference signal. In response to the request message, the receiving device sends the second parameter of the first reference signal and the second parameter of the second reference signal to the positioning device.

[0189] Figure 9 is another positioning method provided by an embodiment of the present application. Figure 9 introduces the solution of the embodiment of the present application from the perspective of a positioning device.

[0190] 9 , in step S910 , the positioning device receives fifth information, where the fifth information is used to indicate the first phase and the second phase.

[0191] In some embodiments, the fifth information may be sent by a receiving device to the positioning device, or by a transmitting device to the positioning device. In some implementations, the fifth information may be sent to the positioning device after a request from the positioning device. For example, the positioning device may send a request message to the receiving device, and upon receiving the request message, the receiving device may send the fifth information to the positioning device.

[0192] The first phase and the second phase here may be the same as the first phase and the second phase described above, and the relevant details can be found in the above description. For example, the first phase is obtained by measuring a first reference signal sent by a first transmitting device, and the second phase is obtained by measuring a second reference signal sent by a second transmitting device. The first reference signal and the second reference signal have different second parameters, and the second parameter includes wavelength and / or frequency.

[0193] In step S920, the positioning device receives sixth information. The sixth information is used to indicate the second parameter of the first reference signal and the second parameter of the second reference signal.

[0194] In some implementations, the sixth information may be sent by the first device to the positioning device, where the first device may include one or more of the following devices: a receiving device, a first transmitting device, a second transmitting device, and a base station.

[0195] In step S930, the positioning device determines a target phase difference based on the first phase, the second phase, the second parameter of the first reference signal, and the second parameter of the second reference signal. The target phase difference can be used to position the receiving device.

[0196] The positioning device may process the phase in a manner similar to that of the receiving device in the first embodiment above, and for the sake of brevity, further description is omitted here. For example, the positioning device may determine a target phase difference based on the fourth information, and the target phase difference may be determined in a manner similar to that of the first embodiment.

[0197] In some embodiments, if the sixth information is sent by the receiving device to the positioning device, the fifth and sixth information can be carried in the same message. For example, the receiving device can send a first message to the positioning device, where the first message includes the fifth and sixth information. By carrying the fifth and sixth information in the same message, signaling overhead can be reduced.

[0198] In some embodiments, the sixth information may be sent periodically. For example, the first device may periodically send the sixth information to the positioning device.

[0199] In other embodiments, the sixth information may be sent if a first condition is met. The first condition includes one or more of the following: a change in the second parameter of the first reference signal or a change in the second parameter of the second reference signal. Sending the sixth information to the positioning device only if the second parameter changes can reduce signaling overhead.

[0200] In some implementations, the sixth information may be sent when the wavelength (or frequency) of the first reference signal changes. In some implementations, the sixth information may be sent when the wavelength (or frequency) of the second reference signal changes.

[0201] In some embodiments, the sixth information may be sent at the request of the positioning device. For example, before the positioning device receives the sixth information, the positioning device may send a request message requesting the second parameter of the first reference signal and / or the second parameter of the second reference signal. For example, the positioning device may send the request message to the first device. After receiving the request message, the first device may send the sixth information to the positioning device.

[0202] It should be noted that in some of the above descriptions, the second parameter may be replaced by the second parameter of the first reference signal and / or the second parameter of the second reference signal. In addition, in some descriptions, processing a parameter may refer to processing the value of the parameter.

[0203] It should be noted that, although different embodiments are introduced separately above, different embodiments can be used in combination with each other. For example, relevant contents of different embodiments can be referenced to each other.

[0204] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 9 . The device embodiment of the present application is described in detail below in conjunction with Figures 10 to 16 . It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for parts not described in detail, reference can be made to the above method embodiment.

[0205] Figure 10 is a schematic block diagram of a communication device provided in an embodiment of the present application. The communication device 1000 shown in Figure 10 may be a receiving device. The receiving device may be any of the receiving devices described above. The receiving device may include a receiving unit 1010 and a processing unit 1020.

[0206] The receiving unit 1010 is configured to receive first information, where the first information is used to indicate a first parameter of a transmitting device, and the first parameter is related to the positioning of the receiving device.

[0207] The processing unit 1020 is configured to process the first phase differences for multiple transmitting devices using the first parameters to obtain a target phase difference, where the target phase difference is used to locate the receiving device.

[0208] In some implementations, the first parameter includes one or more of the following: initial phase, hardware delay, and clock error.

[0209] In some implementations, the multiple transmitting devices include a first transmitting device and a second transmitting device, and the frequencies of the reference signals sent by the first transmitting device and the second transmitting device are the same, and the first phase difference is the phase difference between the first transmitting device and the second transmitting device; the processing unit is used to: subtract the first phase difference from the first difference value to obtain the target phase difference, and the first difference value is the difference between the first parameter of the first transmitting device and the first parameter of the second transmitting device.

[0210] In some implementations, the communication device further includes a measuring unit, configured to measure a first reference signal sent by the first transmitting device to obtain a first phase, and to measure a second reference signal sent by the second transmitting device to obtain a second phase; and the processing unit is configured to subtract the first phase from the second phase to obtain the first phase difference.

[0211] In some implementations, the first parameter includes a hardware delay and an initial phase, and the target phase difference is determined based on the following formula:

[0212] in, represents a first phase for a first transmitting device, represents the second phase for the second transmitting device, represents the first phase difference, represents the initial phase of the first transmitting device, represents the initial phase of the second transmitting device, Indicates the hardware delay of the first transmitting device, Indicates the hardware delay of the second transmitting device.

[0213] In some implementations, the first parameter is sent to the receiving device by one or more of the following devices: a transmitting device, a base station, and a positioning device.

[0214] FIG11 is a schematic block diagram of a communication device provided in an embodiment of the present application. The communication device 1100 shown in FIG11 may be a positioning device. The positioning device may be any of the positioning devices described above. The positioning device may include a receiving unit 1110 and a processing unit 1120.

[0215] A receiving unit 1110 is configured to receive first information indicating a first parameter of a transmitting device, the first parameter being related to the positioning of the receiving device; the receiving unit is further configured to receive second information sent by the device, the second information including first phase differences for a plurality of transmitting devices;

[0216] The processing unit 1120 is configured to process the first phase differences for multiple transmitting devices using the first parameters to obtain a target phase difference, where the target phase difference is used to locate the receiving device.

[0217] In some implementations, the first parameter includes one or more of the following: initial phase, hardware delay, and clock error.

[0218] In some implementations, the multiple transmitting devices include a first transmitting device and a second transmitting device, and the frequencies of the reference signals sent by the first transmitting device and the second transmitting device are the same, and the first phase difference is the phase difference between the first transmitting device and the second transmitting device; the processing unit is used to: subtract the first phase difference from the first difference value to obtain the target phase difference, and the first difference value is the difference between the first parameter of the first transmitting device and the first parameter of the second transmitting device.

[0219] In some implementations, the first parameter includes a hardware delay and an initial phase, and the target phase difference is determined based on the following formula:

[0220] in, represents a first phase for a first transmitting device, represents the second phase for the second transmitting device, represents the first phase difference, represents the initial phase of the first transmitting device, represents the initial phase of the second transmitting device, Indicates the hardware delay of the first transmitting device, Indicates the hardware delay of the second transmitting device.

[0221] In some implementations, the first parameter is sent to the positioning device by one or more of the following devices: a transmitting device, a receiving device, a base station, and a positioning reference unit.

[0222] FIG12 is a schematic block diagram of a communication device provided in an embodiment of the present application. The communication device 1200 shown in FIG12 may be a transmitting device. The transmitting device may be any of the transmitting devices described above. The transmitting device may include a transmitting unit 1210.

[0223] The sending unit 1210 is used to send first information to the positioning device, where the first information is used to indicate a first parameter of the transmitting device, and the first parameter is related to the positioning of the receiving device; wherein the first parameter is used by the positioning device to process the first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to locate the receiving device.

[0224] In some implementations, the first parameter includes one or more of the following: initial phase; hardware delay; clock error; a second parameter related to a reference signal sent by a transmitting device; first indication information, wherein the first indication information is used to indicate whether the second parameter of the first reference signal is the same as the second parameter of the second reference signal; wherein the second parameter includes wavelength and / or frequency, the first reference signal is a reference signal sent by the first transmitting device, and the second reference signal is a reference signal sent by the second transmitting device.

[0225] Figure 13 is a schematic block diagram of a communication device provided in an embodiment of the present application. The communication device 1300 shown in Figure 13 can be a receiving device. The receiving device can be any of the receiving devices described above. The receiving device can include a measuring unit 1310 and a determining unit 1320.

[0226] a measuring unit 1310, configured to measure a first reference signal sent by a first transmitting device to obtain a first phase, and to measure a second reference signal sent by a second transmitting device to obtain a second phase, wherein the first reference signal and the second reference signal have different second parameters, and the second parameter includes a wavelength and / or a frequency;

[0227] The determining unit 1320 is configured to determine a target phase difference based on the second parameter of the first reference signal, the second parameter of the second reference signal, the first phase, and the second phase, where the target phase difference is used to locate the receiving device.

[0228] In some implementations, the determination unit is used to: determine a third phase based on the first phase and a third parameter, where the third parameter is determined based on the second parameter of the first reference signal; determine a fourth phase based on the second phase and a fourth parameter, where the fourth parameter is determined based on the second parameter of the second reference signal; and determine the target phase difference based on the difference between the third phase and the fourth phase.

[0229] In some implementations, the third phase is determined based on a product of the first phase and the third parameter; and the fourth phase is determined based on a product of the second phase and the fourth parameter.

[0230] In some implementations, the third parameter and the fourth parameter are both wavelengths.

[0231] In some implementations, the target phase difference is determined based on the following formula:

[0232] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2represents the wavelength of the second transmitting device, represents the first phase, Indicates the second phase.

[0233] In some implementations, the determining unit is configured to determine the target phase difference based on a difference between the third phase and the fourth phase and a fifth parameter of the receiving device, where the fifth parameter includes a hardware delay and / or an initial phase.

[0234] In some implementations, the target phase difference is determined based on the following formula:

[0235] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, represents the first phase, represents the second phase, represents the initial phase of the receiving device, δ r,i Indicates the hardware latency of the receiving device.

[0236] In some implementations, the determination unit is used to determine the target phase difference based on the difference between the third phase and the fourth phase, a fifth parameter of the receiving device, a sixth parameter of the first transmitting device, and a sixth parameter of the second transmitting device, where the sixth parameter includes one or more of the following parameters: clock error, hardware delay, and initial phase.

[0237] In some implementations, the target phase difference is determined based on the following formula:

[0238] Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, represents the first phase, represents the second phase, represents the initial phase of the receiving device, δ r,i represents the hardware delay of the receiving device, c represents the speed of light, and dt s2 represents the clock difference of the second transmitting device, dt s1 represents the clock error of the first transmitting device, represents the initial phase of the first transmitting device, Indicates the hardware delay of the first transmitting device, represents the initial phase of the second transmitting device, Indicates the hardware delay of the second transmitting device.

[0239] In some implementations, a ratio of the third parameter to the fourth parameter is a first ratio, a ratio of the wavelength of the first reference signal to the wavelength of the second reference signal is a second ratio, and the first ratio is equal to the second ratio.

[0240] In some implementations, the communication device further includes: a sending unit, configured to send third information to a positioning device, where the third information is used to indicate the third parameter and / or the fourth parameter.

[0241] Figure 14 is a schematic block diagram of a communication device provided in an embodiment of the present application. The communication device 1400 shown in Figure 14 can be a receiving device. The receiving device can be any of the receiving devices described above. The receiving device can include a measuring unit 1410 and a sending unit 1420.

[0242] a measuring unit 1410, configured to measure a first reference signal sent by a first transmitting device to obtain a first phase, and to measure a second reference signal sent by a second transmitting device to obtain a second phase, wherein the first reference signal and the second reference signal have different second parameters, and the second parameter includes a wavelength and / or a frequency;

[0243] The sending unit 1420 is used to send fourth information to the positioning device, where the fourth information is used to indicate the first phase and the second phase, the second parameter of the first reference signal and the second parameter of the second reference signal, and the fourth information is used to locate the receiving device.

[0244] In some implementations, before sending the fourth information to the positioning device, the communication device further includes: a receiving unit, configured to receive a request message sent by the positioning device, where the request message is used to request the second parameter of the first reference signal and / or the second parameter of the second reference signal.

[0245] Figure 15 is a schematic block diagram of a communication device provided in an embodiment of the present application. The communication device 1500 shown in Figure 15 may be a positioning device. The positioning device may be any of the positioning devices described above. The positioning device may include a receiving unit 1510 and a determining unit 1520.

[0246] Receiving unit 1510 is configured to receive fifth information sent by a receiving device, the fifth information indicating a first phase and a second phase, the first phase being measured on a first reference signal sent by a first transmitting device, the second phase being measured on a second reference signal sent by a second transmitting device, the first reference signal and the second reference signal having different second parameters, the second parameters including wavelength and / or frequency. The receiving unit is further configured to receive sixth information indicating the second parameter of the first reference signal and the second parameter of the second reference signal.

[0247] The determining unit 1520 is configured to determine a target phase difference based on the first phase, the second phase, the second parameter of the first reference signal, and the second parameter of the second reference signal, where the target phase difference is used to locate the receiving device.

[0248] In some implementations, the sixth information is sent to the positioning device by one or more of the following devices: the receiving device, the first transmitting device, the second transmitting device, and a base station.

[0249] In some implementations, the sixth information is sent by the receiving device to the positioning device, and the fifth information and the sixth information are carried in the same message.

[0250] In some implementations, the sixth information is sent periodically, or the sixth information is sent when a first condition is met, and the first condition includes one or more of the following: periodic transmission; the second parameter of the first reference signal changes; the second parameter of the second reference signal changes.

[0251] In some implementations, before receiving the sixth information, the communication device further includes: a sending unit, configured to send a request message, where the request message is used to request the second parameter of the first reference signal and / or the second parameter of the second reference signal.

[0252] Figure 16 is a schematic block diagram of a communication device according to an embodiment of the present application. The dashed lines in Figure 16 indicate that the unit or module is optional. Device 1600 can be used to implement the method described in the above method embodiment. Device 1600 can be a chip or a communication device. The communication device can be any of the communication devices described above. For example, the communication device can be a receiving device or a positioning device.

[0253] The device 1600 may include one or more processors 1610. The processor 1610 may support the device 1600 to implement the method described in the above method embodiment. The processor 1610 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0254] The apparatus 1600 may further include one or more memories 1620. The memories 1620 store programs that can be executed by the processor 1610, causing the processor 1610 to perform the methods described in the above method embodiments. The memories 1620 may be independent of the processor 1610 or integrated into the processor 1610.

[0255] The apparatus 1600 may further include a transceiver 1630. The processor 1610 may communicate with other devices or chips via the transceiver 1630. For example, the processor 1610 may transmit and receive data with other devices or chips via the transceiver 1630.

[0256] The present invention also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to the communication device provided in the present invention, and the program enables a computer to execute the method performed by the communication device in each embodiment of the present invention.

[0257] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to the communication device provided in the present application, and the program causes a computer to execute the method performed by the communication device in each embodiment of the present application.

[0258] The embodiments of the present application also provide a computer program. The computer program can be applied to the communication device provided in the embodiments of the present application, and the computer program enables a computer to execute the method executed by the communication device in each embodiment of the present application.

[0259] 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.

[0260] 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.

[0261] 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."

[0262] 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.

[0263] 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.

[0264] 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.

[0265] 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.

[0266] 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.

[0267] 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.

[0268] 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.

[0269] 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.

[0270] 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.

[0271] 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)).

[0272] 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, Comprising: A receiving device receives first information, where the first information is used to indicate a first parameter of a transmitting device, and the first parameter is related to the positioning of the receiving device; The receiving device processes a first phase difference for multiple transmitting devices by using the first parameter to obtain a target phase difference, and the target phase difference is used to position the receiving device.

2. The method according to claim 1, characterized in that, The first parameter includes one or more of the following: initial phase, hardware delay, and clock offset.

3. The method according to claim 2, characterized in that, The multiple transmitting devices include a first transmitting device and a second transmitting device, and the reference signals sent by the first transmitting device and the second transmitting device have the same frequency, and the first phase difference is the phase difference for the first transmitting device and the second transmitting device; The receiving device processes a first phase difference for multiple transmitting devices by using the first parameter to obtain a target phase difference, including: The receiving device subtracts the first phase difference from a first difference value to obtain the target phase difference, and the first difference value is the difference between the first parameter of the first transmitting device and the first parameter of the second transmitting device.

4. The method according to claim 3, characterized in that, The method further includes: The receiving device measures a first reference signal sent by the first transmitting device to obtain a first phase; The receiving device measures a second reference signal sent by the second transmitting device to obtain a second phase; The receiving device subtracts the first phase and the second phase to obtain the first phase difference.

5. The method according to any one of claims 1 - 4, characterized in that, The first parameter includes a hardware delay and an initial phase, and the target phase difference is determined based on the following formula: Among them, Indicates the first phase for the first transmitting device, Indicates the second phase for the second transmitting device, Indicates the first phase difference, Represents the initial phase of the first transmitting device, Represents the initial phase of the second transmitting device, Indicates the hardware delay of the first transmitting device, Denotes the hardware delay of the second transmitting device.

6. The method according to any one of claims 1 - 5, characterized in that, The first parameter is sent to the receiving device by one or more of the following devices: a transmitting device, a base station, and a positioning device.

7. A method for positioning, characterized in that, Comprising: A positioning device receives first information, where the first information is used to indicate a first parameter of a transmitting device, and the first parameter is related to the positioning of the receiving device; The positioning device receives second information, and the second information includes a first phase difference for multiple transmitting devices; The positioning device processes a first phase difference for multiple transmitting devices by using the first parameter to obtain a target phase difference, and the target phase difference is used to position the receiving device.

8. The method according to claim 7, characterized in that, The first parameter includes one or more of the following: initial phase, hardware delay, and clock offset.

9. The method according to claim 8, characterized in that, The multiple transmitting devices include a first transmitting device and a second transmitting device, and the reference signals sent by the first transmitting device and the second transmitting device have the same frequency, and the first phase difference is the phase difference for the first transmitting device and the second transmitting device; The positioning device processes a first phase difference for multiple transmitting devices by using the first parameter to obtain a target phase difference, including: The positioning device subtracts the first phase difference from a first difference value to obtain the target phase difference, and the first difference value is the difference between the first parameter of the first transmitting device and the first parameter of the second transmitting device.

10. The method according to any one of claims 7 - 9, characterized in that, The first parameter includes a hardware delay and an initial phase, and the target phase difference is determined based on the following formula: Among them, Indicates the first phase for the first transmitting device, Indicates the second phase for the second transmitting device, Indicates the first phase difference, Indicates the initial phase of the first transmitting device, Represents the initial phase of the second transmitting device, Indicates the hardware delay of the first transmitting device, Denotes the hardware delay of the second transmitting device.

11. According to the method described in any one of claims 7 - 10, wherein, The first parameter is sent to the positioning device by one or more of the following devices: a transmitting device, a receiving device, a base station, and a positioning reference unit.

12. A method for positioning, wherein, Comprising: The transmitting device sends first information to the positioning device, and the first information is used to indicate a first parameter of the transmitting device, where the first parameter is related to the positioning of the receiving device; Wherein, the first parameter is used for the positioning device to process the first phase difference for multiple transmitting devices to obtain a target phase difference, and the target phase difference is used to position the receiving device.

13. According to the method described in claim 12, wherein, The first parameter includes one or more of the following: initial phase; hardware delay; clock error; the difference between the initial phase of the first transmitting device and the initial phase of the second transmitting device; The difference between the hardware delay of the first transmitting device and the hardware delay of the second transmitting device; The difference between the clock error of the first transmitting device and the clock error of the second transmitting device; A second parameter related to the reference signal sent by the transmitting device; first indication information, where the first indication information is used to indicate whether the second parameter of the first reference signal is the same as the second parameter of the second reference signal; Wherein, the second parameter includes wavelength and / or frequency, the first reference signal is the reference signal sent by the first transmitting device, and the second reference signal is the reference signal sent by the second transmitting device.

14. A method for positioning, wherein, Includes: The receiving device measures the first reference signal sent by the first transmitting device to obtain a first phase; The receiving device measures the second reference signal sent by the second transmitting device to obtain a second phase, where the second parameters of the first reference signal and the second reference signal are different, and the second parameter includes wavelength and / or frequency; The receiving device determines a target phase difference based on the second parameter of the first reference signal, the second parameter of the second reference signal, the first phase, and the second phase, and the target phase difference is used to position the receiving device.

15. According to the method described in claim 14, wherein, The receiving device determines the target phase difference based on the second parameter of the first reference signal, the second parameter of the second reference signal, the first phase, and the second phase, including: The receiving device determines a third phase based on the first phase and a third parameter, where the third parameter is determined based on the second parameter of the first reference signal; The receiving device determines a fourth phase based on the second phase and a fourth parameter, where the fourth parameter is determined based on the second parameter of the second reference signal; The receiving device determines the target phase difference based on the difference between the third phase and the fourth phase.

16. According to the method described in claim 15, wherein, The third phase is determined based on the product of the first phase and the third parameter; The fourth phase is determined based on the product of the second phase and the fourth parameter.

17. According to the method described in claim 15 or 16, wherein, Both the third parameter and the fourth parameter are wavelengths.

18. According to the method described in claim 17, wherein, The target phase difference is determined based on the following formula: Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, Indicates the first phase, Represents the second phase.

19. The method according to claim 17, wherein, The receiving device determines the target phase difference based on the difference between the third phase and the fourth phase, including: The receiving device determines the target phase difference based on the difference between the third phase and the fourth phase and a fifth parameter of the receiving device, where the fifth parameter includes hardware delay and / or initial phase.

20. The method according to claim 19, wherein, The target phase difference is determined based on the following formula: Among them, λ i,1 represents the wavelength of the first transmitting device, λ i,2 represents the wavelength of the second transmitting device, Indicates the first phase, Indicates the second phase, Represents the initial phase of the receiving device, δ r,i Represents the hardware delay of the receiving device.

21. The method according to claim 17, wherein, The receiving device determines the target phase difference based on the difference between the third phase and the fourth phase, including: The receiving device determines the target phase difference based on the difference between the third phase and the fourth phase, the fifth parameter of the receiving device, the sixth parameter of the first transmitting device, and the sixth parameter of the second transmitting device, where the sixth parameter includes one or more of the following parameters: clock error, hardware delay, and initial phase.

22. The method according to claim 21, wherein, The target phase difference is determined based on the following formula: where λ i,1 represents the wavelength of the first transmitting device, and λ i,2 represents the wavelength of the second transmitting device, Indicates the first phase, Indicates the second phase, Represents the initial phase of the receiving device, δ r,i Represents the hardware delay of the receiving device, c represents the speed of light, dt s2 Represents the second transmission Clock difference of the transmitting device, dt s1 Indicates the clock difference of the first transmitting device Indicates the initial phase of the first transmitting device, Indicates the hardware delay of the first transmitting device, Indicates the initial phase of the second transmitting device, Represents the hardware delay of the second transmitting device.

23. The method according to claim 15 or 16, wherein, The ratio of the third parameter to the fourth parameter is a first ratio, and the ratio of the wavelength of the first reference signal to the wavelength of the second reference signal is a second ratio, and the first ratio is equal to the second ratio.

24. The method according to claim 23, wherein, The method further includes: The receiving device sends third information to the positioning device, and the third information is used to indicate the third parameter and / or the fourth parameter.

25. A method for positioning, wherein, Includes: The receiving device measures the first reference signal sent by the first transmitting device to obtain a first phase; The receiving device measures the second reference signal sent by the second transmitting device to obtain a second phase, where the second parameters of the first reference signal and the second reference signal are different, and the second parameter includes wavelength and / or frequency; The receiving device sends fourth information to the positioning device, and the fourth information is used to indicate the first phase and the second phase, the second parameter of the first reference signal, and the second parameter of the second reference signal, and the fourth information is used to position the receiving device.

26. The method according to claim 25, wherein, Before the receiving device sends the fourth information to the positioning device, the method further includes: The receiving device receives a request message sent by the positioning device, and the request message is used to request the second parameter of the first reference signal and / or the second parameter of the second reference signal.

27. A method for positioning, wherein, Includes: The positioning device receives fifth information, and the fifth information is used to indicate a first phase and a second phase. The first phase is obtained by measuring the first reference signal sent by the first transmitting device, and the second phase is obtained by measuring the second reference signal sent by the second transmitting device. The second parameters of the first reference signal and the second reference signal are different, and the second parameter includes wavelength and / or frequency; The positioning device receives sixth information, and the sixth information is used to indicate the second parameter of the first reference signal and the second parameter of the second reference signal; The positioning device determines a target phase difference based on the first phase, the second phase, the second parameter of the first reference signal, and the second parameter of the second reference signal, and the target phase difference is used to position the receiving device.

28. The method according to claim 27, wherein The sixth information is sent to the positioning device by one or more of the following devices: the receiving device, the first transmitting device, the second transmitting device, and the base station.

29. The method according to claim 27 or 28, wherein The sixth information is sent from the receiving device to the positioning device, and the fifth information and the sixth information are carried in the same message.

30. The method according to any one of claims 27 - 29, wherein The sixth information is sent periodically, or the sixth information is sent when a first condition is met, and the first condition includes one or more of the following: Periodic transmission; The second parameter of the first reference signal changes; The second parameter of the second reference signal changes.

31. The method according to any one of claims 27 - 30, wherein Before the positioning device receives the sixth information, the method further includes: The positioning device sends a request message for requesting the second parameter of the first reference signal and / or the second parameter of the second reference signal.

Images