Positioning method and apparatus, device, and storage medium

Abstract

The present application relates to the technical field of communications, and discloses a positioning method and apparatus, a device, and a storage medium. The positioning method of embodiments of the present application comprises: a low-power IoT device receives at least one continuous wave sent by a first device, and sends a feedback signal responding to the continuous wave, wherein the continuous wave and / or the feedback signal is used for determining at least one of the following pieces of position information: position information of the low-power IOT device and position information of the first device.

Description

Positioning method, device, equipment and storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 19, 2024, with application number 202410185361.1 and invention name “Positioning method, device, equipment and storage medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of wireless communication technology, and specifically relates to a positioning method, apparatus, device and storage medium. Background Art

[0003] Low-power Internet of Things (IoT) devices have low transmit and receive power consumption. Their communication energy primarily comes from the environment, such as wind, kinetic energy, thermal energy, or radio frequency (RF) signals. Therefore, low-power IoT devices are also called ambient IoT (A-IoT) devices. Low-power IoT devices have limited capabilities and transmit signals through backscattered RF signals.

[0004] When locating low-power IoT devices through a communication network, it is difficult to locate low-power IoT devices due to their limited capabilities. Summary of the Invention

[0005] The embodiments of the present application provide a positioning method, apparatus, device, and storage medium that can solve the problem of being unable to locate low-power IoT devices.

[0006] In a first aspect, a positioning method is provided, which is performed by a low-power IoT device. The method includes:

[0007] receiving at least one continuous wave sent by the first device;

[0008] A feedback signal is sent in response to the continuous wave, where the continuous wave and / or the feedback signal is used to determine at least one of the following location information: location information of the low-power IoT device and location information of the first device.

[0009] In a second aspect, a positioning method is provided, which is performed by a first device, and the method includes:

[0010] Sending at least one continuous wave to a low-power IoT device;

[0011] receiving a feedback signal in response to the continuous wave;

[0012] Obtaining a measurement result of a feedback signal corresponding to the at least one continuous wave;

[0013] The measurement result is sent to a second device or at least one of the following location information is determined based on the measurement result: the location information of the low-power IoT device and the location information of the first device.

[0014] According to a third aspect, a positioning method is provided, which is performed by a second device. The method includes:

[0015] receiving a measurement result of at least one feedback signal sent by a first device, where the at least one feedback signal is sent by a low-power Internet of Things (IoT) device in response to at least one continuous wave sent by the first device;

[0016] Determine at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

[0017] In a fourth aspect, a positioning device is provided, the device comprising:

[0018] a receiving module, configured to receive at least one continuous wave sent by the first device;

[0019] A sending module is used to send a feedback signal in response to the continuous wave, where the continuous wave and / or the feedback signal are used to determine at least one of the following location information: location information of the low-power IoT device and location information of the first device.

[0020] In a fifth aspect, a positioning device is provided, the device comprising:

[0021] A sending module, configured to send at least one continuous wave to a low-power IoT device;

[0022] a receiving module, configured to receive a feedback signal in response to the continuous wave;

[0023] a processing module, configured to obtain a measurement result of a feedback signal corresponding to the at least one continuous wave;

[0024] The processing module is further configured to send the measurement result to a second device or determine at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

[0025] In a sixth aspect, a positioning device is provided, the device comprising:

[0026] a receiving module, configured to receive a measurement result of at least one feedback signal sent by a first device, where the at least one feedback signal is sent by a low-power Internet of Things (IoT) device in response to at least one continuous wave sent by the first device;

[0027] A positioning module is used to determine at least one of the following location information based on the measurement result: the location information of the low-power IoT device and the location information of the first device.

[0028] In the seventh aspect, a low-power IoT device is provided, which terminal includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0029] In an eighth aspect, a low-power IoT device is provided, comprising a processor and a communication interface, wherein the communication interface is used to receive at least one continuous wave sent by a first device, and send a feedback signal in response to the continuous wave, and the continuous wave and / or feedback signal is used to determine at least one of the following location information: the location information of the low-power IoT device, and the location information of the first device.

[0030] In a ninth aspect, a first device is provided, comprising a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the second aspect are implemented.

[0031] In the tenth aspect, a first device is provided, comprising a processor and a communication interface, wherein the communication interface is used to send at least one continuous wave to a low-power Internet of Things (IoT) device and receive a feedback signal from the low-power IoT device in response to the continuous wave; the processor is used to obtain a measurement result of the feedback signal corresponding to the at least one continuous wave, or determine at least one of the following location information based on the measurement result: the location information of the low-power IoT device, the location information of the first device, or the communication interface is also used to send the measurement result to a second device.

[0032] In the eleventh aspect, a second device is provided, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the third aspect are implemented.

[0033] In the twelfth aspect, a second device is provided, including a processor and a communication interface, wherein the communication interface is used to receive a measurement result of at least one feedback signal sent by a first device, and the at least one feedback signal is sent by a low-power Internet of Things (IoT) device in response to at least one continuous wave sent by the first device; the processor is used to determine at least one of the following location information based on the measurement result: the location information of the low-power IoT device and the location information of the first device.

[0034] In the thirteenth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented, or the steps of the method described in the third aspect are implemented.

[0035] In the fourteenth aspect, a wireless communication system is provided, including: a low-power IoT device, a first device and a second device, wherein the low-power IoT device can be used to execute the steps of the method described in the first aspect, the first device can be used to execute the steps of the method described in the second aspect, and the third device can be used to execute the steps of the method described in the third aspect.

[0036] In the fifteenth aspect, a chip is provided, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the method as described in the first aspect, or the method as described in the second aspect, or the method as described in the third aspect.

[0037] In the sixteenth aspect, a computer program / program product is provided, which is stored in a storage medium, and the program / program product is executed by at least one processor to implement the steps of the positioning method as described in the first aspect, or implement the steps of the positioning method as described in the second aspect, or implement the steps of the positioning method as described in the third aspect.

[0038] In an embodiment of the present application, a first device sends at least one continuous wave to a low-power IoT device, and the low-power IoT device sends a feedback signal in response to the continuous wave. The first device obtains a measurement result of the feedback signal corresponding to the at least one continuous wave, and determines at least one of the following location information based on the measurement result: the location information of the low-power IoT device, the location information of the first device, or the first device sends the measurement result to a second device, and the second device determines the location information of the low-power IoT device and / or the location information of the first device based on the measurement result, thereby realizing positioning of the low-power IoT device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] FIG1 shows a block diagram of a wireless communication system to which embodiments of the present application may be applied;

[0040] FIG2 is a schematic diagram of backscatter communication;

[0041] FIG3 is a schematic diagram of the backscatter communication principle provided by the present application;

[0042] FIG4 is a flowchart of a positioning method provided in Example 1 of the present application;

[0043] Figure 5 is a schematic diagram showing the timing relationship between a low-power IoT device receiving a continuous wave and sending a feedback signal;

[0044] Figure 6 is a timing diagram of a low-power IoT device receiving a CW and feeding back an OOK;

[0045] Figure 7 is a timing diagram of a low-power IoT device receiving two CWs and sending two OOKs;

[0046] FIG8 is a flowchart of a positioning method provided in Example 2 of the present application;

[0047] FIG9 is a flowchart of a positioning method provided in Example 3 of the present application;

[0048] FIG10 is a signaling flow chart of a positioning method provided in Example 4 of the present application;

[0049] FIG11 is a schematic structural diagram of a positioning device provided in Example 5 of the present application;

[0050] FIG12 is a schematic structural diagram of a positioning device provided in Example 6 of the present application;

[0051] FIG13 is a schematic structural diagram of a positioning device provided in Example 7 of the present application;

[0052] FIG14 is a schematic block diagram of a communication device provided in an embodiment of the present application;

[0053] FIG15 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of the present application;

[0054] FIG16 is a schematic diagram of the hardware structure of a network device implementing an embodiment of the present application. DETAILED DESCRIPTION

[0055] The following will be combined with the accompanying drawings in the embodiments of this application to clearly describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0056] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects, for example, the first object can be one or more. In addition, "or" in this application represents at least one of the connected objects. For example, "A or B" covers three options, namely, Option 1: including A but not including B; Option 2: including B but not including A; Option 3: including both A and B. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0057] The term "indication" in this application can be either a direct indication (or explicit indication) or an indirect indication (or implicit indication). A direct indication can be understood as the sender explicitly informing the receiver of specific information, the operation to be performed, or the result of the request in the instruction sent; an indirect indication can be understood as the receiver determining the corresponding information based on the instruction sent by the sender, or making a judgment and determining the operation to be performed or the result of the request based on the judgment result.

[0058] It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA) or other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used for the systems and radio technologies mentioned above, as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in most of the following description, but these technologies can also be applied to systems other than NR systems, such as 6th Generation (6G) communication systems.

[0059] Figure 1 shows a block diagram of a wireless communication system applicable to embodiments of the present application. The wireless communication system includes a low-power IoT device 11, a first device 12, and a second device 13. The low-power IoT device 11 is in communication with the first device 12, and the first device 12 is in communication with the second device 13.

[0060] The low-power IoT device 11 may be referred to as an A-IoT device. A-IoT is a 3rd Generation Partnership Project (3GPP) IoT technology. A-IoT devices are ultra-low-complexity and ultra-low-power terminals that harvest energy for communication. A-IoT devices lack batteries or have limited energy storage capabilities (e.g., using a capacitor). The energy they harvest may be wind energy, kinetic energy, thermal energy, radio waves, light, or other suitable energy sources.

[0061] In the embodiments of the present application, A-IoT devices are also referred to as ultra-low power consumption terminals, ultra-low complexity terminals, zero power consumption terminals, etc., and the embodiments of the present application do not impose any restrictions on this.

[0062] A-IoT devices can be categorized based on their energy storage capability and their ability to generate radio frequency signals for transmission.

[0063] A-IoT devices have one of the following energy storage capabilities:

[0064] Storage Capacity 1: No ability to store energy.

[0065] Storage capacity 2: Energy can be stored up to E1 or E2 joules, where it is possible that E1 = E2.

[0066] Storage capacity3: Energy can be stored up to E2 joules.

[0067] Based on the three energy storage capabilities mentioned above, A-IoT devices can be divided into the following three types of devices:

[0068] Device Type 1: No energy storage capability, no independent signal generation / amplification capability, and uses backscatter transmission for data transmission.

[0069] Device Type 2: Has energy storage capabilities but no independent signal generation capabilities, and uses backscatter transmission for data transmission. Its storage capacity is generally small, and the stored energy can be used to amplify the reflected signal.

[0070] Device Type 3: Has energy storage capability and independent signal generation capability, i.e., has active RF components for data transmission.

[0071] A-IoT devices with different energy storage capacities have different transmission qualities. Generally, devices with higher energy storage have higher receive sensitivity or higher transmit power, which means the reliability of the receive or transmit link can be better guaranteed.

[0072] The low-power IoT device 11 may include a response device. In a possible implementation, the response device may be a tag, which is also called an electronic tag or a radio frequency identification (RFID) tag.

[0073] RFID technology can be categorized into three types: active, passive, and semi-active. Passive tags are considered passive IoT devices, which are device type 1 above. Active tags are considered active IoT devices, which are device type 3 above. Semi-active tags are considered semi-passive IoT devices, which are device type 2 above.

[0074] The communication mode of the transponder can be backscattered RF signals for data transmission, or some active tags have the ability to actively generate signals and use actively generated signals for data transmission. The transponder can also be regarded as a terminal, which can be called a terminal device.

[0075] The first device 12 acts as a reading and writing device, which can be a handheld or fixed device that reads (and sometimes writes) tag information, or can be understood as a device that communicates with the tag, such as a terminal, a base station, or a device with reading and writing functions, such as a reader / writer.

[0076] In the RFID system, the reader is an important component. It communicates wirelessly with the electronic tag through the antenna, and can read or write the tag identification code and memory data.

[0077] The reader communicates with the electronic tag by emitting electromagnetic waves. When the electromagnetic waves encounter the tag, some of the energy is absorbed by the tag, while the rest is scattered in all directions. A small portion of this energy is reflected back to the reader, where it is received and processed, enabling tag identification and data reading. In an RFID system, the reader must be able to transmit and receive electromagnetic waves, as well as process backscattered signals. Furthermore, the reader must be compatible with the tag to ensure stable and reliable communication.

[0078] The reader / writer may also be called a reader, interrogator, communicator, scanner, programmer, standalone device, portable reader, automatic device identification device, etc.

[0079] The first device 12 may be a terminal or a network-side device, where the terminal may also be referred to as user equipment (UE), and the terminal may be a mobile phone, tablet personal computer, laptop computer, notebook computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR), virtual reality (VR) device, robot, wearable device, flight vehicle, vehicle user equipment (VUE), ship-borne equipment, pedestrian user equipment (PUE), smart home (home appliances with wireless communication capabilities, such as refrigerators, televisions, washing machines or furniture, etc.), game consoles, personal computers (PC), ATMs or self-service machines, and other terminal-side devices. Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among them, vehicle-mounted devices can also be called vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, or vehicle-mounted units, etc. It should be noted that the specific type of terminal is not limited in the embodiments of this application.

[0080] Network-side devices may include access network devices or core network devices. Access network devices may also be referred to as radio access network (RAN) devices, radio access network functions, or radio access network units. Access network devices may include base stations, wireless local area network (WLAN) access points (APs), or wireless fidelity (WiFi) nodes. Among them, a base station may be referred to as a Node B (NB), an evolved Node B (eNB), the next generation Node B (gNB), a New Radio Node B (NR Node B), an access point, a Relay Base Station (RBS), a Serving Base Station (SBS), a Base Transceiver Station (BTS), a radio base station, a radio transceiver, a Basic Service Set (BSS), an Extended Service Set (ESS), a home Node B (HNB), a home evolved Node B, a Transmission Reception Point (TRP), a non-terrestrial network (NTN) device (such as a satellite or a high altitude platform station), or a radio base station. station) or other appropriate terms in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiment of the present application, only the base station in the NR system is introduced as an example, and the specific type of the base station is not limited.

[0081] The core network device may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (MME), access mobility management function (AMF), session management function (SMF), user plane function (UPF), policy control function (PCF), policy and charging rules function unit (PCRF), edge application server discovery function (EASDF), unified data management (UDM), unified data storage (UDR), home user server (HSS), centralized network configuration (CNC), network storage function (NRF), network exposure function (NEF), local NEF (L-NEF), binding support function (BNSF), network access function (UE ... Function, BSF), application function (Application Function, AF), etc. It should be noted that in the embodiment of the present application, only the core network device in the NR system is introduced as an example, and the specific type of the core network device is not limited.But not limited to at least one of the following: core network node, core network function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized Network Configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (L-NEF), Binding Support Function (BSF), Application Function ( Function, AF), location management function (LMF), gateway mobile location center (Gateway Mobile Location Centre, GMLC), network data analysis function (Network Data Analytics Function, NWDAF), non-terrestrial network (Non-Terrestrial Network, NTN) equipment (such as satellite or high altitude platform station, etc.). It should be noted that in the embodiment of the present application, only the core network device in the NR system is introduced as an example, and the specific type of the core network device is not limited.

[0082] The second device 13 is used to determine the location information of the low-power IoT device 11 and / or the location information of the first device. The second device 13 can be a positioning management device, and can also store, manage and other functions of the positioning results of the low-power IoT device 11 and / or the first device 12. The second device 13 includes but is not limited to: a location server, a location service terminal (location server UE), a base station, an anchor terminal (anchor UE), or other types of network-side devices (i.e., any one of the above-mentioned network-side devices), other types of terminals (i.e., any one of the above-mentioned terminals). Taking the NR system as an example, the location server can be a LMF) network element in the NR system.

[0083] Optionally, in another wireless communication system of the present application, the wireless communication system includes a low-power IoT device 11 and a third device, and the third device has the functions of the above-mentioned first device 12 and the second device 13, that is, it has the functions of a reading and writing device and a positioning function at the same time. The third device can be any one of the above-mentioned network side devices or any one of the above-mentioned terminals, and this embodiment will not be repeated.

[0084] Before introducing the technical solution of this application, the following will explain the relevant knowledge of this application:

[0085] 1. Backscatter Communication (BSC)

[0086] Backscatter communication involves a terminal (i.e., a backscatter communication device) utilizing RF signals from other devices or the environment to modulate the signal and transmit its own information. Backscatter, a passive or low-energy technology, is characterized by its ability to transmit its own signal by modifying the characteristics of the received RF signal, such as its phase or amplitude, achieving extremely low or zero power consumption.

[0087] As described above, the low-power IoT device 11 can collect the RF signal sent by the first device 12 and use backscattering technology for data transmission. In actual scenarios, some active tags have the ability to actively generate signals, but to achieve low power consumption, they use lower power for signal transmission. For example, the transmission power is generally less than 0dBm (decibel milliwatts), such as less than or equal to -10dBm. In this case, the active tag is also a low-power IoT device.

[0088] The following uses the reflection scattering communication between the reader and the tag as an example to explain the backscattering communication and its principle:

[0089] Figure 2 is a schematic diagram of backscatter communication. As shown in Figure 3, there are two links between the reader and the tag: Link 1 is the link from the reader (the first device) to the tag (i.e., the A-IOT device), and Link 2 is the link from the tag to the reader. The reader sends commands to the tag via continuous wave (CW), and the tag transmits data to the reader via backscatter technology.

[0090] Figure 3 is a schematic diagram of the backscatter communication principle provided by the present application. As shown in Figure 3, the tag can receive the carrier signal provided by the transmitting baseband of the reader, collect energy through the RF energy collection module, and then supply energy to the modulation module so that the modulation module modulates the carrier signal and performs backscattering.

[0091] The tag controls the circuit's reflection coefficient Γ by adjusting its internal impedance, thereby changing the amplitude, frequency, and phase of the carrier signal to achieve signal modulation. The reflection coefficient Γ can be expressed as: Γ = (Z_1-Z_0) / (Z_1+Z_0) = |Γ|e∧(jθ_T)

[0092] Where Z_0 is the antenna characteristic impedance, Z_1 is the load impedance, and assuming the carrier signal is S_in(t), the tag's output signal is S_out(t) = S_in(t)|Γ|e∧(jθ_T). Therefore, by properly controlling the reflection coefficient Γ, corresponding amplitude modulation, frequency modulation, or phase modulation can be achieved.

[0093] Tags typically receive signals using low-power radio frequency, intermediate frequency, or baseband envelope detection. The waveform of the tag's transmitted signal also typically uses simple modulation methods, such as amplitude shift keying (ASK), binary on-off keying (OOK), and frequency shift keying (FSK).

[0094] For example, tags perform backscatter transmission using OOK, also known as binary amplitude shift keying (2ASK). OOK is a special case of ASK modulation, where one amplitude is set to 0 and the other is non-zero. A simple implementation involves the tag reflecting the incident carrier signal when it needs to send a '1' and not reflecting it when it needs to send a '0'.

[0095] Optionally, based on the energy source or data stream source of the A-IoT device, the main data types or service types of the A-IoT device are divided into:

[0096] DO data, or device-originated data, indicates that the data originates from an A-IoT device;

[0097] DT data, namely device-terminated data, indicates data transmitted to A-IoT devices.

[0098] DO data includes DO autonomous data (DO-A) and DO device-terminated triggered (DO-DTT).

[0099] DO-A data refers to data transmission initiated autonomously by A-IoT devices. For example, the first device 12 is connected to a large number of various sensors (i.e., A-IoT devices), which collect and actively report information about the environment, devices, and organisms when necessary.

[0100] DO-DTT data refers to data transmission initiated by the A-IoT device when triggered by the first device 12. For example, asset identification, status reports, and tracking reports are all downlink (DL) triggered reports. The reader collects data from the tag by triggering the inventory process. Because DO-DTT data is generated or initiated by the IoT device, it should be considered data initiated or generated by the IoT device when triggered by a control command from the reader.

[0101] In the aforementioned communication system, how to locate at least one of the low-power IoT device 11 and the first device 12 based on the communication network is a technical problem that currently needs to be solved. Due to its limited capabilities, including but not limited to energy storage capacity, the low-power IoT device 11 is typically unable to perform signal measurement or provide feedback on positioning-related information to other devices. Consequently, the low-power IoT device 11 cannot locate itself or assist other devices in locating itself.

[0102] Furthermore, clock difference and synchronization error exist between low-power IoT device 11 and first device 12. The impact of these clock difference and synchronization errors on positioning performance must be considered during the positioning process of low-power IoT device 11 and / or first device 12. Low-power IoT device 11, in particular, has limited capabilities, such as low receiver sensitivity, and thus relatively large clock difference and synchronization errors. Their impact on positioning performance cannot be ignored.

[0103] The device clock error refers to the time difference between the device's receiver oscillator (e.g., a high-precision oscillator) and a reference clock (e.g., universal time or a satellite clock). The oscillators of the receivers of the low-power IoT device 11 and the first device 12 may have different frequencies or stabilities, resulting in different clock errors between the low-power IoT device 11 and the first device 12. The device clock error has a certain impact on positioning accuracy. The specific impact is related to the required positioning accuracy. Generally, the smaller the device clock error, the higher the positioning accuracy.

[0104] The deviation of the clock difference between the low-power IoT device 11 and the first device 12 is also called the clock frequency deviation. The clock frequency deviation between the low-power IoT device 11 and the first device 12 will cause a time deviation between the two. For example, at the same moment, the time of the low-power IoT device 11 is 0 o'clock, and the time of the first device 12 may be 0 o'clock and 1 minute, then the time deviation of the two devices is 1 minute.

[0105] In order to eliminate the time deviation between the two devices, it is necessary to synchronize the time of the two devices. The time synchronization method can use the Network Time Protocol (NTP) or the Precision Time Protocol (PTP). It can be understood that the low-power IoT device 11 and the first device 12 use NTP to measure the time deviation with each other, but do not measure the clock frequency deviation with each other. Therefore, the low-power IoT device 11 and the first device 12 need to perform time synchronization once at intervals, that is, perform an NTP measurement or a PTP measurement. However, for low-capability low-power IoT devices 11, even basic synchronization may not be possible, let alone eliminating the time error between the low-power device and the first device. The embodiments of the present application do not limit the time synchronization method. NTP and PTP are just examples, and other synchronization methods can also be used.

[0106] An embodiment of the present application provides a positioning method that can locate a low-power IoT device 11 and / or a first device 12 through a communication network.

[0107] The positioning method provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings through some embodiments and their application scenarios. The following embodiments can be combined with each other, and the same or similar concepts and processes may not be repeated in some embodiments.

[0108] Example 1

[0109] FIG4 is a flowchart of a positioning method provided in Example 1 of the present application, which is applied to a low-power IoT device. As shown in FIG4 , the method provided in this embodiment includes the following steps.

[0110] S101: A low-power IoT device receives at least one continuous wave sent by a first device.

[0111] The continuous wave may be a sine wave. Furthermore, the continuous wave may be understood as a waveform whose amplitude and frequency remain unchanged during the transmission time.

[0112] The first device may transmit one or more continuous waves. When the first device transmits multiple continuous waves, the first device may transmit the multiple continuous waves at a fixed interval. The multiple continuous waves refer to at least two continuous waves. The fixed interval may be an interval preset by the first device or an interval specified by a protocol. Alternatively, when the first device transmits multiple continuous waves, the first device may transmit the multiple continuous waves at an interval indicated by the network-side device. The multiple continuous waves refer to at least two continuous waves.

[0113] S102. The low-power IoT device sends a feedback signal in response to the continuous wave, where the continuous wave and / or the feedback signal are used to determine at least one of the following location information: location information of the low-power IoT device and location information of the first device.

[0114] The feedback signal in response to the continuous wave is also referred to as a feedback signal corresponding to the continuous wave. The low-power IoT can send the feedback signal through backscatter communication.

[0115] The feedback signal in response to the continuous wave can be understood as a signal sent by the low-power IoT device through backscatter communication after receiving the continuous wave.

[0116] In one implementation, the low-power IoT device sends a feedback signal in response to the continuous wave to the first device after receiving the continuous wave for a first time. That is, after receiving the continuous wave, the low-power IoT device sends the feedback signal after a first delay. The low-power IoT device may use the reception time of the continuous wave as a reference or benchmark and send the feedback signal after the first delay. Alternatively, after receiving the continuous wave, the low-power IoT device sends the feedback signal after a first delay. The low-power IoT device may use the charging time or the charging completion time as a reference or benchmark and send the feedback signal after the first delay. Alternatively, after receiving the continuous wave, the low-power IoT device sends the feedback signal after a first delay. The low-power IoT device may use the time when the continuous wave was sampled as a benchmark and send the feedback signal after the first delay.

[0117] Figure 5 is a schematic diagram of the timing relationship between a low-power IoT device receiving a continuous wave and sending a feedback signal. As shown in Figure 5, the low-power IoT device receives a continuous wave at time T, and sends a feedback signal corresponding to the continuous wave after a first delay (i.e., T1 shown in the figure).

[0118] In one implementation, when the low-power IoT device receives the continuous wave, it starts a sending timer, the timing length of the sending timer is the first time, and when the sending timer times out, the low-power IoT device sends a feedback signal in response to the continuous wave.

[0119] In one implementation, when the low-power IoT device receives the continuous wave, it starts a sending timer, and the timing duration of the sending timer is the seventh time, and the seventh time is less than the first time, wherein the difference between the first time and the seventh time is the inherent delay of the low-power IoT device, or at least one of the charging delay.

[0120] Accordingly, the low-power IoT device needs to determine the first time. Exemplarily, the low-power IoT device may determine the first time based on at least one of the following information:

[0121] (a),The third time reported by low-power IoT devices;

[0122] (b) a fourth time indicated by the network side device;

[0123] (c),sampling rate of low-power IoT devices;

[0124] (d),Time granularity of low-power IoT devices;

[0125] (e) Backscatter link frequency (BLF) of low-power devices;

[0126] (f) Phase deflection information of the received signal of the low-power IoT and the feedback signal corresponding to the received signal.

[0127] Optionally, the third time is associated with the capabilities of the low-power IoT device. The low-power IoT device determines the third time based on its own capabilities and sends the third time to the first device. After receiving the signal, the low-power IoT device needs to process the received signal before sending a feedback signal to the sending device. Processing the received signal requires a certain amount of processing time, which is related to the processing capabilities of the low-power IoT device. Exemplarily, the low-power IoT device can determine the third time based on the processing time, and the third time is greater than or equal to the processing time. Optionally, the third time is less than or equal to the first time, or the third time is equal to the difference between the first time and the seventh time.

[0128] Optionally, the fourth time indicated by the network device is associated with the capabilities of the low-power IoT device. The network device may determine the fourth time based on the capabilities of the low-power IoT device and send it to the low-power IoT device. The fourth time may be the same as or different from the third time. Optionally, the fourth time may be the same as or different from the first time. Optionally, the fourth time may be the same as or different from the seventh time.

[0129] The sampling rate of the low-power IoT device is related to the sampling accuracy of the low-power IoT device. The first time can be an integer multiple of the sampling rate of the low-power IoT device, or the second time can be an integer multiple of the sampling rate of the low-power IoT device.

[0130] The time granularity of the low-power IoT device may be the minimum time unit that the low-power IoT device can distinguish or identify, the first time may be an integer multiple of the time granularity of the low-power IoT device, or the second time may be an integer multiple of the time granularity of the low-power IoT device.

[0131] Optionally, the time granularity of the low-power IoT device and the sampling rate of the low-power IoT device can be converted to each other, and the time granularity of the low-power IoT device can be determined according to the sampling rate of the low-power IoT device.

[0132] The first time may be related to the BLF of the low-power IoT device, including but not limited to the first time being an integer multiple of the BLF.

[0133] During actual transmission, the backscattering method of the low-power IoT device will cause the phase of the feedback signal sent by the low-power IoT device to be different from the phase of the received signal, that is, the received signal and the feedback signal corresponding to the received signal are phase-shifted (or offset). In the schematic diagram shown in Figure 5, the phase of the feedback signal and the continuous wave are the same, that is, no phase shift occurs. It can be understood that the schematic diagram shown in Figure 5 is an ideal state, that is, the state expected by the low-power IoT device and the first device. However, phase flips often occur during actual transmission. For example, the feedback signal is phase-shifted when it is sent.

[0134] The phase deviation between the received signal of the low-power IoT device and the feedback signal corresponding to the received signal will introduce additional delay. In one implementation, when determining the above-mentioned third time, the low-power IoT device determines the third time based on the capabilities of the low-power IoT device and the phase deviation, so that the final determined first time takes into account the phase deviation information.

[0135] In another implementation, the low-power IoT device does not consider the phase deviation when determining the third time. The low-power IoT device reports both the third time and the phase deviation information to the first device. When determining the first time, the first device and the low-power IoT device determine the first time based on the third time and the phase deviation information.

[0136] In this embodiment, when the low-power IoT device is unable to measure the continuous wave or report the measurement result of the continuous wave, the low-power IoT device can achieve positioning by sending a feedback signal at a fixed time interval (ie, the first time).

[0137] For example, since the above-mentioned low-power device type 1 and low-power device type 2 cannot generate independent signals, they cannot measure the continuous wave and report the measurement results of the continuous wave, that is, the low-power IoT device cannot report the continuous wave reception time, the first time, and the feedback signal sending time to the first device. Since the first device cannot obtain the continuous wave reception time, the first time, and the feedback signal sending time, it cannot locate the low-power IoT device through this information.

[0138] In this embodiment, device type 1 and device type 2 implement positioning by sending feedback signals at fixed or specified time intervals, which is described below with reference to specific examples.

[0139] In one implementation, the low-power IoT device receives a continuous wave sent by the first device. Accordingly, the low-power IoT device sends a feedback signal in response to the continuous wave to the first device a first time after receiving the continuous wave.

[0140] The first device may determine the distance between the first device and the low-power IoT device according to the continuous wave transmission time, the continuous wave feedback signal reception time, and the first time.

[0141] FIG6 is a timing diagram of a low-power IoT device receiving a CW and feeding back an OOK. For example, the feedback signal is an OOK signal. As shown in FIG6 , assuming that the first device sends CW1 at time t0, after the low-power IoT device receives CW1, it sends OOK1 in response to CW1 to the first device after T1 (i.e., the first time). The first device receives OOK1 at time t1. Then, based on the difference between time t0 and time t1, the first device can obtain the time from the sending of CW to the receiving of the feedback signal (i.e., T0). T0 is the time difference between the first device sending the CW and receiving the OOK signal. According to the round-trip time (RTT) ranging principle, the following formula (1) is used to calculate the flight time t between the first device and the low-power IoT device. t=(T0-T1) / 2 (1)

[0142] Where T0 represents the time from when the first device sends the CW signal to when it receives the feedback signal, and T1 represents the first time. T1 can be the time calculated by the first device based on the clock of the low-power IoT device, or the time difference between when the low-power IoT device receives the CW signal and when it sends the OOK signal, as estimated by another device. In formula (1), T1 is the first time understood, determined, or estimated by the first device, and is not equivalent to the actual delay time at the current moment.

[0143] It can be understood that, based on the flight time t and the speed of light, the distance between the first device and the low-power IoT device can be obtained, thereby achieving relative positioning between the low-power IoT device and the first device.

[0144] It is understandable that the first time T1 may be provided by other devices, such as the first time that the second device or the first device receives the low-power IoT sent by the other device. Optionally, the other devices include: base stations, Pico RRU (PRU) devices or location servers. These devices can reversely estimate the first time T1 by knowing the low-power IoT and their own positions and by knowing the flight time t. Optionally, the first time that the second device or the first device receives the low-power IoT sent by the other device also includes receiving the identifier of the low-power IoT and the timestamp associated with the first time T1. It is understandable that when the first time T1 is provided by other devices, since the first time T1 changes with time, the first time T1 may not be consistent with the measurement time of the current first device.

[0145] Furthermore, it is understood that when the first time T1 is calculated based on the clock of the low-power IoT device, for example, based on the third time reported by the low-power IoT device, the sampling rate of the low-power IoT device, the time granularity of the low-power IoT device, or the BLF of the low-power IoT device, low-power IoT devices are generally inaccurate due to their low price and limited device capabilities, resulting in a large error in the first time T1. When there is an error in the first time T1, the distance calculated by formula (1) will also have an error.

[0146] Taking the BLF of a low-power IoT device as an example, the error of the first time T1 is about 1% of the reciprocal of the BLF. Taking the BLF as 640K as an example, the T1 error = 1 / 640K * 1% = 15ns (nanoseconds). According to the T1 error and the speed of light, the distance error caused by the T1 error can be obtained as: Distance error = 15ns * speed of light ≈It should be noted that the 15nm error here is a statistical value of the T1 error. The actual error of T1 at the first time fluctuates around 15ns and changes slowly and dynamically.

[0147] Optionally, in this embodiment, multiple continuous waves may be used for positioning, which can eliminate the error of the first time T1. The principle of using multiple continuous waves for positioning is described below.

[0148] In one implementation, a low-power IoT device receives at least two continuous waves sent by a first device. Accordingly, the low-power IoT device sends at least two feedback signals, wherein a time interval between at least one of the at least two feedback signals and the corresponding continuous wave is a first time interval.

[0149] When a low-power IoT device receives multiple continuous waves, it can optionally send a feedback signal in response to each continuous wave after receiving it. For example, if the low-power IoT device receives five continuous waves, it will send five corresponding feedback signals, one for each continuous wave.

[0150] Optionally, when a low-power IoT device receives multiple continuous waves, the low-power IoT device may send a feedback signal in response to a portion of the continuous waves after receiving the portion. For example, if the low-power IoT device receives five continuous waves, it may send a feedback signal for each alternate continuous wave. For example, the low-power IoT device may send a feedback signal for the first, third, and fifth continuous waves received.

[0151] The first device may determine the distance between the first device and the low-power IoT device according to the transmission time of the multiple continuous waves, the reception time of the feedback signal of the continuous waves, and the first time.

[0152] Figure 7 is a timing diagram of a low-power IoT device receiving two CWs and sending two OOKs. As shown in Figure 7, assuming that the first device sends CW1 at time t0, the low-power IoT device sends OOK1 in response to CW1 to the first device after receiving CW1 for a first time T1. The first device receives OOK1 at time t1. The second device sends CW2 at time t2. After receiving CW2, the low-power IoT device sends OOK2 in response to CW2 to the first device after a first time T1. The first device receives OOK2 at time t3. Optionally, OOK1 and OOK2 can be the same or different.

[0153] The interval between OOK1 and CW1 is T1, and the interval between OOK2 and CW2 is T1. The first device can determine the reception time difference B' between OOK1 and OOK2 based on the reception times of OOK1 and OOK2. The first device sends two CWs. The transmission time difference B between the two CWs can be determined based on the transmission times of the two CWs. In the figure, B1 is the reception time difference between the two CWs received by the low-power IoT device. It can be understood that in the absence of clock error and synchronization error, B, B', and B1 are the same.

[0154] In real-world scenarios, errors exist in the interval T1 between OOK1 and CW1, and in the interval T1 between OOK2 and CW2. The interval T1 between OOK1 and CW1 is independent of the interval T1 between OOK2 and CW2, and they may be the same or different. Furthermore, low-power IoT devices may synchronize their time separately before receiving the two CWs. This synchronization can introduce synchronization errors, resulting in different values ​​for B, B', and B1.

[0155] The first device cannot obtain B1, but can obtain B and B'. Therefore, the first device can be positioned based on B and B'. For example, the first device calculates the flight time t between the first device and the low-power IoT device using formula (2): t = (T0-T1*B' / B) / 2 (2)

[0156] Wherein, T0 represents the time from when CW1 sends to when it receives the feedback signal or the time from when CW2 sends to when it receives the feedback signal, T1 represents the first time, T1 is the time calculated by the first device based on the clock of the low-power IoT device, B' is the reception time difference of the two feedback signals, and B is the transmission time difference of the two continuous waves.

[0157] According to the flight time t and the speed of light, the distance between the first device and the low-power IoT device can be obtained, thereby achieving positioning of the low-power IoT device.

[0158] In formula (2), the error of the low-power IoT device at T1 can be inferred based on B' / B. By correcting T1 using B' / B, the error caused by the clock difference on T1 can be reduced, thereby reducing the distance error between the first device and the low-power IoT device and improving positioning accuracy.

[0159] In formula (2), positioning is performed using two continuous waves and two feedback signals, and therefore, it is also called bilateral positioning. When two or more continuous waves are used for positioning, it can be called bilateral positioning.

[0160] In one implementation, the feedback signals sent by the low-power IoT device in response to the at least two continuous waves are identical.

[0161] In one implementation, the feedback signals sent by the low-power IoT device in response to the at least two continuous waves are different.

[0162] In one implementation, the feedback signal includes at least one of the following information:

[0163] (a),Identification information of low-power IoT devices;

[0164] (b) sequence information of the feedback signal;

[0165] (c) identification information of the feedback signal in at least two feedback signals;

[0166] (d) correlation information of the at least two feedback signals.

[0167] There may be multiple low-power IoT devices around the first device, and the first device can communicate with the multiple low-power IoT devices. In order to distinguish which low-power IoT device the received feedback signal comes from, the identification information of the low-power IoT device can be carried in the feedback signal. The identification information of the low-power IoT device can uniquely identify a low-power IoT device. The identification information of the low-power IoT device can be the Electronic Product Code (EPC) ID or tag identifier (Tag-Identification or Tag Identifier, TID) of the low-power IoT device, etc.

[0168] The sequence information of the feedback signal is used to distinguish different feedback signals. When the low-power IoT device sends multiple feedback signals to the first device, different sequence information may be carried in the feedback signal. The sequence information may be a sequence ID.

[0169] Each feedback signal may be associated with an identification information, and the identification information can distinguish the corresponding feedback signal. The identification information may be a resource ID of the feedback signal.

[0170] When a low-power IoT device sends multiple feedback signals to a first device, these multiple feedback signals may have a certain association relationship, and the different feedback signals can be distinguished based on this association relationship. For example, if the sequence number of a subsequent feedback signal increases or decreases by a preset value based on the previous feedback signal, this association relationship needs to be sent to the first device. The first device then determines the sequence numbers of the different feedback signals based on this association relationship, thereby distinguishing the different feedback signals.

[0171] In another optional implementation, the feedback signal does not include any special information. That is, the first device can determine that any received signal is a feedback signal. This implementation can be based on the premise that the first device has, through a control command, indicated that only specific or designated low-power IoT devices are allowed to feedback signals during the current time.

[0172] In one implementation, the at least two continuous waves are separated by a second time, wherein the second time is determined based on at least one of the following information:

[0173] (a) The time length indicated by the network equipment or specified by the protocol.

[0174] (b) The time slot number relative to the first continuous wave sent.

[0175] (c) The start time and duration of transmission as indicated by the network device or specified by the protocol.

[0176] The second time is the interval between two continuous waves. The network-side device can indicate the length of the second time to the low-power IoT device, or the protocol stipulates the length of the second time.

[0177] The network-side device can indicate the number of time slots of each continuous wave (except the first continuous wave) relative to the first continuous wave. For example, the number of time slots of the second continuous wave relative to the first continuous wave can be indicated as 3, and the number of time slots of the third continuous wave relative to the first continuous wave can be indicated as 6. Based on the number of time slots of each continuous wave relative to the first continuous wave, the number of time slots between the two continuous waves can be determined. The second time interval between the two continuous waves can be determined based on the number of time slots between the two continuous waves. The number of time slots relative to the first continuous wave sent can also be specified by the protocol.

[0178] The start sending time indicated by the network side or specified by the protocol is the start sending time of each continuous wave. The sending interval between two continuous waves can be determined according to the start sending time of each continuous wave.

[0179] In one implementation, the low-power IoT device receives first indication information, where the first indication information is used to instruct the low-power IoT device to send a feedback signal when receiving a continuous wave.

[0180] In one implementation, the low-power IoT device sends at least two feedback signals within a sixth time period.

[0181] The sixth time period may be a time period indicated by a network device or specified by a protocol. For example, the network device may instruct the low-power IoT device to send a feedback signal within a fixed time period after receiving the first continuous wave. After the time period has expired, the low-power IoT device may stop sending feedback signals. Accordingly, when measuring the feedback signal, the first device may only measure the feedback signal sent within the sixth time period, or the first device may perform positioning based solely on the feedback signal sent within the sixth time period.

[0182] Optionally, the third time may be the same as or different from the sixth time. In an optional embodiment, the sixth time is an integer multiple of the third time.

[0183] In one implementation, the location information of the low-power IoT device includes at least one of the following:

[0184] (a) relative position information between the low-power IoT device and the first device;

[0185] (b) flight time information between the low-power IoT device and the first device;

[0186] (c) Absolute location information of low-power IoT devices;

[0187] (d) Relative distance information between the low-power IoT device and the first device.

[0188] The flight time information between the low-power IoT device and the first device may be the flight time between the first device and the low-power IoT device calculated by the above formula (1) or formula (2). According to the flight time between the first device and the low-power IoT device and the speed of light, the relative distance information between the low-power IoT device and the first device may be obtained.

[0189] A low-power IoT device can communicate with multiple first devices. The relative distances between the low-power IoT device and the multiple first devices can be used to determine the absolute location of the low-power IoT device. For example, a three-point positioning method can be used. This method requires at least three first devices, each with a known location. Circles are drawn with the locations of the three first devices as their centers, with the radius of the circles being the relative distances between each first device and the low-power IoT device. The intersection of the three circles can be determined, and this intersection is the absolute location of the low-power IoT device.

[0190] According to the absolute position information of the low-power IoT device and the absolute position information of the first device, the relative position information of the low-power IoT device and the first device can be determined.

[0191] In one implementation, the location information of the first device includes at least one of:

[0192] (a) relative position information between the first device and the low-power IoT device,

[0193] (b) flight time information between the first device and the low-power IoT device,

[0194] (c) absolute location information of the first device,

[0195] (d) Relative distance information between the first device and the low-power IoT device.

[0196] The relative distance information between the first device and the low-power IoT device, the flight time information between the first device and the low-power IoT device, and the relative distance information between the first device and the low-power IoT device refer to the description of the location information of the low-power IoT device described above. The absolute location information of the first device can be determined using the absolute location information of multiple low-power IoT devices, for example, using the three-point positioning method described above. The absolute location information of the first device can also be obtained using other positioning technologies, which is not limited in this embodiment of the present application.

[0197] In this embodiment, a low-power IoT device receives at least one continuous wave transmitted by a first device and transmits a feedback signal in response to the continuous wave. The continuous wave and / or the feedback signal are used to determine at least one of the following location information: the location of the low-power IoT device and the location of the first device. This method can locate the low-power IoT device based on the time the continuous wave was transmitted and the time the feedback signal was received.

[0198] Example 2

[0199] Based on Example 1, Example 2 of the present application provides a positioning method. The implementation methods described in Example 1 can all be applied to Example 2 and can achieve the same technical effects. This example describes the positioning method from the perspective of the first device. Figure 8 is a flowchart of the positioning method provided in Example 2 of the present application. As shown in Figure 8, the method provided in this example includes the following steps.

[0200] S201: A first device sends at least one continuous wave to a low-power IoT device.

[0201] In one implementation, the first device sends at least two continuous waves to the low-power IoT device.

[0202] In one implementation, the first device transmits at least two continuous waves within the fifth time.

[0203] Exemplarily, the fifth time is determined by any one of the following time information:

[0204] (a) The time length indicated by the network equipment or specified in the protocol;

[0205] (b) The time slot number relative to the first continuous wave sent;

[0206] (c) The start time and duration of transmission as indicated by the network device or specified by the protocol.

[0207] The network-side device may indicate the length of the fifth time, or the protocol may specify the length of the fifth time, such as 0.5 seconds, 1 second, or 2 seconds. After obtaining the fifth time according to the time indicated by the network-side device or the time specified by the protocol, the first device sends the first continuous wave at a certain moment, starting with the time when the first continuous wave is sent, and sends multiple continuous waves within the fifth time. After the fifth time is exceeded, the first device stops sending the continuous wave.

[0208] The time length indicated by the network side device or specified by the protocol may also be the number of time slots, where the number of time slots is the number of time slots relative to the first continuous wave sent.

[0209] The starting transmission time (or starting time) of the fifth time is not indicated in time information (a) and (b), and the transmission time of the first continuous wave is used as the starting transmission time of the fifth time by default. The starting transmission time and the duration of the fifth time are indicated in time information (c). In this method, the starting transmission time of the fifth time can be the transmission time information of the first continuous wave, or it can be other than the transmission time information of the first continuous wave. The transmission time of the first continuous wave is located after the starting transmission time of the fifth time.

[0210] Accordingly, when measuring the feedback signal, the first device only measures the feedback signal corresponding to the continuous wave sent within the fifth time, or the first device only performs positioning based on the continuous wave sent within the fifth time and the feedback signal corresponding to the continuous wave.

[0211] In one implementation, optionally, before the first device sends at least one continuous wave to the low-power IoT device, the first device receives configuration information of the continuous wave sent by the network side device, where the configuration information includes at least one of the following information: the starting sending time of the continuous wave and the sending time interval of the continuous wave.

[0212] The network side device may send the configuration information via control signaling to schedule the at least two continuous waves. The control signaling may be radio resource control (RRC) signaling, downlink control information (Downlink Control Information) or MAC CE (Media Access Control Control Element) or the like.

[0213] In one implementation, a low-power IoT device receives information about at least one available sending time interval of a continuous wave sent by a network side device through a first signaling, and receives information about a target sending time interval of a continuous wave sent by the network side device through a second signaling, wherein the target sending time interval is any one of the at least one available sending time intervals.

[0214] Exemplarily, the first signaling is RRC signaling, and the second signaling is DCI or MAC CE. The network side device can first indicate multiple available sending time intervals through RRC signaling. For example, the network side device indicates three sending time intervals: 2ms, 4ms and 6ms, and then indicates the currently used target sending time interval of 6ms through DCI during the data scheduling process.

[0215] In one implementation, a sending time of a middle continuous wave among the multiple continuous waves sent by the first device is located between receiving times of two feedback signals.

[0216] The intermediate continuous wave is any one of the multiple continuous waves except the first continuous wave and the last continuous wave. The two feedback signals refer to the first and second feedback signals that are closest to the sending time of the intermediate continuous wave in time, or can be understood as two feedback signals that are adjacent to the intermediate continuous wave in time.

[0217] For example, the first device sends 5 continuous waves, and the sending time sequence is: continuous wave 1, 2, 3, 4, 5. Then continuous waves 2, 3, and 4 are all intermediate continuous waves. Taking continuous wave 2 as an example, the sending time of continuous wave 2 is between the receiving time of the feedback signals of continuous wave 1 and continuous wave 3.

[0218] S202: The first device receives a feedback signal in response to the continuous wave.

[0219] The feedback signal is sent by the low-power IoT device after the first time of receiving the continuous wave. The first time can be determined based on at least one of the following information:

[0220] (a) The third time reported by the low-power IoT device;

[0221] (b) a fourth time indicated by the network-side device;

[0222] (c) Sampling rate of low-power IoT devices;

[0223] (d) Time granularity of low-power IoT devices;

[0224] (e) BLF for low-power IoT devices;

[0225] (f) Phase deflection information of the low-power IoT received signal and the feedback signal corresponding to the received signal.

[0226] The specific method for determining the first time is described in the first embodiment and will not be repeated here.

[0227] S203: The first device obtains a measurement result of a feedback signal corresponding to the at least one continuous wave.

[0228] The low-power IoT device may send a feedback signal for each continuous wave, or may send a feedback signal for a portion of the continuous wave. For example, the low-power IoT device may send a feedback signal for every interval of a continuous wave.

[0229] The first device may measure all feedback signals sent by the low-power IoT device, or may measure only the feedback signals of some continuous waves. For example, when the low-power IoT device sends a feedback signal for each continuous wave, the first device may measure the feedback signal corresponding to each continuous wave, or may measure the feedback signal every other continuous wave or every other feedback signal.

[0230] In one implementation, the measurement result acquired by the first device includes at least one of the following information:

[0231] (a) Continuous wave transmission time information;

[0232] (b) the reception time information of the feedback signal;

[0233] (c) The time difference between the transmission of two consecutive waves;

[0234] (d) The reception time difference of the two feedback signals;

[0235] (e) A first time difference between a sending time of the continuous wave and a receiving time of the feedback signal.

[0236] When the measurement result includes only information about a continuous wave and a feedback signal corresponding to the continuous wave, the measurement result includes the sending time information of the continuous wave and the receiving time information of the feedback signal corresponding to the continuous wave. Optionally, it may also include a first time difference between the sending time of the continuous wave and the receiving time of the feedback signal, and the first time difference is calculated based on the sending time of the continuous wave and the receiving time of the corresponding feedback signal.

[0237] If the measurement result sent by the first device to the second device does not include the first time difference between the sending time of the continuous wave and the receiving time of the feedback signal, the second device can calculate the first time difference based on the sending time of the continuous wave and the receiving time of the corresponding feedback signal.

[0238] When the measurement result includes information of multiple continuous waves and feedback signals corresponding to the multiple continuous waves, the measurement result may include time information of the multiple continuous waves and time information of the multiple feedback signals, wherein the multiple feedback signals are feedback signals corresponding to the multiple continuous waves.

[0239] The time information of the plurality of continuous waves includes at least one of the following time information: (a) a transmission time difference between two continuous waves; and (b) transmission time information of each continuous wave.

[0240] The time information of the multiple feedback signals includes at least one of the following time information: (a) a reception time difference between two feedback signals; and (b) reception time information of each feedback signal.

[0241] The transmission time difference between the two continuous waves can be determined based on the transmission time information of the two continuous waves. Similarly, the reception time difference between the two feedback signals can be determined based on the reception time information of the two feedback signals. Therefore, if the measurement result sent by the first device to the second device does not include the transmission time difference between the two continuous waves or the reception time difference between the two continuous waves, the second device can calculate the transmission time difference between the two continuous waves based on the transmission time information of the two continuous waves, and determine the reception time difference between the two feedback signals based on the reception time information of the two feedback signals.

[0242] When the first device transmits multiple continuous waves and the low-power IoT device transmits a feedback signal for each continuous wave, the two continuous waves may be transmitted at adjacent times or at non-adjacent times. Accordingly, the two feedback signals may be received at adjacent times or at non-adjacent times.

[0243] For example, if the first device transmits five continuous waves in the following order: continuous wave 1, 2, 3, 4, and 5, the transmission time difference between two continuous waves may be the transmission time difference between continuous wave 1 and continuous wave 2, or the transmission time difference between continuous wave 3 and continuous wave 4, or the transmission time difference between continuous wave 1 and continuous wave 3, or the transmission time difference between continuous wave 2 and continuous wave 5. Feedback signals correspond to continuous waves, and therefore, the reception time difference between two feedback signals corresponds to the transmission time difference between the two continuous waves. If the transmission time difference between continuous wave 1 and continuous wave 2 is measured, the reception time difference between feedback signal 1 corresponding to continuous wave 1 and feedback signal 2 corresponding to continuous wave 2 will also be measured accordingly.

[0244] When the first device sends multiple continuous waves, the first device can obtain time information of one or more groups of continuous waves and time information of one or more groups of feedback signals, where each group of continuous waves includes two continuous waves, and each group of feedback signals is a feedback signal corresponding to each group of continuous waves.

[0245] When the measurement result includes information about multiple continuous waves and feedback signals corresponding to the multiple continuous waves, the measurement result may also include a first time difference between the sending time of the multiple continuous waves and the receiving time of the feedback signals corresponding to the continuous waves, where the first time difference is the sending and receiving time difference, or the receiving and sending time difference.

[0246] In an optional embodiment, the measurement result includes a time difference between multiple continuous wave transmission times and a feedback signal reception time, or the measurement result includes a time difference between multiple feedback signal reception times and a continuous wave transmission time. Optionally, it can be understood as the difference between the reception times of multiple different feedback signals and a single continuous wave transmission time. For example, one continuous wave transmission time is associated with two or four different feedback signals to obtain two or four first time differences.

[0247] In an optional embodiment, the measurement result includes time differences between the transmission times of multiple continuous waves and the reception times of multiple feedback signals. This can be understood as the differences between the reception times of multiple different feedback signals and the transmission times of multiple different continuous waves. For example, the transmission times of two continuous waves are respectively associated with two different feedback signals to obtain two or four first time differences.

[0248] The first time information can be determined based on the sending time information of the continuous wave and the receiving time information of the feedback signal corresponding to the continuous wave. Therefore, if the measurement result sent by the first device to the second device does not include the first time difference, the second device can determine the first time difference based on the sending time information of the continuous wave and the receiving time information of the feedback signal corresponding to the continuous wave.

[0249] In one implementation, the continuous wave transmission time information and the feedback signal reception time information include any one of the following time information: absolute time information and relative time information.

[0250] The absolute time information may be Coordinated Universal Time (UTC) time, time information of a base station, etc., wherein UTC time is also called Universal Time, World Standard Time or International Coordinated Time.

[0251] The relative time information may be time offset information relative to a subframe, or time offset information relative to a reference time.

[0252] The time offset information relative to the subframe may be the number of time slots relative to the subframe, or the number of symbols relative to the subframe, or the time range relative to the subframe (eg, 0.12ms, 0.2ms, etc.). The subframe is the current subframe where the continuous wave transmission time is located.

[0253] The reference time may be a time larger or smaller than the subframe granularity, and the reference time may also be a subframe. For example, the reference time is SFN0, frame 0 of the SFN0 wireless network. The time offset information relative to the reference time may be the frame number, subframe and time slot number relative to SFN0, or the time range relative to SFN0, etc.

[0254] In one implementation, the sending time information (i.e., the sending time information of the continuous wave) is the time offset information of the sending time of the continuous wave relative to the receiving subframe of the received feedback signal, or the sending time information is the time offset information of the sending time of the continuous wave relative to the subframe time of the first device.

[0255] The receiving subframe refers to the subframe in which the first device receives the feedback signal. The sending time information of the continuous wave can be the time offset information relative to the receiving subframe. As shown in Figure 7, the sending time information of CW2 can be the time offset information of CW2 relative to the subframe corresponding to OOK1 (i.e., the receiving subframe).

[0256] The subframe time of the first device may be a subframe at which the first device sends the continuous wave, and the sending time of the continuous wave may be time offset information with reference to the subframe time of the first device.

[0257] In one implementation, the receiving time information (i.e., the receiving time information of the feedback signal) is the time offset information of the receiving time of the feedback signal relative to the sending subframe of the continuous wave, or the receiving time information is the time offset information of the receiving time of the feedback signal relative to the subframe time of the first device.

[0258] The sending subframe is a subframe in which the first device sends a continuous wave, and the reception time of the feedback signal may be time offset information with the sending subframe as a reference.

[0259] The subframe time of the first device may be a subframe in which the first device receives the feedback signal, and the reception time of the feedback signal may be time offset information with reference to the subframe time of the first device.

[0260] In one implementation, the measurement result includes, in addition to the aforementioned information, at least one of the following information:

[0261] (1) Identification information of low-power IoT devices;

[0262] (2) Identification information of line of sight (LOS) or non-line of sight (NLOS) transmission;

[0263] (3) Timestamp information of the continuous wave transmission time;

[0264] (4) Timestamp information of the reception time of the feedback signal;

[0265] (5) identification information of the beam used by the first device to receive or transmit signals;

[0266] (6) identification information of a time error used by the first device to receive or send a signal;

[0267] (7) Feedback signal reception energy information or received signal strength indication RSSI information.

[0268] The first device may communicate with multiple low-power IoT devices at the same time. In order to distinguish measurement results of different low-power IoT devices, identification information of the low-power IoT devices may be included in the measurement results.

[0269] Signal transmission between the first device and the low-power IoT device can use either a Loss of Sight (LOS) or Non-Low-Sight (NLOS) mode. In the LOS mode, the signal propagates unobstructed and in a straight line between the first device and the low-power IoT device. In the Non-Low-Sight (NLOS) mode, the signal may be obstructed during propagation, and the signal does not propagate in a straight line. The first device can indicate whether the transmission mode used is LOS or NLOS using one bit of identification information, for example, by indicating the LOS mode using a 1 and indicating the NLOS mode using a 0.

[0270] When performing positioning according to the measurement result, the first device or the second device may perform positioning according to the LOS mode or the NLOS mode, or determine the reliability of the positioning result.

[0271] For example, when the transmission method between the first device and the low-power IoT device 1 adopts the LOS method, the flight time between the first device and the low-power IoT device 1 can be directly converted into distance. When the transmission method between the first device and the low-power IoT device 1 adopts the NLOS method, the flight time between the first device and the low-power IoT device 1 cannot be directly converted into distance.

[0272] For example, when the second device obtains the measurement results of multiple low-power IoT devices, when determining the location information of the first device through the measurement results of the multiple low-power IoT devices, it can first exclude the measurement results of the low-power IoT devices using the NLOS method, and use the measurement results of the remaining low-power IoT devices using the LOS method to determine the location information of the first device.

[0273] The timestamp information of the continuous wave transmission time may be time information with a finer granularity than the continuous wave transmission time information, and is used to identify the time range within which the continuous wave transmission time information falls. Similarly, the timestamp information of the feedback signal reception time may be time information with a finer granularity than the feedback signal reception time information, and is used to identify the time range within which the feedback signal reception time falls.

[0274] When communicating with multiple low-power IoT devices, the first device may use the same beam or different beams, and different beams may produce different time errors. When the second device uses the measurement results of multiple low-power IoT devices to determine the location information of the first device, it can select the measurement results of a low-power IoT device using the same beam based on the beam identification information to determine the location information of the first device, thereby improving positioning accuracy.

[0275] When communicating with different low-power IoT devices, the first device may use different RF links, panels, or antennas. This may result in different time errors when communicating with different low-power IoT devices. Different time errors can reduce the final positioning accuracy. Therefore, the measurement results can include identification information of the time error of the received or transmitted signal, so that the first or second device can perform different processing based on this time error identification information when performing positioning.

[0276] The received energy information of the feedback signal is used to indicate the energy or strength of the feedback signal received by the first device. The received energy information is a parameter representing the received signal strength of the feedback signal. The receiving capability information may be the signal received power of the feedback signal. The concept of signal received power is similar to the reference signal received power (RSRP).

[0277] The received signal strength indication (RSSI) information of the feedback signal is a parameter representing the received signal strength of the feedback signal.

[0278] The first device or the second device can determine or verify whether the positioning result is reliable or whether the accuracy meets the requirements based on the received energy information or RSSI information of the feedback signal. For example, when the RSSI value is greater than a certain threshold, it indicates that the quality of the received feedback signal is good and the positioning result determined based on the feedback signal is reliable. When the RSSI value is less than the threshold, it indicates that the quality of the received feedback signal is poor and the positioning result determined based on the feedback signal is unreliable.

[0279] In one implementation, the reception time information of the feedback signal includes the reception time information of at least one path. During the actual transmission process, the feedback signal sent by the low-power IoT device may reach the first device through multiple paths, that is, multipath propagation. Accordingly, the first device may obtain the reception time information of multiple paths (i.e., paths). It can be understood that the transmission delay of different paths may be different.

[0280] When the first device reports measurement results to the second device, it can report the reception time information of one or more paths. The second device can then determine which path's reception time information to use for positioning based on the reception time information of the multiple paths and other information. This other information can be historical information about the low-power IoT device or the reception time information of multiple paths from other low-power IoT devices.

[0281] S204. The first device sends the measurement result to the second device or determines at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

[0282] The first device may determine the location information of the low-power IoT device and / or the location information of the first device based on the measurement result. The specific determination method is described in the first embodiment and will not be repeated here.

[0283] The first device may also send the measurement result to the second device, and the second device may determine the location information of the low-power IoT device and / or the location information of the first device based on the measurement result. The second device may determine the location information in the same manner as the first device, which will not be repeated here.

[0284] In one implementation, the location information of the low-power IoT device includes at least one item: relative location information of the low-power IoT device and the first device, flight time information of the low-power IoT device and the first device, absolute location information of the low-power IoT device, and relative distance information of the low-power IoT device and the first device.

[0285] In one implementation, the location information of the first device includes at least one item: relative location information of the first device and the low-power IoT device, flight time information of the first device and the low-power IoT device, absolute location information of the first device, and relative distance information of the first device and the low-power IoT device.

[0286] Optionally, after the first device determines the location information of the low-power IoT device and / or the location information of the first device, it may also send the location information of the low-power IoT device and / or the location information of the first device to the second device or other device.

[0287] In this embodiment, a first device transmits at least one continuous wave to a low-power IoT device, receives a feedback signal from the low-power IoT device in response to the continuous wave, obtains a measurement result of the feedback signal corresponding to the at least one continuous wave, and transmits the measurement result to a second device or determines at least one of the following location information based on the measurement result: the location information of the low-power IoT device and the location information of the first device. This method can locate the low-power IoT device based on the time the continuous wave is transmitted and the time the feedback signal is received.

[0288] Example 3

[0289] Based on Examples 1 and 2, Example 3 of the present application provides a positioning method. The implementation methods described in Examples 1 and 2 can be applied to Example 3 and achieve the same technical effects. This example describes the positioning method from the perspective of the second device. Figure 9 is a flowchart of the positioning method provided in Example 3 of the present application. As shown in Figure 9, the method provided in this example includes the following steps.

[0290] S301. A second device receives a measurement result of at least one feedback signal sent by a first device, where the at least one feedback signal is sent by a low-power IoT device in response to at least one continuous wave sent by the first device.

[0291] S302. The second device determines at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

[0292] In one implementation, the feedback signal is sent by the low-power IoT device after receiving the continuous wave for the first time.

[0293] In one implementation, the measurement result includes at least one of the following information:

[0294] Continuous wave sending time information;

[0295] Receiving time information of the feedback signal;

[0296] The time difference between the transmission of two consecutive waves;

[0297] The reception time difference of the two feedback signals;

[0298] A first time difference between the sending time of the continuous wave and the receiving time of the feedback signal.

[0299] In one implementation, the measurement result further includes at least one of the following information:

[0300] Identification information of low-power IoT devices;

[0301] Identification information of LOS or NLOS;

[0302] Timestamp information of the continuous wave sending time;

[0303] Timestamp information of the reception time of the feedback signal;

[0304] identification information of a beam used by the first device to receive or send signals;

[0305] Identification information of a time error used by the first device to receive or send a signal;

[0306] Feedback signal reception energy information or RSSI information.

[0307] The second device may determine the location information of the low-power IoT device and / or the location information of the first device in the same manner as the first device, which will not be described in detail here.

[0308] Optionally, after determining the location information of the low-power IoT device and / or the location information of the first device, the second device may also send the location information of the low-power IoT device and / or the location information of the first device to the first device or other devices.

[0309] Example 4

[0310] Based on the above embodiments, a fourth embodiment of the present application provides a positioning method. This embodiment describes the signaling interaction between a first device, a low-power IoT device, and a second device during positioning. Figure 10 is a signaling flow chart of a positioning method provided in the fourth embodiment of the present application. As shown in Figure 10, the method provided in this embodiment includes the following steps.

[0311] S401: A first device sends at least one continuous wave to a low-power IoT device.

[0312] S402: The low-power IoT device sends a feedback signal in response to the continuous wave.

[0313] The low-power IoT device receives at least one continuous wave sent by the first device, and the low-power IoT device sends a feedback signal in response to the continuous wave to the first device after receiving the continuous wave for a first time.

[0314] S403: The first device obtains a measurement result of a feedback signal corresponding to at least one continuous wave.

[0315] The first device receives the feedback signal, measures the feedback signal, and obtains a measurement result of the feedback signal corresponding to the at least one continuous wave.

[0316] S404: The first device sends the measurement result to the second device.

[0317] S405. The second device determines at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

[0318] The positioning method provided in the embodiment of the present application can be executed by a positioning device. In the embodiment of the present application, the positioning method performed by the positioning device is taken as an example to illustrate the positioning device provided in the embodiment of the present application.

[0319] Example 5

[0320] FIG11 is a schematic structural diagram of a positioning device provided in Example 5 of the present application. The device can be used in low-power IoT devices. As shown in FIG11 , the positioning device 200 provided in this embodiment includes the following modules.

[0321] The receiving module 21 is configured to receive at least one continuous wave sent by the first device;

[0322] The sending module 22 is used to send a feedback signal in response to the continuous wave, where the continuous wave and / or the feedback signal are used to determine at least one of the following location information: location information of the low-power IoT device and location information of the first device.

[0323] In some implementations, the sending module 22 sends a feedback signal in response to the continuous wave to the first device after receiving the continuous wave for a first time.

[0324] In some implementations, the receiving module 21 receives at least two continuous waves sent by the first device.

[0325] In some implementations, the sending module 22 is specifically configured to: send a feedback signal in response to each continuous wave after the receiving module 21 receives the continuous wave.

[0326] In some implementations, the at least two continuous waves are separated by a second time, wherein the second time is determined based on at least one of the following information:

[0327] The time length indicated by the network equipment or specified in the protocol;

[0328] The time slot number relative to the first continuous wave sent;

[0329] The start time of sending indicated by the network device or specified by the protocol.

[0330] In some implementations, the feedback signals sent by the sending module 22 in response to the at least two continuous waves are different.

[0331] In some implementations, the feedback signal includes at least one of the following information:

[0332] Identification information of the low-power IoT device;

[0333] Sequence information of the feedback signal;

[0334] identification information of the feedback signal in at least two of the feedback signals;

[0335] Correlation information of at least two of the feedback signals.

[0336] In some implementations, the first time is determined based on at least one of the following information:

[0337] The third time reported by the low-power IoT device;

[0338] The fourth time indicated by the network side device;

[0339] The sampling rate of the low-power IoT device;

[0340] The time granularity of the low-power IoT device;

[0341] The backscatter link frequency BLF of the low-power IoT device;

[0342] Phase deflection information of the received signal of the low-power IoT and the feedback signal corresponding to the received signal.

[0343] In some implementations, the first time is an integer multiple of a sampling rate of the low-power IoT device;

[0344] Alternatively, the first time is an integer multiple of the time granularity of the low-power IoT device;

[0345] Alternatively, the third time is associated with the capability of the low-power IoT device.

[0346] In some implementations, the receiving module 21 is further configured to: receive first indication information, where the first indication information is configured to instruct the low-power IoT device to send a feedback signal when receiving a continuous wave.

[0347] In some implementations, the low-power IoT device sends at least two feedback signals within a sixth time period.

[0348] It should be understood that the positioning device 100 of this embodiment can be used to execute the method steps performed by the low-power IoT device in the method embodiment of this application and achieve the same technical effects. To avoid repetition, it will not be described here.

[0349] Example 6

[0350] FIG12 is a schematic structural diagram of a positioning device provided in Example 6 of the present application. The positioning device 300 can be applied in a first device. As shown in FIG12 , the positioning device 300 provided in this embodiment includes the following modules.

[0351] A sending module 31 is configured to send at least one continuous wave to a low-power Internet of Things (IoT) device;

[0352] a receiving module 32, configured to receive a feedback signal in response to the continuous wave;

[0353] The processing module 33 is configured to obtain a measurement result of a feedback signal corresponding to the at least one continuous wave;

[0354] The processing module 33 is further configured to send the measurement result to a second device or determine at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

[0355] In some implementations, the feedback signal is sent by the low-power IoT device after receiving the continuous wave for the first time.

[0356] In some implementations, the measurement result includes at least one of the following information:

[0357] Sending time information of the continuous wave;

[0358] Receiving time information of the feedback signal;

[0359] The time difference between the transmission of two consecutive waves;

[0360] The reception time difference of the two feedback signals;

[0361] A first time difference between a sending time of the continuous wave and a receiving time of the feedback signal.

[0362] In some implementations, the sending time information and the receiving time information include any one of the following time information:

[0363] Absolute time information;

[0364] Relative time information.

[0365] In some implementations, the relative time information is time offset information relative to a subframe, or time offset information relative to a reference time.

[0366] In some implementations, the transmission time information is time offset information of the transmission time of the continuous wave relative to a reception subframe of a feedback signal;

[0367] Alternatively, the receiving time information is time offset information of the receiving time of the feedback signal relative to the sending subframe of the continuous wave;

[0368] Or, the sending time information is time offset information of the sending time of the continuous wave relative to the subframe time of the first device;

[0369] Alternatively, the receiving time information is time offset information of the receiving time of the feedback signal relative to the subframe time of the first device.

[0370] In some implementations, the first device transmits at least two continuous waves within a fifth time.

[0371] In some implementations, the fifth time is determined by any one of the following time information:

[0372] The time length indicated by the network equipment or specified in the protocol;

[0373] The time slot number relative to the first continuous wave sent;

[0374] The start time and duration of transmission indicated by the network device or specified by the protocol.

[0375] In some implementations, before the sending module 31 sends at least one continuous wave to the low-power IoT device, the receiving module 32 is further configured to:

[0376] Receive the configuration information of the continuous wave sent by the network side device, where the configuration information includes at least one of the following information: the starting sending time of the continuous wave and the sending time interval of the continuous wave.

[0377] In some implementations, the receiving module 32 is specifically configured to:

[0378] receiving information of at least one available sending time interval of a continuous wave sent by the network side device through first signaling;

[0379] Receive information about a target sending time interval of a continuous wave sent by the network side device through second signaling, wherein the target sending time interval is any one of the at least one available sending time interval.

[0380] In some implementations, a sending time of a middle continuous wave among the multiple continuous waves sent by the first device is located between receiving times of two feedback signals.

[0381] In some implementations, the location information of the low-power IoT device includes at least one of: relative location information of the low-power IoT device and the first device, flight time information of the low-power IoT device and the first device, absolute location information of the low-power IoT device, and relative distance information of the low-power IoT device and the first device;

[0382] The location information of the first device includes at least one item: relative location information of the first device and the low-power IoT device, flight time information of the first device and the low-power IoT device, absolute location information of the first device, and relative distance information of the first device and the low-power IoT device.

[0383] In some implementations, the measurement result further includes at least one of the following information:

[0384] Identification information of the low-power IoT device;

[0385] Identification information transmitted with or without line of sight;

[0386] Timestamp information of the sending time of the continuous wave;

[0387] Timestamp information of the reception time of the feedback signal;

[0388] identification information of a beam used by the first device to receive or send signals;

[0389] Identification information of a time error used by the first device to receive or send a signal;

[0390] The received energy information or received signal strength indication RSSI information of the feedback signal.

[0391] In some implementations, the reception time information of the feedback signal includes reception time information of at least one path.

[0392] It should be understood that the positioning device 300 of this embodiment can be used to execute the method steps performed by the first device in the method embodiment of this application and achieve the same technical effects. To avoid repetition, they will not be described here.

[0393] Example 7

[0394] FIG13 is a schematic structural diagram of a positioning device provided in Example 7 of the present application. The positioning device 400 can be applied in a second device. As shown in FIG13 , the positioning device 400 provided in this embodiment includes the following modules.

[0395] a receiving module 41, configured to receive a measurement result of at least one feedback signal sent by a first device, where the at least one feedback signal is sent by a low-power Internet of Things (IoT) device in response to at least one continuous wave sent by the first device;

[0396] The positioning module 42 is configured to determine at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

[0397] In some implementations, the measurement result includes at least one of the following information:

[0398] Sending time information of the continuous wave;

[0399] Receiving time information of the feedback signal;

[0400] The time difference between the transmission of two consecutive waves;

[0401] The reception time difference of the two feedback signals;

[0402] A first time difference between a sending time of the continuous wave and a receiving time of the feedback signal.

[0403] In some implementations, the measurement result further includes at least one of the following information:

[0404] Identification information of the low-power IoT device;

[0405] Identification information transmitted with or without line of sight;

[0406] Timestamp information of the sending time of the continuous wave;

[0407] Timestamp information of the reception time of the feedback signal;

[0408] identification information of a beam used by the first device to receive or send signals;

[0409] Identification information of a time error used by the first device to receive or send a signal;

[0410] The received energy information or received signal strength indication RSSI information of the feedback signal.

[0411] It should be understood that the positioning device 400 of this embodiment can be used to execute the method steps performed by the second device in the method embodiment of this application and achieve the same technical effects. To avoid repetition, they will not be described here.

[0412] As shown in Figure 14, an embodiment of the present application also provides a communication device 500, including a processor 51 and a memory 52, and the memory 52 stores programs or instructions that can be run on the processor 51. For example, when the communication device 500 is a low-power IoT device, when the program or instruction is executed by the processor 51, it implements the various steps performed by the low-power IoT device in the above-mentioned method embodiment, and can achieve the same technical effect. When the communication device 500 is a first device, when the program or instruction is executed by the processor 51, it implements the various steps performed by the first device in the above-mentioned method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here. When the communication device 500 is a second device, when the program or instruction is executed by the processor 51, it implements the various steps performed by the second device in the above-mentioned method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0413] The embodiment of the present application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instruction. When the terminal is a first device, the processor is used to run the program or instruction to implement the various steps performed by the first device in the above-mentioned method embodiment. This terminal embodiment corresponds to the above-mentioned first device-side method embodiment, and the various implementation processes and implementation methods of the above-mentioned method embodiment can be applied to this terminal embodiment and can achieve the same technical effects. Specifically, Figure 15 is a schematic diagram of the hardware structure of a terminal that implements an embodiment of the present application.

[0414] The terminal 600 includes but is not limited to: a radio frequency unit 61, a network module 62, an audio output unit 63, an input unit 64, a sensor 65, a display unit 66, a user input unit 67, an interface unit 68, a memory 69 and at least some of the components of the processor 610.

[0415] Those skilled in the art will appreciate that the terminal 600 may also include a power supply (such as a battery) to power various components. The power supply may be logically connected to the processor 610 through a power management system, thereby implementing functions such as charging, discharging, and power consumption management through the power management system. The terminal structure shown in Figure 15 does not constitute a limitation of the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be described in detail here.

[0416] It should be understood that in an embodiment of the present application, the input unit 64 may include a graphics processing unit (GPU) 641 and a microphone 642, and the graphics processor 641 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 66 may include a display panel 661, and the display panel 661 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 67 includes a touch panel 671 and at least one of other input devices 672. The touch panel 671 is also called a touch screen. The touch panel 671 may include two parts: a touch detection device and a touch controller. Other input devices 672 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0417] In the embodiment of the present application, after receiving downlink data from the network-side device, the RF unit 61 can transmit the data to the processor 610 for processing. In addition, the RF unit 61 can send uplink data to the network-side device. Generally, the RF unit 61 includes but is not limited to an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0418] The memory 69 can be used to store software programs or instructions and various data. The memory 69 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 69 may include a volatile memory or a non-volatile memory. 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), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM), and a direct memory bus random access memory (DRRAM). The memory 69 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0419] Processor 610 may include one or more processing units. Optionally, processor 610 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 610.

[0420] The radio frequency unit 61 is configured to send at least one continuous wave to a low-power IoT device and receive a feedback signal from the low-power IoT device in response to the continuous wave.

[0421] The processor 610 is configured to obtain a measurement result of the feedback signal corresponding to the at least one continuous wave, and determine at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device;

[0422] Alternatively, the video unit 61 is further configured to send the measurement result to a second device.

[0423] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above-mentioned method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0424] The embodiment of the present application also provides a network-side device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, the processor is used to run a program or instruction, and the network-side device can be a first device or a second device. When the network-side device is the first device, the processor is used to run the program or instruction to implement the steps performed by the first device in the above-mentioned method embodiment. When the network-side device is the second device, the processor is used to run the program or instruction to implement the steps performed by the second device in the above-mentioned method embodiment. Each implementation process and implementation method of the above-mentioned method embodiment can be applied to the network-side device embodiment and can achieve the same technical effect.

[0425] Specifically, embodiments of the present application also provide a network-side device. As shown in Figure 16, the network-side device 700 includes an antenna 71, a radio frequency device 72, a baseband device 73, a processor 74, and a memory 75. Antenna 71 is connected to radio frequency device 72. In the uplink direction, radio frequency device 72 receives information via antenna 71 and sends the received information to baseband device 73 for processing. In the downlink direction, baseband device 73 processes the information to be transmitted and sends it to radio frequency device 72. Radio frequency device 72 processes the received information and then sends it through antenna 71.

[0426] The method executed by the network-side device in the above embodiment may be implemented in the baseband device 73 , which includes a baseband processor.

[0427] The baseband device 73 may include, for example, at least one baseband board, on which multiple chips are arranged, as shown in Figure 15, one of the chips is, for example, a baseband processor, which is connected to the memory 75 through a bus interface to call the program or instructions in the memory 75 to execute the network side device operations shown in the above method embodiment.

[0428] The network side device may further include a network interface 76, which is, for example, a Common Public Radio Interface (CPRI).

[0429] Specifically, the network side device 700 of the embodiment of the present application also includes: instructions or programs stored in the memory 75 and can be run on the processor 74. The processor 74 calls the instructions or programs in the memory 75 to execute the method steps performed by the first device or the second device in the above method embodiment and achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0430] An embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the positioning method described in the above-mentioned embodiments 1 to 4 are implemented, and the same technical effects can be achieved. To avoid repetition, they are not described here.

[0431] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. In some examples, the readable storage medium may be a non-transitory readable storage medium.

[0432] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the positioning method described in the above-mentioned embodiments 1 to 4, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0433] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0434] An embodiment of the present application further provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-mentioned positioning method embodiment and can achieve the same technical effect. To avoid repetition, it is not repeated here.

[0435] An embodiment of the present application also provides a communication system, including: a low-power IoT device, a first device, and a second device. The low-power IoT device can be used to execute the steps performed by the low-power IoT device in the method embodiment described above, the first device can be used to execute the steps performed by the first device in the method embodiment described above, and the second device can be used to execute the steps performed by the second device in the method embodiment described above.

[0436] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0437] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general-purpose hardware platform, or of course, by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes a number of instructions for enabling a terminal or network-side device to execute the methods described in each embodiment of the present application.

[0438] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of this application and the scope of protection of the claims. These implementation methods are all within the protection of this application.

Claims

1. A positioning method, wherein: include: The low-power Internet of Things (IoT) device receives at least one continuous wave sent by the first device; The low-power IoT device sends a feedback signal in response to the continuous wave, and the continuous wave and / or the feedback signal are used to determine at least one of the following location information: location information of the low-power IoT device and location information of the first device.

2. The method according to claim 1, wherein The low-power IoT device sends a feedback signal in response to the continuous wave to the first device after receiving the continuous wave for a first time.

3. The method according to claim 1 or 2, wherein: The low-power IoT device receives at least two continuous waves sent by the first device.

4. The method according to claim 3, wherein: The low-power IoT device sending a feedback signal in response to the continuous wave to the first device includes: After receiving each continuous wave, the low-power IoT device sends a feedback signal in response to the continuous wave.

5. The method according to claim 3, wherein The at least two continuous waves are separated by a second time, wherein the second time is determined based on at least one of the following information: The time length indicated by the network equipment or specified in the protocol; The time slot number relative to the first continuous wave sent; The start time of sending indicated by the network device or specified by the protocol.

6. The method according to claim 3, wherein: The feedback signals sent by the low-power IoT device in response to the at least two continuous waves are different.

7. The method according to any one of claims 1 to 6, wherein The feedback signal includes at least one of the following information: Identification information of the low-power IoT device; Sequence information of the feedback signal; identification information of the feedback signal in at least two of the feedback signals; Correlation information of at least two of the feedback signals.

8. The method according to claim 2, wherein: The first time is determined based on at least one of the following information: The third time reported by the low-power IoT device; The fourth time indicated by the network side device; The sampling rate of the low-power IoT device; The time granularity of the low-power IoT device; The backscatter link frequency BLF of the low-power IoT device; Phase deflection information of the received signal of the low-power IoT and the feedback signal corresponding to the received signal.

9. The method according to claim 8, wherein The first time is an integer multiple of the sampling rate of the low-power IoT device; Alternatively, the first time is an integer multiple of the time granularity of the low-power IoT device; Alternatively, the third time is associated with the capability of the low-power IoT device.

10. The method according to any one of claims 1 to 9, wherein The method further comprises: The low-power IoT device receives first indication information, where the first indication information is used to instruct the low-power IoT device to send a feedback signal when receiving a continuous wave.

11. The method according to any one of claims 1 to 9, wherein the low-power IoT device sends at least two feedback signals within a sixth time period.

12. A positioning method, wherein: include: The first device sends at least one continuous wave to the low-power Internet of Things (IoT) device; The first device receives a feedback signal in response to the continuous wave; The first device obtains a measurement result of a feedback signal corresponding to the at least one continuous wave; The first device sends the measurement result to the second device or determines at least one of the following location information based on the measurement result: the location information of the low-power IoT device and the location information of the first device.

13. The method according to claim 12, wherein: The feedback signal is sent by the low-power IoT device after receiving the continuous wave for the first time.

14. The method according to claim 12 or 13, wherein: The measurement result includes at least one of the following information: Sending time information of the continuous wave; Receiving time information of the feedback signal; The time difference between the transmission of two consecutive waves; The reception time difference of the two feedback signals; A first time difference between a sending time of the continuous wave and a receiving time of the feedback signal.

15. The method according to claim 14, wherein The sending time information and the receiving time information include any one of the following time information: Absolute time information; Relative time information.

16. The method according to claim 15, wherein The relative time information is time offset information relative to a subframe, or time offset information relative to a reference time.

17. The method according to claim 14, wherein: The sending time information is time offset information of the sending time of the continuous wave relative to the receiving subframe of the feedback signal; Alternatively, the receiving time information is time offset information of the receiving time of the feedback signal relative to the sending subframe of the continuous wave; Or, the sending time information is time offset information of the sending time of the continuous wave relative to the subframe time of the first device; Alternatively, the receiving time information is time offset information of the receiving time of the feedback signal relative to the subframe time of the first device.

18. The method according to any one of claims 12 to 17, wherein The first device transmits at least two continuous waves within a fifth time.

19. The method according to claim 18, wherein The fifth time is determined by any one of the following time information: The time length indicated by the network equipment or specified in the protocol; The time slot number relative to the first continuous wave sent; The start time and duration of transmission indicated by the network device or specified by the protocol.

20. The method according to any one of claims 12 to 19, wherein: Before the first device sends at least one continuous wave to the low-power IoT device, the device further includes: The first device receives the continuous wave configuration information sent by the network side device, where the configuration information includes at least one of the following information: a start time of sending the continuous wave and a sending time interval of the continuous wave.

21. The method according to claim 20, wherein the first device receives the continuous wave configuration information sent by the network side device, comprising: receiving information of at least one available sending time interval of a continuous wave sent by the network side device through first signaling; Receive information about a target sending time interval of a continuous wave sent by the network side device through second signaling, wherein the target sending time interval is any one of the at least one available sending time interval.

22. The method according to claim 18, wherein A sending time of a middle continuous wave among the multiple continuous waves sent by the first device is located between receiving times of two feedback signals.

23. The method according to any one of claims 12 to 22, wherein: The location information of the low-power IoT device includes at least one of: relative location information of the low-power IoT device and the first device, flight time information of the low-power IoT device and the first device, absolute location information of the low-power IoT device, and relative distance information of the low-power IoT device and the first device; The location information of the first device includes at least one item: relative location information of the first device and the low-power IoT device, flight time information of the first device and the low-power IoT device, absolute location information of the first device, and relative distance information of the first device and the low-power IoT device.

24. The method according to claim 14, wherein The measurement result also includes at least one of the following information: Identification information of the low-power IoT device; Identification information transmitted with or without line of sight; Timestamp information of the sending time of the continuous wave; Timestamp information of the reception time of the feedback signal; identification information of a beam used by the first device to receive or send signals; Identification information of a time error used by the first device to receive or send a signal; The received energy information or received signal strength indication RSSI information of the feedback signal.

25. The method according to claim 24, wherein The reception time information of the feedback signal includes reception time information of at least one path.

26. A positioning method, wherein: include: The second device receives a measurement result of at least one feedback signal sent by the first device, where the at least one feedback signal is sent by a low-power Internet of Things (IoT) device in response to at least one continuous wave sent by the first device; The second device determines at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

27. The method according to claim 26, wherein The measurement result includes at least one of the following information: Sending time information of the continuous wave; Receiving time information of the feedback signal; The time difference between the transmission of two consecutive waves; The reception time difference of the two feedback signals; A first time difference between a sending time of the continuous wave and a receiving time of the feedback signal.

28. A positioning device, wherein: include: a receiving module, configured to receive at least one continuous wave sent by the first device; A sending module is used to send a feedback signal in response to the continuous wave, and the continuous wave and / or feedback signal are used to determine at least one of the following location information: location information of the low-power IoT device and location information of the first device.

29. The apparatus according to claim 28, wherein The sending module sends a feedback signal in response to the continuous wave to the first device after receiving the continuous wave for a first time.

30. The apparatus according to claim 29, wherein The first time is determined based on at least one of the following information: The third time reported by the low-power IoT device; The fourth time indicated by the network side device; The sampling rate of the low-power IoT device; The time granularity of the low-power IoT device; The backscatter link frequency BLF of the low-power IoT device; Phase deflection information of the received signal of the low-power IoT and the feedback signal corresponding to the received signal.

31. A positioning device, wherein: include: A sending module, configured to send at least one continuous wave to a low-power IoT device; a receiving module, configured to receive a feedback signal in response to the continuous wave; a processing module, configured to obtain a measurement result of a feedback signal corresponding to the at least one continuous wave; The processing module is further configured to send the measurement result to the second device or determine at least one of the following location information based on the measurement result: location information of the low-power IoT device and location information of the first device.

32. The apparatus according to claim 31, wherein The feedback signal is sent by the low-power IoT device after receiving the continuous wave for the first time.

33. The device according to claim 31 or 32, wherein The measurement result includes at least one of the following information: Sending time information of the continuous wave; Receiving time information of the feedback signal; The time difference between the transmission of two consecutive waves; The reception time difference of the two feedback signals; A first time difference between a sending time of the continuous wave and a receiving time of the feedback signal.

34. The device according to any one of claims 31 to 33, wherein The first device transmits at least two continuous waves within a fifth time.

35. A positioning device, wherein: include: a receiving module, configured to receive a measurement result of at least one feedback signal sent by a first device, where the at least one feedback signal is sent by a low-power Internet of Things (IoT) device in response to at least one continuous wave sent by the first device; A positioning module is used to determine at least one of the following location information based on the measurement result: the location information of the low-power IoT device and the location information of the first device.

36. The apparatus of claim 35, wherein: The measurement result includes at least one of the following information: Sending time information of the continuous wave; Receiving time information of the feedback signal; The time difference between the transmission of two consecutive waves; The reception time difference of the two feedback signals; A first time difference between a sending time of the continuous wave and a receiving time of the feedback signal.

37. A low-power IoT device, wherein: include: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the positioning method according to any one of claims 1 to 11 are implemented.

38. A first device, wherein: include: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the positioning method according to any one of claims 12 to 25 are implemented.

39. A second device, wherein: include: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the positioning method according to claim 26 or 27 are implemented.

40. A readable storage medium, wherein: The readable storage medium stores a program or instruction, which, when executed by a processor, implements the steps of the positioning method according to any one of claims 1 to 11, or implements the steps of the positioning method according to any one of claims 12 to 25, or implements the steps of the positioning method according to claim 26 or 27.

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