Positioning methods, terminal devices and network devices

Abstract

The present application provides positioning methods, terminal devices and network devices. A method comprises: a terminal device receives at a first position a first reference signal sent by a network device; and the terminal device receives at a second position a second reference signal sent by the network device, wherein first measurement information of the first reference signal and second measurement information of the second reference signal are used for positioning the terminal device.

Description

Positioning method, terminal device and network device Technical Field

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

[0002] When locating a terminal device, the current common method involves receiving reference signals from multiple network devices, or sending reference signals to multiple network devices. These methods require high hardware performance consistency across multiple network devices, which is not conducive to improving the terminal device's positioning accuracy.

[0003] Summary of the Invention

[0004] The present application provides a method, terminal device, and network device for positioning. The following introduces various aspects of the present application.

[0005] In a first aspect, a method for positioning is provided, comprising: a terminal device receiving a first reference signal sent by a network device at a first location; the terminal device receiving a second reference signal sent by the network device at a second location; wherein first measurement information of the first reference signal and second measurement information of the second reference signal are used to locate the terminal device.

[0006] In a second aspect, a method for positioning is provided, including: a network device sends a first reference signal to a terminal device when the terminal device is in a first position; the network device sends a second reference signal to the terminal device when the terminal device is in a second position; wherein the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

[0007] According to a third aspect, a method for positioning is provided, comprising: a terminal device sending a third reference signal to a network device at a third location; the terminal device sending a fourth reference signal to the network device at a fourth location; wherein the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

[0008] In a fourth aspect, a method for positioning is provided, comprising: a network device receives a third reference signal sent by a terminal device at a third position; the network device receives a fourth reference signal sent by the terminal device at a fourth position; wherein the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

[0009] In a fifth aspect, a terminal device is provided, comprising: a receiving unit for receiving a first reference signal sent by a network device at a first location; the receiving unit is also used to receive a second reference signal sent by the network device at a second location; wherein the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

[0010] In the sixth aspect, a network device is provided, including: a sending unit for sending a first reference signal to a terminal device when the terminal device is in a first position; the sending unit is also used to send a second reference signal to the terminal device when the terminal device is in a second position; wherein the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

[0011] In the seventh aspect, a terminal device is provided, including: a sending unit for sending a third reference signal to a network device at a third position; the sending unit is also used to send a fourth reference signal to the network device at a fourth position; wherein the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

[0012] In the eighth aspect, a network device is provided, including: a receiving unit for receiving a third reference signal sent by a terminal device at a third position; the receiving unit is also used to receive a fourth reference signal sent by the terminal device at a fourth position; wherein the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

[0013] In the ninth aspect, a terminal device is provided, comprising a processor, a memory, and a communication interface, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the terminal device executes part or all of the steps in the method of the first aspect or the third aspect.

[0014] In the tenth aspect, a network device is provided, comprising a processor, a memory, and a communication interface, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the network device executes part or all of the steps in the method of the second aspect or the fourth aspect.

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

[0016] In the twelfth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program enables a communication device (for example, a terminal device or a network device) to perform some or all of the steps in the methods of the above aspects.

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

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

[0019] This application utilizes the mobility of terminal devices. Terminal devices can receive reference signals sent by the same network device at different locations, or send reference signals to the same network device at different locations. The received phase of the reference signal can be used to locate the terminal device. The positioning process involves only one receiving end, i.e., the hardware performance of the receiving end is completely consistent, and only one transmitting end, i.e., the hardware performance of the transmitting end is completely consistent. Therefore, the solution of the embodiments of this application is conducive to improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] FIG1 is a wireless communication system 100 used in an embodiment of the present application.

[0021] FIG2 is a schematic diagram of estimating the direction of incoming waves based on an antenna array.

[0022] FIG3 is a schematic flowchart of a positioning method provided in an embodiment of the present application.

[0023] FIG4 is a schematic diagram of determining the number of multipaths provided in an embodiment of the present application.

[0024] FIG5 is a schematic flowchart of another positioning method provided in an embodiment of the present application.

[0025] FIG6 is a schematic block diagram of a terminal device provided in an embodiment of the present application.

[0026] FIG7 is a schematic block diagram of a network device provided in an embodiment of the present application.

[0027] FIG8 is a schematic block diagram of another terminal device provided in an embodiment of the present application.

[0028] FIG9 is a schematic block diagram of another network device provided in an embodiment of the present application.

[0029] FIG10 is a schematic structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solution in this application will be described below with reference to the accompanying drawings.

[0031] 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.

[0032] FIG1 exemplarily shows a network device and two terminals. Optionally, the wireless communication system 100 may include multiple network devices and each network device may include other numbers of terminal devices within its coverage area, which is not limited in the embodiments of the present application.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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, access point, 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 provided 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.

[0037] 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.

[0038] 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.

[0039] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0040] 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).

[0041] Integrated sensing and communication (ISAC) can refer to the combination of communication and perception. Perception is the use of certain means to detect the state of the surrounding environment, such as detecting the position, direction, height, speed, and distance of an object. It can also determine the shape of an object and even the movements and gestures of a person. In a narrow sense, ISAC can refer to a communication system with the capabilities of ranging, speed measurement, angle measurement, imaging, target detection, target tracking, and target recognition. In the early days, it was also called "radar communication integration." In a broad sense, ISAC refers to a communication system that can perceive the attributes and states of all services, networks, users, terminals, and environmental objects. Its perception capabilities can exceed those of traditional radars. As the communication spectrum expands from the traditional Sub6G to millimeter waves, the reduction in wavelength has continuously improved the ability of perception.

[0042] Integrated communication and perception have many applications. For example, to prevent leaks, collisions, and noise caused by reckless drone flights, efficient and cost-effective low-altitude security systems are needed. While various detection solutions are currently available in the drone security market, they all face numerous technical, efficiency, and cost limitations. Integrated communication and perception technology can transform multiple base stations deployed in low-altitude security areas into radars. Combined with the computing power within the base stations, this enables the rapid deployment of low-altitude security systems. As long as the base station signal is reachable, intruding drones can be located and tracked in real time, allowing the security system to make subsequent decisions based on the detection results. Conversely, based on the imaging, mapping, and environmental reconstruction capabilities provided by integrated interawareness, the system can transition from passive to active, deploying drones for reconnaissance, logistics delivery, and other activities. Multi-station perception capabilities can also enable autonomous navigation and route planning in unknown environments. In connected vehicle scenarios, interawareness systems can provide real-time perception of traffic flow on the road, enabling efficient collaboration between people, vehicles, and roads, ensuring traffic safety and improving the efficiency of transportation systems. The integrated synaesthesia system leverages the high location and wide coverage of communication base stations to provide real-time, large-scale perception of lane flow and vehicle speed, while also detecting pedestrian or animal intrusions. This allows for effective road management, ensuring traffic safety, and improving traffic efficiency. In smart homes, it can implement functions such as turning lights on and off when someone approaches and off when they leave; switching between controlling any appliance through different gestures, such as playing a virtual piano; sending notifications to residents when a child climbs onto a window or balcony or an elderly person falls; and triggering security alarms when someone enters the home while the resident is away. The system can identify family members through refined gait monitoring and recognition, and further analyze the proportion of time spent by each family member on activities such as using a computer, watching TV, sleeping, and walking, as well as activity intervals and sleep quality. The system can also monitor the climate and manage public safety. In climate monitoring scenarios, leveraging the ubiquitous nature of wireless networks, base stations can transmit integrated communication and sensing signals. By combining the characteristics of wireless signal attenuation caused by water molecules, dust, and various chemical substances, the base stations can analyze the changing characteristics of the integrated signal strength, enabling real-time monitoring of precipitation, pollutant emissions, and air quality. In public safety management, real-time sensing capabilities enable typhoon warnings, flood warnings, and sandstorm warnings, preserving time for disaster preparedness. In healthcare, integrated communication and sensing systems not only enable high-speed communication but also effectively implement health monitoring and management. Related technologies have already enabled the use of communication signals to monitor a person's breathing and heart rate. When abnormal breathing or heart rate is detected, warning information is transmitted back to the user in real time via a communication link, enabling real-time monitoring. Terahertz can detect cancerous tissue and dental caries, as well as monitor sweat, tears, saliva, peripheral blood, and tissue fluid.

[0043] Perception can include target detection, for example, localization of a target. Localization can include sensing data such as distance, speed, and angle of a target.

[0044] Because communication and perception have different design and optimization goals and performance evaluation metrics, the optimal transmission scheme for communication may not be optimal for perception, and conversely, the optimal transmission scheme for perception may not be optimal for communication. Therefore, to achieve integrated communication and perception, we must consider how to combine these two functions from the bottom up, minimizing performance losses in both communication and perception and achieving overall design goals.

[0045] Current communication networks utilize a large number of base stations, enabling full collaboration between them. For example, base station 1 transmits a sensing signal, which, after reflecting off a target object, is received by base station 2 and performs sensing calculations. This processing approach fully leverages the positional differences between base stations for target detection, such as distance and angle estimation. However, it also increases the complexity of resource coordination between base stations and reduces resource utilization.

[0046] To ensure that the signal reflected by the target object can be received by base station 2 and does not cause interference to base station 2, the reflected signal must be as orthogonal as possible to other signals from base station 2. When multiple base stations participate in sensing, the network needs to coordinate and allocate more resource blocks, which reduces resource utilization and increases the complexity of resource coordination.

[0047] When a single station communicates and senses, since the receiving and transmitting ends share the same clock source, synchronization between the two has little impact on perception. For multi-station sensing, since signal transmission and reception are performed by different base stations, clock asynchrony between base stations will significantly impact perception accuracy. For communication systems, microsecond-level synchronization errors between base stations can meet the basic requirements of low-latency, highly reliable communication. However, for integrated sensing, positioning accuracy must reach at least the meter or even decimeter level. A 1-microsecond synchronization error between the receiving and transmitting base stations can result in a 300-meter distance perception error. Therefore, achieving multi-station sensing requires controlling the synchronization error between base stations to the nanosecond or even picosecond level.

[0048] In scenarios involving the integration of synaesthesia, high precision is required for object position detection. For example, scenarios involving operating any appliance through different gestures, playing a virtual piano, and detecting children climbing windows and elderly people falling all place high demands on the positioning of the device under test. Furthermore, the mobility of these devices further increases the difficulty of positioning.

[0049] Signal processing in communication systems can be performed in three ways: time-domain signal processing, frequency-domain signal processing, and spatial-domain signal processing. The time and frequency domains are inversely related, so time-domain and frequency-domain processing are interrelated, while spatial-domain processing is relatively independent. In practical applications, the appropriate signal processing method is often selected based on actual needs.

[0050] Time domain processing refers to obtaining the desired information by using the changes in the signal along the time axis. Time domain processing focuses on how the signal changes over time and is usually analyzed by observing the signal's waveform. Time domain processing is more suitable for describing the dynamic characteristics of the signal and changes in time series. Frequency domain processing refers to obtaining the desired information, such as signal frequency, by using the changes in the signal along the frequency axis. Spatial domain processing describes the spatial characteristics of the signal. By arranging multiple antenna elements in space to collect signals on multiple paths, it reduces the multipath effect and interference that the signal experiences during propagation and improves the performance of the receiving system. Spatial sampling usually involves sampling spatial signals at different locations at the same time.

[0051] The following uses the linear array as an example to introduce the processing method of spatial signals.

[0052] Referring to Figure 2, the antenna array shown in Figure 2 includes M antennas, each of which can receive signals sent by the transmitter. The direction of the incoming wave can be estimated based on the signals received by the two antennas. In the scheme shown in Figure 2, the wavefront received by the antenna and the direction of the incoming wave are perpendicular to each other. According to the principle of far-field electromagnetic waves, the received signals at the wavefront of different antennas are the same. The length of the ellipse in Figure 2 reflects the wave path difference between the received signals of antenna 1 and antenna 2. The calculation formula for the wave path difference is as follows:

[0053] Among them, d D represents the path difference, λ represents the wavelength, Indicates the phase difference.

[0054] In array signal processing, multiple antennas sample the signal simultaneously, creating a snapshot. To ensure phase correlation between antennas and that the spatially sampled signal conforms to the Nyquist theorem for spatial sampling, a snapshot requires that the spacing between antennas be less than half a wavelength. In this case, the channels corresponding to two adjacent antennas are considered coherent.

[0055] Based on the principles of positioning geometry, current positioning systems determine an object's position by measuring the distance between it and a reference point. For example, when a terminal measures signals from different transmitting devices (e.g., transmitters) for positioning, these transmitting devices must be located in different locations to transmit the signals. Alternatively, when a terminal transmits signals and receives them from different receiving devices (e.g., receivers) for positioning, these receiving devices must be located in different locations to receive the signals. As can be seen from the above, positioning a terminal requires measuring the distance between the terminal and at least two reference points.

[0056] There are two ways to measure the distance between an object and a reference point. One is to determine the distance between the object and the reference point based on the time difference, and the other is to determine the distance between the object and the reference point based on the phase difference. The following describes each method.

[0057] When locating an object, the distance between the object and a reference point can be measured based on the signal's time of flight. Positioning is performed by measuring the difference in signal transmission time between the object and different reference points. Time-of-flight ranging (TDF) calculates distance by measuring the time difference between signals traveling from different transmitting devices to receiving devices, or vice versa. The distance difference is calculated by multiplying the time difference by the speed of light.

[0058] Phase difference ranging can calculate distance based on the phase difference of the propagating signal. When the transmitted signal reaches the receiving device, there is a phase difference in the signal received by the receiving device due to the different distances from different transmitting devices to the receiving device, or the different distances from the same transmitting device to different receiving devices. By measuring the phase difference, the distance difference from different transmitting devices to the receiving device, or the distance difference from the same transmitting device to different receiving devices, can be inferred. Phase difference ranging is commonly used in radar systems, communication systems, and some precision ranging equipment. In the global positioning system (GPS), the phase difference between the satellite and the receiving device is used to calculate the distance from the receiving device to the satellite.

[0059] Whether it is a ranging system based on phase difference or a ranging system based on time difference, the synchronization requirements for signals between different devices are high. For example, for a scenario where a receiver receives signals sent by different transmitters for positioning, the clocks of different transmitters need to be synchronized, and the consistency requirements for the hardware performance (such as hardware processing delay) of different transmitters are high. For another example, for a scenario where different receivers receive signals sent by transmitters for positioning, the clocks of different receivers need to be synchronized, and the consistency requirements for the hardware performance (such as hardware processing delay) of the receivers are high.

[0060] In order to reduce the requirements for device hardware performance consistency, the embodiments of the present application propose that, by utilizing the mobility of the terminal device, the terminal device can be constructed as different transmitting devices or receiving devices at different locations. For example, the terminal device can receive the reference signal sent by the network device at different locations, or the terminal device can send the reference signal to the network device at different locations. Since the process involves a transmitting device and a receiving device, that is, the hardware performance of the transmitting device is completely consistent, the hardware performance of the receiving device is completely consistent. By processing the measurement information of the reference signal, the error caused by the hardware of the transmitting device or the receiving device can be eliminated. For example, the hardware phase error of the device can be eliminated by the phase difference, or the clock error of the device can be eliminated by the time difference. Therefore, the solution of the embodiments of the present application can improve positioning accuracy.

[0061] The following describes the solution of the embodiment of the present application in detail with reference to Figures 3 and 4. The solution shown in Figure 3 is described from the perspective of the terminal device being a receiving device, while Figure 4 is described from the perspective of the terminal device being a transmitting device. The relevant contents of Figures 3 and 4 can be combined with each other, and the embodiments of the present application do not specifically limit this.

[0062] Example 1

[0063] 3 , in step S310 , a terminal device receives a first reference signal sent by a network device at a first location. In other words, the network device sends the first reference signal to the terminal device when the terminal device is at the first location.

[0064] In step S320, the terminal device receives a second reference signal sent by the network device at the second location. In other words, the network device sends the second reference signal to the terminal device when the terminal device is at the second location.

[0065] The terminal device may be any of the terminal devices described above. In some embodiments, the terminal device may be a terminal device in a communication-aware integration system. The network device may be any of the network devices described above. In some embodiments, the network device may be a base station.

[0066] The first reference signal may be any downlink signal. In some embodiments, the first reference signal may be a positioning reference signal (PRS). In other embodiments, the first reference signal may be a pilot signal.

[0067] The second reference signal may be any downlink signal. In some embodiments, the second reference signal may be a PRS. In other embodiments, the second reference signal may be a pilot signal.

[0068] In some embodiments, the first reference signal and the second reference signal may be perceptual signals. For example, the first reference signal and the second reference signal may be bird sound signals that are easy to perceive.

[0069] The first reference signal and the second reference signal may be reference signals sent by the network device at different times. For example, the network device may send the first reference signal to the terminal device when the terminal device is at a first location, and may send the second reference signal to the terminal device when the terminal device is at a second location. The first location and the second location are different.

[0070] In some implementations, when the terminal device moves to a first position, the terminal device receives a first reference signal; when the terminal device moves to a second position, the terminal device receives a second reference signal.

[0071] In some implementations, the first position and the second position may be fixed positions, or the distance between the first position and the second position may be a preset distance. For example, it does not matter where the absolute positions of the first position and the second position are, as long as the distance between the first position and the second position is the preset distance.

[0072] Because different locations correspond to different receiving times, the terminal device receiving the first reference signal at a first location can be understood as the terminal device receiving the first reference signal at a first moment, and the terminal device receiving the second reference signal at a second location can be understood as the terminal device receiving the second reference signal at a second moment. The first moment and the second moment are different.

[0073] In some implementations, the first reference signal and the second reference signal are signals of the same type. For example, the first reference signal and the second reference signal are reference signals sent by the network device to the terminal device at different times.

[0074] In some embodiments, first measurement information of a first reference signal and second measurement information of a second reference signal are used to locate a terminal device. The terminal device may receive the first reference signal sent by a network device at a first location and measure the first reference signal to obtain first measurement information. The terminal device may receive the second reference signal sent by the network device at a second location and measure the second reference signal to obtain second measurement information.

[0075] The first and second measurement information can be phase information or time information. If the first and second measurement information are phase information, the terminal device can be located using the phase difference. If the first and second measurement information are time information, the terminal device can be located using the time difference. The following describes these two scenarios separately.

[0076] In some implementations, the first measurement information and the second measurement information are phase information, such as the first measurement information may be a first receiving phase, and the second measurement information may be a second receiving phase. If the receiving phase of the first reference signal is the first receiving phase, and the receiving phase of the second reference signal is the second receiving phase, then the phase difference between the first receiving phase and the second receiving phase is used to locate the terminal device. The first receiving phase and the second receiving phase reflect the distance difference between the terminal device and the network device at the two locations, and the positioning device can locate the terminal device using the distance difference. When the terminal device measures the phase, since the first receiving phase and the second receiving phase are measured by the same device (i.e., the terminal device), phase subtraction can eliminate the phase error caused by the hardware delay of the terminal device, thereby improving the positioning accuracy.

[0077] In some implementations, the first measurement information and the second measurement information are time information, such as the first measurement information may be the first receiving moment, and the second measurement information may be the second receiving moment. If the receiving moment of the first reference signal is the first receiving moment, and the receiving moment of the second reference signal is the second receiving moment, then the time difference between the first receiving moment and the second receiving moment is used to locate the terminal device. The first receiving moment and the second receiving moment reflect the distance difference between the terminal device and the network device at the two locations, and the positioning device can locate the terminal device using the distance difference. When the terminal device measures the receiving moment, since the first receiving moment and the second receiving moment are measured by the same device (i.e., the terminal device), subtracting the receiving moments can eliminate the moment error caused by the hardware delay of the terminal device, thereby improving the positioning accuracy.

[0078] In some implementations, to ensure that the network equipment (e.g., base station or cell) accessed by a terminal device at different locations is the same, for example, to prevent the terminal device from moving from one cell to another, a time interval between the time instant at which the first reference signal is received and the time instant at which the second reference signal is received may be restricted. For example, the time interval between the time instant at which the first reference signal is received and the time instant at which the second reference signal is received may be less than or equal to a first predetermined duration.

[0079] If the time interval between the reception time of the first reference signal and the reception time of the second reference signal is too long, the terminal device may have undergone cell switching. In this case, the first reference signal and the second reference signal are reference signals sent by different cells, and the hardware delays of different cells will be inconsistent, which will affect the positioning results. Taking the positioning method based on phase difference technology as an example, the phase difference cannot eliminate the hardware differences between different network devices, and the positioning results obtained using the phase difference will be inaccurate. Therefore, the configuration of the first preset time length in the embodiment of the present application makes the reference signal received by the terminal device within the first preset time length a reference signal sent by the same network device.

[0080] In some embodiments, the first preset duration may be a preconfigured duration, or the first preset duration may be a duration predefined by a protocol, or the first preset duration may be a duration configured by the network device to the terminal device.

[0081] In some embodiments, a network device may configure a reference signal transmission resource for a terminal device so that the terminal device receives the reference signal on the transmission resource. For example, the network device may send first configuration information to the terminal device, where the first configuration information may be used to configure the transmission resource for the first reference signal and / or the transmission resource for the second reference signal.

[0082] In some embodiments, the transmission resources may include time domain resources and / or frequency domain resources.

[0083] In some implementations, the transmission resource may include time information for transmitting the first reference signal and / or the second reference signal. For example, if the transmission resource includes a time domain resource, the time domain resource indicates the time information for transmitting the first reference signal and / or the second reference signal. In this way, the network device can implicitly indicate the first preset duration through the transmission resource. For example, if the first configuration information is used to configure the time domain resource of the first reference signal and the time domain resource of the second reference signal, the terminal device can determine the reception moment of the first reference signal and the reception moment of the second reference signal based on the first configuration information, and the first preset duration is the time difference between the reception moment of the first reference signal and the reception moment of the second reference signal.

[0084] In some embodiments, the terminal device may send first information to the positioning device so that the positioning device locates the terminal device based on the first information. The first information may include one or more of the following information: first measurement information, second measurement information, and a difference between the first measurement information and the second measurement information.

[0085] For example, assuming that the measurement information is time information, the first information may include one or more of the following information: a first reception time of a first reference signal, a second reception time of a second reference signal, and a time difference between the first reception time and the second reception time.

[0086] For another example, assuming that the measurement information is the receiving phase, the first information may include one or more of the following information: the first receiving phase, the second receiving phase, and the phase difference between the first receiving phase and the second receiving phase. In some embodiments, in order to ensure that the positioning device can obtain the location information of the terminal device at a certain moment, the terminal device may also send information related to the receiving time of the reference signal to the positioning device. For example, the first information may include one or more of the following information: the first receiving phase of the first reference signal, the second receiving phase of the second reference signal, the phase difference between the first receiving phase and the second receiving phase, the first receiving moment of the first reference signal, the second receiving moment of the second reference signal, and the time difference between the first receiving moment and the second receiving moment.

[0087] In some implementations, if the phase difference is calculated by the terminal device, the first information may include the phase difference, but not the first reception phase and the second reception phase. For example, the terminal device may send the phase difference to the positioning device, so that the positioning device can locate the terminal device based on the phase difference. If the phase difference is calculated by the positioning device, the first information may include the first reception phase and the second reception phase, but not the phase difference. For example, the terminal device may send the first reception phase and the second reception phase to the positioning device, and after receiving the first reception phase and the second reception phase, the positioning device may calculate the phase difference between the first reception phase and the second reception phase, and then locate the terminal device based on the phase difference.

[0088] In some implementations, the terminal device may send the first receiving moment and the second receiving moment to the positioning device, or the terminal device may send the time difference between the first receiving moment and the second receiving moment to the positioning device, or the terminal device may send the first receiving moment and the time difference between the first receiving moment and the second receiving moment to the positioning device, or the terminal device may send the second receiving moment and the time difference between the first receiving moment and the second receiving moment to the positioning device. Of course, in some embodiments, the terminal device may send the first receiving moment, the second receiving moment, and the time difference between the first receiving moment and the second receiving moment to the positioning device.

[0089] Because the terminal device is in a mobile state, the terminal device sends information related to the time when the reference signal is received to the positioning device, so that the positioning device can determine the location of the terminal device at the time when determining the location of the terminal device. For example, the positioning device can determine the location of the terminal device at a first moment and / or the location of the terminal device at a second moment.

[0090] The positioning device in the embodiment of the application may be a unit with a positioning solution function, a positioning server, a location management function (LMF), a serving cell, a positioning reference unit or a terminal device.

[0091] In some embodiments, the terminal device may receive reference signals sent by multiple network devices. The network device mentioned above may be one of the multiple network devices.

[0092] For example, taking multiple network devices including network device 1 and network device 2 as an example, a terminal device can receive reference signal 1 sent by network device 1 and reference signal 2 sent by network device 2 at location 1, and receive reference signal 3 sent by network device 1 and reference signal 4 sent by network device 2 at location 2. The received phase of reference signal 1 is phase 1, the received phase of reference signal 2 is phase 2, the received phase of reference signal 3 is phase 3, and the received phase of reference signal 4 is phase 4. The phase difference between phase 3 and phase 1, and the phase difference between phase 4 and phase 2, are used to locate the terminal device. The positioning device can locate the terminal device based on the phase difference between phase 3 and phase 1, and the phase difference between phase 4 and phase 2.

[0093] The above description uses two network devices as an example to describe the positioning process of the terminal device, but the embodiments of the present application are not limited thereto. The network devices in the embodiments of the present application may include a greater number, such as three or four network devices.

[0094] During the transmission process, the reference signal may form multiple propagation paths due to reflection, refraction, scattering, etc., resulting in the superposition of multiple signals when the signal reaches the terminal device, thereby forming a multipath signal. The number of multipaths of the reference signal indicates the degree of interference of the reference signal. The greater the number of multipaths of the reference signal, the more serious the interference to the reference signal. In some embodiments, before sending the first information to the positioning device, the terminal device may determine the first multipath number of the first reference signal and / or the second multipath number of the second reference signal. When the multipath number of the reference signal is greater than the first threshold, it indicates that the reference signal is no longer suitable for phase differential processing. In this case, the terminal device does not need to send the first information to the positioning device to save signaling overhead.

[0095] In some embodiments, the terminal device may send the first information to the positioning device if the first multipath number and / or the second multipath number is less than or equal to a first threshold. For example, the terminal device may send the first information to the positioning device if the first multipath number is less than the first threshold. For another example, the terminal device may send the first information to the positioning device if the second multipath number is less than the first threshold. For another example, the terminal device may send the first information to the positioning device if both the first multipath number and the second multipath number are less than the first threshold.

[0096] The first threshold value may be determined based on the positioning accuracy of the terminal device. If the terminal device has a higher positioning accuracy requirement, the first threshold value may be set to a smaller value; if the terminal device has a lower positioning accuracy requirement, the first threshold value may be set to a larger value.

[0097] The number of multipaths in a reference signal can be determined by the terminal device. When performing phase measurement on the reference signal, the terminal device can determine the number of multipaths based on the intermediate results of the phase measurement. One method for determining the number of multipaths is based on pseudospectrum. See Figure 4, which illustrates a method for determining the number of multipaths based on pseudospectrum. Each pulse in Figure 4 corresponds to a path.

[0098] In some implementations, the positioning device can locate the terminal device based on the phase difference between the first receiving phase and the second receiving phase. The calculation formula of the phase difference can be:

[0099] Alternatively, the phase difference can be calculated as:

[0100] represents the phase difference, t1 represents the measurement time of the first position, t2 represents the measurement time of the second position, represents the phase measured at the first position, represents the phase measured at the second position.

[0101] In other implementations, the positioning device may construct a first vector using the first receiving phase and the second receiving phase, such as constructing a vector matrix, and then use the vector matrix to locate the terminal device.

[0102] In some embodiments, when the positioning device determines the position of the terminal device based on the phase difference, the phase difference cannot be accurately determined due to the ambiguity of integer multiples of wavelengths that may occur during the propagation of the signal. Based on this, the embodiments of the present application can use signals of multiple frequencies for measurement to solve the problem of integer multiples of wavelength ambiguity. For example, the network device can send reference signals of different frequencies to the terminal device so that the terminal device measures the reference signals of different frequencies and obtains the phase of the reference signals for different frequencies. The wavelength of each frequency signal in the multiple frequency signals is different, and the multiples of the reference signal at different frequencies are different. By using reference signals of multiple frequencies, the ability to resolve integer multiples of wavelength ambiguity can be improved.

[0103] As can be seen from the description of Figure 2 above, when the distance between two adjacent antennas is less than half a wavelength, the channels corresponding to the two adjacent antennas can be considered to be coherent. Corresponding to the solution of the present application, when the terminal device is moving, the distance between the first position and the second position is much greater than the wavelength, which does not meet the channel coherence condition. However, when the signals received by the terminal device at the first position and the second position are both line-of-sight signals or near-line-of-sight signals, it can be considered that the channels of the terminal devices at these two positions to the same network device are coherent. Therefore, the path difference described in Figure 2 can be used to determine the position of the terminal device.

[0104] Under the carrier spacing f, the received signal is modeled as follows:

[0105] Among them, y f (t) represents the signal received at time t, represents the channel fading under carrier spacing f, s f (t) represents the transmitted signal, n f (t) represents the signal noise.

[0106] In some embodiments, before using the first and second measurement information to calculate the location of the terminal device, it may be determined whether the distance between the terminal device and the network device is line-of-sight. If the distance between the terminal device and the network device is line-of-sight, the first and second measurement information may be used to calculate the location of the terminal device. For example, the positioning device may use the first and second measurement information to calculate the location of the terminal device. If the distance between the terminal device and the network device is non-line-of-sight, the first and second measurement information cannot be used to calculate the location of the terminal device.

[0107] In some embodiments, if the first measurement information and the second measurement information are phase information, that is, the first measurement information is the first receiving phase and the second measurement information is the second receiving phase, then when the first formula is satisfied, the distance between the terminal device and the network device is line of sight.

[0108] Among them, the first formula is:

[0109] Wherein, ω represents the phase difference between the first receiving phase and the second receiving phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the first position to the second position. represents the angle between the position of the network device and the line connecting the first position and the moving direction of the terminal device, mod represents the modulo operation, and λ represents the wavelength of the first reference signal. This formula represents the difference in distance between the first position and the second position to the base station. Convert it into phase difference and judge whether the phase difference ω is similar to the measured one.

[0110] Example 2

[0111] 5 , in step S510 , the terminal device transmits a third reference signal to the network device at a third location. In other words, the network device receives the third reference signal transmitted by the terminal device at the third location.

[0112] In step S520, the terminal device sends a fourth reference signal to the network device at the fourth location. In other words, the network device receives the fourth reference signal sent by the terminal device at the fourth location.

[0113] The terminal device may be any of the terminal devices described above. In some embodiments, the terminal device may be a terminal device in a communication-aware integration system. The network device may be any of the network devices described above. In some embodiments, the network device may be a base station.

[0114] The third reference signal may be any uplink signal. In some embodiments, the third reference signal may be a demodulation reference signal (DM-RS) or a sounding reference signal (SRS).

[0115] The fourth reference signal may be any uplink signal. In some embodiments, the third reference signal may be a DM-RS or an SRS.

[0116] In some embodiments, the third reference signal and the fourth reference signal may be perceptual signals. For example, the third reference signal and the fourth reference signal may be bird sound signals that are easy to perceive.

[0117] The third reference signal and the fourth reference signal may be reference signals sent by the terminal device at different times. For example, the terminal device may send the third reference signal to the network device when it is in a third position, and may send the fourth reference signal to the network device when it is in a fourth position. The third position and the fourth position are different.

[0118] In some implementations, when the terminal device moves to a third position, the terminal device sends a third reference signal; when the terminal device moves to a fourth position, the terminal device sends a fourth reference signal.

[0119] In some implementations, the third position and the fourth position may be fixed positions, or the distance between the third position and the fourth position may be a preset distance. For example, it does not matter where the third position and the fourth position are in absolute terms, as long as the distance between the third position and the fourth position is the preset distance.

[0120] Because different positions correspond to different transmission times, the terminal device sending the third reference signal at the third position can be understood as the terminal device sending the third reference signal at the third moment, and the terminal device sending the fourth reference signal at the fourth position can be understood as the terminal device sending the fourth reference signal at the fourth moment. The third moment and the fourth moment are different.

[0121] In some implementations, the third reference signal and the fourth reference signal are signals of the same type. For example, the third reference signal and the fourth reference signal are reference signals sent by the terminal device to the network device at different times.

[0122] In some embodiments, third measurement information of a third reference signal and fourth measurement information of a fourth reference signal are used to locate the terminal device. The terminal device may transmit the third reference signal to the network device at a third location, and the network device may measure the third reference signal to obtain third measurement information. The terminal device may transmit the fourth reference signal to the network device at a fourth location, and the network device may measure the fourth reference signal to obtain fourth measurement information.

[0123] The third and fourth measurement information can be phase information or time information. If the third and fourth measurement information are phase information, the terminal device can be located using the phase difference. If the third and fourth measurement information are time information, the terminal device can be located using the time difference. The following describes these two scenarios separately.

[0124] In some implementations, the third measurement information and the fourth measurement information are phase information, such as the third measurement information may be a third reception phase, and the fourth measurement information may be a fourth reception phase. If the reception phase of the third reference signal is the third reception phase, and the reception phase of the fourth reference signal is the fourth reception phase, then the phase difference between the third reception phase and the fourth reception phase is used to locate the terminal device. It can be understood that the third reception phase is the signal phase when the network device receives the third reference signal, and the fourth reception phase is the signal phase when the network device receives the fourth reference signal. The third reception phase and the fourth reception phase reflect the distance difference between the terminal device and the network device at two locations, and the positioning device can locate the terminal device using the distance difference. When the network device measures the phase, since the third reception phase and the fourth reception phase are measured by the same device (i.e., the network device), phase subtraction can eliminate the phase error caused by the hardware delay of the network device, thereby improving the positioning accuracy.

[0125] In some implementations, the third measurement information and the fourth measurement information are time information, such as the third measurement information can be the third receiving moment, and the fourth measurement information can be the fourth receiving moment. If the receiving moment of the third reference signal is the third receiving moment, and the receiving moment of the fourth reference signal is the fourth receiving moment, then the time difference between the third receiving moment and the fourth receiving moment is used to locate the terminal device. The third receiving moment and the fourth receiving moment reflect the distance difference between the terminal device and the network device at the two locations, and the positioning device can locate the terminal device using the distance difference. When the terminal device measures the receiving moment, since the third receiving moment and the fourth receiving moment are measured by the same device (i.e., the network device), subtracting the receiving moments can eliminate the moment error caused by the hardware delay of the terminal device, thereby improving the positioning accuracy.

[0126] In some implementations, to ensure that the network device (e.g., base station or cell) accessed by a terminal device at different locations is the same, for example, to prevent the terminal device from moving from one cell to another, a time interval between the time instants at which the third reference signal is transmitted and the time instants at which the fourth reference signal is transmitted may be restricted. For example, the time interval between the time instants at which the third reference signal is transmitted and the time instants at which the fourth reference signal is transmitted may be less than or equal to the second predetermined duration.

[0127] If the time interval between the sending time of the third reference signal and the sending time of the fourth reference signal is too long, the terminal device may have switched cells. In this case, the third reference signal and the fourth reference signal are reference signals sent by the terminal device to different cells. The hardware delays of different cells will be inconsistent, which will affect the positioning results. Taking the positioning method based on phase difference technology as an example, the phase difference cannot eliminate the hardware differences between different network devices, and the positioning results obtained using the phase difference will be inaccurate. Therefore, the configuration of the second preset time length in the embodiment of the present application enables the terminal device to send a reference signal to the same network device within the second preset time length.

[0128] In some embodiments, the second preset duration may be a preconfigured duration, or the second preset duration may be a duration predefined by a protocol, or the second preset duration may be a duration configured by the network device to the terminal device.

[0129] In some embodiments, the network device may configure a reference signal transmission resource for the terminal device so that the terminal device transmits the reference signal on the transmission resource. For example, the network device may send second configuration information to the terminal device, and the second configuration information may be used to configure the transmission resource for the third reference signal and / or the transmission resource for the fourth reference signal.

[0130] In some embodiments, the transmission resources may include time domain resources and / or frequency domain resources.

[0131] In some implementations, the transmission resource may include time information for transmitting the third reference signal and / or the fourth reference signal. For example, if the transmission resource includes a time domain resource, the time domain resource indicates the time information for transmitting the third reference signal and / or the fourth reference signal. In this way, the network device can implicitly indicate the second preset duration through the transmission resource. For example, if the second configuration information is used to configure the time domain resource of the third reference signal and the time domain resource of the fourth reference signal, the terminal device can determine the sending time of the third reference signal and the sending time of the fourth reference signal based on the second configuration information, and the second preset duration is the time difference between the sending time of the third reference signal and the sending time of the fourth reference signal.

[0132] In some embodiments, the terminal device may send second information to the positioning device, so that the positioning device locates the terminal device based on the second information. The second information may include one or more of the following information: a first transmission time of the third reference signal, a second transmission time of the fourth reference signal, and a time difference between the first transmission time and the second transmission time.

[0133] In some implementations, the terminal device may send the first sending time and the second sending time to the positioning device, or the terminal device may send the time difference between the first sending time and the second sending time to the positioning device, or the terminal device may send the first sending time and the time difference between the first sending time and the second sending time to the positioning device, or the terminal device may send the second sending time and the time difference between the first sending time and the second sending time to the positioning device. Of course, in some embodiments, the terminal device may send the first sending time, the second sending time, and the time difference between the first sending time and the second sending time to the positioning device.

[0134] Because the terminal device is in a mobile state, the terminal device sends information about the time at which the reference signal was sent to the positioning device, so that the positioning device can determine the location of the terminal device at the time when determining the location of the terminal device. For example, the positioning device can determine the location of the terminal device at the third time and / or the location of the terminal device at the fourth time.

[0135] In some embodiments, the terminal device may send the second information to the positioning device via the network device. For example, the terminal device sends the second information to the network device, and the network device may send the second information to the positioning device.

[0136] As described above, the network device can obtain the third receive phase by measuring the third reference signal and obtain the fourth receive phase by measuring the fourth reference signal. In some embodiments, the network device can send third information to the positioning device. The third information can include one or more of the following: third measurement information, fourth measurement information, and the difference between the third and fourth measurement information.

[0137] For example, assuming that the measurement information is time information, the third information may include one or more of the following information: a third reception time of a third reference signal, a fourth reception time of a fourth reference signal, and a time difference between the third reception time and the fourth reception time.

[0138] For another example, assuming that the measurement information is a receiving phase, the third information may include one or more of the following information: a third receiving phase, a fourth receiving phase, and a phase difference between the third receiving phase and the fourth receiving phase.

[0139] In some embodiments, if the phase difference is calculated by the network device, the third information may include the phase difference, but not the third reception phase and the fourth reception phase. For example, the network device may send the phase difference to the positioning device, so that the positioning device can locate the terminal device based on the phase difference. If the phase difference is calculated by the positioning device, the third information may include the third reception phase and the fourth reception phase, but not the phase difference. For example, the network device may send the third reception phase and the fourth reception phase to the positioning device, and after the positioning device receives the third reception phase and the fourth reception phase, it may calculate the phase difference between the third reception phase and the fourth reception phase, and then locate the terminal device based on the phase difference.

[0140] The positioning device in the embodiment of the application may be a unit with a positioning solution function, a positioning server, a LMF, a serving cell, a positioning reference unit or a terminal device.

[0141] In some embodiments, the terminal device may send reference signals to multiple network devices. The network device mentioned above may be one of the multiple network devices.

[0142] For example, taking multiple network devices including network device 1 and network device 2 as an example, the terminal device can send reference signal 1 to network device 1 and reference signal 2 to network device 2 at location 1, and send reference signal 3 to network device 1 and reference signal 4 to network device 2 at location 2. The reception phase of reference signal 1 received by network device 1 is phase 1, the reception phase of reference signal 2 received by network device 2 is phase 2, the reception phase of reference signal 3 received by network device 1 is phase 3, and the reception phase of reference signal 4 received by network device 2 is phase 4. The phase difference between phase 3 and phase 1 and the phase difference between phase 4 and phase 2 are used to locate the terminal device. The positioning device can locate the terminal device based on the phase difference between phase 3 and phase 1 and the phase difference between phase 4 and phase 2.

[0143] The above description uses two network devices as an example to describe the positioning process of the terminal device, but the embodiments of the present application are not limited thereto. The network devices in the embodiments of the present application may include a greater number, such as three or four network devices.

[0144] During transmission, the reference signal may form multiple propagation paths due to reflection, refraction, scattering, and other factors, resulting in the superposition of multiple signals when the signal reaches the network device, thereby forming a multipath signal. The number of multipaths of the reference signal indicates the degree of interference with the reference signal. The greater the number of multipaths of the reference signal, the more severe the interference with the reference signal. In some embodiments, before sending the third information to the positioning device, the network device may determine the third multipath number of the third reference signal and / or the fourth multipath number of the fourth reference signal. If the multipath number of the reference signal is greater than the second threshold, it indicates that the reference signal is no longer suitable for phase differential processing. In this case, the network device may not send the third information to the positioning device to save signaling overhead.

[0145] In some embodiments, the network device may send the third information to the positioning device if the third multipath number and / or the fourth multipath number is less than or equal to the second threshold. For example, the network device may send the third information to the positioning device if the third multipath number is less than the second threshold. For another example, the network device may send the third information to the positioning device if the fourth multipath number is less than the second threshold. For another example, the network device may send the third information to the positioning device if both the third multipath number and the fourth multipath number are less than the second threshold.

[0146] The second threshold value may be determined based on the positioning accuracy of the terminal device. If the terminal device has a higher positioning accuracy requirement, the second threshold value may be set to a smaller value; if the terminal device has a lower positioning accuracy requirement, the second threshold value may be set to a larger value.

[0147] The number of multipaths in a reference signal can be determined by a network device. When performing phase measurement on the reference signal, the network device can determine the number of multipaths based on the intermediate phase measurement results. One method for determining the number of multipaths is based on pseudospectrum. See Figure 4, which illustrates a method for determining the number of multipaths based on pseudospectrum. Each pulse in Figure 4 corresponds to a path.

[0148] In some implementations, the positioning device may locate the terminal device based on the phase difference between the third receiving phase and the fourth receiving phase. The calculation formula for the phase difference may be:

[0149] Alternatively, the phase difference can be calculated as:

[0150] represents the phase difference, t3 represents the measurement time of the third position, t4 represents the measurement time of the fourth position, represents the phase measured at the third position, represents the phase measured at the fourth position.

[0151] In other implementations, the positioning device may construct a second vector using the third receiving phase and the fourth receiving phase, such as constructing a vector matrix, and then use the vector matrix to locate the terminal device.

[0152] In some embodiments, when a positioning device determines the position of a terminal device based on a phase difference, the phase difference cannot be accurately determined due to the ambiguity of integer multiples of wavelengths that may occur during signal propagation. Based on this, embodiments of the present application can use signals of multiple frequencies for measurement to solve the problem of integer multiples of wavelength ambiguity. For example, a terminal device can send reference signals of different frequencies to a network device, so that the network device measures the reference signals of different frequencies and obtains the phases of the reference signals for different frequencies. The wavelength of each frequency signal in the multiple frequency signals is different, and the multiples of the reference signal at different frequencies are different. By using reference signals of multiple frequencies, the ability to resolve integer multiples of wavelength ambiguity can be improved.

[0153] As can be seen from the description of Figure 2 above, when the distance between two adjacent antennas is less than half a wavelength, the channels corresponding to the two adjacent antennas can be considered to be coherent. Corresponding to the solution of the present application, when the terminal device is moving, the distance between the third position and the fourth position is much greater than the wavelength, which does not meet the channel coherence condition. However, when the signals sent by the terminal device at the third position and the fourth position are both line-of-sight signals or near-line-of-sight signals, it can be considered that the channels of the terminal devices at these two positions to the same network device are coherent. Therefore, the path difference described in Figure 2 can be used to determine the position of the terminal device.

[0154] Under the carrier spacing f, the received signal is modeled as follows:

[0155] Among them, y f (t) represents the signal received at time t, represents the channel fading under carrier spacing f, s f (t) represents the transmitted signal, n f (t) represents the signal noise.

[0156] In some embodiments, before using the third and fourth measurement information to locate the terminal device, it may be determined whether the distance between the terminal device and the network device is line-of-sight. If the distance between the terminal device and the network device is line-of-sight, the third and fourth measurement information may be used to locate the terminal device. For example, a positioning device may use the third and fourth measurement information to locate the terminal device. If the distance between the terminal device and the network device is non-line-of-sight, the third and fourth measurement information cannot be used to locate the terminal device.

[0157] In some embodiments, if the third measurement information and the fourth measurement information are phase information, that is, the third measurement information is the third receiving phase and the fourth measurement information is the fourth receiving phase, then when the second formula is satisfied, the distance between the terminal device and the network device is line of sight.

[0158] Among them, the second formula is:

[0159] Wherein, ω represents the phase difference between the third receiving phase and the fourth receiving phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the third position to the fourth position. represents the angle between the line connecting the position of the network device and the third position and the moving direction of the terminal device, mod represents a modulo operation, and λ represents the wavelength of the third reference signal.

[0160] The solution described below is applicable to both the first and second embodiments described above.

[0161] In some embodiments, when processing measurement information of a reference signal, measurement information of signals transmitted at different locations may be jointly processed to obtain the location information of the terminal device. This joint processing may involve forming the measurement information into a vector and then processing it using array signal processing techniques.

[0162] This application uses a mobile terminal device to transmit or receive different transmitting devices or different receiving devices in an alternative positioning system at different locations, thereby obtaining the effect of multi-point transmission or multi-point reception, so as to facilitate triangulated geometric positioning. When the terminal device moves, the position of the terminal device changes, and the two positions of the terminal device plus the position of the base station obtain three points. These three points can be used as points for triangulated positioning or geometric positioning. These three points include two points with unknown positions, that is, the two positions of the terminal device are unknown. In the current positioning system, the terminal device interacts with multiple (such as two or more) base stations for reference signals at the same time. Multiple base stations and terminal devices constitute multiple points for triangulated positioning or geometric positioning. Among the multiple points, only the position of the terminal device is unknown. The position of the terminal device can be obtained by solving the equation.

[0163] Although the terminal device has two unknown locations in this application, in practice, these two locations can be estimated. In an actual system, multiple base stations can participate in positioning to improve positioning accuracy. Multiple base stations participating in positioning can obtain more information, thereby obtaining the location information of the terminal device at two locations.

[0164] For example, assuming that the two positions of the terminal device are (x1, y1) and (x2, y2), the terminal device measures the phase of the reference signal sent by base station n at the two positions respectively, and obtains the phase difference ω n . Assume that the location coordinates of base station n are (a n ,b n ), the distance difference between base station n and the two locations can be calculated based on the position coordinates or by the phase difference. Assuming that the distance differences calculated by the two methods are equal, the following formula is obtained:

[0165] make:

[0166] When the number of base stations is greater than or equal to 4, the location of the terminal device can be estimated by solving the following equation.

[0167] Wherein, N is greater than or equal to 4.

[0168] In some embodiments, the two positions involved in positioning by the terminal device may be correlated. For example, based on factors such as the moving speed of the terminal device, the characteristics of the vehicle-mounted device, and the approximate location of the terminal device, the terminal device or the positioning device can determine that the terminal device is traveling on a road. Combining the map and the moving speed, the offset of the second position of the terminal device relative to the first position can be determined. For example, the coordinates of the first position are (x1, y1), and the coordinates of the second position are (x1+vΔtcos(θ), y1+vΔtsin(θ)), where v represents the moving speed of the terminal device, Δt represents the time interval between the first position and the second position, and θ represents the angle between the direction of movement and the x-axis. In other words, the second position can be calculated based on the first position, so only the first position needs to be solved.

[0169] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 5 . The device embodiment of the present application is described in detail below in conjunction with Figures 6 to 10 . 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.

[0170] FIG6 is a schematic block diagram of a terminal device provided in an embodiment of the present application. The terminal device 600 shown in FIG6 can be any of the terminal devices described above. The terminal device 600 can include a receiving unit 610.

[0171] The receiving unit 610 is configured to receive, at a first location, a first reference signal sent by a network device.

[0172] The receiving unit 610 is further configured to receive, at a second location, a second reference signal sent by the network device.

[0173] The first receiving phase of the first reference signal and the second receiving phase of the second reference signal are used to locate the terminal device.

[0174] In some possible implementations, the time interval between the time instants of receiving the first reference signal and the time instants of receiving the second reference signal is less than or equal to a first preset duration.

[0175] In some possible implementations, the first preset duration is configured by the network device.

[0176] In some possible implementations, the receiving unit is further configured to: receive first configuration information sent by the network device, where the first configuration information is used to configure transmission resources of the first reference signal and / or transmission resources of the second reference signal.

[0177] In some possible implementations, the transmission resource includes time information for transmitting the first reference signal and / or the second reference signal.

[0178] In some possible implementations, the terminal device further includes: a sending unit, configured to send first information to a positioning device, where the first information is related to the first measurement information and / or the second measurement information.

[0179] In some possible implementations, the first measurement information, the second measurement information, and a difference between the first measurement information and the second measurement information.

[0180] In some possible implementations, if the first measurement information includes a first receiving phase and the second measurement information includes a second receiving phase, the first information also includes one or more of the following information: the first receiving moment of the first reference signal, the second receiving moment of the second reference signal, and the time difference between the first receiving moment and the second receiving moment.

[0181] In some possible implementations, the first measurement information includes a first receiving phase, and the second measurement information includes a second receiving phase; and / or, the first measurement information includes a first receiving moment, and the second measurement information includes a second receiving moment.

[0182] In some possible implementations, before sending the first information to the positioning device, the terminal device also includes: a determination unit, used to determine a first multipath number of the first reference signal; the determination unit is also used to determine a second multipath number of the second reference signal; the sending unit is used to send the first information to the positioning device when the first multipath number and / or the second multipath number is less than or equal to a first threshold.

[0183] In some possible implementations, if the distance between the terminal device and the network device is line-of-sight, the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

[0184] In some possible implementations, the first measurement information includes a first receiving phase, the second measurement information includes a second receiving phase, and when a first formula is satisfied, the distance between the terminal device and the network device is line-of-sight, and the first formula is:

[0185] Wherein, ω represents the phase difference between the first receiving phase and the second receiving phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the first position to the second position. represents the angle between the position of the network device and the line connecting the first position and the moving direction of the terminal device, mod represents a modulo operation, and λ represents the wavelength of the first reference signal.

[0186] In an optional embodiment, the receiving unit 610 and the sending unit may be a transceiver 1030, and the determining unit may be a processor 1010. The terminal device 600 may further include a memory 1020, as specifically shown in FIG10 .

[0187] FIG7 is a schematic block diagram of a network device according to an embodiment of the present application. The network device 700 shown in FIG7 can be any of the network devices described above. The network device 700 can include a sending unit 710.

[0188] The sending unit 710 is configured to send a first reference signal to the terminal device when the terminal device is in a first position.

[0189] The sending unit 710 is further configured to send a second reference signal to the terminal device when the terminal device is in a second position.

[0190] The first receiving phase of the first reference signal and the second receiving phase of the second reference signal are used to locate the terminal device.

[0191] In some possible implementations, the time interval between the time instants of receiving the first reference signal and the time instants of receiving the second reference signal is less than or equal to a first preset duration.

[0192] In some possible implementations, the first preset duration is configured by the network device.

[0193] In some possible implementations, the sending unit is further used to: send first configuration information to the terminal device, where the first configuration information is used to configure transmission resources of the first reference signal and / or transmission resources of the second reference signal.

[0194] In some possible implementations, the transmission resource includes time information for transmitting the first reference signal and / or the second reference signal.

[0195] In some possible implementations, if the distance between the terminal device and the network device is line-of-sight, the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

[0196] In some possible implementations, the first measurement information includes a first receiving phase, the second measurement information includes a second receiving phase, and when a first formula is satisfied, the distance between the terminal device and the network device is line-of-sight, and the first formula is:

[0197] Wherein, ω represents the phase difference between the first receiving phase and the second receiving phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the first position to the second position. represents the angle between the position of the network device and the line connecting the first position and the moving direction of the terminal device, mod represents a modulo operation, and λ represents the wavelength of the first reference signal.

[0198] In an optional embodiment, the sending unit 710 may be a transceiver 1030. The network device 700 may further include a memory 1020 and a processor 1010, as specifically shown in FIG10 .

[0199] FIG8 is a schematic block diagram of a terminal device provided in an embodiment of the present application. The terminal device 800 shown in FIG8 can be any of the terminal devices described above. The terminal device 800 can include a sending unit 810.

[0200] The sending unit 810 is configured to send a third reference signal to the network device at a third location.

[0201] The sending unit 810 is further configured to send a fourth reference signal to the network device at a fourth position.

[0202] The third receiving phase of the third reference signal and the fourth receiving phase of the fourth reference signal are used to locate the terminal device.

[0203] In some possible implementations, the time interval between the sending time of the third reference signal and the sending time of the fourth reference signal is less than or equal to a second preset duration.

[0204] In some possible implementations, the second preset duration is configured by the network device.

[0205] In some possible implementations, the terminal device further includes: a receiving unit, configured to receive second configuration information sent by the network device, wherein the second configuration information is used to configure transmission resources of the third reference signal and / or transmission resources of the fourth reference signal.

[0206] In some possible implementations, the transmission resource includes time information for transmitting the third reference signal and / or the fourth reference signal.

[0207] In some possible implementations, the sending unit is further used to: send second information to the positioning device, where the second information includes one or more of the following information: the first sending time of the third reference signal, the second sending time of the fourth reference signal, and the time difference between the first sending time and the second sending time.

[0208] In some possible implementations, the third measurement information includes a third receiving phase, and the fourth measurement information includes a fourth receiving phase; and / or, the third measurement information includes a third receiving moment, and the fourth measurement information includes a fourth receiving moment.

[0209] In some possible implementations, if the distance between the terminal device and the network device is line of sight, the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

[0210] In some possible implementations, the third measurement information includes a third reception phase, the fourth measurement information includes a fourth reception phase, and when a second formula is satisfied, the distance between the terminal device and the network device is line-of-sight, and the second formula is:

[0211] Wherein, ω represents the phase difference between the third receiving phase and the fourth receiving phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the third position to the fourth position. represents the angle between the line connecting the position of the network device and the third position and the moving direction of the terminal device, mod represents a modulo operation, and λ represents the wavelength of the third reference signal.

[0212] In an optional embodiment, the sending unit 810 and the receiving unit may be a transceiver 1030. The terminal device 800 may further include a memory 1020 and a processor 1010, as specifically shown in FIG10 .

[0213] FIG9 is a schematic block diagram of a network device according to an embodiment of the present application. The network device 900 shown in FIG9 can be any of the network devices described above. The network device 900 can include a receiving unit 910.

[0214] The receiving unit 910 is configured to receive a third reference signal sent by a terminal device at a third position.

[0215] The receiving unit 910 is further configured to receive a fourth reference signal sent by the terminal device at a fourth position.

[0216] The third receiving phase of the third reference signal and the fourth receiving phase of the fourth reference signal are used to locate the terminal device.

[0217] In some possible implementations, the time interval between the sending time of the third reference signal and the sending time of the fourth reference signal is less than or equal to a second preset duration.

[0218] In some possible implementations, the second preset duration is configured by the network device.

[0219] In some possible implementations, the network device further includes: a sending unit, configured to send second configuration information to the terminal device, where the second configuration information is used to configure transmission resources of the third reference signal and / or transmission resources of the fourth reference signal.

[0220] In some possible implementations, the transmission resource includes time information for transmitting the third reference signal and / or the fourth reference signal.

[0221] In some possible implementations, the network device further includes: a sending unit, further used to send third information to the positioning device, the third information including one or more of the following information: the third measurement information, the fourth measurement information, and the difference between the third measurement information and the fourth measurement information.

[0222] In some possible implementations, the third measurement information includes a third receiving phase, and the fourth measurement information includes a fourth receiving phase; and / or, the third measurement information includes a third receiving moment, and the fourth measurement information includes a fourth receiving moment.

[0223] In some possible implementations, before sending the third information to the positioning device, the network device further includes: a determination unit, configured to determine a third multipath number of the third reference signal; the determination unit, further configured to determine a fourth multipath number of the fourth reference signal; and the sending unit, configured to send the third information to the positioning device when the third multipath number and / or the fourth multipath number is less than or equal to a second threshold.

[0224] In some possible implementations, if the distance between the terminal device and the network device is line of sight, the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

[0225] In some possible implementations, the third measurement information includes a third reception phase, the fourth measurement information includes a fourth reception phase, and when the second formula is satisfied, the distance between the terminal device and the network device is line-of-sight, and the first formula is:

[0226] Wherein, ω represents the phase difference between the third receiving phase and the fourth receiving phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the third position to the fourth position. represents the angle between the line connecting the position of the network device and the third position and the moving direction of the terminal device, mod represents a modulo operation, and λ represents the wavelength of the third reference signal.

[0227] In an optional embodiment, the receiving unit 910 and the sending unit may be a transceiver 1030, and the determining unit may be a processor 1010. The network device 900 may further include a memory 1020, as specifically shown in FIG10 .

[0228] Figure 10 is a schematic block diagram of a communication device according to an embodiment of the present application. The dashed lines in Figure 10 indicate that the unit or module is optional. The device 1000 may be used to implement the method described in the above method embodiment. The device 1000 may be a chip, a terminal device, or a network device.

[0229] The device 1000 may include one or more processors 1010. The processor 1010 may support the device 1000 to implement the method described in the method embodiment above. The processor 1010 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.

[0230] The apparatus 1000 may further include one or more memories 1020. The memories 1020 store programs that can be executed by the processor 1010, causing the processor 1010 to perform the methods described in the above method embodiments. The memories 1020 may be independent of the processor 1010 or integrated into the processor 1010.

[0231] The apparatus 1000 may further include a transceiver 1030. The processor 1010 may communicate with other devices or chips via the transceiver 1030. For example, the processor 1010 may transmit and receive data with other devices or chips via the transceiver 1030.

[0232] The present application also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to a terminal or network device provided in the present application, and the program enables a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0233] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to a terminal or network device provided in the present application, and the program causes a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0234] The embodiments of the present application also provide a computer program. The computer program can be applied to the terminal or network device provided in the embodiments of the present application, and the computer program enables a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] 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.

[0241] 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.

[0242] 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.

[0243] 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.

[0244] 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.

[0245] 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.

[0246] 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)).

[0247] 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, Including: The terminal device receives a first reference signal sent by the network device at a first position; The terminal device receives a second reference signal sent by the network device at a second position; Wherein, the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

2. The method according to claim 1, wherein The time interval between the reception time of the first reference signal and the reception time of the second reference signal is less than or equal to a first preset duration.

3. The method according to claim 2, wherein The first preset duration is configured by the network device.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: The terminal device receives first configuration information sent by the network device, and the first configuration information is used to configure the transmission resources of the first reference signal and / or the second reference signal.

5. The method according to claim 4, characterized in that The transmission resources include time information for transmitting the first reference signal and / or the second reference signal.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The terminal device sends first information to the positioning device, and the first information is related to the first measurement information and / or the second measurement information.

7. The method according to claim 6, wherein The first information includes one or more of the following information: the first measurement information, the second measurement information, and the difference between the first measurement information and the second measurement information.

8. The method according to claim 7, characterized in that, If the first measurement information includes a first reception phase and the second measurement information includes a second reception phase, the first information further includes one or more of the following information: the first reception time of the first reference signal, the second reception time of the second reference signal, and the time difference between the first reception time and the second reception time.

9. The method according to claim 7, characterized in that, The first measurement information includes a first reception phase, and the second measurement information includes a second reception phase; and / or, The first measurement information includes a first reception time, and the second measurement information includes a second reception time.

10. The method according to any one of claims 6-9, characterized in that, Before the terminal device sends the first information to the positioning device, the method further includes: The terminal device determines the first multipath number of the first reference signal; The terminal device determines the second multipath number of the second reference signal; The terminal device sending the first information to the positioning device includes: When the first multipath number and / or the second multipath number is less than or equal to a first threshold, the terminal device sends the first information to the positioning device.

11. The method according to any one of claims 1 to 10, characterized in that, If the distance between the terminal device and the network device is line-of-sight, the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

12. The method according to claim 11, wherein The first measurement information includes a first reception phase, and the second measurement information includes a second reception phase, When the first formula is satisfied, the distance between the terminal device and the network device is line-of-sight, and the first formula is: Where ω represents the phase difference between the first received phase and the second received phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the first position to the second position. indicating the angle between the line connecting the position of the network device and the first position and the movement direction of the terminal device, mod represents the modulo operation, and λ represents the wavelength of the first reference signal.

13. A method for positioning, characterized in that, Including: The network device sends a first reference signal to the terminal device when the terminal device is at a first position; The network device sends a second reference signal to the terminal device when the terminal device is at a second position; Among them, the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

14. The method according to claim 13, wherein The time interval between the reception time of the first reference signal and the reception time of the second reference signal is less than or equal to a first preset duration.

15. The method according to claim 14, wherein The first preset duration is configured by the network device.

16. The method according to any one of claims 13 to 15, characterized in that, The method further includes: The network device sends first configuration information to the terminal device, and the first configuration information is used to configure the transmission resources of the first reference signal and / or the second reference signal.

17. The method according to claim 16, wherein The transmission resources include time information for transmitting the first reference signal and / or the second reference signal.

18. The method according to any one of claims 13-17, characterized in that, If the distance between the terminal device and the network device is line-of-sight, the first measurement information of the first reference signal and the second measurement information of the second reference signal are used to locate the terminal device.

19. The method according to claim 18, wherein The first measurement information includes a first reception phase, and the second measurement information includes a second reception phase. When the first formula is satisfied, the distance between the terminal device and the network device is a line-of-sight distance, and the first formula is: Where ω represents the phase difference between the first received phase and the second received phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the first position to the second position. represents the angle between the line connecting the position of the network device and the first position and the moving direction of the terminal device, mod represents the modulo operation, and λ represents the wavelength of the first reference signal.

20. A method for positioning, characterized in that, including: The terminal device sends a third reference signal to the network device at a third position; The terminal device sends a fourth reference signal to the network device at a fourth position; Among them, the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

21. The method according to claim 20, wherein The time interval between the transmission time of the third reference signal and the transmission time of the fourth reference signal is less than or equal to a second preset duration.

22. The method according to claim 21, wherein The second preset duration is configured by the network device.

23. The method according to any one of claims 20-22, characterized in that, The method further includes: The terminal device receives second configuration information sent by the network device, and the second configuration information is used to configure the transmission resources of the third reference signal and / or the fourth reference signal.

24. The method according to claim 23, wherein The transmission resources include time information for transmitting the third reference signal and / or the fourth reference signal.

25. The method according to any one of claims 20 - 24, characterized in that, The method further includes: The terminal device sends second information to the positioning device, and the second information includes one or more of the following information: the first transmission time of the third reference signal, the second transmission time of the fourth reference signal, and the time difference between the first transmission time and the second transmission time.

26. The method according to any one of claims 20-25, characterized in that, The third measurement information includes a third reception phase, and the fourth measurement information includes a fourth reception phase; and / or, The third measurement information includes a third reception time, and the fourth measurement information includes a fourth reception time.

27. The method according to any one of claims 20-26, characterized in that If the distance between the terminal device and the network device is line-of-sight, the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

28. The method according to claim 27, wherein The third measurement information includes a third reception phase, and the fourth measurement information includes a fourth reception phase. When the second formula is satisfied, the distance between the terminal device and the network device is line of sight, and the second formula is: Where ω represents the phase difference between the third received phase and the fourth received phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the third position to the fourth position. represents the angle between the line connecting the position of the network device and the third position and the moving direction of the terminal device, mod represents the modulo operation, and λ represents the wavelength of the third reference signal.

29. A method for positioning, characterized in that, including: The network device receives a third reference signal sent by the terminal device at a third location; The network device receives a fourth reference signal sent by the terminal device at a fourth location; Wherein, the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

30. The method according to claim 29, wherein, The time interval between the transmission time of the third reference signal and the transmission time of the fourth reference signal is less than or equal to a second preset duration.

31. The method according to claim 30, wherein The second preset duration is configured by the network device.

32. The method according to any one of claims 29-31, characterized in that, The method further includes: The network device sends second configuration information to the terminal device, and the second configuration information is used to configure the transmission resources of the third reference signal and / or the fourth reference signal.

33. The method according to claim 32, wherein The transmission resources include time information for transmitting the third reference signal and / or the fourth reference signal.

34. The method according to any one of claims 29-33, characterized in that, The method further includes: The network device sends third information to a positioning device, and the third information includes one or more of the following information: the third measurement information, the fourth measurement information, and the difference between the third measurement information and the fourth measurement information.

35. The method according to any one of claims 29 - 34, characterized in that, The third measurement information includes a third reception phase, and the fourth measurement information includes a fourth reception phase; and / or, The third measurement information includes a third reception time, and the fourth measurement information includes a fourth reception time.

36. The method according to claim 34 or 35, characterized in that, Before the network device sends the third information to the positioning device, the method further includes: The network device determines the third multipath number of the third reference signal; The network device determines the fourth multipath number of the fourth reference signal; The network device sending the third information to the positioning device includes: When the third multipath number and / or the fourth multipath number is less than or equal to a second threshold, the network device sends the third information to the positioning device.

37. The method according to any one of claims 29-36, characterized in that, If the distance between the terminal device and the network device is line-of-sight, the third measurement information of the third reference signal and the fourth measurement information of the fourth reference signal are used to locate the terminal device.

38. The method according to claim 37, wherein The third measurement information includes a third reception phase, and the fourth measurement information includes a fourth reception phase, When the second formula is satisfied, the distance between the terminal device and the network device is line-of-sight, and the second formula is: Where ω represents the phase difference between the third received phase and the fourth received phase, v represents the moving speed of the terminal device, and Δt represents the time interval for the terminal device to move from the third position to the fourth position. indicating the angle between the line connecting the position of the network device and the third location and the movement direction of the terminal device, mod represents the modulo operation, and λ represents the wavelength of the third reference signal.

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