Positioning method and communication apparatus

Abstract

The present application relates to the technical field of communications, and discloses a positioning method and a communication apparatus. The method comprises: a network device determining first information corresponding to a first anchor point; the network device sending the first information to a first terminal; and the first terminal obtaining positioning information on the basis of the first information. The first information comprises one or more of the following: first position information, first time delay information, or first angle information. The first anchor point is one of the following anchor points: a first access network device, a mirror of the first access network device, an antenna of the first access network device, a mirror of the antenna of the first access network device, a remote radio head of the first access network device, a mirror of the remote radio head of the first access network device, and a wireless signal scatterer in a wireless signal propagation process of the first access network device or a mirror thereof. On the basis of the described method, the accuracy of terminal positioning can be improved.

Description

Positioning method and communication device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on February 7, 2024, with application number 202410174300.5 and application name “Positioning Method and Communication Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a positioning method and a communication device. Background Art

[0003] Outdoor positioning can rely on the Global Navigation Satellite System (GNSS), but buildings attenuate satellite signals, making GNSS positioning inoperable indoors. Furthermore, due to the complex indoor environment, indoor terminals often lack the ability to sense stations. While various technologies exist for positioning using indoor wireless signals, the generally complex indoor wireless communication environment results in low positioning accuracy for existing indoor terminals. Summary of the Invention

[0004] The embodiments of the present application provide a positioning method and a communication device, which are conducive to improving the positioning accuracy of terminal equipment.

[0005] In a first aspect, the present application provides a positioning method, the method comprising:

[0006] The network device determines first information corresponding to at least one first anchor point in the first anchor point set, and sends the first information of the at least one first anchor point to the first terminal. The first information includes one or more of the following information: first position information, first delay information, or first angle information; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio head of the first access network device, the mirror image of the remote radio head of the first access network device, or a wireless signal scatterer or its mirror image during wireless signal propagation of the first access network device.

[0007] Since the indoor wireless communication environment is generally more complex, there are situations such as few stations, non-direct NLOS environment, unknown anchor point location, unknown radio frequency pull-off delay, and unknown directional anchor point direction, which makes the existing indoor terminal positioning algorithm impossible or difficult to implement, or the terminal positioning accuracy is insufficient after implementation. Few stations means that the number of access network devices (real physical devices) indoors is small. The existing indoor terminal positioning algorithm usually only uses real physical devices as anchor points. The first anchor point in the present invention can be either a real physical device or a real object, or a virtual device or a virtual object. In an indoor environment, a real physical access network device can often correspond to multiple anchor points, thereby equivalently increasing the number of anchor points. For NLOS environments, the non-direct path between the first terminal and the real physical device or real object can be equivalent to the direct path between the first terminal and the virtual device or virtual object corresponding to the real physical device or real object, thereby converting the non-direct path (NLOS path) into a direct path (LOS path). To address the problem of unknown anchor point location, the first information includes the location information of the first anchor point, so that the first terminal can determine the location of the first anchor point. To address the unknown radio frequency delay, the first information includes the transmission delay corresponding to the first anchor point. The first anchor point can be a remote radio head, allowing the first terminal to determine the delay of the remote radio head. To address the unknown direction of the directional anchor point, the first information includes the angle information of the first anchor point. The first anchor point can be a directional anchor point, allowing the first terminal to determine the direction of the directional anchor point. Therefore, the method described in the first aspect is conducive to improving the positioning accuracy of the first terminal.

[0008] Optionally, the first delay information may be an absolute delay or a relative delay.

[0009] Optionally, when the first anchor point is a directional anchor point, such as an array antenna, the signal transmission or reception angle information sensed by the array antenna can be used for positioning, and the transmission or reception angle is usually an angle relative to the direction of the array antenna. The first angle information can be expressed by the angle between the direction of the first anchor point and the reference direction.

[0010] Optionally, the position of the first anchor point remains unchanged during the terminal positioning process, or a change in the position of the first anchor point has little effect on the terminal positioning and can be ignored.

[0011] In one possible implementation, a network device determines first information corresponding to at least one first anchor point in a first anchor point set. Specifically, the network device determines the first information corresponding to at least one first anchor point in the first anchor point set based on second information, where the second information includes first channel information and / or first multipath measurement information. The first channel information is wireless channel information between a second terminal and a first access network device, and the first multipath measurement information is multipath measurement information of a wireless channel between the second terminal and the first access network device. The second terminal is a terminal that accumulates data and assists the network device in determining the first information, and the first terminal is a terminal that performs positioning. The second terminal and the first terminal may be the same terminal or different terminals.

[0012] In a possible implementation, before the network device determines first information corresponding to at least one first anchor point in the first anchor point set based on the second information, the method further includes: the network device receiving first channel information and / or first multipath measurement information from the second terminal.

[0013] In a possible implementation manner, the first multipath measurement information is multipath measurement information obtained by inputting the first channel information into a multipath measurement information extraction algorithm.

[0014] In a possible implementation manner, the method further includes: the network device sending information of the multipath measurement information extraction algorithm to the first terminal and / or the second terminal.

[0015] In one possible implementation, the second information also includes second location information and / or third location information corresponding to at least one first anchor point, the second location information is the location information of the second terminal, and the third location information is the location information of the first anchor point; the method may also include: the network device receives the second location information from the second terminal and / or the third location information corresponding to at least one first anchor point.

[0016] In a possible implementation manner, the second information further includes internal sensor information of the second terminal.

[0017] In a possible implementation manner, the second information further includes time information corresponding to when the second terminal obtains the first channel information.

[0018] In one possible implementation, a network device determines first information corresponding to at least one first anchor point in a first anchor point set based on second information. Specifically, the network device determines the first information corresponding to at least one first anchor point in a first anchor point set based on the second information using a wireless simultaneous positioning and mapping SLAM algorithm. A SLAM (radio SLAM) algorithm based on wireless signals has the ability to simultaneously perform positioning and mapping. That is, by sensing wireless signals and their relationship with the physical world (e.g., distance, time, angle, etc.), device positioning and mapping can be achieved simultaneously. The SLAM algorithm can be an extended Kalman filter SLAM (EKF-SLAM), a particle filter SLAM (PF-SLAM), an artificial intelligence SLAM (AI-SLAM) (also known as Neural SLAM), or other possible SLAM algorithms. During this process, the terminal can be mobile, thereby obtaining a sequence of sensing wireless signals.

[0019] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0020] In one possible implementation, the first multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0021] Among them, at least one path of the wireless channel between the second terminal and the first access network device can be understood as the path between the second terminal and a first anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as, by introducing the first anchor point related to the first access network device, the non-direct path between the second terminal and the first access network device is converted into a direct path between the second terminal and the first anchor point.

[0022] In a possible implementation, the delay information includes signal transceiver circuit delay and / or radio frequency transmission delay.

[0023] In a possible implementation, the angle information includes azimuth information and / or downtilt information of the directional anchor point.

[0024] In a possible implementation, the method further includes: the network device sending, to the first terminal, an identifier of at least one cell associated with the first access network device.

[0025] In a second aspect, the present application provides a positioning method, the method comprising:

[0026] The first terminal receives first information corresponding to at least one first anchor point in the first anchor point set; the first information includes one or more of the following information: first position information, first delay information, or first angle information; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio head of the first access network device, the mirror image of the remote radio head of the first access network device, or a wireless signal scatterer or its mirror image during wireless signal propagation of the first access network device;

[0027] The first terminal obtains positioning information based on first information corresponding to at least one first anchor point in the first anchor point set.

[0028] The beneficial effects corresponding to the second aspect can be found in the description of the first aspect and will not be elaborated here.

[0029] Optionally, the first delay information may be an absolute delay or a relative delay.

[0030] Optionally, when the first anchor point is a directional anchor point, such as an array antenna, the signal transmission or reception angle information sensed by the array antenna can be used for positioning, and the transmission or reception angle is usually an angle relative to the direction of the array antenna. The first angle information can be expressed by the angle between the direction of the first anchor point and the reference direction.

[0031] Optionally, the position of the first anchor point remains unchanged during the terminal positioning process, or a change in the position of the first anchor point has little effect on the terminal positioning and can be ignored.

[0032] In one possible implementation, positioning information is obtained based on first information corresponding to at least one first anchor point in the first anchor point set. The specific implementation is: positioning information is obtained based on first information and third information corresponding to at least one first anchor point in the first anchor point set, the third information includes second channel information and / or second multipath measurement information, the second channel information is wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is wireless channel multipath measurement information between the first terminal and the first access network device.

[0033] In a possible implementation manner, the second multipath measurement information is multipath measurement information obtained by inputting the second channel information into a multipath measurement information extraction algorithm.

[0034] In a possible implementation manner, the method further includes: the first terminal receiving information of a multipath measurement information extraction algorithm.

[0035] In a possible implementation manner, the third information further includes internal sensor information of the first terminal.

[0036] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0037] In one possible implementation, the second multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the first terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the first terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0038] At least one path of the wireless channel between the first terminal and the first access network device can be understood as the path between the first terminal and a first anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as the non-direct path between the first terminal and the first access network device is converted into a direct path between the first terminal and the first anchor point by introducing the first anchor point related to the first access network device.

[0039] In a possible implementation, the first delay information includes a signal transceiver circuit delay and / or a radio frequency transmission delay.

[0040] In a possible implementation, the first angle information includes azimuth angle information and / or downtilt angle information of the antenna.

[0041] In a possible implementation manner, the method further includes: the first terminal receiving an identifier of at least one cell associated with the first access network device from the network device.

[0042] In a third aspect, the present application provides a positioning method, which includes: a network device determines a first positioning algorithm, which is used for terminal positioning; and the network device sends information about the first positioning algorithm to the first terminal.

[0043] Based on the method described in the third aspect, positioning is performed using the first positioning algorithm trained by the network device, which is beneficial to improving the positioning accuracy of the first terminal.

[0044] In a possible implementation, the method also includes: the network device determines the first information corresponding to at least one first anchor point in the first anchor point set based on the wireless SLAM algorithm; the network device sends the first information corresponding to at least one first anchor point in the first anchor point set to the first terminal, and the first information includes one or more of the following information: first position information, first delay information, or first angle information; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror image during the wireless signal propagation process of the first access network device.

[0045] Optionally, the first delay information may be an absolute delay or a relative delay.

[0046] Optionally, when the first anchor point is a directional anchor point, such as an array antenna, the signal transmission or reception angle information sensed by the array antenna can be used for positioning, and the transmission or reception angle is usually an angle relative to the direction of the array antenna. The first angle information can be expressed by the angle between the direction of the first anchor point and the reference direction.

[0047] Optionally, the position of the first anchor point remains unchanged during the terminal positioning process, or a change in the position of the first anchor point has little effect on the terminal positioning and can be ignored.

[0048] In a possible implementation manner, the information of the first positioning algorithm further includes first information corresponding to at least one first anchor point related to a cell to which the first positioning algorithm is applicable.

[0049] In one possible implementation, the network device determines the first positioning algorithm. Specifically, the network device determines the first positioning algorithm using a wireless SLAM algorithm based on the second information. The second information includes first channel information and / or first multipath measurement information. The first channel information is wireless channel information between the second terminal and the first anchor point, and the first multipath measurement information is multipath measurement information of the wireless channel between the second terminal and the first access network device.

[0050] In a possible implementation, before the network device determines the first positioning algorithm based on the second information, the method further includes: the network device receiving first channel information and / or first multipath measurement information from the second terminal.

[0051] In a possible implementation manner, the first multipath measurement information is multipath measurement information obtained by inputting the first channel information into a multipath measurement information extraction algorithm.

[0052] In a possible implementation manner, the method further includes: the network device sending information of the multipath measurement information extraction algorithm to the first terminal and / or the second terminal.

[0053] In a possible implementation, the second information further includes second location information and / or third location information corresponding to at least one first anchor point, the second location information is location information of the second terminal, and the third location information is location information of the first anchor point.

[0054] In a possible implementation manner, the second information further includes internal sensor information of the second terminal.

[0055] In a possible implementation manner, the second information further includes time information corresponding to when the second terminal obtains the first channel information.

[0056] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0057] In one possible implementation, the first multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0058] At least one path of the wireless channel between the second terminal and the first access network device can be understood as the path between the second terminal and a first anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as the non-direct path between the second terminal and the first access network device is converted into a direct path between the second terminal and the first anchor point by introducing the first anchor point related to the first access network device.

[0059] In a possible implementation, the first delay information includes a signal transceiver circuit delay and / or a radio frequency transmission delay.

[0060] In a possible implementation manner, the first angle information includes azimuth angle information and / or downtilt angle information of the directional anchor point.

[0061] In a possible implementation, the method further includes: the network device sending, to the first terminal, an identifier of at least one cell associated with the first access network device.

[0062] In a fourth aspect, the present application provides a positioning method, the method comprising: a first terminal receiving information of a first positioning algorithm; and the first terminal obtaining positioning information based on the first positioning algorithm.

[0063] In one possible implementation, the first terminal receives first information corresponding to at least one first anchor point in the first anchor point set; the first information includes one or more of the following information: first position information, first delay information, or first angle information; the anchor point is a reference point used to anchor the position of the terminal device; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror image in the wireless signal propagation process of the first access network device; the first terminal obtains positioning information based on the first positioning algorithm, and the specific implementation method is: the first terminal obtains positioning information based on the first information corresponding to at least one first anchor point and the first positioning algorithm.

[0064] Optionally, the first delay information may be an absolute delay or a relative delay.

[0065] Optionally, when the first anchor point is a directional anchor point, such as an array antenna, the signal transmission or reception angle information sensed by the array antenna can be used for positioning, and the transmission or reception angle is usually an angle relative to the direction of the array antenna. The first angle information can be expressed by the angle between the direction of the first anchor point and the reference direction.

[0066] Optionally, the position of the first anchor point remains unchanged during the terminal positioning process, or a change in the position of the first anchor point has little effect on the terminal positioning and can be ignored.

[0067] In a possible implementation manner, the information of the first positioning algorithm further includes first information corresponding to at least one first anchor point related to a cell to which the first positioning algorithm is applicable.

[0068] In one possible implementation, the first terminal obtains positioning information based on the first positioning algorithm. The specific implementation is: the first terminal obtains positioning information based on third information and the first positioning algorithm, the third information includes second channel information and / or second multipath measurement information, the second channel information is the wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is the wireless channel multipath measurement information between the first terminal and the first access network device.

[0069] In a possible implementation manner, the second multipath measurement information is multipath measurement information obtained by inputting the second channel information into a multipath measurement information extraction algorithm.

[0070] In a possible implementation manner, the method further includes: the first terminal receiving information of a multipath measurement information extraction algorithm.

[0071] In a possible implementation manner, the third information further includes internal sensor information of the first terminal.

[0072] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0073] In one possible implementation, the second multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the first terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the first terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0074] At least one path of the wireless channel between the first terminal and the first access network device can be understood as the path between the first terminal and a first anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as the non-direct path between the first terminal and the first access network device is converted into a direct path between the first terminal and the first anchor point by introducing the first anchor point related to the first access network device.

[0075] In a possible implementation, the first delay information includes a signal transceiver circuit delay and / or a radio frequency transmission delay.

[0076] In a possible implementation, the first angle information includes azimuth angle information and / or downtilt angle information of the antenna.

[0077] In a possible implementation manner, the method further includes: the first terminal receiving an identifier of at least one cell associated with the first access network device from the network device.

[0078] In a fifth aspect, the present application provides a positioning method, which includes: a network device determines first information and / or a first positioning algorithm corresponding to at least one first anchor point in a first anchor point set, where the first information includes one or more of the following information: first position information, first delay information, or first angle information; the anchor point is a reference point for anchoring the position of the terminal device; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror image in the wireless signal propagation process of the first access network device; the network device obtains the positioning information of the first terminal based on the first information and / or the first positioning algorithm corresponding to at least one anchor point; the network device sends the positioning information to the first terminal.

[0079] Optionally, the first delay information may be an absolute delay or a relative delay.

[0080] Optionally, when the first anchor point is a directional anchor point, such as an array antenna, the signal transmission or reception angle information sensed by the array antenna can be used for positioning, and the transmission or reception angle is usually an angle relative to the direction of the array antenna. The first angle information can be expressed by the angle between the direction of the first anchor point and the reference direction.

[0081] In one possible implementation, the network device determines the first information and / or the first positioning algorithm corresponding to at least one first anchor point in the first anchor point set. The specific implementation is: the network device determines the first information and / or the first positioning algorithm corresponding to at least one first anchor point in the first anchor point set based on the second information, the second information includes first channel information and / or first multipath measurement information, the first channel information is the wireless channel information between the second terminal and the first access network device, and the first multipath measurement information is the wireless channel multipath measurement information between the second terminal and the first access network device.

[0082] In a possible implementation, before the network device determines the first information and / or the first positioning algorithm based on the second information, the method further includes: receiving first channel information and / or first multipath measurement information from the second terminal.

[0083] In a possible implementation manner, the first multipath measurement information is multipath measurement information obtained by inputting the first channel information into a multipath measurement information extraction algorithm.

[0084] In a possible implementation manner, the method further includes: the network device sending information of the multipath measurement information extraction algorithm to the first terminal and / or the second terminal.

[0085] In one possible implementation, the second information also includes second location information and / or third location information corresponding to at least one first anchor point, the second location information is the location information of the second terminal, and the third location information is the location information of the first anchor point; the method also includes: the network device receives the second location information from the second terminal and / or the third location information corresponding to at least one first anchor point.

[0086] In a possible implementation manner, the second information further includes internal sensor information of the second terminal.

[0087] In a possible implementation manner, the second information further includes time information corresponding to when the second terminal obtains the first channel information.

[0088] In one possible implementation, the network device obtains the positioning information of the first terminal based on the first information corresponding to at least one anchor point and / or the first positioning algorithm. The specific implementation is: the network device obtains the positioning information based on the third information and the first information corresponding to at least one anchor point and / or the first positioning algorithm, the third information includes second channel information and / or second multipath measurement information, the second channel information is the wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is the wireless channel multipath measurement information between the first terminal and the first access network device.

[0089] In one possible implementation, before the network device obtains the positioning information of the first terminal based on the first information corresponding to at least one anchor point and / or the first positioning algorithm, the method further includes: the network device receives second channel information and / or second multipath measurement information from the first terminal.

[0090] In a possible implementation manner, the third information further includes internal sensor information of the first terminal, and the method further includes: the network device receiving the internal sensor information from the first terminal.

[0091] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0092] In one possible implementation, the first multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0093] At least one path of the wireless channel between the second terminal and the first access network device can be understood as the path between the second terminal and an anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as the non-direct path between the second terminal and the first access network device is converted into a direct path between the second terminal and the first anchor point by introducing the first anchor point related to the first access network device.

[0094] In one possible implementation, the second multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the first terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the first terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0095] At least one path of the wireless channel between the first terminal and the first access network device can be understood as the path between the first terminal and an anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as the non-direct path between the first terminal and the first access network device is converted into a direct path between the first terminal and the first anchor point by introducing the first anchor point related to the first access network device.

[0096] In a possible implementation, the first delay information includes a signal transceiver circuit delay and / or a radio frequency transmission delay.

[0097] In a possible implementation manner, the first angle information includes azimuth angle information and / or downtilt angle information of the directional anchor point.

[0098] In a sixth aspect, the present application provides a communication device, which may also be a chip system. The communication device can perform the methods described in the first, third, and fifth aspects. The functions of the communication device can be implemented by hardware, or by hardware executing corresponding software implementations. The hardware or software includes one or more units or modules corresponding to the above-mentioned functions. The units or modules can be software and / or hardware. The operations and beneficial effects performed by the communication device can refer to the methods and beneficial effects described in the first, third, or fifth aspects above, and repetitive parts will not be repeated.

[0099] In a seventh aspect, the present application provides a communication device, which may also be a chip system. The communication device may perform the method described in the second aspect or the fourth aspect. The functions of the communication device may be implemented by hardware, or by hardware executing corresponding software implementations. The hardware or software includes one or more units or modules corresponding to the above-mentioned functions. The units or modules may be software and / or hardware. The operations and beneficial effects performed by the communication device may refer to the methods and beneficial effects described in the second aspect or the fourth aspect above, and any repetitions will not be repeated.

[0100] In an eighth aspect, the present application provides a communication device, which includes a processor. When the processor calls a computer program in a memory, the method described in any one of the first to fifth aspects and its possible implementation methods are executed.

[0101] In a possible implementation, the communication device further includes a memory, and the memory and the processor are coupled to each other. Optionally, the memory and the processor are integrated together.

[0102] In a possible implementation, the communication device further includes a transceiver, which is used to transmit and receive data and / or signaling.

[0103] In the ninth aspect, the present application provides a communication device, which includes a processor and an interface circuit, wherein the interface circuit is used to receive signals from other communication devices outside the communication device and transmit them to the processor or send signals from the processor to other communication devices outside the communication device, and the processor is used to implement the method described in any one of the first to fifth aspects and its possible implementation methods through logic circuits or execution code instructions.

[0104] In the tenth aspect, the present application provides a computer-readable storage medium, which stores a computer program or instruction. When the computer program or instruction is executed by a communication device, it implements any one of the methods in the first to fifth aspects and its possible implementation methods.

[0105] In the eleventh aspect, an embodiment of the present application provides a computer program or computer program product, including code or instructions. When the code or instructions are run on a computer, the computer executes the method described in any one of the first to sixth aspects and its possible implementation methods.

[0106] In the twelfth aspect, an embodiment of the present application provides a communication system, which includes the above-mentioned communication device for executing the method described in the sixth aspect and the communication device for executing the method described in the seventh aspect.

[0107] In the thirteenth aspect, the present application provides a chip comprising a processor and a communication interface, wherein the processor is configured to enable the chip to execute the method in the above-mentioned first aspect, third aspect or fifth aspect or any possible implementation thereof, or the processor is configured to enable the chip to execute the method in the above-mentioned second aspect or fourth aspect or any possible implementation thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] FIG1 is a schematic diagram of a communication system provided in an embodiment of the present application;

[0109] FIG2 is a schematic diagram of a network architecture provided in an embodiment of the present application;

[0110] FIG3 is a schematic diagram of a multipath scenario provided by an embodiment of the present application;

[0111] FIG4 is a flow chart of a positioning method provided in an embodiment of the present application;

[0112] FIG5 is a schematic diagram of a remote radio head provided in an embodiment of the present application;

[0113] FIG6 is a schematic diagram of a virtual anchor point provided in an embodiment of the present application;

[0114] FIG7 is a schematic diagram of a flow chart of another positioning method provided in an embodiment of the present application;

[0115] FIG8 is a schematic diagram of a flow chart of another positioning method provided in an embodiment of the present application;

[0116] FIG9 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0117] FIG10 is a schematic structural diagram of another communication device provided in an embodiment of the present application;

[0118] FIG11 is a schematic structural diagram of a chip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0119] The specific embodiments of the present application are further described in detail below with reference to the accompanying drawings.

[0120] The terms "first" and "second" and the like in the specification, claims, and drawings of this application are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0121] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0122] In this application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the corresponding relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, 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 or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0123] The following describes the system architecture of the embodiment of the present application:

[0124] To facilitate understanding of the technical solutions of the embodiments of the present application, the system architecture of the method provided in the embodiments of the present application is briefly described below. It is understood that the system architecture described in the embodiments of the present application is for the purpose of more clearly illustrating the technical solutions of the embodiments of the present application and does not constitute a limitation on the technical solutions provided in the embodiments of the present application.

[0125] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as satellite communication systems and traditional mobile communication systems. The satellite communication system can be integrated with a traditional mobile communication system (i.e., a terrestrial communication system). Communication systems include, for example, wireless local area network (WLAN) communication systems, wireless fidelity (WiFi) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, fifth generation (5G) systems or new radio (NR), and other future communication systems, such as sixth generation (6G) systems, and communication systems that support the integration of multiple wireless technologies. For example, it can also be applied to systems where non-terrestrial networks (NTN) such as drones, satellite communication systems, and high altitude platform stations (HAPS) communications integrate terrestrial mobile communication networks.

[0126] FIG1 is an example of a communication system applicable to an embodiment of the present application. The communication system includes at least one access network device and at least one terminal. FIG1 uses an access network device and multiple terminals as an example. These multiple terminals can be cellular phones, smart phones, portable computers, handheld communication devices, handheld computing devices, satellite radio devices, global positioning systems, personal digital assistants (PDAs), and / or any other suitable devices for communicating on a wireless communication system, and can all be connected to the access network device. These multiple terminals can all communicate with the access network device, and in addition, terminals can also communicate with each other. Of course, the number of terminals and access network devices in FIG1 is only an example, and can also be fewer or more.

[0127] The terminal involved in the embodiments of the present application, which may also be simply referred to as a terminal and will be referred to as a terminal hereinafter, is an entity on the user side for receiving or transmitting signals. A terminal can be a device that provides voice and / or data connectivity to a user, such as a handheld device or vehicle-mounted device with wireless connection capabilities. A terminal can also be other processing devices connected to a wireless modem. A terminal can communicate with a radio access network (RAN). A terminal can also be referred to as a wireless terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, user device, or UE, etc. A terminal can be a mobile terminal, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal, for example, a portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, the terminal may also be a personal communication service (PCS) phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), etc. Common terminals include, for example, mobile phones, tablet computers, laptop computers, PDAs, mobile internet devices (MIDs), and wearable devices such as smart watches, smart bracelets, and pedometers, but the embodiments of the present application are not limited thereto.

[0128] The embodiments of this application do not limit the device form factor of the terminal. The device used to implement the terminal's function can be a terminal; it can also be a device that supports the terminal in implementing the function, such as a chip system. The device can be installed in the terminal or used in conjunction with the terminal. In the embodiments of this application, the chip system can be composed of a chip or include a chip and other discrete components.

[0129] Access network equipment is a network-side entity used to send or receive signals, or both. It can be deployed in a radio access network (RAN) to provide wireless communication capabilities for terminals. It can communicate with core network equipment and provide communication services to terminals.

[0130] In one possible scenario, the access network device may be a device with base station functionality, such as an evolved NodeB (eNodeB), a transmitting and receiving point (TRP), a transmitting point (TP), a next-generation NodeB (gNB), a next-generation base station in a 6G mobile communication system, an integrated access and backhaul (IAB) node, or non-terrestrial network equipment, i.e., equipment that can be deployed on a high-altitude platform or satellite. The access network device may be a transmission reception point (TRP), a base station, or various forms of control nodes, such as a network controller or wireless controller. Specifically, access network equipment can include various forms of macro base stations, micro base stations (also known as small cells) in heterogeneous network (HetNet) scenarios, relay stations, access points (APs), radio network controllers (RNCs), node Bs (NBs), base station controllers (BSCs), base transceiver stations (BTSs), home base stations (e.g., home evolved node Bs, or home node Bs, HNBs), baseband units (BBUs) and remote radio units (RRUs) in distributed base station scenarios, transmission points (TRPs), transmitting points (TPs), mobile switching centers, etc. It can also be the antenna panel of a base station. A control node can connect to multiple base stations and configure resources for multiple terminals covered by multiple base stations. In systems using different wireless access technologies, the names of devices with base station functions may vary.For example, it can be a gNB in ​​5G, or a network-side device in a network after 5G, or an access network device in a future evolved public land mobile network (PLMN) network, or a device that performs base station functions in device-to-device (D2D) communication, machine-to-machine (M2M) communication, or vehicle network communication. This application does not limit the specific name of the access network device. The access network device can also be an open access network (open RAN, O-RAN or ORAN), a baseband pool (BBU pool) and RRU under a cloud radio access network (CRAN), etc.

[0131] In another possible scenario, multiple access network devices collaborate to assist the terminal in achieving wireless access, and different access network devices respectively implement part of the functions of the base station. For example, the access network device may include a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU may be set separately, or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). It is understandable that the access network device may be a CU node, a DU node, or a device including a CU node and a DU node. In addition, the CU may be divided into an access network device in the access network RAN, or the CU may be divided into an access network device in the core network (CN), without limitation here.

[0132] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, in the ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, CU-CP may also be called O-CU-CP, CU-UP may also be called O-CU-UP, and RU may also be called O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU and RU as examples for description. Any unit of CU (or CU-CP, CU-UP), DU and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0133] In the embodiments of the present application, the form of the access network device is not limited. The device used to implement the functions of the access network device can be the access network device; it can also be a device that supports the access network device to implement the functions, such as a chip system. The device can be installed in the access network device or used in conjunction with the access network device.

[0134] Figure 2 is a network architecture applicable to the positioning method proposed in the embodiment of the present application, and the network architecture includes at least one network device and at least one first terminal. In Figure 2, a network device and a first terminal are taken as examples. The first terminal can be the terminal corresponding to the description of the communication system shown in Figure 1. The network device is a device that assists the first terminal in positioning. The network device can be a server. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms. In addition to being a server, the network device can also be other devices such as access network devices and core network devices, and the embodiment of the present application does not limit this.

[0135] The following is an explanation of the professional terms involved in the embodiments of this application:

[0136] Anchor: It is a reference point used to anchor the terminal position, or it can also be understood as a reference point for terminal positioning. Among them, anchor points can include two types, namely real anchor points and virtual anchor points. It can be understood that a real anchor point is a real physically existing device or object, such as an access network device, an antenna of an access network device, a remote radio head of an access network device, and a scatterer. A virtual anchor point can also be called a mirror anchor point. A virtual anchor point is a mirror image of a real anchor point, which can be a single mirror image or multiple mirror images. For example, a virtual anchor point can be a mirror image of an access network device, a mirror image of an antenna of an access network device, a mirror image of a remote radio head of an access network device, and a mirror image of a scatterer. Of course, in addition to the anchor points described above, there may also be other types of anchor points in the actual environment. For example, other components of the access network device or their mirror images may also be regarded as anchor points, and the embodiments of the present application are not limited to this.

[0137] For example, as shown in Figure 3, in a multipath scenario, the signal emitted by the antenna of the access network device can be directly transmitted to the terminal through the direct path 1. At the same time, the signal can also be reflected by a reflector (such as a wall) and then transmitted to the terminal, such as the reflection path shown in Figure 3. In this case, the signal can be equivalently regarded as a signal from the mirror image of the antenna of the access network device about the reflector. The reflection path can be equivalent to the direct path 2 between the mirror image of the antenna of the access network device and the terminal. The signal can also be scattered by a scatterer and then transmitted to the terminal, such as the scattering path shown in Figure 3. In this case, the signal can be equivalently regarded as coming from the scatterer, but with an additional signal transmission delay (the transmission time between the antenna of the access network device and the scatterer). Although there is only a single station (one access network device) in Figure 3, due to the effect of multipath, the terminal equivalently receives the direct path signal from the antenna of the access network device, the mirror image of the antenna of the access network device, and the scatterer through three paths.

[0138] Therefore, the antenna of the access network device, the mirror image of the antenna of the access network device, and the scatterer can all be used as anchor points to anchor the terminal position. One possible implementation method is that the terminal obtains the position information of the three anchor points (anchor point 1, anchor point 2 and anchor point 3) and the signal transmission delay (equivalent to distance) information from the three anchor points to the terminal, and the terminal position information can be obtained through the three-point positioning method.

[0139] Outdoor positioning can rely on the Global Navigation Satellite System (GNSS), but buildings attenuate satellite signals, making GNSS positioning inoperable indoors. Furthermore, due to the complex indoor environment, indoor terminals often lack the ability to sense stations. While various technologies exist for positioning using indoor wireless signals, the generally complex indoor wireless communication environment results in low positioning accuracy for existing indoor terminals.

[0140] In order to improve the accuracy of terminal positioning, in combination with the network architecture described in Figure 2 above, an embodiment of the present application proposes a positioning method, as shown in Figure 4, which includes steps 401 to 403. The execution subjects corresponding to the method shown in Figure 4 are the network device and the first terminal, or the execution subjects of the method shown in Figure 4 can be the network device and the chip in the first terminal. Figure 4 is illustrated by taking the network device and the first terminal as an example. The embodiment of the present application does not limit the execution subject of the positioning method. Among them:

[0141] 401. A network device determines first information corresponding to at least one first anchor point in a first anchor point set, where the first information includes one or more of the following information: first position information, first delay information, or first angle information.

[0142] In the embodiment of the present application, the first anchor point is a reference point for anchoring the terminal position. The first anchor point set is related to the first access network device. It is further understood that each first anchor point in the first anchor point set is related to the first access network device. The first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio head of the first access network device, the mirror image of the remote radio head of the first access network device, or a wireless signal scatterer or its mirror image during the wireless signal propagation process of the first access network device. It should be noted that the first anchor point can also be other components of the first access network device other than the antenna or its mirror image. Of course, the first anchor point can also be other types of anchor points. It is understood that when the number of first anchor points in the first anchor point set is two or more, different first anchor points can be anchor points of the same type or different types of anchor points. For example, the first anchor point set includes the first anchor point 1 and the first anchor point 2, the first anchor point 1 can be the mirror image of the antenna of the first access network device, the first anchor point 2 can be the remote radio frequency head of the first access network device, or the first anchor point 1 and the first anchor point 2 are two remote radio frequency heads of the first access network device.

[0143] The following describes the anchor point types for the first anchor point described above:

[0144] (1) The first access network device, the antenna of the first access network device, the remote radio head of the first access network device, and the wireless signal scatterer in the wireless signal propagation process of the first access network device can be understood as devices or objects with the functions of transmitting, receiving, scattering, transmitting, power amplifying or relaying wireless signals, which are real physical devices or real objects and can be called real anchor points.

[0145] The remote radio frequency head of the first access network device may include radio frequency function and / or antenna function. The first access network device may also be referred to as the signal source of the remote radio frequency head. The remote radio frequency head may not be in the same geographical location as the first access network device, thereby improving the coverage range of the first access network device. The remote radio frequency head may also be referred to as a remote radio frequency head. As shown in Figure 5, the first access network device is connected to 4 remote radio frequency heads (remote radio frequency head 1, remote radio frequency head 2, remote radio frequency head 3 and remote radio frequency head 4), and the first anchor point and the 4 remote radio frequency heads are located at different positions, thereby improving the coverage of the network.

[0146] The scatterer described above means that during the signal transmission process between the first access network device and the terminal, the signal may encounter an object (such as particles, rough surfaces) to form scattering, and the object sends the signal to the receiving end by scattering. The object can be called a wireless signal scatterer in the wireless signal propagation process of the first access network device.

[0147] (2) The mirror image of the first access network device, the mirror image of the antenna of the first access network device, the mirror image of the remote radio head of the first access network device, and the mirror image of the wireless signal scatterer during the wireless signal propagation process of the first access network device can be understood as virtual devices or virtual objects, which can be called virtual anchor points.

[0148] Taking the mirror image of the antenna of the first access network device as an example, since the environment in which the first access network device and the terminal are located may contain some wireless signal reflectors (such as walls) that cause signal reflection, and signal refraction may also occur, the transmission path between the terminal and the first anchor point is not necessarily a straight line. The non-straight path between the terminal and the antenna of the first access network device can be equivalent to a straight path between the terminal and the mirror image of the antenna of the first access network device. The mirror image of the antenna of the first access network device can be regarded as an anchor point with a direct path (equivalent direct path) between it and the terminal. As shown in Figure 6, the first terminal is located indoors, and the antenna of the first access network device sends a signal to the first terminal via path 1, which is equivalent to the mirror image of the antenna of the first access network device sending a signal to the first terminal via path 2.

[0149] The first position information, the first delay information, or the first angle information described above is introduced below:

[0150] (1) The first position information is the position information of the first anchor point. Optionally, the position information includes absolute position information and / or relative position information. Further optionally, the absolute position information is the coordinates of the specific position of the first anchor point (the physical position of the real anchor point, or the virtual physical position of the virtual anchor point); the relative position information is the coordinates of the position of the first anchor point relative to the target position, and the target position can be an arbitrary position, for example, the position of the first access network device. The position of the first anchor point remains unchanged during the terminal positioning process, or the change has little effect on the terminal positioning and can be ignored. It should also be noted that the first position information is the position information determined by the network device, which can also be referred to as the high-precision position information of the first anchor point.

[0151] (2) The first delay information is the delay information of the first anchor point. Optionally, the delay information includes the signal transceiver circuit delay and / or the radio frequency transmission delay. The signal transceiver circuit delay can be understood as including the delay from the generation of the baseband signal to its conversion into the radio frequency signal when the signal is transmitted, or the delay from the conversion of the radio frequency signal into the baseband signal to the processing of the baseband signal when the signal is received. The radio frequency transmission delay refers to the signal transmission delay between the radio frequency signal generation point / processing point and the anchor point. For example, in Figure 3, the radio frequency transmission delays of anchor point 1, anchor point 2, and anchor point 3 can be the signal transmission delays between the radio frequency signal generation point and anchor point 1, anchor point 2, and anchor point 3, respectively. Exemplarily, the virtual anchor point is a mirror image of its corresponding real anchor point. Therefore, the first delay information of the real anchor point is equal to the first delay information of the virtual anchor point corresponding to the real anchor point. For example, the first delay information of anchor point 1 is equal to the first delay information of anchor point 2. The first delay information can be an absolute delay or a relative delay. Relative delay means that the first delay information can be subtracted from or added to a reference delay information. For example, for anchor points associated with the same access network device, taking signal transmission as an example, they can have the same signal transmission circuit delay and the delay between the generation of the RF signal and its transmission through the antenna. In this case, the first delay information can be the delay between the RF signal being transmitted through the antenna and the anchor point. For anchor points 1 and 2, the first delay information is 0, while for anchor point 3, the first delay information is the signal transmission delay between anchor point 1 and anchor point 3. It is understandable that the delay information can be the delay during the signal transmission or reception process. It is also understandable that there can be other delay division methods and / or representation methods, which do not affect the implementation of the embodiments of the present application and are not limited in this regard.

[0152] (3) The first angle information is the angle information of the first anchor point. When the first anchor point is a directional anchor point, such as an array antenna, the signal transmission or reception angle information sensed by the array antenna can be used for positioning, and the transmission or reception angle is usually an angle relative to the direction of the array antenna. The first angle information can be represented by the angle between the direction of the array antenna (first anchor point) and the reference direction. Optionally, the first angle information may include azimuth information and / or downtilt information. One possible implementation is that the azimuth angle refers to the angle from the reference direction (for example, due north) horizontally clockwise to the main lobe direction of the antenna, and the downtilt angle refers to the angle between the main lobe direction of the antenna and the reference direction (for example, the horizontal plane).

[0153] In one possible implementation, a network device determines first information corresponding to at least one first anchor point in a first anchor point set using a wireless simultaneous localization and mapping (SLAM) algorithm. Radio SLAM (radio SLAM) algorithms based on wireless signals have the capability to simultaneously perform positioning and mapping. Specifically, by sensing wireless signals and their relationship to the physical world (e.g., distance, time, angle, etc.), the device can be simultaneously positioned and mapped. It should be noted that this map refers to a map related to wireless signal distribution, not a map in a geographical sense. For example, based on the first position information, first delay information, or first angle information of an anchor point, combined with known wireless signal information and / or propagation characteristics, spatial distribution information of the wireless signal can be obtained. Therefore, "mapping" can be understood as determining the first position information, first delay information, or first angle information of an anchor point. During this process, the terminal can be mobile, thereby obtaining a sequence of perceived wireless signals.

[0154] Among them, the SLAM algorithm can be an extended Kalman filter SLAM algorithm (extended Kalman filter SLAM, EKF-SLAM), a particle filter SLAM algorithm (particle filter SLAM, PF-SLAM), an artificial intelligence SLAM algorithm (Artificial intelligence SLAM, AI-SLAM) (also known as Neural SLAM) or other possible SLAM algorithms, which are not limited in the embodiments of the present application.

[0155] In one possible implementation, a network device determines first information corresponding to at least one first anchor point in a first anchor point set. The specific implementation is as follows: the network device determines the first information corresponding to at least one first anchor point in the first anchor point set based on second information, where the second information includes first channel information and / or first multipath measurement information, the first channel information is wireless channel information between a second terminal and a first access network device, and the first multipath measurement information is multipath measurement information of a wireless channel between the second terminal and the first access network device. Optionally, in combination with the above-described determination of the first information corresponding to at least one first anchor point in the first anchor point set by a SLAM algorithm, the network device may determine the first information corresponding to at least one first anchor point in the first anchor point set based on the second information by a SLAM algorithm.

[0156] The second terminal is a terminal that accumulates data and assists the network device in determining the first information, and the first terminal is a terminal that performs positioning. The second terminal and the first terminal can be the same terminal or different terminals. The number of second terminals can be one or more, and the number of first terminals can be one or more, which is not limited in this embodiment of the present application.

[0157] The wireless channel information and multipath measurement information in the first information described above are introduced below:

[0158] 1. Wireless channel information includes one or more of the following: channel impulse response (CIR), channel state information (CSI), power delay profile (PDP), or delay profile (DP). The power delay profile can also be called the power delay function, and the delay profile can also be called the delay function.

[0159] In the process of a unit impulse signal passing through the channel to the receiving end, since it may pass through different transmission paths, signal copies with different transmission delays will be generated at the receiving end. These delayed copies have different signal attenuation and frequency phase changes. CIR represents the superposition of these signal copies with different delays, and contains the delay, power attenuation and phase change information of the multipath in the channel. CSI is the Fourier transform of CIR. PDP represents the power size on the multipath obtained based on CIR, which corresponds to the power attenuation of the multipath. Compared with CIR and CSI, it lacks phase information. DP represents the delay of the received signal on each path on multiple paths, and further ignores the power information compared to PDP. In addition, there may be other ways to express wireless channel information that contain the delay, power attenuation and phase change information of the multipath in the channel, which can also be used in this solution and will not be repeated here.

[0160] 2. The first multipath measurement information includes the time difference of arrival (TDoA) of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength (RSS), path loss (path loss), time of arrival (ToA), time of flight (ToF), angle of arrival (AoA), angle of departure (AoD), round trip time (RTT), phase information, and phase difference information.

[0161] At least one path of the wireless channel between the second terminal and the first access network device can be understood as the path between the second terminal and an anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as the non-direct path between the second terminal and the first access network device is converted into a direct path between the second terminal and the first anchor point by introducing the first anchor point related to the first access network device.

[0162] RSS represents the strength or power of the received signal along the path and can be used to indicate the relative loss of multiple paths on the same channel. Path loss indicates the attenuation of signal power between the transmitter and receiver due to various factors, such as obstacles and propagation. Time of arrival (ToA) represents the time of arrival of the received signal along the path and can be used to indicate the relative delay of multiple paths on the same channel. Time of flight (ToF) can be understood as the transmission time from the transmitter to the receiver. AoA can be understood as the angle at which the signal arrives at the receiver. AoD can be understood as the angle at which the signal leaves the transmitter. Round-trip time (RTT) is the time it takes for a signal to travel from the transmitter to the receiver and back again, typically excluding receiver processing time. Phase information represents the phase of the received signal along the path and can be used to indicate the relative phase change of multiple paths on the same channel. Phase difference information is the phase change of the signal after it has traveled along the path.

[0163] Among them, the multipath between the second terminal and the first access network device includes one or more of the following paths: one or more direct paths, refraction paths and reflection paths between the second terminal and the antenna of the first access network device, one or more direct paths between the second terminal and the mirror image of the antenna of the first access network device, one or more direct paths, refraction paths and reflection paths between the second terminal and the remote radio frequency head of the first access network device, one or more direct paths between the second terminal and the mirror image of the remote radio frequency head of the first access network device, one or more direct paths, refraction paths and reflection paths between the second terminal and the wireless signal scatterer corresponding to the first access network device, or one or more direct paths between the second terminal and the mirror image of the wireless signal scatterer corresponding to the first access network device. The wireless signal scatterer corresponding to the first access network device, for the downlink signal, refers to the wireless signal scatterer that scatters the wireless signal transmitted by the first access network device. When the second terminal directly perceives the scattered wireless signal (without further reflection, refraction, or scattering), it means that the second terminal perceives a direct path between the wireless signal scatterer corresponding to the first access network device and the first access network device. The same applies to the uplink signal, which will not be repeated here.

[0164] Optionally, the second information further includes a correspondence between each path corresponding to the first multipath measurement information and the at least one anchor point in the first anchor point set.

[0165] The above mainly introduces the wireless channel information and multipath measurement information. The following mainly introduces how the network device obtains the first wireless channel information and / or the first multipath measurement information:

[0166] Mode 1: The first channel information and / or first multipath measurement information may be sent by the second terminal to the network device. Specifically, the second terminal sends the first channel information and / or first multipath measurement information to the network device, and the network device receives the first channel information and / or first multipath measurement information from the second terminal. Furthermore, optionally, the second terminal also sends time information corresponding to obtaining the first channel information and / or first multipath measurement information.

[0167] Mode 2: The first channel information and / or the first multipath measurement information is determined by a network device.

[0168] Mode 3: The first channel information and / or first multipath measurement information may be sent by the first access network device to the network device. Specifically, the first access network device sends the first channel information and / or first multipath measurement information to the network device, and the network device receives the first channel information and / or first multipath measurement information from the first access network device. Furthermore, optionally, the first access network device also sends time information corresponding to obtaining the first channel information and / or first multipath measurement information.

[0169] It should also be noted that the first channel information and the first multipath measurement information can be obtained in different ways respectively. For example, the first channel information is sent by the second terminal to the network device, and the first multipath measurement information is determined by the network device. Or, in the case of multiple first channel information, part of the multiple first channel information is sent by the second terminal to the network device, and the other part of the first channel information is determined by the network device, and the first multipath measurement information is obtained in the same way. The embodiments of the present application do not limit this.

[0170] Optionally, the first multipath measurement information is obtained by inputting the first channel information into a multipath measurement information extraction algorithm. The multipath measurement information extraction algorithm may use artificial intelligence (AI) technology, referred to as a multipath measurement information extraction AI model.

[0171] Further optionally, the multipath measurement information extraction algorithm can be trained by a network device. Specifically, the network device can obtain output multipath measurement information by inputting sample channel information into the multipath measurement information extraction algorithm, and optimize and adjust the parameters of the multipath measurement information extraction algorithm by comparing the output multipath measurement information with the true value of the multipath measurement information corresponding to the sample channel information. The sample multipath measurement information can also be extracted by a terminal or network device using a non-AI algorithm. The embodiments of the present application do not limit how to obtain the sample multipath measurement information.

[0172] Further optionally, the network device sends information about the multipath measurement information extraction algorithm to the first terminal and / or the second terminal, and correspondingly, the first terminal and / or the second terminal receives the information about the multipath measurement extraction algorithm from the network device. Based on this optional method, after receiving the information about the multipath measurement extraction algorithm, the second terminal can use the multipath measurement information extraction algorithm to obtain first multipath measurement information, and then send it to the network device. In this case, the network device does not need to use the multipath measurement information extraction algorithm to obtain the first multipath measurement information. After receiving the information about the multipath measurement extraction algorithm, the first terminal can also use the multipath measurement extraction algorithm to obtain multipath measurement information of the wireless channel between the first access network device and the first terminal, and use this information to obtain the first terminal's positioning information, thereby improving positioning accuracy.

[0173] Further optionally, the multipath measurement information extraction algorithm may also output a corresponding association relationship between each path in the multipath measurement information and at least one first anchor point in the first anchor point set. The network device may train the multipath measurement information extraction algorithm using multipath association relationship samples. Specifically, the network device may input sample channel information into the multipath measurement information extraction algorithm to obtain an association relationship between each path in the output multipath measurement information and at least one first anchor point, then compare the output association relationship with the sample association relationship, optimize and adjust the parameters of the multipath measurement information extraction algorithm, and obtain a final multipath measurement information extraction algorithm. The association relationship determination algorithm may also be independent of the multipath measurement information extraction algorithm. The multipath association relationship may also be obtained using other algorithms, such as the Hungarian algorithm or other multipath data association algorithms. The embodiments of the present application do not limit how the multipath association relationship is obtained.

[0174] In a possible implementation, the second information further includes second location information and / or third location information of the at least one first anchor point, the second location information is location information of the second terminal, and the third location information is location information of the first anchor point.

[0175] Optionally, the second location information and / or the third location information corresponding to at least one first anchor point comes from the second terminal. Specifically, the second terminal sends the second location information and / or the third location information to the network device. Correspondingly, the network device can receive the second location information and / or the third location information from the second terminal.

[0176] The second location information and the third location information corresponding to at least one first anchor point may be determined by the second terminal. Different from the first location information described above, the third location information may be determined by the second terminal. This third location information has lower accuracy than the first location information, and therefore may also be referred to as coarse-precision location information of the first anchor point. Optionally, the second information also includes the confidence or accuracy of the second location information and / or the third location information.

[0177] Further optionally, the second terminal may determine the second location information and / or the third location information corresponding to the at least one first anchor point by one or more of the following methods:

[0178] Method 1: The second terminal determines the second location information and / or the third location information corresponding to at least one first anchor point based on the cell identifier (ID), the physical cell identifier (PCI) or the synchronization signal block (SSB).

[0179] Mode 2: The second terminal determines the second location information and / or the third location information corresponding to at least one first anchor point according to an existing positioning algorithm, such as measurement of a single cell or multiple cells.

[0180] In particular, the second location information may also be determined by the following method 3:

[0181] Method 3: When the second terminal is located indoors, the second terminal can determine the second location information of the second terminal by inferring the movement trajectory of the second terminal from outdoor to indoor based on the outdoor location information obtained by GNSS measurement before entering the indoors and then based on inertial guidance.

[0182] Of course, the second terminal may also use other methods to determine the second location information and / or the third location information corresponding to at least one first anchor point, or the second location information and / or the third location information corresponding to at least one first anchor point may also be determined by the first access network device and transmitted to the second terminal. This embodiment of the present application is not limited to this.

[0183] Further optionally, the second location information and / or the third location information corresponding to the at least one first anchor point may be determined by a baseband processor (BP) in the second terminal and transmitted to an application processor (AP), or may be determined by the AP, or may be determined jointly by the BP and the AP. The BP may also be referred to as a modem.

[0184] In one possible implementation, the second information also includes internal sensor information of the second terminal. The internal sensor information may include one or more of the following information: acceleration sensor information, gyroscope information, barometer information, gravity sensor information, distance sensor information, light sensor information, or magnetic sensor information. In addition, the internal sensor information may also include other sensor information, which is not limited in the embodiments of the present application. It is understandable that the internal sensor information may be direct internal sensor information, or it may be internal sensor information after data processing (such as filtering, smoothing, quantization, etc.), or it may be other information obtained after the internal sensor information is converted, such as internal sensor information can be converted into information such as speed, acceleration, direction, change in direction, height, change in height, etc., which is not limited in the embodiments of the present application.

[0185] Optionally, the internal sensor information of the second terminal comes from the second terminal. Specifically, the second terminal sends the internal sensor information of the second terminal to the network device, and correspondingly, the network device receives the internal sensor information of the second terminal sent by the second terminal.

[0186] Optionally, the internal sensor information may be determined by the BP in the second terminal and transmitted to the AP, or may be determined by the AP, or may be determined jointly by the BP and the AP.

[0187] It should also be noted that, according to the implementation method of the network device determining the first information corresponding to at least one first anchor point described above, it can be similarly obtained that the network device can also determine and send second information corresponding to at least one second anchor point in the second anchor point set. The second anchor point set is related to the second access network device. For example, the second anchor point can be the second access network device, the mirror image of the second access network device, the antenna of the second access network device, the mirror image of the antenna of the second access network device, the remote radio frequency head of the second access network device, the mirror image of the remote radio frequency head of the second access network device, the wireless signal scatterer or its mirror image during the wireless signal propagation process of the second access network device, etc. The second information is similar to the first information. The second information includes one or more of the position information of the second anchor point, the delay information of the second anchor point, or the angle information of the second anchor point. The second information can assist the terminal device in positioning. The embodiment of the present application does not limit the number of access network devices. The first access network device is mainly used as an example in the present application, and the subsequent embodiments will not be repeated for the same reason.

[0188] 402. The network device sends first information corresponding to at least one first anchor point to the first terminal. In response, the first terminal receives the first information corresponding to the at least one first anchor point from the network device.

[0189] 403. The first terminal obtains positioning information based on first information corresponding to at least one first anchor point.

[0190] In an embodiment of the present application, the first terminal performs positioning based on the first information of the first anchor point to obtain positioning information. The positioning information includes fourth position information, which can also be referred to as high-precision position information of the first terminal. Optionally, the fourth position information includes absolute position information and / or relative position information. Further optionally, the absolute position information is the coordinates of the specific physical location of the first terminal; the relative position information is the coordinates of the first terminal's location relative to a target location, which can be any location, for example, the target location can be the location of the first access network device.

[0191] Optionally, the first terminal may obtain positioning information based on the first information of at least one first anchor point using a positioning algorithm. The positioning algorithm is a positioning algorithm that performs positioning based on the known anchor point position. The positioning algorithm may be a combination of one or more of the following algorithms: a wireless SLAM algorithm, a single-station positioning algorithm, a multi-station positioning algorithm, a triangulation positioning algorithm, a hyperbola positioning algorithm, or a fingerprint positioning algorithm. The positioning algorithm may also be other currently available positioning algorithms, which are not limited in this embodiment of the present application.

[0192] Since indoor wireless communication environments are generally complex, there are situations such as a small number of stations, a non-line-of-sight (NLOS) environment, unknown anchor point locations, unknown radio frequency pull-off delays, and unknown directional anchor point directions. This makes it impossible or difficult to implement existing indoor terminal positioning algorithms, or the terminal positioning accuracy is insufficient after implementation. Few stations refers to the small number of access network devices (real physical devices) indoors. Existing indoor terminal positioning algorithms usually only use real physical devices as anchor points. The first anchor point in the present invention can be either a real physical device or a real object, or a virtual device or a virtual object. In an indoor environment, a real physical access network device can often correspond to multiple anchor points, thereby equivalently increasing the number of anchor points. For an NLOS environment, the non-direct path between the first terminal and the real physical device or real object can be equivalent to a direct path between the first terminal and the virtual device or virtual object corresponding to the real physical device or real object, thereby converting the NLOS path into a direct (line-of-sight, LOS) path. To address the problem of unknown anchor point location, the first information includes the location information of the first anchor point, so that the first terminal can determine the location of at least one first anchor point. To address the problem of unknown radio frequency remote delay, the first information includes the transmission delay corresponding to the first anchor point. The first anchor point can be a remote radio frequency head, so that the first terminal can determine the delay of the remote radio frequency head. To address the problem of unknown directional anchor point direction, the first information includes the angle information of the first anchor point. The first anchor point can be a directional anchor point, so that the first terminal can determine the direction of the directional anchor point. Therefore, the method described in the embodiment of the present application is conducive to improving the accuracy of the first terminal positioning.

[0193] In one possible implementation, a first terminal performs positioning based on first information of at least one first anchor point. Specifically, the first terminal obtains positioning information based on the first information of the at least one first anchor point and third information, where the third information includes second channel information and / or second multipath measurement information. The second channel information is wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is multipath measurement information of the wireless channel between the first terminal and the first access network device. For a description of the wireless channel information and multipath measurement information, refer to the description in step 401 and are not further described in this embodiment of the present application.

[0194] Optionally, the third information also includes internal sensor information of the first terminal. For the relevant description of the internal sensor information, please refer to the description in step 401, which will not be described in detail in this embodiment of the present application.

[0195] Optionally, the third information also includes fifth location information, which is the location information of the first terminal obtained by the first terminal through other methods. This fifth location information can also be referred to as the coarse-precision location information of the first terminal. Further, similar to the method for determining the second location information of the second terminal described above, the first terminal can also use the method for determining the second location information of the second terminal to determine the fifth location information.

[0196] Optionally, the second multipath measurement information is multipath measurement information obtained by the first terminal by inputting the second channel information into a multipath measurement information extraction algorithm. Furthermore, optionally, the information of the multipath measurement information extraction algorithm is obtained by training a network device. Specifically, the network device sends the information of the multipath measurement information extraction algorithm to the first terminal, and the first terminal receives the information of the multipath measurement extraction algorithm from the network device. The first terminal can determine the multipath measurement extraction algorithm based on the information of the multipath measurement extraction algorithm. For a description of the multipath measurement information extraction algorithm, refer to the description in step 401 and will not be elaborated on in this embodiment of the present application.

[0197] In one possible implementation, the network device sends an identifier of at least one cell associated with the first access network device to the first terminal. Correspondingly, the first terminal receives an identifier from the at least one cell associated with the first access network device. The identifier of the at least one cell associated with the first access network device can be used to assist the first terminal in determining its own rough location information. The identifier of the at least one cell associated with the first access network device can also be used to assist the first terminal in determining the applicable scope of the first information corresponding to the at least one first anchor point. It can be understood that the first terminal needs to ensure that the at least one first anchor point is related to the first access network device or the at least one cell, and the third information is also related to the first access network device or the at least one cell, in order to obtain positioning information based on the first information and third information of the at least one first anchor point, and the identifier of the at least one cell is used to assist in determining these two correlations.

[0198] Further optionally, the first terminal obtains positioning information based on the first information corresponding to the at least one first anchor point, which may be determined by BP, or determined by AP, or determined jointly by BP and AP.

[0199] In order to improve the accuracy of terminal positioning, in combination with the network architecture described in Figure 2 above, an embodiment of the present application proposes a positioning method, as shown in Figure 7, which includes steps 701 to 703. The execution subjects corresponding to the method shown in Figure 7 are the network device and the first terminal, or the execution subjects of the method shown in Figure 7 can be the network device and the chip in the first terminal. Figure 7 is illustrated using the network device and the first terminal as an example. The embodiment of the present application does not limit the execution subject of the positioning method. Among them:

[0200] 701. A network device determines a first positioning algorithm, where the first positioning algorithm is used for terminal positioning.

[0201] In the embodiment of the present application, the first positioning algorithm may also be referred to as a first positioning model, which is mainly used to assist the terminal in positioning.

[0202] Optionally, the first positioning algorithm is obtained by training the network device. Specifically, the network device determines the positioning model based on the second information, and the second information includes the first channel information and / or the first multipath measurement information. The first channel information is the wireless channel information between the second terminal and the first access network device, and the first multipath measurement information is the wireless channel multipath measurement information between the second terminal and the first access network device. The second information, first channel information and first multipath measurement information described in the embodiment of the present application are the same as the concepts of the second information, first channel information and first multipath measurement information described in the embodiment corresponding to Figure 4 above, and the embodiments of the present application are not repeated here. Further optionally, the network device determines the first positioning algorithm based on the second information through a SLAM algorithm. The SLAM algorithm is the same as the SLAM algorithm described in the embodiment of Figure 4, and is not repeated here.

[0203] The second terminal is a terminal that accumulates data and assists the network device in determining the first positioning algorithm, and the first terminal is a terminal that performs positioning. The second terminal and the first terminal can be the same terminal or different terminals. The number of second terminals can be one or more, and the number of first terminals can be one or more, which is not limited in this embodiment of the application.

[0204] In one possible implementation, a network device determines first information corresponding to at least one first anchor point in a first anchor point set, where the first information includes one or more of the following: first position information, first delay information, or first angle information. Optionally, the network device determines the first information corresponding to at least one first anchor point in the first anchor point set based on second information. Further, optionally, the network device obtains the first information corresponding to the at least one first anchor point in the first anchor point set based on the second information using a SLAM algorithm.

[0205] The first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror of the first access network device, the antenna of the first access network device, the mirror of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror image during the wireless signal propagation process of the first access network device.

[0206] Among them, the first anchor point, the first anchor point set, the first access network device, the first information, the first position information, the first delay information, and the first angle information described in the embodiment of the present application are the same as the concepts of the first anchor point, the first anchor point set, the first access network device, the first information, the first position information, the first delay information, and the first angle information in the embodiment corresponding to Figure 4 above. Please refer to the corresponding description in step 401 and will not be repeated here.

[0207] In one possible implementation, the second information also includes second location information and / or third location information corresponding to at least one first anchor point, where the second location information is the location information of the second terminal, and the third location information is the location information of the first anchor point. The second location information and the third location information are the same as those described in the embodiment of FIG. 4 , and reference can be made to the corresponding description in step 401, and are not further described here.

[0208] In a possible implementation, the second information further includes internal sensor information of the second terminal. The internal sensor information is the same as the internal sensor information described in the embodiment of FIG4 , and is not described in detail here.

[0209] 702. The network device sends information about the first positioning algorithm to the first terminal. Correspondingly, the first terminal receives the information about the first positioning algorithm from the network device.

[0210] In the embodiment of the present application, the information of the first positioning algorithm includes internal parameters or an acquisition method of the first positioning algorithm. After receiving the information of the first positioning algorithm, the first terminal can determine or acquire the first positioning algorithm according to the information of the first positioning algorithm.

[0211] Optionally, the network device sends first information corresponding to at least one first anchor point in the first anchor point set to the first terminal, and correspondingly, the first terminal receives first information corresponding to at least one first anchor point in the first anchor point set from the network device.

[0212] 703. The first terminal obtains positioning information based on the first positioning algorithm.

[0213] In the embodiment of the present application, the first terminal performs positioning based on the first positioning algorithm to obtain positioning information. This positioning information is conceptually the same as the positioning information described in FIG. 4 above and is not further described in detail in the embodiment of the present application. Optionally, if the first terminal receives first information from a first anchor point of the network device, the first terminal can obtain positioning information based on the first information and the first positioning algorithm.

[0214] Based on the method described in the embodiments of the present application, positioning using the first positioning algorithm trained by the network device is beneficial for improving the positioning accuracy of the first terminal. Moreover, in one possible implementation method, the first positioning algorithm can directly input wireless channel information without extracting wireless channel multipath measurement results from the wireless channel information. This can reduce the computational complexity of the terminal and reduce the error in the extraction of the wireless channel multipath measurement results of the terminal, thereby improving positioning accuracy.

[0215] In one possible implementation, the first terminal obtains positioning information based on the first positioning algorithm. Specifically, the first terminal inputs third information into the first positioning algorithm to obtain the positioning information. The third information is the same as the third information described in the embodiment of FIG. 4 , and can be found in the description of step 403 above, and is not further described here.

[0216] In one possible implementation, the first terminal obtains positioning information based on the first positioning algorithm and first information corresponding to at least one first anchor point in the first anchor point set. Specifically, the first terminal inputs third information and the first information corresponding to at least one first anchor point in the first anchor point set into the first positioning algorithm to obtain the positioning information. The third information is the same as the third information described in the embodiment of FIG. 4 , and reference is made to the description of step 403 above, and is not further described here.

[0217] Optionally, the third information also includes internal sensor information of the first terminal and / or fifth location information. The fifth location information is the same as the fifth location information described in the embodiment of Figure 4. Please refer to the description in the above step 403 and will not be repeated here.

[0218] Optionally, the information about the first positioning algorithm sent by the network device described above also includes an identifier of the cell to which the first positioning algorithm is applicable. The first terminal can determine the applicable scope of the first positioning algorithm based on the identifier of the cell to which the first positioning algorithm is applicable. The cell to which the first positioning algorithm is applicable includes at least one cell associated with the first access network device. The identifier of the cell to which the first positioning algorithm is applicable can be used to assist the first terminal in determining the applicable scope of the first positioning algorithm. It can be understood that the first terminal needs to ensure that the first positioning algorithm is related to the first access network device or the at least one cell, and the third information is also related to the first access network device or the at least one cell, before obtaining positioning information based on the first positioning algorithm and the third information, and the identifier of the at least one cell is used to assist in determining these two correlations.

[0219] In order to improve the accuracy of terminal positioning, an embodiment of the present application proposes a positioning method, as shown in Figure 8, which includes steps 801 to 803. The execution subjects corresponding to the method shown in Figure 8 are the network device and the first terminal, or the execution subjects of the method shown in Figure 8 can be the network device and the chip in the first terminal. Figure 8 is illustrated using the network device and the first terminal as an example. The embodiment of the present application does not limit the execution subject of the positioning method. The first terminal can be the terminal corresponding to the description of the communication system shown in Figure 1. Among them:

[0220] 801. A network device determines first information and / or a first positioning algorithm corresponding to at least one first anchor point in a first anchor point set, where the first information includes one or more of the following information: first position information, first delay information, or first angle information. The positioning algorithm is used for terminal positioning.

[0221] In an embodiment of the present application, the first information is the same as the first information described in the embodiment corresponding to Figure 4 above, and the first positioning algorithm is the same as the first positioning algorithm described in the embodiment corresponding to Figure 7 above. The specific implementation method of the network device determining the first information of the first anchor point and / or the first positioning algorithm can refer to the description corresponding to the above steps 401 and 701, and the embodiment of the present application will not be repeated here.

[0222] 802. The network device obtains positioning information of the first terminal based on first information corresponding to at least one first anchor point and / or a first positioning algorithm.

[0223] In the embodiment of the present application, the positioning information of the first terminal is the same as the positioning information described in the corresponding embodiment in Figure 4 above. The specific implementation method of step 802 can refer to the description in the above steps 403 and 703. The main difference is that the execution subject of steps 403 and 703 is the first terminal, and the execution subject of step 802 is the network device. The embodiment of the present application will not be repeated here.

[0224] In one possible implementation, the network device obtains the positioning information of the first terminal based on the first information of at least one first anchor point and / or the first positioning algorithm. The specific implementation is that the network device obtains the positioning information of the first terminal based on the third information, the first information of at least one first anchor point and / or the first positioning algorithm. Optionally, the third information can be determined by the network device itself, or sent to the network device by the first terminal, that is, the first terminal sends the third information to the network device, and correspondingly, the network device receives the third information from the first terminal. Of course, the network device can also obtain the third information through other devices other than the first terminal, and this embodiment of the present application is not limited to this. The third information is the same as the third information described in the embodiment corresponding to Figure 4 above, and the embodiment of the present application will not be repeated here.

[0225] 803. The network device sends the positioning information of the first terminal to the first terminal.

[0226] Since the indoor wireless communication environment is generally more complex, there are situations such as few stations, NLOS environment, unknown anchor point location, unknown radio frequency pull-off delay, and unknown directional anchor point direction, which makes the existing indoor terminal positioning algorithm impossible or difficult to implement, or the terminal positioning accuracy is insufficient after implementation. Few stations means that the number of access network devices (real physical devices) indoors is small. The existing indoor terminal positioning algorithm usually only uses real physical devices as anchor points. The first anchor point in the present invention can be either a real physical device or a real object, or a virtual device or a virtual object. In an indoor environment, a real physical access network device can often correspond to multiple anchor points, thereby equivalently increasing the number of anchor points. For an NLOS environment, the non-direct path between the first terminal and the real physical device or real object can be equivalent to a direct path between the first terminal and the virtual device or virtual object corresponding to the real physical device or real object, thereby converting the NLOS path into a direct LOS path. To address the problem of unknown anchor point location, the first information includes the location information of the first anchor point, so that the first terminal can determine the location of at least one first anchor point. To address the problem of unknown radio frequency delay, the first information includes the transmission delay corresponding to the first anchor point. The first anchor point can be a remote radio frequency head, so that the first terminal can determine the delay of the remote radio frequency head. To address the problem of unknown direction of the directional anchor point, the first information includes the angle information of the first anchor point. The first anchor point can be a directional anchor point, so that the first terminal can determine the direction of the directional anchor point. Therefore, positioning through the first information and / or the first positioning algorithm determined by the network device is conducive to improving the positioning accuracy of the first terminal. In addition, in this embodiment, the determination of the positioning information of the first terminal by the network device is also conducive to reducing the amount of computation of the first terminal.

[0227] It should be noted that the methods described in the above embodiments of the present application are not only applicable to indoor environments, but also to outdoor environments where there may be a situation where one real physical access network device corresponds to multiple anchor points. Therefore, the outdoor environment is also applicable to the method proposed in the present application. The embodiments of the present application do not limit the environment in which the proposed method is applicable. In outdoor environments, the various methods proposed in the embodiments of the present application can also work in conjunction with or independently of other positioning methods (such as GNSS positioning). I will not go into details here.

[0228] It should be noted that the methods described in the above embodiments of the present application are mainly introduced based on the example of a real physical access network device (i.e., a first access network device) in the environment. The terminal is assisted in positioning by using the anchor point (i.e., the first anchor point) associated with the real physical access network device. It is understandable that the methods described in the embodiments of the present application are also applicable to scenarios with multiple real physical access network devices. For example, in the case of M real physical access network devices, one real physical access network device can correspond to an anchor point set. Different real physical access network devices correspond to different anchor point sets. Each anchor point set includes at least one anchor point. It is understandable that the anchor points included in the anchor point set are related to the real physical access network device to which it corresponds. The total number of all anchor points included in the M anchor point sets corresponding to the M real physical access network devices is N. The N anchor points can be used to assist in terminal positioning. M is less than or equal to N, and both M and N are positive integers.

[0229] Exemplarily, in addition to the first anchor point related to the first access network device described in the above embodiment, which can be used to assist terminal positioning, there can also be other anchor points related to access network devices to assist terminals. For example, there can also be a second access network device, which is related to a second anchor point set. The second anchor point set includes at least one second anchor point, which can be used to assist terminal positioning. The second anchor point can be the second access network device, the mirror of the second access network device, the antenna of the second access network device, the mirror of the antenna of the second access network device, the remote radio frequency head of the second access network device, the mirror of the remote radio frequency head of the second access network device, the wireless signal scatterer or its mirror image in the wireless signal propagation process of the second access network device, and other anchor points.

[0230] To implement the various functions of the methods provided in the embodiments of the present application, the network device and the first terminal may each include hardware structures and / or software modules, and implement the aforementioned functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular one of the aforementioned functions is implemented in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0231] Please refer to Figure 9, which shows a schematic diagram of the structure of a communication device according to an embodiment of the present application. The communication device may be a network device or a first terminal, or a device that can be used in conjunction with the network device or the first terminal. In one possible implementation, the communication device may include a module or unit that corresponds to the method / operation / step / action performed by the first terminal or network device in the method embodiment shown in Figures 4, 7, or 8 above. The unit may be a hardware circuit, software, or a combination of hardware circuit and software.

[0232] The communication device shown in Figure 9 may include a processing unit 901 and a communication unit 902. The processing unit 901 is configured to process data. The communication unit 902 integrates a receiving unit and a transmitting unit. The communication unit 902 may also be referred to as a transceiver unit. Alternatively, the communication unit 902 may be split into a receiving unit and a transmitting unit.

[0233] The communication device shown in FIG9 can be a network device, or a device that can be used in conjunction with a network device. The communication device can also be a chip system.

[0234] When the communication device is used to execute part or all of the functions of the network device in the method embodiment described in Figure 4 above, the processing unit 901 is used to determine first information corresponding to at least one first anchor point in the first anchor point set, where the first information includes one or more of the following information: first position information, first delay information, or first angle information; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, or a wireless signal scatterer or its mirror image in the wireless signal propagation process of the first access network device; the communication unit 902 is used to send the first information of at least one first anchor point in the first anchor point set to the first terminal.

[0235] In one possible implementation, the processing unit 901 determines the first information corresponding to at least one first anchor point in the first anchor point set, and is specifically used to: determine at least one first anchor point in the first anchor point set based on the second information, the second information includes first channel information and / or first multipath measurement information, the first channel information is the wireless channel information between the second terminal and the first access network device, and the first multipath measurement information is the wireless channel multipath measurement information between the second terminal and the first access network device.

[0236] In a possible implementation, before the processing unit 901 determines the first information corresponding to at least one first anchor point in the first anchor point set based on the second information, the communication unit 902 is further configured to receive first channel information and / or first multipath measurement information from the second terminal.

[0237] In a possible implementation manner, the first multipath measurement information is multipath measurement information obtained by inputting the first channel information into a multipath measurement information extraction algorithm.

[0238] In a possible implementation, the communication unit 902 is further configured to send information about a multipath measurement information extraction algorithm to the first terminal.

[0239] In one possible implementation, the second information also includes second location information and / or third location information corresponding to at least one first anchor point, the second location information is the location information of the second terminal, and the third location information is the location information of the first anchor point; the communication unit 902 is also used to receive the second location information from the second terminal and / or the third location information corresponding to at least one first anchor point.

[0240] In a possible implementation manner, the second information further includes internal sensor information of the second terminal.

[0241] In a possible implementation manner, the second information further includes time information corresponding to when the second terminal obtains the first channel information.

[0242] In one possible implementation, the processing unit 901 determines the first information corresponding to at least one first anchor point in the first anchor point set based on the second information, and is specifically used to determine the first information corresponding to at least one first anchor point in the first anchor point set through a wireless simultaneous positioning and mapping SLAM algorithm based on the second information.

[0243] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0244] In one possible implementation, the first multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0245] In a possible implementation, the delay information includes signal transmission delay and / or radio frequency remote delay.

[0246] In a possible implementation, the angle information includes azimuth angle information and / or downtilt angle information of the antenna.

[0247] When the communication device is used to execute part or all of the functions of the first terminal in the method embodiment described in Figure 4 above, the communication unit 902 is used to receive first information corresponding to at least one first anchor point in the first anchor point set; the first information includes one or more of the following information: first position information, first delay information, or first angle information; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror image in the wireless signal propagation process of the first access network device; the processing unit 901 is used to obtain the positioning information of the first terminal based on the first information corresponding to at least one first anchor point in the first anchor point set.

[0248] In one possible implementation, when the processing unit 901 obtains positioning information based on the first information corresponding to at least one first anchor point in the first anchor point set, it is specifically used to: obtain the positioning information of the first terminal based on the first information corresponding to at least one first anchor point in the first anchor point set and third information, the third information includes second channel information and / or second multipath measurement information, the second channel information is the wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is the wireless channel multipath measurement information between the first terminal and the first access network device.

[0249] In a possible implementation manner, the second multipath measurement information is multipath measurement information obtained by inputting the second channel information into a multipath measurement information extraction algorithm.

[0250] In a possible implementation, the communication unit 902 is further configured to receive information of a multipath measurement information extraction algorithm.

[0251] In a possible implementation manner, the third information further includes internal sensor information of the first terminal.

[0252] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0253] In one possible implementation, the second multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the first terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the first terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0254] In a possible implementation, the delay information includes signal transmission delay and / or radio frequency remote delay.

[0255] In a possible implementation, the angle information includes azimuth angle information and / or downtilt angle information of the antenna.

[0256] When the communication device is used to execute part or all of the functions of the network device in the method embodiment described in Figure 7 above, the processing unit 901 is used to determine a first positioning algorithm, which is used for terminal positioning; and the communication unit 902 is used to send information about the first positioning algorithm to the first terminal.

[0257] In one possible implementation, the processing unit 901 is also used to determine the first information corresponding to at least one first anchor point in the first anchor point set based on the wireless SLAM algorithm; the communication unit 902 is also used to send the first information corresponding to at least one first anchor point in the first anchor point set to the first terminal, and the first information includes one or more of the following information: first position information, first delay information, or first angle information; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror image during the wireless signal propagation process of the first access network device.

[0258] In a possible implementation, the information of the first positioning algorithm further includes an identifier of a cell to which the first positioning algorithm is applicable and / or first information of an anchor point related to the cell.

[0259] In one possible implementation, when the processing unit 901 determines the first positioning algorithm, it is specifically used to determine the first positioning algorithm based on the second information, the second information includes first channel information and / or first multipath measurement information, the first channel information is the wireless channel information between the second terminal and the first anchor point, and the first multipath measurement information is the wireless channel multipath measurement information between the second terminal and the first anchor point.

[0260] In a possible implementation, before the processing unit 901 determines the first positioning algorithm based on the second information, the communication unit 902 is further configured to receive first channel information and / or first multipath measurement information from the second terminal.

[0261] In a possible implementation manner, the first multipath measurement information is multipath measurement information obtained by inputting the first channel information into a multipath measurement information extraction algorithm.

[0262] In a possible implementation, the communication unit 902 is further configured to send information about a multipath measurement information extraction algorithm to the first terminal and / or the second terminal.

[0263] In one possible implementation, the second information also includes second location information and / or third location information corresponding to at least one first anchor point, the second location information is the location information of the second terminal, and the third location information is the location information of the first anchor point; the communication unit 902 is also used to receive the second location information from the second terminal and / or the third location information corresponding to at least one first anchor point.

[0264] In a possible implementation manner, the second information further includes internal sensor information of the second terminal.

[0265] In a possible implementation manner, the second information further includes time information corresponding to when the second terminal obtains the first channel information.

[0266] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0267] In one possible implementation, the first multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0268] At least one path of the wireless channel between the second terminal and the first access network device can be understood as the path between the second terminal and a first anchor point related to the first access network device. The path is a direct path or an equivalent direct path. The equivalent direct path can be understood as the non-direct path between the second terminal and the first access network device is converted into a direct path between the second terminal and the first anchor point by introducing the first anchor point related to the first access network device.

[0269] In a possible implementation, the first delay information includes a signal transceiver circuit delay and / or a radio frequency transmission delay.

[0270] In a possible implementation manner, the first angle information includes azimuth angle information and / or downtilt angle information of the directional anchor point.

[0271] In a possible implementation manner, the information of the first positioning algorithm further includes an identifier of a cell to which the first positioning algorithm is applicable and / or first information of an anchor point related to the cell to which the first positioning algorithm is applicable.

[0272] In a possible implementation, the communication unit 902 is further configured to send an identifier of at least one cell associated with the first access network device to the first terminal.

[0273] When the communication device is used to execute part or all of the functions of the first terminal in the method embodiment described in Figure 7 above, the communication unit 902 is used to receive information of the first positioning algorithm; and the processing unit 901 is used to obtain positioning information based on the first positioning algorithm.

[0274] In one possible implementation, the communication unit 902 is further used to receive first information corresponding to at least one first anchor point in the first anchor point set; the first information includes one or more of the following information: first position information, first delay information, or first angle information; the anchor point is a reference point used to anchor the position of the terminal device; the first position information is the position information of the first anchor point, the first delay information is the delay information of the first anchor point, and the first angle information is the angle information of the first anchor point; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror in the wireless signal propagation process of the first access network device; when the processing unit 901 obtains the positioning information based on the first positioning algorithm, it is specifically used to obtain the positioning information based on the first information corresponding to at least one first anchor point in the first anchor point set and the first positioning algorithm.

[0275] In a possible implementation, the information of the first positioning algorithm further includes an identifier of a cell to which the first positioning algorithm is applicable and / or first information of an anchor point related to the cell.

[0276] In one possible implementation, the processing unit 901 obtains positioning information based on the first positioning algorithm, and is specifically used by the first terminal to obtain positioning information based on third information and the first positioning algorithm, where the third information includes second channel information and / or second multipath measurement information, the second channel information is the wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is the wireless channel multipath measurement information between the first terminal and the first access network device.

[0277] In a possible implementation manner, the second multipath measurement information is multipath measurement information obtained by inputting the second channel information into a multipath measurement information extraction algorithm.

[0278] In a possible implementation, the communication unit 902 is further configured to receive information of a multipath measurement information extraction algorithm.

[0279] In a possible implementation manner, the third information further includes internal sensor information of the first terminal.

[0280] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0281] In one possible implementation, the second multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the first terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the first terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0282] In a possible implementation, the delay information includes signal transmission delay and / or radio frequency remote delay.

[0283] In a possible implementation, the angle information includes azimuth angle information and / or downtilt angle information of the antenna.

[0284] When the communication device is used to execute part or all of the functions of the network device in the method embodiment described in Figure 8 above, the processing unit 901 is used to determine the first information and / or the first positioning algorithm corresponding to at least one first anchor point in the first anchor point set, where the first information includes one or more of the following information: first position information, first delay information, or first angle information; the anchor point is a reference point used to anchor the position of the terminal device; the first anchor point set is related to the first access network device, and the first anchor point is one of the following anchor points: the first access network device, the mirror image of the first access network device, the antenna of the first access network device, the mirror image of the antenna of the first access network device, the remote radio frequency head of the first access network device, the mirror image of the remote radio frequency head of the first access network device, the wireless signal scatterer or its mirror image in the wireless signal propagation process of the first access network device; the processing unit 901 is also used to obtain the positioning information of the first terminal based on the first information corresponding to at least one anchor point and / or the first positioning algorithm; the communication unit 902 is used to send the location information to the first terminal.

[0285] In one possible implementation, the processing unit 901 determines the first information and / or the first positioning algorithm, and is specifically used to: determine the first information and / or the first positioning algorithm corresponding to at least one first anchor point in the first anchor point set based on the second information, the second information includes first channel information and / or first multipath measurement information, the first channel information is the wireless channel information between the second terminal and the first access network device, and the first multipath measurement information is the wireless channel multipath measurement information between the second terminal and the first access network device.

[0286] In a possible implementation, before the processing unit 901 determines the first information and / or the first positioning algorithm based on the second information, the communication unit 902 is further configured to receive first channel information and / or first multipath measurement information from the second terminal.

[0287] In a possible implementation manner, the first multipath measurement information is multipath measurement information obtained by inputting the first channel information into a multipath measurement information extraction algorithm.

[0288] In a possible implementation, the communication unit 902 is further configured to send information about a multipath measurement information extraction algorithm to the first terminal and / or the second terminal.

[0289] In one possible implementation, the second information also includes second location information and / or third location information corresponding to at least one first anchor point, the second location information is the location information of the second terminal, and the third location information is the location information of the first anchor point; the communication unit 902 is used to receive the second location information from the second terminal and / or the third location information corresponding to at least one first anchor point.

[0290] In a possible implementation manner, the second information further includes internal sensor information of the second terminal.

[0291] In a possible implementation manner, the second information further includes time information corresponding to when the second terminal obtains the first channel information.

[0292] In one possible implementation, when the processing unit 901 obtains the positioning information of the first terminal based on the first information corresponding to at least one anchor point and / or the first positioning algorithm, it is specifically used to: the network device obtains the positioning information of the first terminal based on the third information and the first information corresponding to at least one anchor point and / or the first positioning algorithm, the third information includes second channel information and / or second multipath measurement information, the second channel information is the wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is the wireless channel multipath measurement information between the first terminal and the first access network device.

[0293] In one possible implementation, before the processing unit 901 obtains the positioning information of the first terminal based on the first information corresponding to at least one anchor point and / or the first positioning algorithm, the communication unit 902 is further used to receive second channel information and / or second multipath measurement information from the first terminal.

[0294] In a possible implementation manner, the third information further includes internal sensor information of the first terminal, and the method further includes: the network device receiving the internal sensor information from the first terminal.

[0295] In a possible implementation manner, the wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

[0296] In one possible implementation, the first multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0297] In one possible implementation, the second multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the first terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the first terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

[0298] In a possible implementation, the delay information includes signal transmission delay and / or radio frequency remote delay.

[0299] In a possible implementation, the angle information includes azimuth angle information and / or downtilt angle information of the antenna.

[0300] Figure 10 shows a schematic diagram of the structure of another communication device. The communication device 1000 can be the first terminal in the above method embodiment, or can be a chip, chip system, or processor that supports the first terminal to implement the above method. This communication device can be used to implement the method described in the above method embodiment. For details, please refer to the description of the above method embodiment.

[0301] Alternatively, the communication device 1000 may be the network device in the above method embodiment, or may be a chip, chip system, or processor that supports the network device to implement the above method. The communication device may be used to implement the method described in the above method embodiment, and for details, please refer to the description of the above method embodiment.

[0302] The communication device 1000 may include one or more processors 1001. The processor 1001 may be a general-purpose processor or a dedicated processor. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, while the central processing unit may be used to control a communication device (e.g., a base station, a baseband chip, a terminal, a terminal chip, a first terminal, or a network device), execute software programs, and process data in the software programs.

[0303] Optionally, the communication device 1000 may include one or more memories 1002, on which instructions 1004 may be stored. The instructions may be executed on the processor 1001, causing the communication device 1000 to perform the method described in the above method embodiment. Optionally, data may also be stored in the memory 1002. The processor 1001 and memory 1002 may be provided separately or integrated together.

[0304] Optionally, the communication device 1000 may further include a transceiver 1005 and an antenna 1006. The transceiver 1005 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., and is configured to implement transceiver functions. The transceiver 1005 may include a receiver and a transmitter. The receiver may be referred to as a receiver or a receiving circuit, etc., and is configured to implement a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., and is configured to implement a transmitting function.

[0305] The communication device 1000 is a first terminal: the processor 1001 is used to perform the data processing operation of the first terminal in the above method embodiment. The transceiver 1005 is used to perform the data sending and receiving operation of the first terminal in the above method embodiment.

[0306] Alternatively, the communication device 1000 is a network device: the processor 1001 is used to execute the data processing operation of the network device in the above method embodiment. The transceiver 1005 is used to execute the data transceiver operation of the network device in the above method embodiment.

[0307] In another possible design, processor 1001 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and transmitting functions may be separate or integrated. The transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or the transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

[0308] In another possible design, processor 1001 may optionally store instructions 1003. Instructions 1003, when executed on processor 1001, may cause communication device 1000 to perform the method described in the above method embodiment. Instructions 1003 may be fixed in processor 1001. In this case, processor 1001 may be implemented by hardware.

[0309] In another possible design, the communication device 1000 may include a circuit that can implement the functions of sending, receiving, or communicating in the aforementioned method embodiments. The processor and transceiver described in the embodiments of the present application can be implemented on an integrated circuit (IC), an analog IC, a radio frequency integrated circuit (RFIC), a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc.

[0310] The communication device described in the above embodiments may be a first terminal or a network device, but the scope of the communication device described in the embodiments of the present application is not limited thereto, and the structure of the communication device may not be limited to FIG10. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be:

[0311] (1) An independent integrated circuit (IC), or chip, or chip system or subsystem;

[0312] (2) A set of one or more ICs, optionally including a storage component for storing data and instructions;

[0313] (3) ASIC, such as modem (mobile station modem, MSM);

[0314] (4) Modules that can be embedded in other devices;

[0315] (5) Receivers, terminals, smart terminals, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, cloud devices, artificial intelligence devices, etc.;

[0316] (6)Others, etc.

[0317] In the case where the communication device can be a chip or a chip system, please refer to the chip structure diagram shown in Figure 11. The chip shown in Figure 11 includes a processor 1101 and an interface 1102. Optionally, it may also include a memory 1103. The number of processors 1101 can be one or more, and the number of interfaces 1102 can be multiple.

[0318] In one design, for a case where the chip is used to implement the function of the first terminal in the embodiments of the present application:

[0319] The interface 1102 is used to input or output signals;

[0320] The processor 1101 is configured to execute the data processing operation of the first terminal in the above method embodiment.

[0321] In another design, for the case where the chip is used to implement the functions of the network device in the embodiments of the present application:

[0322] The interface 1102 is used to input or output signals;

[0323] The processor 1101 is configured to execute the data processing operation of the network device in the above method embodiment.

[0324] It is understandable that some optional features in the embodiments of the present application may, in certain scenarios, be implemented independently of other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features in certain scenarios as needed. Accordingly, the communication device provided in the embodiments of the present application may also implement these features or functions accordingly, which will not be described in detail here.

[0325] It should be understood that the processor in the embodiment of the present application can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiment can be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software. The above processor can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0326] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0327] The present application also provides a computer-readable medium for storing computer software instructions, which, when executed by a communication device, implement the functions of any of the above method embodiments.

[0328] The present application also provides a computer program product for storing computer software instructions, which, when executed by a communication device, implements the functions of any of the above method embodiments.

[0329] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state drive (SSD)).

[0330] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

Claims

1. A positioning method, characterized in that: The method comprises: Determining first information, where the first information corresponds to at least one first anchor point in a first anchor point set, wherein the first information includes one or more of the following information: first position information, first delay information, or first angle information, where the first position information is position information of the first anchor point, the first delay information is delay information of the first anchor point, and the first angle information is angle information of the first anchor point; The first anchor point set is related to the first access network device, where the first anchor point is one of the following anchor points: the first access network device, a mirror image of the first access network device, an antenna of the first access network device, a mirror image of the antenna of the first access network device, a remote radio head of the first access network device, a mirror image of the remote radio head of the first access network device, or a wireless signal scatterer or its mirror image during wireless signal propagation of the first access network device; Send the first information to the first terminal.

2. The method according to claim 1, characterized in that The determining of the first information includes: The first information is determined based on the second information, where the second information includes first channel information and / or first multipath measurement information, the first channel information is the wireless channel information between the second terminal and the first access network device, and the first multipath measurement information is the wireless channel multipath measurement information between the second terminal and the first access network device.

3. The method according to claim 2, characterized in that Before determining the first information based on the second information, the method further includes: Receive the first channel information and / or the first multipath measurement information from the second terminal.

4. The method according to claim 2, characterized in that The first multipath measurement information is multipath measurement information obtained by inputting the first channel information into a multipath measurement information extraction algorithm.

5. The method according to claim 4, characterized in that The method further comprises: Send information about the multipath measurement information extraction algorithm to the first terminal and / or the second terminal.

6. The method according to any one of claims 2 to 5, wherein the second information further includes second location information and / or third location information corresponding to at least one first anchor point, the second location information is location information of the second terminal, and the third location information is location information of the first anchor point; The method further comprises: Receive the second location information from the second terminal and / or third location information corresponding to the at least one first anchor point.

7. The method according to any one of claims 2 to 6, characterized in that The second information further includes internal sensor information of the second terminal.

8. The method according to any one of claims 2 to 7, characterized in that The second information also includes time information corresponding to when the second terminal obtains the first channel information.

9. The method according to any one of claims 2 to 8, characterized in that The determining the first information based on the second information includes: Based on the second information, the first information is determined by a wireless simultaneous localization and mapping (SLAM) algorithm.

10. The method according to any one of claims 1 to 9, characterized in that The wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

11. The method according to any one of claims 1 to 10, characterized in that The first multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the second terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the second terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

12. The method according to any one of claims 1 to 11, characterized in that The first delay information includes signal transceiver circuit delay and / or radio frequency transmission delay.

13. The method according to any one of claims 1 to 12, characterized in that The first angle information includes azimuth angle information and / or downtilt angle information of a directional anchor point.

14. A positioning method, characterized in that: The method comprises: receiving first information corresponding to at least one first anchor point included in the first anchor point set, wherein the first information includes one or more of the following information: first position information, first delay information, or first angle information; The first anchor point set is related to the first access network device, where the first anchor point is one of the following anchor points: the first access network device, a mirror image of the first access network device, an antenna of the first access network device, a mirror image of the antenna of the first access network device, a remote radio head of the first access network device, a mirror image of the remote radio head of the first access network device, or a wireless signal scatterer or its mirror image during wireless signal propagation of the first access network device; Positioning information is obtained based on the first information.

15. The method according to claim 14, characterized in that The obtaining positioning information based on the first information includes: The positioning information is obtained based on the first information and third information corresponding to the at least one first anchor point, the third information includes second channel information and / or second multipath measurement information, the second channel information is the wireless channel information between the first terminal and the first access network device, and the second multipath measurement information is the wireless channel multipath measurement information between the first terminal and the first access network device.

16. The method according to claim 15, characterized in that The second multipath measurement information is multipath measurement information obtained by inputting the second channel information into a multipath measurement information extraction algorithm.

17. The method according to claim 16, characterized in that The method further comprises: Receive information of the multipath measurement information extraction algorithm.

18. The method according to any one of claims 14 to 17, characterized in that The third information also includes internal sensor information of the first terminal.

19. The method according to any one of claims 14 to 18, wherein: The wireless channel information includes one or more of the following information: channel impulse response CIR, channel state information CSI, power delay profile PDP, or delay profile DP.

20. The method according to any one of claims 14 to 19, characterized in that: The second multipath measurement information includes the arrival time difference TDOA of at least two paths of the multiple paths of the wireless channel between the first terminal and the first access network device and / or one or more of the following measurement information of at least one path of the wireless channel between the first terminal and the first access network device: received signal strength RSS, path loss, arrival time TOA, flight time TOF, arrival angle AoA, departure angle AoD, round-trip time RTT, phase information, and phase difference information.

21. The method according to any one of claims 14 to 20, characterized in that: The first delay information includes signal transceiver circuit delay and / or radio frequency transmission delay.

22. The method according to any one of claims 14 to 21, characterized in that The first angle information includes azimuth angle information and / or downtilt angle information of a directional anchor point.

23. A communication device, characterized in that: The communication device includes a module or unit for executing the method according to any one of claims 1 to 13, or the communication device includes a module or unit for executing the method according to any one of claims 14 to 22.

24. A communication device, characterized in that: The method comprises a processor coupled to a memory, wherein the processor is configured to execute a computer program or instruction stored in the memory to implement the method according to any one of claims 1 to 13, or to implement the method according to any one of claims 14 to 22.

25. The device according to claim 24, characterized in that The device further includes the memory and / or a transceiver, and the transceiver is configured to transmit and receive data and / or signaling.

26. A communication device, characterized in that: The method comprises a processor and an interface circuit, wherein the interface circuit is used to receive a signal from a communication device other than the communication device and transmit the signal to the processor or send the signal from the processor to the communication device other than the communication device, wherein the processor causes the method according to any one of claims 1 to 13 to be executed through a logic circuit or an execution instruction, or the processor causes the method according to any one of claims 14 to 22 to be executed through a logic circuit or an execution instruction.

27. A computer-readable storage medium, characterized in that The storage medium stores a computer program or instruction. When the computer program or instruction is executed by the communication device, the method according to any one of claims 1 to 13 is executed, or the method according to any one of claims 14 to 22 is executed.

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