Positioning method and related apparatus

Abstract

The present application provides a positioning method and a related apparatus, which are beneficial to improving the accuracy of terminal device positioning. The method comprises: a first communication apparatus determines first measurement information of each path of at least one path; the first communication apparatus sends the first measurement information of each path of the at least one path to a second communication apparatus; and the first communication apparatus performs positioning of a terminal device on the basis of the first measurement information of each path, wherein the at least one path is at least one path for transmitting a positioning reference signal, and the first measurement information comprises at least one measurement value of each measurement quantity of at least one measurement quantity.

Description

Method and related device for positioning

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 29, 2023, with application number 202311872454.3 and application name “Methods and Related Devices for Positioning”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communications, and in particular to a positioning method and related devices. Background Art

[0003] At present, commonly used methods for locating terminal devices include: positioning methods based on time difference of arrival (TDOA), positioning methods based on angle of arrival (AOA), positioning methods based on time of arrival (TOA), positioning methods based on round trip time (RTT), positioning methods based on reference signal time difference (RSTD), etc.

[0004] In the above method, the receiving end measures the received positioning reference signal to obtain an estimated value of the measurement quantity, and then locates the terminal device based on the estimated value of the measurement quantity.

[0005] However, in a non-line of sight (NLOS) channel environment for wireless signal transmission or a channel environment with dense multipath, the estimated value of the measurement quantity obtained by the above positioning method may have a relatively large deviation, and thus the terminal device cannot be accurately positioned. Summary of the Invention

[0006] The present application provides a method and related apparatus for positioning, which are conducive to improving the accuracy of positioning of terminal equipment.

[0007] In a first aspect, a method for positioning is provided. The method can be performed by a first communication device, which can be a location management function (LMF) or a terminal device, or a component configured in the LMF or terminal device (such as a processor, chip, or chip system, etc.), or a logic module or software that can implement all or part of the functions of the first communication device. This application is not limited to this. The method includes: obtaining first measurement information of each path in at least one path; and positioning the terminal device based on the first measurement information of each path.

[0008] The at least one path is at least one path for transmitting a positioning reference signal, and the first measurement information includes at least one measurement value for each of the at least one measurement quantity. In the present application, the at least one measurement value for each measurement quantity is obtained by correcting an estimated value of the measurement quantity. Therefore, the at least one measurement value for each measurement quantity in the first measurement information can also be described as at least one corrected value for each measurement quantity.

[0009] Based on the technical solution of the present application, a first communications device locates a terminal device based on at least one corrected measurement value of a measurement quantity. Compared to an estimated value of the measurement quantity obtained by measuring a positioning reference signal, this approach provides at least one measurement value for the first communications device to select and apply during positioning. The at least one measurement value is more likely to include the accurate value of the measurement quantity, or in other words, the at least one measurement value may include a value that is closer to the accurate value of the measurement quantity. Therefore, the approach of locating the terminal device based on at least one measurement value of each measurement quantity is conducive to improving the accuracy of terminal device positioning.

[0010] In combination with the first aspect, in certain implementations of the first aspect, at least one measurement value of each measurement quantity is a corrected measurement value.

[0011] In this application, at least one measurement value of each measurement quantity is a measurement value corrected by an error model. The error model indicates at least one measurement error corresponding to each measurement quantity, and the at least one measurement value corresponds one-to-one with the at least one measurement error. In other words, by correcting the estimated value of the measurement quantity using a measurement error, a measurement value (or corrected value) of the measurement quantity can be obtained. Furthermore, positioning a terminal device based on at least one measurement value of each measurement quantity is conducive to improving the accuracy of terminal device positioning.

[0012] In combination with the first aspect, in some implementations of the first aspect, the type of the measurement quantity includes one or more of the following: time measurement information, angle measurement information, energy measurement information, or phase measurement information.

[0013] In combination with the first aspect, in some implementations of the first aspect, the first measurement information further includes: a variance and / or a probability value corresponding to each measurement value of the at least one measurement value of each measurement quantity.

[0014] In this application, the probability value can be replaced by the likelihood value.

[0015] In the present application, when locating a terminal device based on at least one measurement value of each measurement quantity, the first communications device selects a portion of all received measurement values ​​for positioning. Knowing the variance and / or probability value corresponding to each of the at least one measurement value of each measurement quantity allows the first communications device to more accurately select the measurement value, thereby improving the accuracy of positioning the terminal device.

[0016] Optionally, the first measurement information further includes one or more of the following: a mean value or a distribution model corresponding to each measurement value of at least one measurement value of each measurement quantity.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the terminal device is positioned based on the first measurement information of each path, including: obtaining at least one target measurement value based on the variance and / or probability value corresponding to at least one measurement value of each measurement quantity of each path; determining at least one first position based on the at least one target measurement value; and determining the position of the terminal device based on the at least one first position.

[0018] The variance and / or probability value corresponding to each target measurement value in the at least one target measurement value meets a preset condition.

[0019] In one possible case, the number of the at least one target measurement value corresponds to the number of the at least one measurement variable.

[0020] In another possible case, the number of the at least one target measurement value corresponds to the number of the second communication devices that assist the terminal device in positioning.

[0021] In combination with the first aspect, in certain implementations of the first aspect, the terminal device is positioned based on the first measurement information of each path, including: determining the position of the terminal device based on the measurement value whose variance and / or probability value in the first measurement information of each path meets preset conditions.

[0022] In this application, a measurement value whose variance and / or probability value meets a preset condition may also be referred to as a target measurement value, that is, the variance and / or probability value corresponding to the target measurement value meets the preset condition. The first communication device may locate the terminal device based on the target measurement value.

[0023] In conjunction with the first aspect, in certain implementations of the first aspect, the variance and / or probability value satisfying a measurement value of a preset condition includes:

[0024] The measurement value corresponding to the largest probability value among at least one probability value, wherein the at least one probability value is at least one probability value corresponding to at least one measurement value of the same type of measurement quantity; and / or, the measurement value corresponding to the smallest variance among at least one variance, wherein the at least one variance is at least one variance corresponding to at least one measurement value of the same type of measurement quantity.

[0025] The present application can also be described as follows: the probability value corresponding to the target measurement value is the largest among at least one probability value, where the at least one probability value is at least one probability value corresponding to at least one measurement value of the same type of measurement quantity. And / or, the probability value corresponding to the target measurement value is the smallest among at least one variance, where the at least one variance is at least one variance corresponding to at least one measurement value of the same type of measurement quantity.

[0026] In combination with the first aspect, in certain implementations of the first aspect, determining the position of the terminal device based on the at least one first position includes: performing weighted processing on the coordinates of each first position in the at least one first position to determine at least one second position; and determining the result of adding the coordinates of the at least one second position as the position of the terminal device.

[0027] In combination with the first aspect, in some implementations of the first aspect, determining the location of the terminal device based on the at least one first location includes: determining a result of clustering the at least one first location as the location of the terminal device.

[0028] In combination with the first aspect, in certain implementations of the first aspect, the variance and / or probability value corresponding to each target measurement value meets preset conditions, including: among at least one probability value corresponding to at least one variance and / or probability value of a measurement quantity of the same type, the likelihood probability corresponding to each target measurement value is the highest; and / or, among at least one variance corresponding to at least one measurement value of a measurement quantity of the same type, the variance corresponding to each target measurement value is the smallest.

[0029] On the second aspect, a method for positioning is provided, which can be executed by a second communication device. The second communication device can be an access network device or a terminal device, or a component configured in the access network device or the terminal device (such as a processor, chip, or chip system, etc.), or a logical module or software that can realize all or part of the functions of the second communication device. This application does not limit this.

[0030] The method includes: determining first measurement information of each path of at least one path; and sending at least one measurement value of each measurement quantity of each path.

[0031] The at least one path is at least one path for transmitting a positioning reference signal, and the first measurement information includes a measurement value of each measurement quantity in at least one measurement quantity.

[0032] In the present application, the second communication device sends at least one measurement value for each measurement quantity for each path to the first communication device. Compared to the estimated value of each measurement quantity obtained by measuring the positioning reference signal, each of the at least one measurement value for each measurement quantity is a corrected measurement value and is therefore closer to the accurate value of each measurement quantity. Consequently, when positioning a terminal device based on the at least one measurement value for each measurement quantity, the resulting position of the terminal device is more accurate, thereby improving the accuracy of positioning the terminal device.

[0033] In combination with the second aspect, in certain implementations of the second aspect, at least one measurement value of each measurement quantity is a corrected measurement value.

[0034] In combination with the second aspect, in some implementations of the second aspect, the type of the measurement quantity includes one or more of the following: time measurement information, angle measurement information, energy measurement information, or phase measurement information.

[0035] In conjunction with the second aspect, in certain implementations of the second aspect, the number of at least one measurement value of each measurement quantity is multiple. The first measurement information further includes: a variance and / or probability value corresponding to each measurement value of the at least one measurement value of each measurement quantity.

[0036] It should be understood that the second aspect of this application corresponds to the technical solution of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation methods are similar and will not be repeated here.

[0037] In a third aspect, a communication device is provided, including: a module for executing the method in any possible implementation of any of the above aspects. Specifically, the device includes a module for executing the method in any possible implementation of any of the above aspects.

[0038] In one design, the device may include a module corresponding to each of the methods / operations / steps / actions described in any of the above aspects. The module may be a hardware circuit, software, or a combination of hardware circuit and software.

[0039] In another design, the device is a communication chip, which may include an input circuit or interface for sending information or data, and an output circuit or interface for receiving information or data.

[0040] In another design, the apparatus is a LMF or a terminal device, which may include a transmitter for sending information or data and a receiver for receiving information or data.

[0041] In another design, the apparatus is an access network device or a terminal device, which may include a transmitter for sending information or data and a receiver for receiving information or data.

[0042] In another design, the apparatus is used to execute the method in any possible implementation of the first aspect above, and the apparatus can be configured in an LMF or a terminal device.

[0043] In another design, the device is used to execute the method in any possible implementation of the second aspect above, and the device can be configured in an access network device or a terminal device.

[0044] In a fourth aspect, a communication device is provided, comprising a processor configured to call and run a computer program from a memory, so that the device executes a method in any possible implementation of any of the above aspects.

[0045] Optionally, the device further comprises a memory, which can be used to store instructions and data. The memory is coupled to the processor, and when the processor executes the instructions stored in the memory, the method described in the above aspects can be implemented.

[0046] Optionally, the device further includes: a transmitter (emitter) and a receiver (receiver), and the transmitter and the receiver can be separately provided or integrated together, and are referred to as a transceiver (transceiver).

[0047] In a fifth aspect, a computer program product is provided, which includes: a computer program (also referred to as code, or instructions), which, when executed, enables a computer to execute a method in any possible implementation of any of the above aspects.

[0048] In a sixth aspect, a computer-readable storage medium is provided, which stores a computer program (also referred to as code, or instructions) which, when run on a computer, enables the computer to execute a method in any possible implementation of any of the above aspects.

[0049] In the seventh aspect, the present application provides a chip system, which includes at least one processor for supporting the implementation of the functions involved in any of the above aspects, such as receiving or processing the data involved in the above method.

[0050] In one possible design, the chip system further includes a memory, which is used to store program instructions and data, and the memory is located inside or outside the processor.

[0051] Optionally, the chip system may consist of a chip, or may include a chip and other discrete devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] FIG1 is a schematic diagram of a channel environment for line-of-sight transmission of wireless signals;

[0053] FIG2 is a schematic diagram of a channel environment for non-line-of-sight transmission of wireless signals;

[0054] FIG3 is a schematic diagram of a signaling reporting method of a measurement quantity;

[0055] FIG4 is a schematic diagram of an NG-RAN-based positioning architecture applicable to an embodiment of the present application;

[0056] 5A to 5C are schematic diagrams of sidelink positioning scenarios applicable to an embodiment of the present application;

[0057] FIG6 is a schematic flow chart of a positioning method provided in an embodiment of the present application;

[0058] FIG7 is a schematic flow chart of a method for training an error model provided in an embodiment of the present application;

[0059] FIG8 is a schematic diagram of a framework of a training error model provided in an embodiment of the present application;

[0060] FIG9 is a schematic flow chart of another positioning method provided in an embodiment of the present application;

[0061] FIG10 is a schematic diagram of a signaling reporting method for a measurement amount provided in an embodiment of the present application;

[0062] 11 to 13 are schematic flow charts of a positioning method provided in an embodiment of the present application;

[0063] 14 to 16 are schematic block diagrams of communication devices provided in embodiments of the present application. DETAILED DESCRIPTION

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

[0065] Before introducing the positioning method and related devices provided in the embodiments of the present application, the following points are explained.

[0066] First, in the embodiments described below, various terms and abbreviations, such as measurement quantity, LMF, AOA, and TOA, are provided for ease of description and should not be construed as limiting this application. This application does not preclude the possibility of defining other terms in existing or future protocols that can achieve the same or similar functions.

[0067] Second, the first, second and various numerical numbers in the embodiments shown below are only used for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0068] Third, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b and c can mean: a, or b, or c, or a and b, or a and c, or b and c, or a, b and c, where a, b, c can be single or multiple.

[0069] Fourth, “sending” and “receiving” in this application indicate the direction of signal transmission. For example, “sending first measurement information to a first communication device” can be understood as the destination end of the first measurement information being the first communication device, which can include direct sending through the air interface, and also includes indirect sending through the air interface by other units or modules. “Receiving first measurement information from a second communication device” can be understood as the source end of the first measurement information being the second communication device, which can include direct receiving from the second communication device through the air interface, and also includes indirect receiving from the second communication device through the air interface from other units or modules. “Sending” can also be understood as the “output” of the chip interface, and “receiving” can also be understood as the “input” of the chip interface.

[0070] In other words, sending and receiving can be carried out between devices, for example, between terminal equipment and access network equipment; or it can be carried out within a device, for example, sending or receiving between components, modules, chips, software modules or hardware modules within the device through a bus, wiring or interface.

[0071] The following is an introduction to the relevant technologies and concepts involved in this application.

[0072] In the information society, precise positioning has become a basic requirement for all walks of life. At the same time, smartphones have become an indispensable part of human life and provide the terminal equipment foundation for users' location services. The fifth generation mobile communication technology (5G) R16 standard introduces new radio (NR) positioning. The positioning here refers to positioning in the 5G network, which is different from other positioning technologies such as satellite positioning and Bluetooth positioning. Depending on the positioning reference signal used, the positioning method can include downlink (DL) positioning, uplink (UL) positioning, and uplink and downlink combined positioning. Among them, downlink positioning relies on the downlink positioning reference signal (DL positioning reference signal, DL-PRS) to achieve positioning, and uplink positioning relies on the uplink positioning reference signal (UL positioning reference signal, UL-PRS) to achieve positioning. UL-PRS can be a sounding reference signal (SRS).

[0073] Positioning methods include RTT, downlink angle of departure (DL-AOD), downlink time-of-day (TDOA), uplink TDOA, and uplink angle of arrival (AOA). With the development of 5G systems, precise location services will be further enhanced. As 5G networks gain coverage, location-based services will further improve consumers' lives.

[0074] Multi-station round-trip time is a method that combines uplink and downlink positioning with high positioning accuracy. Its basic idea is: based on the terminal device and at least one base station (or signal transceiver point) sending reference signals to each other, and determining the position of the terminal device based on the time difference between the terminal device receiving and sending signals, the time difference between the base station receiving and sending signals, and UL-AOA data.

[0075] DL-TDOA is a positioning method that uses time difference. Its basic idea is: the terminal device receives DL-PRS sent simultaneously by different base stations, then finds the first arriving path to estimate the arrival time, calculates the RSTD between the arrival time of DL-PRS sent by different base stations and the DL-PRS sent by the reference base station, and determines the terminal device's position based on the RSTD.

[0076] The positioning principle of UL-TDOA is similar to that of DL-TDOA. The difference is that the terminal device needs to send an uplink reference signal, and different base stations measure the arrival time difference of the signal.

[0077] The basic idea of ​​DL-AOD is to perform beam scanning on the base station side, send different DL-PRSs using different beams, and use the reference signal received power (RSRP) of different beams to measure the angular position of the terminal device. The location of the terminal device can be determined using two base stations.

[0078] UL-AOA is an angle-based positioning method. Its basic concept is that because each receiving antenna is at a different distance from the transmitting antenna, there is a phase difference between the signals from different receiving antennas. This phase difference information can be used to determine the AOA of the terminal device's transmitted signal. Simultaneously, at least one base station can measure the AOA of the signal transmitted by the same terminal device. Using the base station's location and the AOA, multiple ray equations can be derived. The intersection of these ray equations represents the terminal device's location.

[0079] Figure 1 is a schematic diagram of a line-of-sight (LOS) channel environment for wireless signal transmission. As shown in Figure 1 , the LOS channel environment includes terminal device 101, base stations 102, 103, and 104. Base stations 102, 103, and 104 can locate terminal device 101 based on the SRS transmitted by terminal device 101.

[0080] For the LOS channel environment shown in FIG1 , a common positioning method is a positioning method based on single value estimation, such as the positioning method introduced above.

[0081] As shown in Figure 1, in a positioning method using UL-TDOA, after terminal device 101 sends an SRS, the time delay for base station 102 to receive the SRS is τ1, the time delay for base station 103 to receive the SRS is τ2, and the time delay for base station 104 to receive the SRS is τ3. Because base stations 102, 103, and 104 are at different distances from terminal device 101, the SRS sent by terminal device 101 arrives at base stations 102, 103, and 104 at different times. Based on the time difference between the SRS arriving at different base stations and the signal propagation speed, the location of terminal device 101 can be determined.

[0082] As shown in FIG1 , in the positioning method using UL-AOA, the AOA when the SRS reaches the base station 102 is θ1, the AOA when the SRS reaches the base station 103 is θ2, and the AOA when the SRS reaches the base station 104 is θ3.

[0083] Figure 2 illustrates a channel environment for non-line-of-sight (NLOS) transmission of wireless signals. As shown in Figure 2, in complex environments, SRS propagation experiences multiple reflections, diffractions, and scattering, resulting in dense NLOS paths. For this channel environment, the signaling method for reporting measurement quantities on each path is shown in Figure 3. As can be seen, the measurement report reported by the base station / terminal device includes measurement quantities for N paths, and each measurement quantity can be TOA, AOA, RTT, or RSTD.

[0084] In an NLOS channel environment, the measurement values ​​obtained by the above positioning method may have a relatively large deviation. After receiving the measurement values ​​with the deviation, the location management function (LMF) cannot accurately locate the terminal device based on the measurement values ​​with the deviation.

[0085] In view of this, the present application provides a method and related apparatus for positioning, in which a first communication device can locate a terminal device based on at least one measurement value of each measurement quantity. The at least one measurement value of each measurement quantity is obtained by correcting an estimated value of the measurement quantity by the second communication device. Compared with the estimated value of the measurement quantity obtained by measuring a positioning reference signal, the at least one measurement value of each measurement quantity is closer to the accurate value of the measurement quantity. Therefore, the position of the terminal device obtained based on the measurement value of each measurement quantity is more accurate, which is conducive to improving the accuracy of positioning the terminal device. The at least one path is at least one path for transmitting a positioning reference signal between a transmitter of the positioning reference signal and a receiver of the positioning reference signal.

[0086] In an embodiment of the present application, the first communication device may be an LMF network element or a terminal device, and the first communication device is configured to locate the terminal device based on at least one measurement value of the measurement quantity. The second communication device may be an access network device or a terminal device, and the second communication device is configured to correct an estimated value of the measurement quantity to obtain at least one measurement value of the measurement quantity.

[0087] It should be noted that the second communication device first measures each path for transmitting the positioning reference signal to obtain a measurement value for each measurement quantity, which is referred to herein as an estimated value of each measurement quantity. The second communication device may then correct the estimated value of each measurement quantity to obtain at least one corrected measurement value for each measurement quantity, which is referred to herein as at least one corrected value for each measurement quantity.

[0088] The access network device provided in the embodiment of the present application can be a base station, a node B, an evolved node B (eNodeB or eNB), a transmission reception point (TRP), a next generation node B (gNB) in 5G or NR, an access network device in an open radio access network (O-RAN or open RAN), or a next generation base station in the sixth generation mobile communication technology (6G). Alternatively, the access network device can also be a satellite base station in a non-terrestrial network (NTN) communication network, or a base station in a future mobile communication system, or an access node in a wireless fidelity (Wi-Fi) system. Alternatively, the access network device can also be a module or unit that performs part of the functions of a base station, for example, a centralized unit (CU) or a distributed unit (DU), and the functions of the CU can be implemented by one entity or by different entities. For example, the functions of the CU can be further divided, for example, the control plane (CP) and the user plane (UP) can be separated, that is, the control plane of the CU (CU-CP) and the user plane of the CU (CU-UP). The access network device can be a satellite base station or a macro base station. The access network device can also be a micro base station or an indoor station, or a relay node or a host node. The specific technology and specific device form used by the access network device are not limited in this application.

[0089] The terminal device provided in the embodiments of the present application may also be referred to as a terminal, user equipment (UE), mobile station, or mobile terminal. The terminal device can be widely used in various scenarios for communication. Such scenarios include, but are not limited to, at least one of the following: enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), massive machine-type communications (mMTC), device-to-device (D2D), vehicle-to-everything (V2X), machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, or smart city. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, helicopter, airplane, drone, ship, robot, robotic arm, or smart home device. This application does not limit the specific technology and specific device form used by the terminal device.

[0090] The terminal device and / or access network device can be fixed or movable. The terminal device and / or access network device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; or can be deployed on the water surface; or can be deployed on aircraft, balloons and artificial satellites in the air. This application does not limit the environment / scenario in which the terminal device and / or access network device are located. The terminal device and / or access network device can be deployed in the same or different environments / scenarios, for example, the terminal device and the access network device are deployed on land at the same time; or, the terminal device is deployed on land and the access network device is deployed on the water surface, etc., and examples are not given one by one here. This application does not limit the communication method between the terminal device and the access network device.

[0091] In the embodiments of the present application, the terminal device and the access network device can be hardware devices, or they can be software functions running on dedicated hardware, software functions running on general-purpose hardware, such as virtualization functions instantiated on a platform (for example, a cloud platform), or entities including dedicated or general-purpose hardware devices and software functions. The present application does not limit the specific forms of the terminal device and the access network device.

[0092] Figure 4 is a schematic diagram of a positioning architecture based on the next generation radio access network (NG-RAN) applicable to an embodiment of the present application. As shown in Figure 4, the functional entities of the 5G core network include the LMF and the access and mobility function (AMF). Optionally, the 5G core network also includes an evolved serving mobile location center (E-SMLC) and a service location protocol (SLP).

[0093] Among them, LMF is the network element, module or component that provides positioning function in the 5G core network.

[0094] AMF is a network element, module or component that provides access management functions in the 5G core network.

[0095] E-SMLC is a network element, module or component that provides positioning functions in the core network of the fourth generation mobile communication technology (4G).

[0096] SLP is a network element, module or component that processes the user plane security positioning protocol in the 4G core network.

[0097] The AMF receives a location service request for a terminal device from another network element in the network. The AMF sends the location service request to the LMF network element. The LMF is responsible for processing the received location service request and initiating the relevant positioning process.

[0098] NG-RAN is responsible for sending and receiving positioning reference signals and obtaining related measurement information. The open radio access network (RAN) nodes deployed by NG-RAN include the next generation evolved Node B (ng-eNB) and gNB. Among them, ng-eNB is connected to the upgraded 4G base station of the 5G core network. ng-eNB serves as the primary RAN node and gNB as the secondary RAN node. The interface between ng-eNB and gNB is based on the 5G protocol, abbreviated as Xn. UE (5G device) receives data from ng-eNB and gNB.

[0099] It should be understood that Figure 4 is only a schematic diagram of a possible positioning architecture, and the positioning method of the embodiment of the present application can also be applied to other positioning architectures based on the 5G dual connectivity (DC) mode. For example, a positioning architecture based on the NR-DC mode, in which the RAN nodes deployed by the NG-RAN are all gNBs.

[0100] The positioning reference signal in the embodiment of the present application can be a DL-PRS used for positioning in the downlink, or an SRS used for positioning in the uplink. Of course, it can also be other reference signals used for positioning, which is not limited here.

[0101] Positioning scenarios can be divided into uplink positioning scenarios and downlink positioning scenarios. In the downlink positioning scenario, terminal-assisted positioning or terminal-based positioning methods are adopted. Specifically, the base station or LMF sends a DL-PRS for positioning to the terminal device to be positioned, and the terminal device obtains positioning-related measurement quantities based on the DL-PRS for positioning.

[0102] In the uplink positioning scenario, a base station-based positioning method is used. Specifically, the terminal device sends an SRS for positioning, and the base station then obtains positioning-related measurement quantities based on the SRS.

[0103] The positioning method of the embodiment of the present application is also applicable to the sidelink (SL) positioning scenario as shown in Figures 5A to 5C.

[0104] Sidelink communication is direct radio communication between two or more terminal devices. In this type of communication, two or more terminal devices that are geographically close to each other can communicate directly without going through access network equipment or core network equipment. In sidelink communication, data is transmitted directly from the transmitter to the receiver over a unified air interface, such as the PC5 interface, without going through access network equipment. The PC5 interface is a short-distance direct communication interface between vehicles, people, and roads. In the specification, the direct communication link used by the PC5 interface is called a sidelink to distinguish it from the downlink and uplink in the Uu interface.

[0105] The sidelink positioning scenario shown in Figure 5A includes UE 1 and UE 2, which can be connected based on PC 5. In a scenario without network coverage, UE 1 and UE 2 measure distance or angle to achieve mutual positioning by sending sidelink positioning reference signals (SL-PRS).

[0106] The sidelink positioning scenario shown in Figure 5B includes UE 1, road side unit (RSU) 1, RSU 2, and RSU 3. UE 1 receives SL-PRS sent by RSU 1, RSU 2, and RSU 3 and measures the received SL-PRS to achieve positioning of UE 1. UE 1 can send measurement information to RSU 1, RSU 2, or RSU 3, and RSU 1, RSU 2, or RSU 3 can position UE 1 based on the measurement information. Alternatively, UE 1 can send the measurement information to an LMF (not shown in Figure 5B), and the LMF can position UE 1 based on the measurement information.

[0107] An RSU is a roadside unit deployed on the roadside. It complies with sidelink communication / positioning protocols and can provide wireless communication capabilities for terminal devices. An RSU can be a roadside station, access point, or sidelink device in various forms.

[0108] The sidelink positioning scenario shown in Figure 5C includes UE 1, UE 2, base station 501, and LMF 502. In this scenario, UE 1 and UE 2 are within network coverage. Under the control of base station 501, UE 1 and UE 2 measure distance or angle by sending SL-PRS, and send the measurement information to LMF 502 through base station 501. LMF 502 locates UE 1 and UE 2 based on the measurement information.

[0109] The positioning method applicable to uplink positioning scenario, downlink positioning scenario and sidelink positioning scenario provided by the embodiment of the present application is described below in conjunction with Figures 6 to 13. The following description is made by taking the access network device as a base station as an example.

[0110] Figure 6 is a schematic flowchart of a positioning method 600 provided in an embodiment of the present application. Method 600 is interactively performed by a first communication device and a second communication device. Method 600 is applicable to the uplink / downlink positioning scenario shown in Figure 4 above, or the sidelink positioning scenario shown in Figures 5A to 5C above.

[0111] In the uplink positioning scenario, the first communication device may be an LMF (for example, the LMF in FIG4 ), and the second communication device may be an access network device (for example, the ng-eNB or gNB in ​​FIG4 ).

[0112] In the downlink positioning scenario, the first communication device may be a LMF (eg, the LMF in FIG. 4 ), and the second communication device may be a terminal device (eg, the UE in FIG. 4 ).

[0113] In the sidelink positioning scenario, the first communication apparatus may be a first terminal device (eg, UE 1 in FIG. 5C ), and the second communication apparatus may be a second terminal device (eg, UE 2 in FIG. 5A ).

[0114] Alternatively, in a sidelink positioning scenario, the first communication apparatus may be an LMF (eg, LMF 502 shown in FIG5C ), and the second communication apparatus may be a second terminal device (eg, UE 2 in FIG5C ).

[0115] Method 600 includes S601 to S603, and the specific steps are as follows:

[0116] S601: A second communication device determines first measurement information of each path of at least one path, where the at least one path is at least one path for transmitting a positioning reference signal, and the first measurement information includes a measurement value of each measurement quantity of at least one measurement quantity.

[0117] In uplink positioning scenarios, the positioning reference signal in this step can be the SRS used for positioning. In downlink positioning scenarios, the positioning reference signal in this step can be the DL-PRS. In sidelink positioning scenarios, the positioning reference signal in this step can be the SL-PRS.

[0118] The type of the measurement quantity may include one or more of the following: time measurement information, angle measurement information, energy measurement information, or phase measurement information.

[0119] The time measurement information includes but is not limited to: TDOA, TOA, RTT, and RSTD.

[0120] The angle measurement information includes but is not limited to: angle of departure (AOD) and AOA.

[0121] The energy measurement information includes but is not limited to received signal strength (RSS).

[0122] The phase measurement information includes but is not limited to: the phase of the positioning reference signal.

[0123] It should be understood that, in the embodiment of the present application, the content contained in each type of measurement information is understood as a type of measurement quantity with finer granularity.

[0124] For example, the time measurement information includes TDOA, TOA, RTT, and RSTD, which are different types of measurement quantities.

[0125] For another example, in the content included in the angle measurement information, AOD and AOA are different types of measurement quantities.

[0126] For another example, RSS is a measurement quantity.

[0127] For another example, the phase of the positioning reference signal is a measurement quantity.

[0128] In this embodiment of the present application, the measurement quantities of the at least one path are of the same type. For example, the at least one path includes path 1 and path 2, and the measurement quantity of path 1 is AOA, and the measurement quantity of path 2 is also AOA. For another example, the measurement quantities of path 1 are AOA and TOA, and the measurement quantities of path 2 are also AOA and TOA.

[0129] At least one measured value of each measured quantity in this step is a corrected measured value. In order to distinguish it from the measured value of each measured quantity before correction, the measured value of each measured quantity before correction is referred to as the estimated value of each measured quantity, and the at least one measured value of each measured quantity after correction is referred to as the at least one corrected value of each measured quantity.

[0130] In an NLOS channel environment or a complex, dense multipath channel environment, the estimated values ​​of the measurement quantities obtained by existing positioning methods may have significant deviations. Therefore, the second communication device can correct the estimated values ​​of each measurement quantity for each path to obtain at least one corrected value for each measurement quantity for each path.

[0131] Optionally, the second communication device measures the estimated value of each measurement quantity of each path through an error model to obtain at least one corrected value of each measurement quantity.

[0132] The error model is used to correct the estimated value of each measured quantity. The error model is trained based on a large amount of sample data, which includes measurement errors between the exact value of each measured quantity and its estimated value. The error model indicates at least one measurement error corresponding to each measured quantity, and each at least one measurement error corresponds to at least one correction value for each measured quantity. In other words, the number of correction values ​​for each measured quantity is equal to the number of measurement errors corresponding to each measured quantity. By correcting the estimated value of each measured quantity using the at least one measurement error corresponding to each measured quantity, at least one correction value for each measured quantity can be obtained. A detailed introduction to measurement errors is provided below and will not be elaborated here.

[0133] S602: The second communication device sends first measurement information of each path to the first communication device. Correspondingly, the first communication device receives the first measurement information of each path in at least one path.

[0134] S603: The first communication apparatus locates the terminal device based on the first measurement information of each path.

[0135] The first communication device locates the terminal device based on a relevant positioning algorithm. The specific positioning method is described below and will not be described in detail here.

[0136] In the embodiment of the present application, the corrected value of each type of measurement quantity for each path is closer to the accurate value of each type of measurement quantity. The first communication device can more accurately locate the terminal device based on the corrected value of the measurement quantity for each path, thereby improving the accuracy of terminal device positioning.

[0137] The positioning method provided in the embodiments of the present application includes a training (or modeling) phase and a positioning phase. The main purpose of the training phase is to determine an error model, which is used to correct the estimated value of each type of measurement quantity. The main purpose of the positioning phase is to locate the terminal device. In the above method 600, the estimated value of each type of measurement quantity is corrected using the trained error model. The specific process of training the error model is described below with reference to Figures 7 and 8.

[0138] 7 is a schematic flow chart of a method 700 for training an error model according to an embodiment of the present application. The method 700 describes the specific process of the training phase using uplink positioning as an example.

[0139] Method 700 includes S701 and S705, and the specific steps are as follows:

[0140] S701: A terminal device sends an SRS to a base station, and the base station receives the SRS accordingly.

[0141] S702: The base station measures an SRS to obtain second measurement information of each path in at least one path. The second measurement information includes an estimated value of each measurement quantity in at least one measurement quantity.

[0142] The at least one path is a plurality of different transmission paths that the SRS experiences due to obstacles, reflection, refraction, etc. encountered during the transmission process. The SRSs on these paths may arrive at the base station at different times and phases.

[0143] S703: The base station determines the accurate value of each measurement quantity of each path based on the location of the terminal device and the location of the base station.

[0144] During the training phase, the location of the terminal device is known, so the base station can determine the accurate value of each measurement quantity for each path based on the location of the terminal device and the location of the base station.

[0145] S704: The base station calculates a measurement error of each measurement quantity of each path based on the accurate value of each measurement quantity of each path and the estimated value of each measurement quantity of each path.

[0146] S705: The base station trains an error model based on a large amount of measurement errors.

[0147] This step can also be described as the base station modeling a large number of measurement errors to obtain an error model. The error model can be an error model based on artificial intelligence (AI) or an error model based on non-AI.

[0148] It should be noted that a large number of measurement errors can be obtained by repeatedly executing S701 to S704. During the repeated execution, a large number of measurement errors can be obtained based on the same terminal device sending SRS at different locations, or a large number of measurement errors can be obtained based on different terminal devices sending SRS at different locations. This application does not limit this.

[0149] It should be noted that S703 to S705 in method 700 can be implemented by a positioning module, which can be a software module deployed within the base station. Furthermore, the positioning module can be deployed independently of the base station, connected to the base station via a wired or wireless connection, and the positioning module transmits the trained error model to the base station.

[0150] Method 700 takes a base station as an example to introduce the process of training the error model. If the terminal device is positioned based on at least one base station, that is, the SRS sent by the terminal device is received by at least one base station, then each base station in the at least one base station can execute the steps described in the above method 700 to train and obtain its own error model. For details, please refer to Figure 8.

[0151] Figure 8 is a schematic diagram of the framework of a training error model provided by an embodiment of the present application. Figure 8 takes the uplink positioning scenario as an example. A terminal device transmits an SRS, and each of M base stations receives the SRS. There is at least one path between each base station and the terminal device, and the at least one path is used to transmit the SRS. M is a positive integer greater than or equal to 1. Each base station obtains the measurement results based on the SRS, and the measurement results include an estimated value for each measurement quantity for each of the at least one path.

[0152] Taking the measurement quantity as TOA as an example, in the i-th training process (corresponding to the i-th sending of the positioning reference signal), base station j measures the positioning reference signal (PRS) sent by the terminal device this time and obtains the estimated value of TOA, which is recorded as Base station j calculates the exact value of TOA based on the known location of the terminal device and the location of base station j, which is recorded as Where, j∈[1,M]. Base station j will As the sample data training error model, after training with a large amount of sample data, the trained error model j is obtained.

[0153] It should be noted that the error model j can indicate at least one measurement error for each measurement quantity. Each measurement error corresponds to an error value, and each error value has corresponding probability information and / or statistical information. The probability information may include a probability value, and the statistical information may include a variance, a mean, and / or a distribution model. The distribution model may be, for example, a normal distribution, an exponential distribution, or a Poisson distribution. The following description uses the example of probability information including a probability value and statistical information including a variance.

[0154] For example, error model j indicates three types of TOA delay errors. The first type of delay error corresponds to an error value of 1 ms, with a probability value of 0.3; the second type of delay error corresponds to an error value of 2 ms, with a probability value of 0.2; and the third type of delay error corresponds to an error value of 3 ms, with a probability value of 0.5.

[0155] For another example, error model j indicates two types of angle errors of AOA. The first type of angle error corresponds to an error value of 1 degree, and its probability value is 0.6; the second type of angle error corresponds to an error value of 2 degrees, and its probability value is 0.4.

[0156] It should be understood that when the error model j indicates one type of measurement error for each measurement quantity, the probability value corresponding to that type of measurement error is 1 or less than 1. When the error model indicates multiple types of measurement errors for each measurement quantity, the sum of the probability values ​​corresponding to the multiple types of measurement errors is equal to or less than 1.

[0157] In combination with the above description of the error model, in S602, the base station corrects the estimated value of each measurement quantity of each path based on the error model to obtain at least one corrected value for each measurement quantity of each path, including: after the base station inputs the estimated value of each measurement quantity of each path into the error model, the base station corrects the estimated value of the measurement quantity of each path using the error value corresponding to at least one type of measurement error of each measurement quantity, thereby obtaining at least one corrected value for each measurement quantity of each path.

[0158] It should be noted that each correction value in the at least one correction value of each measurement quantity has corresponding probability information and / or statistical information.

[0159] It should be noted that when a path has only one correction value for each measurement, its corresponding probability value is less than or equal to 1, and its corresponding variance is 0. When a path has multiple correction values ​​for each measurement, the probability value corresponding to each correction value is less than 1, and the sum of the probability values ​​corresponding to the multiple correction values ​​is equal to or less than 1. The probability value indicates the accuracy of the corresponding correction value, and the variance indicates the degree of diffusion or stability of the corresponding correction value.

[0160] Taking the measurement quantity TOA as an example, the estimated TOA value of a path is x. The error model indicates three types of TOA delay errors: a, b, and c, and the corresponding probability values ​​are p1, p2, and p3. The base station corrects the estimated TOA value of the path based on the three types of delay errors in the error model, obtaining three corrected TOA values ​​for the path: x+a, x+b, and x+c. The corresponding probability values ​​for the three corrected values ​​are p1, p2, and p3, respectively. Here, a, b, and c can be positive or negative numbers, and this application does not impose any restrictions on this.

[0161] Optionally, taking the uplink positioning scenario as an example, when the number of correction values ​​for each measurement quantity for each path is one, the base station sends at least one correction value for each measurement quantity for each path to the LMF without indicating the probability information or statistical information corresponding to each correction value.

[0162] Optionally, taking the uplink positioning scenario as an example, when the number of correction values ​​for each measurement quantity for each path is multiple, the base station sends at least one correction value for each measurement quantity for each path to the LMF, as well as probability information or statistical information corresponding to each correction value.

[0163] Figure 9 is a schematic flow chart of another method 900 for positioning provided in an embodiment of the present application. Method 900 describes the overall implementation process of uplink positioning. Method 900 includes S901 to S909, and the specific steps are as follows:

[0164] S901: The base station and the LMF exchange configuration information based on the NR positioning protocol A (NRPPa). The parameters indicated by the configuration information include, but are not limited to, the location of the base station and the reference signal location information, which indicates the spatial beam relationship of the terminal sending the SRS.

[0165] S902: The LMF and the terminal device exchange positioning capability information. Parameters indicated by the positioning capability information include but are not limited to: frequencies supported by the terminal device, supported bandwidths, supported terminal capability levels (UE-category), and the ability to support sending SRS in an inactive state.

[0166] It should be understood that different positioning methods involve different capabilities, and the LMF can specifically query the capabilities of the terminal device based on the positioning method to be used. Furthermore, the LMF may also request capabilities related to multiple positioning methods of the terminal device at the same time.

[0167] S903: The terminal device and the base station exchange SRS configuration information. Parameters indicated by the SRS configuration information include but are not limited to: the period, bandwidth, and time slot offset of the SRS configured by the base station for the terminal device.

[0168] Optionally, the base station may configure the SRS to the terminal device via a radio resource control (RRC) reconfiguration message. In other words, the base station may send the SRS configuration information to the terminal device via an RRC reconfiguration message.

[0169] Optionally, the base station sends the SRS configuration information to the LMF.

[0170] S904: The terminal device sends an SRS to the base station. Correspondingly, the base station receives the SRS.

[0171] The SRS in this step is an SRS for positioning. The terminal device sends an SRS to the base station, including: the terminal device broadcasts an SRS for positioning, and if the terminal device is positioned based on at least one base station, the at least one base station receives the same SRS broadcast by the terminal device.

[0172] It should be noted that positioning a terminal device typically requires at least one base station. When there is only one base station, it serves as the terminal device's serving base station. When there is at least one base station, one of the base stations serves as the terminal device's serving base station, and the other base stations serve as its neighboring base stations. LMF selects neighboring base stations of the terminal device's serving base station, and the terminal device's serving base station and its neighboring base stations assist in locating the terminal device.

[0173] S905: The LMF sends a measurement request to the base station. Correspondingly, the base station receives the measurement request.

[0174] In this step, if the terminal device is positioned based on at least one base station, the LMF can send a measurement request to the at least one base station, where the measurement request is used to instruct the at least one base station to measure the SRS sent by the terminal device for positioning.

[0175] In conjunction with the description of S904, the LMF sends a measurement request to the serving base station of the terminal device and the neighboring station of the serving base station. The measurement request sent by the LMF to the neighboring station of the serving base station carries SRS configuration information. In another embodiment, the LMF sends SRS configuration information to the neighboring station of the serving base station. This SRS configuration information can be regarded as a measurement request to the neighboring station of the serving base station, that is, requesting the neighboring station to measure the SRS sent by the terminal device for positioning.

[0176] S906: The base station measures the SRS and obtains an estimated value of each measurement quantity of each path in at least one path.

[0177] The at least one path is at least one path that the SRS sent by the terminal device travels through during the process of being transmitted to the base station.

[0178] S907: The base station corrects the estimated value of each measurement quantity of each path based on the error model to obtain at least one corrected value of each measurement quantity of each path.

[0179] For an introduction to this step, please refer to the description of S601 above, which will not be repeated here.

[0180] S908: The base station sends a measurement report to the LMF, where the measurement report indicates at least one correction value for each measurement quantity of each path, and a probability value and / or variance corresponding to each correction value. Accordingly, the LMF receives the measurement report.

[0181] The signaling structure of the measurement report sent by the base station is shown in Figure 10. In Figure 10, the measurement quantity is RSTD, and the measurement report sent by the base station to the LMF indicates at least one measurement value of RSTD for each of the L paths, where the measurement value is at least one corrected measurement value, i.e., at least one corrected value.

[0182] The number of RSTD measurements of path 1 is k, and the k measurements are respectively measurement 1, measurement 2, ..., measurement k, and the probability values ​​of the k measurements are respectively P1, P2, ..., P k , the sum of the probability values ​​of k measurements is equal to or less than 1, and the variances of k measurements are V1, V2, ..., V k .

[0183] The number of RSTD measurements of path i is m, and the m measurements are respectively measurement 1, measurement 2, ..., measurement m, and the probability values ​​of the m measurements are respectively P1, P2, ..., P m , the sum of the probability values ​​of m measurements is equal to or less than 1, and the variances of m measurements are V1, V2, ..., V m .

[0184] The number of RSTD measurements of path L is q, and the q measurements are respectively measurement 1, measurement 2, ..., measurement q, and the probability values ​​of the q measurements are respectively P1, P2, ..., P q , the sum of the probability values ​​of q measurements is equal to or less than 1, and the variances of q measurements are V1, V2, ..., V q .

[0185] Wherein, L, k, m, and q are positive integers greater than or equal to 1, and the values ​​of k, m, and q may be the same or different, and are not limited here.

[0186] S909, LMF locates the terminal device based on the measurement report.

[0187] For positioning the terminal device based on at least one base station, the LMF obtains at least one measurement report. The LMF can locate the terminal device based on the at least one measurement report obtained, specifically in the following manner:

[0188] Implementation Method 1: For each base station's measurement report, the LMF extracts at least one correction value for each measurement metric for each path, along with the probability associated with each correction value. The LMF then calculates the terminal device's position based on the correction value of the measurement metric with the highest probability. The LMF independently locates each base station's measurement report. After obtaining multiple positions, the LMF weights these positions to ultimately determine the terminal device's location.

[0189] For example, at least one base station includes base station 1 and base station 2, and the measurement quantities are RTT and AOA. The PRS sent by the terminal device travels along two paths to base station 1, which are recorded as path L1-1 and path L1-2. The PRS sent by the terminal device travels along two paths to base station 2, which are recorded as paths L2-1 and L2-2.

[0190] The measurement report submitted by base station 1 indicates that the corrected RTT value for path L1-1 is 3 ms, with a corresponding probability of 0.8, and the corrected AOA value for path L1-1 is 15 degrees, with a corresponding probability of 0.7. The corrected RTT value for path L1-2 is 4 ms, with a corresponding probability of 0.2, and the corrected AOA value for path L1-2 is 16 degrees, with a corresponding probability of 0.3.

[0191] The measurement report reported by base station 2 indicates that the corrected value of the RTT of path L2-1 is 3.5ms, with a corresponding probability value of 0.7, the corrected value of the AOA of path L2-1 is 15 degrees, with a corresponding probability value of 0.9, the corrected value of the RTT of path L2-2 is 4ms, with a corresponding probability value of 0.3, and the corrected value of the AOA of path L2-2 is 18 degrees, with a corresponding probability value of 0.1.

[0192] For base station 1, the probability value corresponding to the corrected value of the RTT of path L1-1 is the highest among the probability values ​​corresponding to the corrected values ​​of all measurement quantities (RTT and AOA). Therefore, LMF determines the corrected value of the RTT of path L1-1 as a target correction value, and locates the terminal device based on the target correction value to obtain an estimated position, which is recorded as position 1.

[0193] For base station 2, the probability value corresponding to the corrected value of the AOA of path L2-1 is the highest among the probability values ​​corresponding to the corrected values ​​of all measurement quantities (RTT and AOA). Therefore, LMF determines the corrected value of the AOA of path L2-1 as a target correction value. LMF locates the terminal device based on the target correction value and obtains an estimated position, which is recorded as position 2.

[0194] Furthermore, the LMF performs a weighted summation of the coordinates of position 1 and position 2, and determines the result as the location of the terminal device. Alternatively, the LMF determines the result of clustering position 3 and position 4 as the location of the terminal device.

[0195] In this manner, the LMF can obtain a target correction value from the measurement report sent by each base station, and the number of target correction values ​​is the same as the number of at least one base station.

[0196] Implementation Method 2: The LMF calculates the position corresponding to the highest-probability correction value based on at least one correction value and corresponding probability value of the same type of measurement reported by at least one base station, and obtains the estimated position of the terminal device. The LMF then weights the estimated positions corresponding to different types of measurement values ​​to ultimately determine the terminal device's location.

[0197] For example: Combined with the example in implementation method one, the probability value corresponding to the corrected value of the RTT of path L1-1 is the highest among the probability values ​​corresponding to the corrected values ​​of the RTT of the four paths, namely, path L1-1, path L1-2, path L2-1, and path L2-2. Therefore, LMF determines the corrected value of the RTT of path L1-1 as a target correction value, and locates the terminal device based on the target correction value to obtain an estimated value, which is recorded as position 3.

[0198] Combined with the example in implementation method one, the probability value corresponding to the corrected value of the AOA of path L2-1 is the highest among the probability values ​​corresponding to the corrected values ​​of the AOA of the four paths, namely, path L1-1, path L1-2, path L2-1, and path L2-2. Therefore, LMF determines the corrected value of the AOA of path L2-1 as a target correction value, locates the terminal device based on the target correction value, and obtains an estimated value, which is recorded as position 4.

[0199] Furthermore, the LMF determines the location of the terminal device as a result of weighted summation of positions 3 and 4. Alternatively, the LMF determines the location of the terminal device as a result of clustering positions 3 and 4.

[0200] In this manner, the number of target correction values ​​obtained by the LMF from at least one measurement report is the same as the number of at least one measurement quantity for each path.

[0201] Implementation method three: LMF selects the correction value with the highest probability value from at least one correction value of different types of measurement quantities reported by at least one base station, calculates a position based on the correction value with the highest probability value, and determines the position as the position of the terminal device.

[0202] For example, based on the example of implementation method 2 above, the probability value corresponding to the corrected value of the AOA on path L2-1 is the highest among the probability values ​​corresponding to at least one corrected value of different types of measurement quantities. Therefore, the LMF determines the corrected value of the AOA based on path L2-1 as the target corrected value, locates the terminal device based on this target corrected value, and obtains an estimated value, recorded as position 5. The LMF determines position 5 as the location of the terminal device.

[0203] Implementation Method 4: The LMF randomly selects a subset of base stations from at least one base station and uses the at least one correction value and corresponding probability value for each measurement variable for each path reported by these base stations to estimate the terminal device's location. This step is repeated, clustering the terminal device's locations estimated using random combinations of base stations. The clustering results are used to ultimately determine the terminal device's location.

[0204] For example, consider at least one base station, including base station 1, base station 2, base station 3, and base station 4, and the measurement quantity is RTT. LMF randomly selects base station 1 and base station 3 and estimates the location of a terminal device, denoted as location 6, based on at least one RTT correction value reported by base station 1 and base station 3 and the probability value corresponding to each correction value.

[0205] Similarly, LMF randomly selects base station 2 and base station 3, and estimates the location of a terminal device based on at least one correction value of the RTT reported by base station 2 and base station 3 and the probability value corresponding to each correction value, which is recorded as location 7.

[0206] Similarly, LMF randomly selects base station 1 and base station 4, and estimates the location of a terminal device based on at least one correction value of the RTT reported by base station 1 and base station 4 and the probability value corresponding to each correction value, which is recorded as location 8.

[0207] Further, LMF clusters position 6, position 7, and position 8, and determines the clustering result as the position of the terminal device.

[0208] Among them, the method in which LMF estimates the location of the terminal device through measurement reports reported by randomly selected base stations can be implemented by the above-mentioned implementation method one, implementation method two or implementation method three.

[0209] In the above multiple implementations of LMF for locating terminal devices, LMF estimates the position of the terminal device based on at least one correction value for each measurement quantity of each path and the probability value corresponding to each correction value. Similar to the above implementation method one, implementation method two, implementation method three or implementation method four, LMF can estimate the position of the terminal device based on at least one correction value for each measurement quantity of each path and the variance corresponding to each correction value. The difference is that when the base station reports the variance of each correction value, since the variance can indicate the stability of the corresponding correction value, the LMF can select the correction value with the smallest variance to estimate the position of the terminal device. The following is explained using implementation method one as an example.

[0210] For example, the measurement report reported by base station 1 indicates that the RTT correction value of path L1-1 is 3 ms, the corresponding variance is 0.1, and the AOA correction value of path L1-1 is 15 degrees, with a corresponding variance of 1. The RTT correction value of path L1-2 is 4 ms, the corresponding variance is 2, and the AOA correction value of path L1-2 is 16 degrees, with a corresponding variance of 0.8.

[0211] The measurement report reported by base station 2 indicates that the corrected value of the RTT of path L2-1 is 3.5 ms, the corresponding variance is 1.2, the corrected value of the AOA of path L2-1 is 15 degrees, the corresponding variance is 0.3, the corrected value of the RTT of path L2-2 is 4 ms, the corresponding variance is 1.4, and the corrected value of the AOA of path L2-2 is 18 degrees, the corresponding variance is 2.1.

[0212] The variance corresponding to the corrected value of the RTT of path L1-1 is the smallest among the variances corresponding to the corrected values ​​of the RTT of the four paths: path L1-1, path L1-2, path L2-1, and path L2-2. Therefore, LMF determines the corrected value of the RTT of path L1-1 as a target correction value, and locates the terminal device based on the target correction value to obtain an estimated value, which is recorded as position 9.

[0213] The variance corresponding to the corrected value of the AOA of path L2-1 is the smallest among the variances corresponding to the corrected values ​​of the AOA of the four paths, namely, path L1-1, path L1-2, path L2-1, and path L2-2. Therefore, LMF determines the corrected value of the AOA of path L2-1 as a target correction value, and locates the terminal device based on the target correction value to obtain an estimated value, which is recorded as position 10.

[0214] Furthermore, the LMF determines the result obtained by weighted summation of position 9 and position 10 as the position of the terminal device.

[0215] The above S901 to S908 describe the interaction between a base station, a terminal device, and an LMF, and the base station is a serving base station for the terminal device. When positioning the terminal device based on at least one base station (including the serving base station), each of the at least one base station can execute steps S904 to S908, and eventually each base station sends a measurement report to the LMF, and the LMF then positions the terminal device based on multiple measurement reports. The measurement report sent by each base station indicates at least one correction value for each measurement quantity of each path between the base station and the terminal device, and the probability value and / or variance corresponding to each correction value; or, the measurement report sent by each base station indicates at least one correction value for each measurement quantity of each path between the base station and the terminal device, and the distribution model to which each correction value obeys.

[0216] In an embodiment of the present application, the base station can use a trained error model to correct the estimated value of the measurement quantity of each path, and obtain at least one corrected value of each measurement quantity of each path. The LMF can more accurately locate the terminal device based on the at least one corrected value of the measurement quantity of each path, thereby helping to improve the accuracy of positioning the terminal device.

[0217] Furthermore, the base station indicates at least one correction value of the measurement amount of each path through the measurement report, and the at least one correction value is more likely to cover the accurate value of the measurement amount, or in other words, the at least one correction value may include a value that is closer to the accurate value of the measurement amount. Therefore, the method of the embodiment of the present application is conducive to improving the accuracy of positioning the terminal device. When the measurement report also indicates the probability value and / or variance corresponding to each correction value, the base station can more reliably select the correction value for positioning from the at least one correction value, thereby helping to improve the accuracy of positioning the terminal device.

[0218] Optionally, for aperiodic SRS, before S906, method 900 may further include: the LMF sending an SRS activation / deactivation request to the base station; and the base station activating or deactivating the SRS via a downlink medium access control-control element (MAC CE). If the SRS is periodic, there is no need to activate / deactivate the SRS.

[0219] The above describes the specific implementation of the positioning method in the uplink positioning scenario in conjunction with FIG. 9 and FIG. 10 . The following describes the specific implementation of the positioning method in the downlink positioning scenario in conjunction with FIG. 11 .

[0220] FIG11 is a schematic flow chart of another method 1100 for positioning provided in an embodiment of the present application. The method 1100 includes S1101 to S1109, and the specific steps are as follows:

[0221] S1101, the base station and LMF exchange configuration information based on NRPPa.

[0222] S1102, LMF and terminal device exchange positioning capability information.

[0223] For the introduction of S1101 and S1102, please refer to the above description of S901 and S902, which will not be repeated here.

[0224] S1103, the LMF and the terminal device exchange assistant data.

[0225] The LMF can provide auxiliary data to the terminal device. This auxiliary data refers to the auxiliary information required by the terminal device to measure the calculated position of the DL-PRS during the positioning process. For example, the configuration of the DL-PRS, the location information of each TRP, the emission angle (boresight angle) of each PRS, and the measurement gap required to measure the PRS.

[0226] S1104: The base station sends a DL-PRS to the terminal device. Correspondingly, the terminal device receives the DL-PRS.

[0227] Similar to the description in method 900, the base station in this step may be the serving base station of the terminal device. If the terminal device is positioned based on at least one base station (including the serving base station), and at least one base station sends DL-PRS to the terminal device at the same time, the DL-PRS sent by at least one base station may arrive at the terminal device at different times and at different phases.

[0228] S1105, the LMF sends a measurement request to the terminal device, where the measurement request is used to instruct the terminal device to measure the received DL-PRS.

[0229] S1106: The terminal device measures the DL-PRS and obtains an estimated value of each measurement quantity of each path in at least one path.

[0230] The at least one path is at least one path that the DL-PRS sent by the base station travels during the process of being transmitted to the terminal device.

[0231] Optionally, before S1106, method 1100 further includes: the LMF sending a location information request to the terminal device, where the location information request is used to request measurement content, that is, to request at least one measurement quantity. Different positioning methods may have different request contents, such as RSTD, AOA, TOA, TDOA, etc., which are not limited in this application.

[0232] The terminal device may measure the DL-PRS based on at least one measurement quantity requested in the location information request, and obtain an estimated value of each measurement quantity.

[0233] S1107: The terminal device corrects the estimated value of each measurement quantity of each path based on the error model to obtain at least one corrected value of each measurement quantity of each path.

[0234] S1108: The terminal device sends a measurement report to the LMF, where the measurement report indicates at least one correction value for each measurement quantity of each path, and a probability value and / or variance corresponding to each correction value. Accordingly, the LMF receives the measurement report.

[0235] The specific signaling structure of the measurement report can be found in the description of Figure 11 above, and will not be repeated here.

[0236] S1109, LMF locates the terminal device based on the measurement report.

[0237] For the specific positioning method, please refer to the description of S909 above, which will not be repeated here.

[0238] Based on the solution of the embodiment of the present application, the base station can correct the estimated value of the measurement quantity of each path through the error model, and the LMF can more accurately locate the terminal device based on the corrected value of the measurement quantity and the probability value and / or variance corresponding to the corrected value, thereby improving the accuracy of terminal device positioning in complex environments / NLOS environments.

[0239] Furthermore, the base station indicates at least one correction value for the measured quantity of each path through the measurement report. The at least one correction value is more likely to include the accurate value of the measured quantity, or in other words, the at least one correction value may include a value that is closer to the accurate value of the measured quantity. Therefore, the method of the embodiment of the present application is conducive to improving the accuracy of terminal device positioning.

[0240] The above describes the specific implementation process of the uplink positioning scenario and the downlink positioning scenario in conjunction with Figures 9 and 11. The following describes the positioning method in the sidelink positioning scenario in conjunction with Figures 12 and 13.

[0241] Figure 12 is a schematic flow chart of another method 1200 for positioning provided by an embodiment of the present application. Method 1200 is applicable to the sidelink positioning scenario as shown in Figure 5A or Figure 5B. Method 1200 involves the interaction between the first terminal device and the second terminal device in the sidelink scenario, wherein the first terminal device can be, for example, UE 1 in Figure 5A, and the second terminal device can be, for example, UE 2 in Figure 5A. Alternatively, the first terminal device can be, for example, UE 2 in Figure 5A, and the second terminal device can be, for example, UE 1 in Figure 5A. Alternatively, the first terminal device can be, for example, RSU 1, RSU 2 or RSU 3 in Figure 5B, and the second terminal device can be, for example, UE 1 in Figure 5B. Of course, the first terminal device and / or the second terminal device can also have other terminal forms, which is not limited in this application.

[0242] The method 1200 includes S1201 to S1209, and the specific steps are as follows:

[0243] S1201: A first terminal device and a second terminal device exchange positioning capability information.

[0244] Optionally, the positioning capability information includes but is not limited to: frequencies supported by the terminal device, supported bandwidths, supported terminal capability levels (UE-category), and supported positioning methods.

[0245] S1202: The first terminal device sends a positioning request to the second terminal device, where the positioning request is used to request positioning of the second terminal device. Correspondingly, the second terminal device receives the positioning request.

[0246] When the first terminal device is in an area without network coverage, if the first terminal device needs to obtain the location information of the second terminal device, the first terminal device can send a positioning request to the second terminal device. The second terminal device can be a terminal device that is geographically close to the first terminal device.

[0247] S1203: The second terminal device sends a positive response to the positioning request to the first terminal device, where the positive response to the positioning request indicates that the second terminal device is approved for positioning. Accordingly, the first terminal device receives the positive response to the positioning request.

[0248] S1204: The first terminal device sends an SL-PRS to the second terminal device. Correspondingly, the second terminal device receives the SL-PRS.

[0249] In the embodiment of the present application, sending a sidelink positioning reference signal can also be described as sending a sidelink positioning reference signal resource, which can be understood as sending a sidelink positioning reference signal on a sidelink positioning reference signal resource.

[0250] S1205: The first terminal device sends a measurement request to the second terminal device, where the measurement request is used to request the second terminal device to measure the SL-PRS and feed back a measurement report. Correspondingly, the second terminal device receives the measurement request.

[0251] S1206: The second terminal device measures the SL-PRS to obtain an estimated value of each measurement quantity of each path in at least one path.

[0252] For the introduction of this step, please refer to the description of S601 above, which will not be repeated here.

[0253] S1207: The second terminal device corrects the estimated value of each measurement quantity of each path based on the error model to obtain at least one corrected value of each measurement quantity of each path.

[0254] For the introduction of this step, please refer to the description of S602 above, which will not be repeated here.

[0255] S1208: The second terminal device sends a measurement report to the first terminal device, where the measurement report indicates at least one correction value for each measurement quantity of each path and a statistic corresponding to each correction value. Accordingly, the first terminal device receives the measurement report.

[0256] In this step, the measurement report sent by the second terminal device is one or more measurement reports. Taking the first terminal device as UE 1 in Figure 5A and the second terminal device as UE 2 in Figure 5A as an example, UE 2 measures the SL-PRS from UE 1 and obtains one measurement report, which UE 2 sends to UE 1. Taking the first terminal device as RSU 1 in Figure 5B and the second terminal device as UE 1 in Figure 5B as an example, UE 1 measures the SL-PRS from RSU 1, RSU 2, and RSU 3, respectively, and obtains three measurement reports, which UE 1 sends to RSU 1.

[0257] S1209: The first terminal device locates the second terminal device based on the measurement report.

[0258] The specific signaling structure of the measurement report can be found in the description of Figure 10 above, and will not be repeated here.

[0259] For the specific positioning method, please refer to the description of S909 above, which will not be repeated here.

[0260] In an embodiment of the present application, the first terminal device and the second terminal device can implement a positioning function based on SL-PRS in the absence of network coverage. The first terminal device locates the second terminal device based on at least one correction value for each measurement quantity, and the obtained positioning result is more accurate.

[0261] Figure 13 is a schematic flow chart of another method 1300 for positioning provided by an embodiment of the present application. Method 1300 is applicable to the side link positioning scenario shown in Figure 5C. Method 1300 involves the interaction between a first terminal device, a second terminal device and an LMF, wherein the first terminal device can be, for example, UE 1 in Figure 5C, the second terminal device can be, for example, UE 2 in Figure 5C, and the LMF can be, for example, LMF 502 in Figure 5C. Method 1300 includes S1201 to S1207 in the above-mentioned method 1200, which will not be repeated here. Method 1300 also includes S1301 and S1302, and the specific steps are as follows:

[0262] S1301: The second terminal device sends a measurement report to the LMF. Correspondingly, the LMF receives the measurement report.

[0263] The second terminal device can send a measurement report to the LMF through a base station (not shown in Figure 13).

[0264] S1302, LMF locates the second terminal device based on the measurement report.

[0265] For the specific positioning method, please refer to the description of S909 above, which will not be repeated here.

[0266] Furthermore, after obtaining the location information of the second terminal device, the LMF can send the location information of the second terminal device to the first terminal device through the base station.

[0267] The difference between method 1300 and method 1200 is that the first terminal device and the second terminal device in method 1300 are in the network coverage area. Therefore, the second terminal device can send a measurement report to the LMF, and the LMF determines the location of the second terminal device, which is conducive to reducing the power consumption of the second terminal device.

[0268] It should be understood that the size of the serial numbers of the above 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.

[0269] The above describes in detail the positioning method according to an embodiment of the present application in conjunction with Figures 6 to 13. The following describes in detail the communication device according to an embodiment of the present application in conjunction with Figures 14 to 16.

[0270] FIG14 is a schematic block diagram of a communication device 1400 provided in an embodiment of the present application. The device 1400 includes a transceiver module 1410 and a processing module 1420 .

[0271] The transceiver module 1410 is configured to receive first measurement information for each of at least one path. The processing module 1420 is configured to locate the terminal device based on the first measurement information for each path. The at least one path is at least one path that transmits a positioning reference signal, and the first measurement information includes at least one measurement value for each of at least one measurement quantity.

[0272] Optionally, the error model indicates at least one measurement error corresponding to each measurement quantity, and at least one measurement value of each measurement quantity is a corrected measurement value.

[0273] Optionally, the type of the measurement quantity includes one or more of the following: time measurement information, angle measurement information, energy measurement information or phase measurement information.

[0274] Optionally, the first measurement information further includes: a variance and / or a probability value corresponding to each corrected value of at least one corrected value of each measurement quantity.

[0275] Optionally, the sum of probability values ​​corresponding to at least one measurement value of the same type of measurement quantity is less than or equal to 1.

[0276] Optionally, the processing module 1420 is configured to determine the location of the terminal device based on a measurement value whose variance and / or probability value in the first measurement information of each path meets a preset condition.

[0277] Optionally, the measurement values ​​whose variances and / or probability values ​​meet preset conditions include: a measurement value corresponding to the largest probability value among at least one probability value, and the at least one probability value is at least one probability value corresponding to at least one measurement value of the same type of measurement quantity; and / or a measurement value corresponding to the smallest variance among at least one variance, and the at least one variance is at least one variance corresponding to at least one measurement value of the same type of measurement quantity.

[0278] In an optional example, those skilled in the art will appreciate that the apparatus 1400 may be specifically the first communication apparatus (e.g., LMF or first terminal device) in the above-mentioned embodiment, or the functions of the first communication apparatus (e.g., LMF or first terminal device) in the above-mentioned embodiment may be integrated into the apparatus 1400. The above-mentioned functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions. The apparatus 1400 may be used to execute the various processes and / or steps corresponding to the first communication apparatus (e.g., LMF or first terminal device) in the above-mentioned method embodiment.

[0279] FIG15 is a schematic block diagram of another communication device 1500 provided in an embodiment of the present application. The device 1500 includes: a processing module 1510 and a transceiver module 1520 .

[0280] The processing module 1510 is configured to determine first measurement information for each of at least one path. The transceiver module 1520 is configured to send the first measurement information for each path. The at least one path is at least one path for transmitting a positioning reference signal, and the first measurement information includes at least one measurement value for each of at least one measurement quantity.

[0281] Optionally, the error model indicates at least one measurement error corresponding to each measurement quantity, and at least one measurement value of each measurement quantity is a corrected measurement value.

[0282] Optionally, the type of the measurement quantity includes one or more of the following: time measurement information, angle measurement information, energy measurement information or phase measurement information.

[0283] Optionally, there are multiple at least one correction value for each measurement quantity. The first measurement information further includes: a variance and / or a probability value corresponding to each of the at least one correction value for each measurement quantity.

[0284] In an optional example, those skilled in the art will appreciate that the device 1500 may specifically be the second communication device (e.g., access network device or terminal device) in the above-mentioned embodiment, or the functions of the second communication device (e.g., access network device or terminal device) in the above-mentioned embodiment may be integrated into the device 1500. The above-mentioned functions may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions. For example, the above-mentioned transceiver module 1520 may be a communication interface, such as a transceiver interface. The device 1500 may be used to execute the various processes and / or steps corresponding to the second communication device (e.g., access network device or terminal device) in the above-mentioned method embodiment.

[0285] It should be understood that the apparatus 1400 and the apparatus 1500 herein are embodied in the form of functional modules. The term "module" herein may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (e.g., a shared processor, a dedicated processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functionality.

[0286] In the embodiments of the present application, the apparatus 1400 and the apparatus 1500 may also be a chip or a chip system, such as a system on chip (SoC). Correspondingly, the transceiver module may be a transceiver circuit of the chip, which is not limited here.

[0287] Figure 16 is a schematic block diagram of another communication device 1600 provided in an embodiment of the present application. The device 1600 includes a processor 1610, a transceiver 1620, and a memory 1630. The processor 1610, the transceiver 1620, and the memory 1630 communicate with each other via an internal connection path. The memory 1630 is used to store instructions, and the processor 1610 is used to execute the instructions stored in the memory 1630 to control the transceiver 1620 to send and / or receive signals.

[0288] It should be understood that the device 1600 can be specifically the LMF, access network device, or terminal device in the above-mentioned embodiment, or the functions of the LMF, access network device, or terminal device in the above-mentioned embodiment can be integrated into the device 1600, and the device 1600 can be used to execute the various steps and / or processes corresponding to the LMF, access network device, or terminal device in the above-mentioned method embodiment. Optionally, the memory 1630 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store device type information. The processor 1610 can be used to execute instructions stored in the memory, and when the processor executes the instructions, the processor 1610 can execute the various steps and / or processes corresponding to the LMF, access network device, or terminal device in the above-mentioned method embodiment.

[0289] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0290] During implementation, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0291] Those skilled in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0292] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0293] 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 modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules 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 modules, which can be electrical, mechanical or other forms.

[0294] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected to achieve the purpose of the present embodiment according to actual needs.

[0295] In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0296] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0297] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for positioning, characterized in that, Comprising: Receiving first measurement information for each of at least one path, where the at least one path is at least one path for transmitting a positioning reference signal, and the first measurement information includes at least one measurement value for each of at least one type of measurement quantity; Positioning the terminal device based on the first measurement information for each path.

2. The method according to claim 1, characterized in that The at least one measurement value for each type of measurement quantity is a corrected measurement value.

3. The method according to claim 1 or 2, characterized in that, The types of the measurement quantity include one or more of the following: Time measurement information, angle measurement information, energy measurement information, or phase measurement information.

4. The method according to any one of claims 1 to 3, characterized in that, The first measurement information further includes: variance and / or probability value corresponding to each measurement value among the at least one measurement value for each type of measurement quantity.

5. The method according to claim 4, wherein The sum of the probability values corresponding to the at least one measurement value of the same type of measurement quantity is less than or equal to 1.

6. The method according to claim 4 or 5, characterized in that The positioning of the terminal device based on the first measurement information for each path includes: Determining the position of the terminal device based on the measurement values whose variance and / or probability value in the first measurement information for each path meet a preset condition.

7. The method according to claim 6, characterized in that, The measurement values whose variance and / or probability value meet the preset condition include: The measurement value corresponding to the maximum probability value among at least one probability value, where the at least one probability value is at least one probability value corresponding to the at least one measurement value of the same type of measurement quantity; and / or, The measurement value corresponding to the minimum variance among at least one variance, where the at least one variance is at least one variance corresponding to the at least one measurement value of the same type of measurement quantity.

8. A method for positioning, characterized in that, Comprising: Determining first measurement information for each of at least one path, where the at least one path is at least one path for transmitting a positioning reference signal, and the first measurement information includes at least one measurement value for each of at least one type of measurement quantity; Sending the first measurement information for each path.

9. The method according to claim 8, wherein The at least one measurement value for each type of measurement quantity is a corrected measurement value.

10. The method according to claim 8 or 9, characterized in that The types of the measurement quantity include one or more of the following: Time measurement information, angle measurement information, energy measurement information, or phase measurement information.

11. The method according to any one of claims 9 to 10, characterized in that, The first measurement information further includes: variance and / or probability value corresponding to each measurement value among the at least one measurement value for each type of measurement quantity.

12. The method according to claim 11, wherein The sum of the probability values corresponding to the at least one measurement value of the same type of measurement quantity is less than or equal to 1.

13. A communication device, characterized in that, Including a module for implementing the method according to any one of claims 1 to 7, or a module for implementing the method according to any one of claims 8 to 12.

14. A communication device, characterized in that, Including a processor, the processor being coupled to a memory, the memory being used to store programs or instructions, and when the programs or instructions are executed by the processor, the method according to any one of claims 1 to 7 is executed, or the method according to any one of claims 8 to 12 is executed.

15. A computer-readable storage medium, characterized in that, For storing a computer program, and when the computer program runs on a computer, the method according to any one of claims 1 to 7 is executed, or the method according to any one of claims 8 to 12 is executed.

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