Method and device for improving accuracy of position information of object by combining individual sensor information

Abstract

A method by which a server performs wireless communication and sensing, and the server for supporting same are provided. The server can: acquire position information of a second device from a first device; acquire first position information of a third device from the second device; combine the position information of the second device with the first position information of the third device on the basis that a positioning error of the first device for the third device exceeds the threshold value; and determine the position of the third device on the basis of the combination of the position information of the second device and the first position information of the third device.

Description

Method and device for improving the accuracy of object location information by combining individual sensor information

[0001] The present disclosure relates to a wireless communication system.

[0002] 5G NR, the successor to LTE (long-term evolution), is a new clean-slate mobile communications system characterized by high performance, low latency, and high availability. 5G NR can utilize all available spectrum resources, from low-frequency bands below 1 GHz, mid-frequency bands between 1 GHz and 10 GHz, and high-frequency (millimeter wave) bands above 24 GHz.

[0003] The 6G (wireless communication) system aims to achieve (i) very high data rates per device, (ii) a very large number of connected devices, (iii) global connectivity, (iv) very low latency, (v) low energy consumption for battery-free Internet of Things (IoT) devices, (vi) ultra-reliable connectivity, and (vii) connected intelligence with machine learning capabilities. The vision of the 6G system can be divided into four aspects: intelligent connectivity, deep connectivity, holographic connectivity, and ubiquitous connectivity, and the 6G system can satisfy the requirements as shown in Table 1 below. For example, Table 1 can represent an example of the requirements of a 6G system.

[0004] Per device peak data rate 1 Tbps E2E latency 1 ms Maximum spectral efficiency 100 bps / Hz Mobility support Up to 1000 km / hr Satellite integration Fully AI Fully autonomous vehicle Fully XR Fully haptic communication Fully

[0005] According to one embodiment of the present disclosure, a method may be provided. For example, the method may include: obtaining location information of a second device from a first device; obtaining first location information of a third device from the second device; combining the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determining a location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0006] According to one embodiment of the present disclosure, a server may be provided. For example, the server may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions, wherein the instructions, when executed by the at least one processor, cause the server to: obtain, from a first device, location information of a second device; obtain, from the second device, first location information of a third device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0007] According to one embodiment of the present disclosure, a processing device configured to control a server may be provided. The processing device may include at least one processor; and at least one memory connected to the at least one processor and storing instructions, wherein the instructions, when executed by the at least one processor, cause the server to: obtain, from a first device, location information of a second device; obtain, from the second device, first location information of a third device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0008] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. The instructions, when executed, may cause a server to: obtain, from a first device, location information of a second device; obtain, from the second device, first location information of a third device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0009] FIG. 1 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure.

[0010] FIG. 2 illustrates an electromagnetic spectrum according to one embodiment of the present disclosure.

[0011] FIG. 3 illustrates a connected sensor-based positioning information combination at an intersection according to one embodiment of the present disclosure.

[0012] FIG. 4 illustrates a camera detection area from a camera viewpoint and a camera detection area from a bird's eye view according to an embodiment of the present disclosure.

[0013] FIG. 5 illustrates accuracy thresholds for camera-based positioning and GNSS-based positioning according to one embodiment of the present disclosure.

[0014] FIG. 6 illustrates a method for expanding an area having high positioning accuracy by combining sensor-based positioning information according to one embodiment of the present disclosure.

[0015] FIG. 7 illustrates a method by which a server performs wireless communication according to one embodiment of the present disclosure.

[0016] FIG. 8 illustrates a method for a first device to perform wireless communication according to one embodiment of the present disclosure.

[0017] FIG. 9 illustrates a communication system (1) according to one embodiment of the present disclosure.

[0018] FIG. 10 illustrates a wireless device according to an embodiment of the present disclosure.

[0019] FIG. 11 illustrates a signal processing circuit for a transmission signal according to one embodiment of the present disclosure.

[0020] FIG. 12 illustrates a wireless device according to one embodiment of the present disclosure.

[0021] FIG. 13 illustrates a mobile device according to an embodiment of the present disclosure.

[0022] FIG. 14 illustrates a vehicle or autonomous vehicle according to one embodiment of the present disclosure.

[0023] In this disclosure, "A or B" can mean "only A," "only B," or "both A and B." In other words, "A or B" in this disclosure can be interpreted as "A and / or B." For example, "A, B or C" in this disclosure can mean "only A," "only B," "only C," or "any combination of A, B and C."

[0024] As used herein, a slash ( / ) or a comma may mean "and / or." For example, "A / B" may mean "A and / or B." Accordingly, "A / B" may mean "only A," "only B," or "both A and B." For example, "A, B, C" may mean "A, B, or C."

[0025] In the present disclosure, “at least one of A and B” may mean “only A,” “only B,” or “both A and B.” Additionally, in the present disclosure, the expressions “at least one of A or B” or “at least one of A and / or B” may be interpreted identically to “at least one of A and B.”

[0026] Additionally, in the present disclosure, “at least one of A, B and C” can mean “only A,” “only B,” “only C,” or “any combination of A, B and C.” Additionally, “at least one of A, B or C” or “at least one of A, B and / or C” can mean “at least one of A, B and C.”

[0027] Additionally, parentheses used in the present disclosure may mean "for example." Specifically, when indicated as "control information (PDCCH)", "PDCCH" may be proposed as an example of "control information." In other words, "control information" in the present disclosure is not limited to "PDCCH," and "PDCCH" may be proposed as an example of "control information." Furthermore, even when indicated as "control information (i.e., PDCCH)", "PDCCH" may be proposed as an example of "control information."

[0028] In the following explanation, ‘when, if, in case of’ can be replaced with ‘based on’.

[0029] Technical features individually described in one drawing in this disclosure may be implemented individually or simultaneously.

[0030] In the present disclosure, higher layer parameters may be parameters set for the terminal, preset, or predefined. For example, a base station or network may transmit higher layer parameters to the terminal. For example, the higher layer parameters may be transmitted via radio resource control (RRC) signaling or medium access control (MAC) signaling.

[0031] In this disclosure, “setting or defining” may be interpreted as being preset to a device.

[0032] Wireless communication systems are multiple access systems that support communication with multiple users by sharing available system resources (e.g., bandwidth, transmission power, etc.). Examples of multiple access systems include code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), single carrier frequency division multiple access (SC-FDMA), and multi-carrier frequency division multiple access (MC-FDMA).

[0033] Sidelink (SL) refers to a communication method that establishes a direct link between user equipment (UE), allowing voice or data to be exchanged directly between terminals without going through a base station (BS). SL is being considered as a solution to address the burden on base stations due to rapidly increasing data traffic.

[0034] V2X (vehicle-to-everything) refers to a communication technology that exchanges information with other vehicles, pedestrians, and infrastructure-based objects through wired / wireless communication. V2X can be divided into four types: V2V (vehicle-to-vehicle), V2I (vehicle-to-infrastructure), V2N (vehicle-to-network), and V2P (vehicle-to-pedestrian). V2X communication can be provided through the PC5 interface and / or Uu interface.

[0035] Meanwhile, as more and more communication devices demand greater communication capacity, the need for improved mobile broadband communication compared to existing radio access technology (RAT) is emerging. Accordingly, communication systems that consider services or terminals sensitive to reliability and latency are being discussed. Next-generation wireless access technologies that consider improved mobile broadband communication, massive machine type communication (MTC), and ultra-reliable and low latency communication (URLLC) can be called new radio access technology (RAT) or new radio (NR). NR can also support vehicle-to-everything (V2X) communication.

[0036] The technology proposed in the present disclosure can be used in various wireless communication systems such as CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), SC-FDMA (single carrier frequency division multiple access), etc. CDMA can be implemented with wireless technologies such as UTRA (universal terrestrial radio access) or CDMA2000. TDMA can be implemented with wireless technologies such as GSM (global system for mobile communications) / GPRS (general packet radio service) / EDGE (enhanced data rates for GSM evolution). OFDMA can be implemented with wireless technologies such as IEEE (Institute of Electrical and Electronics Engineers) 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), IEEE 802-20, E-UTRA (evolved UTRA), etc. IEEE 802.16m is an evolution of IEEE 802.16e, providing backward compatibility with systems based on IEEE 802.16e. UTRA is part of the universal mobile telecommunications system (UMTS).3GPP (3rd generation partnership project) LTE (long term evolution) is a part of E-UMTS (evolved UMTS) that uses E-UTRA (evolved-UMTS terrestrial radio access). It employs OFDMA in the downlink and SC-FDMA in the uplink. LTE-A (advanced) is an evolution of 3GPP LTE.

[0037] The technology proposed in this disclosure can be implemented with 6G wireless technology and applied to various 6G systems. For example, 6G systems can have key factors such as enhanced mobile broadband (eMBB), ultra-reliable low latency communications (URLLC), massive machine-type communication (mMTC), artificial intelligence (AI) integrated communication, tactile internet, high throughput, high network capacity, high energy efficiency, low backhaul and access network congestion, and enhanced data security.

[0038] FIG. 1 illustrates a communication structure that can be provided in a 6G system according to one embodiment of the present disclosure. The embodiment of FIG. 1 can be combined with various embodiments of the present disclosure.

[0039] 6G systems are expected to have 50 times the simultaneous wireless connectivity of 5G systems. URLLC, a key feature of 5G, will become even more crucial in 6G communications by providing end-to-end latency of less than 1 ms. 6G systems will have significantly higher volumetric spectral efficiency, compared to the commonly used area spectral efficiency. 6G systems can offer extremely long battery life and advanced battery technologies for energy harvesting, eliminating the need for separate charging for mobile devices in 6G systems. New network characteristics in 6G may include:

[0040] - Satellite integrated network: 6G is expected to integrate with satellites to provide a global mobile network. The integration of terrestrial, satellite, and airborne networks into a single wireless communications system is crucial for 6G.

[0041] - Connected Intelligence: Unlike previous generations of wireless communication systems, 6G is revolutionary, upgrading the wireless evolution from "connected objects" to "connected intelligence." AI can be applied at every stage of the communication process (or at every signal processing step, as described below).

[0042] - Seamless integration of wireless information and energy transfer: 6G wireless networks will transfer power to charge the batteries of devices such as smartphones and sensors. Therefore, wireless information and energy transfer (WIET) will be integrated.

[0043] - Ubiquitous super 3D connectivity: Access to networks and core network functions of drones and very low Earth orbit satellites will create super 3D connectivity in 6G ubiquitous.

[0044] Some general requirements for the new network characteristics of 6G, such as the above, may be as follows:

[0045] - Small cell networks: The concept of small cell networks was introduced to improve received signal quality in cellular systems by increasing throughput, energy efficiency, and spectral efficiency. Consequently, small cell networks are essential for 5G and beyond-5G (5GB) communication systems. Accordingly, 6G communication systems also adopt the characteristics of small cell networks.

[0046] Ultra-dense heterogeneous networks: Ultra-dense heterogeneous networks will be another key feature of 6G communication systems. Multi-tier networks comprised of heterogeneous networks improve overall QoS and reduce costs.

[0047] High-capacity backhaul: Backhaul connections are characterized by high-capacity backhaul networks to support high-volume traffic. High-speed fiber optics and free-space optics (FSO) systems may be potential solutions to this problem.

[0048] - Radar technology integrated with mobile technology: High-precision localization (or location-based services) through communications is a key feature of 6G wireless communication systems. Therefore, radar systems will be integrated with 6G networks.

[0049] - Softwarization and virtualization: Softwarization and virtualization are two critical features that form the foundation of the design process for 5GB networks to ensure flexibility, reconfigurability, and programmability. Furthermore, billions of devices can be shared on a shared physical infrastructure.

[0050] Below, the core implementation technologies of the 6G system are described.

[0051] - Artificial Intelligence (AI): The most important and newly introduced technology for 6G systems is AI. 4G systems did not involve AI. 5G systems will support partial or very limited AI. However, 6G systems will be fully AI-enabled for automation. Advances in machine learning will create more intelligent networks for real-time communications in 6G. Incorporating AI into communications can streamline and improve real-time data transmission. AI can use numerous analyses to determine how complex target tasks should be performed. This means AI can increase efficiency and reduce processing delays. Time-consuming tasks such as handovers, network selection, and resource scheduling can be performed instantly using AI. AI can also play a crucial role in machine-to-machine (M2M), machine-to-human, and human-to-machine communications. AI can also enable rapid communication in brain-computer interfaces (BCIs). AI-based communication systems can be supported by metamaterials, intelligent structures, intelligent networks, intelligent devices, intelligent cognitive radios, self-sustaining wireless networks, and machine learning.

[0052] - THz communication (terahertz communication): Data rates can be increased by increasing the bandwidth. This can be achieved by utilizing sub-THz communication with a wide bandwidth and applying advanced massive MIMO technology. THz waves, also known as sub-millimeter waves, typically refer to the frequency range between 0.1 THz and 10 THz with corresponding wavelengths ranging from 0.03 mm to 3 mm. The 100 GHz to 300 GHz band (Sub-THz band) is considered a major portion of the THz band for cellular communications. Adding the Sub-THz band to the mmWave band will increase the capacity of 6G cellular communications. Among the defined THz bands, 300 GHz to 3 THz lies in the far infrared (IR) frequency band. While part of the optical band, the 300 GHz to 3 THz band lies at the boundary of the optical band, immediately following the RF band. Therefore, this 300 GHz to 3 THz band exhibits similarities to RF. Figure 2 illustrates the electromagnetic spectrum according to one embodiment of the present disclosure. The embodiment of FIG. 2 can be combined with various embodiments of the present disclosure. Key characteristics of THz communications include (i) widely available bandwidth to support very high data rates, and (ii) high path loss at high frequencies (highly directional antennas are essential). The narrow beamwidth generated by the highly directional antenna reduces interference. The small wavelength of THz signals allows for a much larger number of antenna elements to be integrated into devices and base stations operating in this band. This enables the use of advanced adaptive array technologies to overcome range limitations.

[0053] - Large-scale MIMO technology

[0054] - Hologram beamforming (HBF)

[0055] - Optical wireless technology

[0056] - Free-space optical transmission backhaul network (FSO backhaul network)

[0057] - Non-Terrestrial Networks (NTN)

[0058] - Quantum communication

[0059] - Cell-free communication

[0060] - Integration of wireless information and power transmission

[0061] - Integration of wireless communication and sensing

[0062] - Integrated access and backhaul network

[0063] - Big data analysis

[0064] - Reconfigurable intelligent surface

[0065] - metaverse

[0066] - Block chain

[0067] Unmanned aerial vehicles (UAVs): UAVs, or drones, will be a key element in 6G wireless communications. In most cases, high-speed data wireless connectivity can be provided using UAV technology. Base stations (BSs) can be installed on UAVs to provide cellular connectivity. UAVs may offer specific capabilities not found in fixed BS infrastructure, such as easy deployment, robust line-of-sight links, and controlled mobility. During emergencies such as natural disasters, deploying terrestrial communications infrastructure is not economically feasible and sometimes cannot provide services in volatile environments. UAVs can easily handle these situations. UAVs will become a new paradigm in wireless communications. This technology facilitates three fundamental requirements for wireless networks: enhanced mobile broadband (eMBB), URLLC, and mMTC. UAVs can also support various purposes, such as enhancing network connectivity, fire detection, disaster emergency services, security and surveillance, pollution monitoring, parking monitoring, and accident monitoring. Therefore, UAV technology is recognized as one of the most important technologies for 6G communications.

[0068] - Advanced air mobility (AAM): AAM is a higher concept than urban air mobility (UAM), which is an air transportation method available in urban areas, and can refer to a means of transportation that includes movement between regional hubs as well as within urban areas.

[0069] - Autonomous driving (self-driving): For fully autonomous driving, vehicles must communicate with each other to alert each other of dangerous situations, and vehicles must communicate with infrastructure such as parking lots and traffic lights to confirm parking location information, signal change times, and other information. V2X (vehicle to everything), a key element of autonomous driving infrastructure, can be a technology that allows cars to communicate and share with various elements on the road for autonomous driving, such as vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) wireless communication. Fast transmission speeds and low-latency technologies are essential to maximize autonomous driving performance and ensure high safety. Furthermore, in the future, autonomous driving will go beyond simply providing warnings or guidance messages to drivers and may require active intervention and direct control of the vehicle in dangerous situations. To achieve this, the amount of information that must be transmitted and received can be enormous, so 6G is expected to maximize autonomous driving with faster transmission speeds and lower latency than 5G.

[0070] For clarity, the description focuses on 5G NR, but the technical concepts of one embodiment of the present disclosure are not limited thereto. Various embodiments of the present disclosure can also be applied to 6G communication systems.

[0071] Meanwhile, precise positioning technology is a crucial element in Intelligent Transport Systems (ITS) and autonomous driving technology. The more accurate the location information of road users, including vehicles, the more it facilitates not only autonomous driving but also cooperative driving among other road users, thereby enhancing traffic safety and efficiency.

[0072] Conventional positioning technologies include GNSS (Global Navigation Satellite System)-based positioning technology that utilizes wireless signals between satellites and terminals, RAT (Radio Access Technology)-based positioning technology that utilizes wireless signals between mobile communication base stations and terminals, WiFi-based positioning technology that measures distances using wireless signals between terminals based on installed APs (Access Points), UWB-based positioning technology that measures distances using wireless signals between anchors and terminals or between terminals, IoT-dedicated network-based positioning technology that utilizes IoT communication networks (such as LoRa, LPWA, LTE-M, or NB-IoT), positioning technology that utilizes beacon (Bluetooth, LiFi, etc.) signals, and positioning technologies that utilize tag information for RFID readers. In addition, there is an inertial navigation system (INS)-based positioning technology that utilizes sensors (such as acceleration, gyroscope, geomagnetism, and / or air pressure). The positioning technologies described above are positioning technologies in which a terminal is installed in a device and directly obtains its own location with the help of base points, but unlike this, positioning technologies in which a measuring device (first device) can obtain the location of a measured object (second device / object) include a sensor-based positioning technology that utilizes information derived from a sensor (e.g., ultrasonic, radar, and / or LiDAR) that uses the time it takes for a signal transmitted from the first device to be reflected by the second device / object and return, and a vision-based positioning technology that calculates the location of an object by converting the occupied area of ​​the second device / object detected from video / image information obtained by a vision sensor (e.g., a camera) of the first device. These conventional technologies can obtain an absolute location or a relative location depending on the algorithm.

[0073] In addition to conventional technologies, many technologies are being developed to improve accuracy. A representative technology is D-GNSS (Differential GNSS), which is a positioning technology that corrects the satellite positioning error inherent in existing GNSS-based positioning technology by installing an existing receiver (e.g., a master station) with an accurate location on the ground, receiving correction signals from this receiver and correcting the terminal's position signals received from satellites. There is also a correction technology that adds an inertial measurement unit (IMU).

[0074] Additionally, development is underway to improve the accuracy of terminal location information by exchanging positioning and sensor information from each terminal on a digital twin platform, cloud, or server. For example, the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T) study group is currently studying the requirements and capability framework of digital twin for intelligent transport system (ITS), and the 5G Automotive Association (5GAA) is also working on a work item on Enhanced Positioning Accuracy and Coherent Situational Awareness by Connected Sensors and Positioning as a Service (Enhanced Positioning Accuracy and Coherent Situational Awareness by Connected Sensors and Positioning as a Service).

[0075] Meanwhile, existing positioning technologies with wide measurement ranges (e.g., GNSS and / or RAT-based positioning technologies) suffer from low accuracy. GNSS-based positioning technologies suffer from errors such as ionospheric and troposphere errors, multipath errors, satellite timing errors, and satellite orbit errors that occur during the signal transmission process from satellites to terminals. Typically, GNSS-based positioning has an error error of 7 meters (after error correction). In urban areas with many surrounding obstacles, such as tall buildings, an error of 200 to 300 meters can occur. D-GNSS, while capable of error correction, has an error error of approximately 2 meters, but requires a separate ground-based receiver. RAT-based positioning technologies face difficulties in obtaining accurate positioning due to the coexistence of interference signals caused by frequency reuse, as well as radio wave attenuation and delay. Furthermore, the high speed of radio waves results in low resolution for positioning due to propagation delay. It shows low positioning accuracy, providing commercial services with a minimum horizontal range of 10 m as the positioning performance target presented in 3GPP Rel-16.

[0076] Positioning technologies that provide relatively improved accuracy but have narrow measurement ranges (e.g., WiFi, UWB, IoT communication networks, beacons, or RFID tags) have the problem of additional installation and construction costs for surrounding signal sources (e.g., access points, anchors, and / or neighboring terminals), and that positioning accuracy varies significantly depending on the installation interval and number. In addition, positioning technologies based on inertial navigation systems (INS) have the problem of a tendency for positioning accuracy to deteriorate because bias and noise due to aging of the sensor accumulate and are reflected in the measurement results.

[0077] In cases where the measuring device (first device) and the measured object (second device) are separated, for example, in the case of positioning technology based on a sensor (ultrasonic, radar, LiDAR) and / or a vision sensor (camera) that uses a carrier wave, there is a problem in that the measurement area is limited and the positioning accuracy of the measured object that is close to the sensor is high, but the positioning accuracy of the measured object that is far from the sensor is low.

[0078] The positioning technologies measured from a single device described above have various problems, and accurate operations are not defined based on connected sensor information using the digital twin platform currently being studied.

[0079] Meanwhile, if the error in the self-positioning of the pedestrian (VRU) (e.g., GNSS-based positioning) is larger than the width of the walkway (e.g., approximately 1.5 m), and the positioning error of the pedestrian (VRU) from the RSU is also larger than the width of the walkway, or if the positioning error of the pedestrian from the RSU is larger than the width of the walkway due to obstacles, etc., this may occur. In such cases, it may become difficult to determine whether the pedestrian is on the walkway or the roadway, which may cause serious safety problems for pedestrians. Therefore, it is necessary to improve the problem of low positioning accuracy and expand the narrow positioning area by combining the positioning information from each sensor based on the sensor information connected through a platform (e.g., cloud, server, and / or digital twin, etc.) using wired / wireless communication.

[0080] In the present disclosure, when sharing / exchanging sensor information and / or sensor-based location information connected to a platform (e.g., cloud, server, digital twin, and / or LMF (Location Management Function)), a method and device for improving the positioning accuracy or location accuracy of an object by combining information and conditions for performing combination of information are proposed. For example, when location information and / or sensor information of a first device, a second device, and / or a third device are shared / exchanged on a platform, if the condition for performing combination of this information is that the location information of the second device measured by the sensor of the first device has a higher accuracy than the location information measured by the sensor of the second device itself, and the location information of the third device measured by the sensor of the second device has a higher accuracy than the location information measured by the sensor of the third device itself, then the condition for performing combination of information proposed in the present disclosure is proposed to be satisfied, and by combining the improved location information of the second device and the location information of the third device acquired by the first device and the second device, the location information of the third device is proposed to be acquired with high accuracy by combining them.

[0081] The method for improving positioning accuracy proposed in this disclosure can improve the low positioning accuracy, which is a shortcoming of conventional positioning technologies (e.g., GNSS and / or RAT-based positioning technologies), and can solve the problem of installation and construction costs for additional base points (e.g., satellites, base stations, APs, and / or anchors) to improve positioning accuracy. In addition, the present invention has the effect of expanding the narrow measurement area, which is a shortcoming of positioning technologies (WiFi, UWB, beacons, RFID tags, ultrasonic / radar / lidar sensors, and / or vision sensors) with narrow measurement ranges. Therefore, the method for improving positioning accuracy proposed in this disclosure can improve positioning accuracy at a low cost, while simultaneously expanding the measurement area with high accuracy.

[0082] The present disclosure proposes to provide improved location information as a service by sharing / exchanging information (e.g., location information, sensor information, and / or sensor-based location information) of terminals connected to a logical space / platform (e.g., cloud, server, digital twin, LMF (Location Management Function), RSU (Roadside Unit), and / or master terminal). Specifically, conditions for selecting and combining information shared / exchanged on the platform and a method and device for improving the accuracy of object positioning or location information by combining the information are proposed. For example, a method is proposed to improve the accuracy of device / object positioning by sharing / exchanging and combining information (e.g., location information, sensor information, and / or sensor-based location information) of two or more connected devices that is improved over existing location information.

[0083] For example, there may be a first device, a second device, and / or a third device, or more devices. In addition, information generated by each device may be shared / exchanged. For example, location information and sensor information measured by the second device and the third device may be transmitted to the first device, and various pieces of information may be acquired from the first device. At this time, for example, the entities through which information is shared / exchanged may be diverse. For example, information from the first device, the second device, and / or the third device may be transmitted to and acquired from the digital twin platform. In addition, for example, a base station, a server, a cloud, an RSU, and / or a single master terminal may serve as a platform for sharing / exchanging information. At this time, for example, combining positioning information (for example, calculating positioning information of device C) may be performed by each device (for example, device A, device B, and / or device C) and / or another connected device (for example, a server, an RSU, and / or a neighboring device). At this time, for example, the sharing / exchange of information can utilize various wired / wireless communication methods (e.g., short range communication and / or long range communication in the case of wireless communication). For example, the improved location information of the third device obtained in this way can be transmitted to an object that requires the information (e.g., a third device, a device expected to collide with the third device, a device requesting the positioning information of the third device, and / or a server / cloud / MEC (Multi-Access Edge Computing) / digital twin, etc.). For example, there may be no restrictions on the space where sharing / exchange takes place. Based on the above, it is proposed that the devices where information is shared / exchanged perform information combining when the following conditions are satisfied.When a first device is capable of measuring the positions of a second device and a third device, and when the second device is capable of measuring the position of the third device, at least one of the following is satisfied: (1) when the positioning error of the first device with respect to the third device exceeds a threshold value (e.g., based on the measurement distance, angle, difficulty of recognition due to the surrounding environment, and / or relative speed, etc.) that is lower than the self-positioning error of the third device, (2) when the third device is obstructed by an obstacle and the Line Of Sight (LOS) from the first device is not sufficiently secured, (3) when the third device moves out of coverage in the sensing area of ​​the first device, and / or (4) when a high combination of positioning accuracies of the third device to be measured by the first device is possible based on the characteristics and performance information of the sensors of the shared first device, second device, and / or third devices, the operation of combining information is performed.

[0084] For example, when the conditions for the above combination are satisfied, two or more pieces of location information acquired from the first device and the second device are combined. As an example of performing the combination operation, if the accuracy of the location information of the second device measured based on the sensor (e.g., radar, LiDAR, ultrasonic, and / or camera) of the first device is higher than the location accuracy measured by the second device's own positioning system (e.g., GNSS, RAT, WiFi, and / or UWB), the first device can correct the location information of the second device. For example, even if the location accuracy of the third device measured based on the sensor of the second device is higher than the location accuracy measured by the third device's own positioning system, the second device can correct the location information of the third device. In this case, it is proposed to improve the location information of the third device by exchanging and combining the sensor-based location information of the first device and the second device. For example, when one of the conditions proposed above is satisfied, the present invention proposes to improve the positioning accuracy of the third device by combining the high-accuracy positioning information of the second device obtained by the first device with the high-accuracy positioning information of the third device measured by the second device. For example, as mentioned above, it is possible to derive high-accuracy positioning information of an object by combining more information than just the high-accuracy positioning information obtained by two devices.

[0085] FIG. 3 illustrates a method for combining positioning information based on connected sensors at an intersection, according to an embodiment of the present disclosure. The embodiment of FIG. 3 may be combined with various embodiments of the present disclosure.

[0086] Referring to FIG. 3, for example, it can be explained as a case where positioning information of two devices / objects (e.g., vehicles and / or pedestrians) is acquired by a sensor (e.g., a fixed camera) of an RSU installed at an intersection. For example, an ITS RSU (first device) may have its own position information (e.g., absolute position) and may share / exchange its own position information by communicating (e.g., V2X communication) with surrounding road users and / or platforms (e.g., digital twin, server and / or MEC). For example, the camera of the RSU can detect a road user existing in an image acquired in an intersection detection area (e.g., -x0, x0, -x1, x1 in FIG. 3), convert it into a map image (e.g., a bird's-eye view) using a transformation matrix, and then calculate the coordinate values ​​corresponding to the occupied area of ​​the object to obtain position information of the object. For example, a vehicle (second device) may also have its own location information (e.g., absolute location based on GNSS) and may share / exchange its own location information by communicating (e.g., V2X communication) with surrounding road users and / or platforms (e.g., digital twin, server, and / or MEC). For example, a vehicle (second device) may detect objects / road users existing in a detection area (e.g., yellow triangle in FIG. 3) through sensors mounted on the front, rear, etc., and obtain the location of the objects. For example, a pedestrian (third device) may share / exchange its own location by communicating (e.g., V2X communication) with surrounding road users and / or platforms (e.g., digital twin, server, and / or MEC). For example, a pedestrian (third device) may have low-accuracy own positioning information (e.g., absolute location based on GNSS).

[0087] FIG. 4 illustrates a camera detection area from a camera perspective and a camera detection area from a bird's eye view, according to an embodiment of the present disclosure. The embodiment of FIG. 4 can be combined with various embodiments of the present disclosure.

[0088] Referring to FIG. 4, for example, the fixed camera detection area of ​​the RSU (first device) (e.g., -x0, x0, -x1, x1 in FIG. 4) is converted from the detection area from the camera's viewpoint as in FIG. 4 into the camera detection area in a bird's-eye view, and the area occupied by an object on the map is converted into a coordinate value to obtain the corresponding position information (e.g., absolute position and / or relative position). For example, such conversion may generally be affected by the performance, specifications, settings, and / or installation position / angle of the sensor at the time of sensor installation. For example, a conversion matrix matching the absolute position value corresponding to the reference coordinates (e.g., -x0, x0, -x1, x1 in FIG. 4) may be generated / calculated, and the conversion from the camera's viewpoint to the bird's-eye view may be possible by utilizing the conversion matrix. For example, this can be equally applied to sensors (such as ultrasonic, radar, LiDAR and / or cameras) of mobile (e.g. vehicles and / or pedestrians) as well as cameras of RSUs.

[0089] For example, as described in the problem of the above-mentioned prior art, the positioning error of an object may increase as the distance from the sensor to the object increases. For example, the positioning error based on the vision sensor may be determined according to the physical space per pixel measured by the camera (e.g., 0.01 m^2 / pixel when close, 1 m^2 / pixel when far). For example, a threshold value may be set due to the difference in the two positioning technologies and location information caused by these characteristics. For example, the positioning error based on the vision sensor is generally smaller than the positioning error based on the GNSS within the area that can be measured by the vision sensor, but it may become larger than the positioning error based on the GNSS when it is further away from a certain point (e.g., a threshold point). For example, when an object is close to the camera viewpoint, the physical space per same pixel is small, so the vision sensor-based positioning error (e.g., 0.1 m) is lower than the GNSS error (e.g., 1 m), resulting in high positioning accuracy. However, when an object is far from the camera viewpoint, the physical space detected per same pixel becomes larger, so the vision sensor-based positioning error (e.g., 5 m) may be higher than the GNSS-based positioning error (e.g., 1 m), resulting in low positioning accuracy. In Fig. 4, the closer the position of an object is to 0 on the y-axis from the camera viewpoint (e.g., y=0), the smaller the positioning error (e.g., 0.1 m when y=0), and the closer it is to y0, the larger the positioning error (e.g., 2 m when y=y0).

[0090] FIG. 5 illustrates accuracy thresholds for camera-based positioning and GNSS-based positioning according to an embodiment of the present disclosure. The embodiment of FIG. 5 can be combined with various embodiments of the present disclosure.

[0091] Based on the above and referring to FIG. 5, for example, there may exist an error threshold (e.g., when the measurement distance is 1 m) at which the sensor-based (e.g., camera-based) positioning error and the positioning error of the own positioning system (e.g., GNSS-based positioning) become the same. For example, the error threshold may be expressed based on the measurement distance. For example, when the distance between the camera and the object (e.g., 30 m) is less than the threshold (e.g., 50 m), the camera-based positioning information may have higher accuracy than the GNSS positioning information, and conversely, when the distance between the camera and the object (e.g., 70 m) is greater than the threshold, the GNSS positioning information may have higher accuracy than the camera-based positioning information. For example, if a condition of the combined operation proposed in the present disclosure, which is a case where the positioning error of the RSU (first device) exceeds a threshold value (e.g., a measured distance) that is lower than the positioning error of the VRU (third device), occurs, in the case of positioning for a vehicle (second device) in FIG. 5, the positioning information of the camera (first device) may be more accurate than its own GNSS positioning information, and in the case of positioning for a pedestrian (third device), its own GNSS positioning information may be more accurate than the positioning information of the camera (first device), so that the condition of the above operation may be satisfied.

[0092] For example, these sensor-based positioning errors and error thresholds may apply not only to sensors of fixed objects such as RSUs (e.g., cameras), but also to sensors of mobile objects (e.g., vehicles). For example, in the case of mobile objects (e.g., vehicles, motorcycles, VRUs), the positioning error may be aggravated by motion (e.g., bends, bumps, and / or deformation of tires, air pressure, or suspension while driving), but may not account for a large proportion.

[0093] Based on the above description, a method for improving the positioning accuracy of an object by using connected sensor information is described as an embodiment when at least one of the triggering conditions of various operations proposed in the present disclosure is satisfied. For example, in the case of positioning of a second device (e.g., a vehicle) that is closer than an error threshold (e.g., a threshold expressed based on a measured distance) of a first device (e.g., an RSU) in FIG. 5, the position information of the second device measured by a sensor (e.g., a camera) of the first device may be higher than the GNSS positioning accuracy of the second device. In addition, for example, in the case of positioning of a third device (e.g., a pedestrian) that is further away than the error threshold of the first device, the GNSS positioning information of the third device itself may be more accurate than the positioning information measured by the sensor of the first device. However, for example, the positioning information of the third device measured by a front sensor of the second device may be more accurate than the GNSS positioning information of the third device. For example, the position information of the second device measured by the sensor of the first device and the position information of the third device measured by the sensor of the second device may have the highest accuracy. For example, such high-accuracy position information (e.g., absolute position and / or reference point and relative position and / or positioning correction value and positioning accuracy information) may be shared / exchanged between devices or with other devices and / or platforms (e.g., digital twin, MEC and / or server, etc.) through wired / wireless communication. For example, the shared / exchanged high-accuracy position information (e.g., position information of the second device and position information of the third device) may be combined by the first device, the second device, the third device, the platform (e.g., server / MEC / RSU) and / or neighboring devices to derive high-accuracy positioning information for the third device.For example, improved location information can be communicated to entities that require the information (e.g., third-party devices, devices expected to collide, and / or servers / clouds / MECs / digital twins).

[0094] FIG. 6 illustrates a method for expanding an area with high positioning accuracy by combining sensor-based positioning information, according to an embodiment of the present disclosure. The embodiment of FIG. 6 may be combined with various embodiments of the present disclosure.

[0095] Also, referring to FIG. 6, for example, a sensor detection area with high positioning accuracy can be expanded in the manner proposed in the present disclosure. For example, a high positioning accuracy area of ​​an RSU camera (e.g., an area within an error threshold) can be expanded by adding the high sensor positioning accuracy areas of vehicles within that area to obtain a wider range of high positioning accuracy areas. For example, at this time, a high sensor positioning accuracy area of ​​other vehicles within the high sensor positioning accuracy area of ​​a vehicle can be expanded by adding the high sensor positioning accuracy areas of other vehicles within the high sensor positioning accuracy area of ​​the vehicle. For example, a wider high positioning accuracy area can be obtained by overlapping the high accuracy areas of devices. For example, positioning accuracy can be improved and a high positioning accuracy area can be expanded by sharing / exchanging and combining positioning information based on connected sensors using wired / wireless communication.

[0096] FIG. 7 illustrates a method for a server to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 7 may be combined with various embodiments of the present disclosure.

[0097] Referring to FIG. 7, in step S710, the server can obtain location information of the second device from the first device. In step S720, the server can obtain first location information of the third device from the second device. In step S730, the server can combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold. Then, in step S740, the server can determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0098] For example, the threshold may be determined based on a positioning error of the third device with respect to the third device.

[0099] For example, the positioning of the third device with respect to the third device may be based on at least one of GNSS (Global Navigation Stellite System), RAT (Radio Access Technology), WiFi, or UWB (Ultra-Wideband).

[0100] For example, the positioning error of the first device with respect to the third device can be determined based on the distance between the first device and the third device.

[0101] For example, the positioning error of the first device with respect to the third device can be determined based on sensor information of the first device.

[0102] Additionally, for example, second location information of the third device can be obtained from the first device. Additionally, for example, the location of the third device can be determined based on the second location information of the third device, based on the positioning error of the first device with respect to the third device not exceeding a threshold.

[0103] For example, the location information of the second device and the first location information of the third device may be combined based on the positioning accuracy of the first device with respect to the second device being higher than the positioning accuracy of the second device with respect to the second device. For example, the positioning of the second device with respect to the second device may be positioning based on at least one of a Global Navigation Satellite System (GSNN), a Radio Access Technology (RAT), WiFi, or an Ultra-Wideband (UWB).

[0104] Additionally, for example, second location information of the third device can be obtained from the third device. And, additionally, for example, based on the positioning accuracy of the second device with respect to the third device being higher than the positioning accuracy of the third device with respect to the third device, the location information of the second device, the first location information of the third device, and the second location information of the third device can be combined. For example, the location of the third device can be determined based on the combination of the location information of the second device, the first location information of the third device, and the second location information of the third device.

[0105] Additionally, for example, the second location information of the third device can be obtained from the fourth device. Additionally, for example, the location information of the fourth device can be obtained from the second device. And, additionally, for example, based on the positioning error of the first device with respect to the third device exceeding a threshold, the location information of the second device, the first location information of the third device, the second location information of the third device, and the location information of the fourth device can be combined. For example, the location of the third device can be determined based on a combination of the location information of the second device, the first location information of the third device, the second location information of the third device, and the location information of the fourth device.

[0106] For example, the location of the third device may be determined by any one of a digital twin, a server, a Multi-Access Edge Computing (MEC), or a Road Side unit (RSU) based on a combination of location information of the second device and first location information of the third device.

[0107] For example, the positioning of the first device with respect to the third device, the positioning of the first device with respect to the second device, or the positioning of the second device with respect to the third device may be sensor-based positioning. For example, the sensor may include at least one of a radar, a LiDAR, an ultrasonic sensor, or a camera.

[0108] The proposed method can be applied to devices according to various embodiments of the present disclosure. First, the processor of the server can obtain location information of the second device from the first device. Then, the processor of the server can obtain first location information of the third device from the second device. Then, the processor of the server can combine the location information of the second device and the first location information of the third device based on whether the positioning error of the first device with respect to the third device exceeds a threshold. Then, the processor of the server can determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0109] According to one embodiment of the present disclosure, a server may be provided. For example, the server may include at least one transceiver; at least one processor; and at least one memory connected to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the server to: obtain location information of a second device from a first device; obtain first location information of a third device from the second device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0110] According to one embodiment of the present disclosure, a processing device configured to control a server may be provided. For example, the processing device may include at least one processor; and at least one memory coupled to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the server to: obtain location information of a second device from a first device; obtain first location information of a third device from the second device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0111] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having commands recorded thereon may be provided. For example, the commands, when executed, may cause a server to: obtain location information of a second device from a first device; obtain first location information of a third device from the second device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0112] FIG. 8 illustrates a method for a first device to perform wireless communication according to an embodiment of the present disclosure. The embodiment of FIG. 8 may be combined with various embodiments of the present disclosure.

[0113] Referring to FIG. 8, in step S810, the first device can obtain location information of the second device. In step S820, the first device can obtain first location information of the third device from the second device. In step S830, the first device can combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold. Then, in step S840, the first device can determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0114] The proposed method can be applied to devices according to various embodiments of the present disclosure. First, the processor (102) of the first device (100) can obtain location information of the second device. Then, the processor (102) of the first device (100) can obtain first location information of the third device from the second device. Then, the processor (102) of the first device (100) can combine the location information of the second device and the first location information of the third device based on the positioning error of the first device with respect to the third device exceeding a threshold. Then, the processor (102) of the first device (100) can determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0115] According to one embodiment of the present disclosure, a first device may be provided. For example, the first device may include at least one transceiver; at least one processor; and at least one memory coupled to the at least one processor and storing instructions. For example, the instructions, when executed by the at least one processor, may cause the first device to: obtain location information of a second device; obtain first location information of a third device from the second device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0116] According to one embodiment of the present disclosure, a processing device configured to control a first device may be provided. For example, the processing device may include at least one processor; and at least one memory coupled to the at least one processor and storing instructions. For example, the instructions, based on execution by the at least one processor, may cause the first device to: obtain location information of a second device; obtain first location information of a third device from the second device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0117] According to one embodiment of the present disclosure, a non-transitory computer-readable storage medium having instructions recorded thereon may be provided. For example, the instructions, when executed, may cause a first device to: obtain location information of a second device; obtain first location information of a third device from the second device; combine the location information of the second device and the first location information of the third device based on a positioning error of the first device with respect to the third device exceeding a threshold; and determine the location of the third device based on the combination of the location information of the second device and the first location information of the third device.

[0118] The various embodiments of the present disclosure may be combined with each other.

[0119] Below, a description is given of devices to which various embodiments of the present disclosure can be applied.

[0120] Although not limited thereto, the various descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed in this document may be applied to various fields requiring wireless communication / connectivity (e.g., 5G) between devices.

[0121] Hereinafter, more specific examples will be provided with reference to the drawings. In the drawings / descriptions below, the same drawing reference numerals may represent identical or corresponding hardware blocks, software blocks, or functional blocks, unless otherwise described.

[0122] FIG. 9 illustrates a communication system (1) according to one embodiment of the present disclosure. The embodiment of FIG. 9 can be combined with various embodiments of the present disclosure.

[0123] Referring to FIG. 9, a communication system (1) to which various embodiments of the present disclosure are applied includes a wireless device, a base station, and a network. Here, the wireless device refers to a device that performs communication using a wireless access technology (e.g., 5G NR (New RAT), LTE (Long Term Evolution)) and may be referred to as a communication / wireless / 5G device. Although not limited thereto, the wireless device may include a robot (100a), a vehicle (100b-1, 100b-2), an XR (eXtended Reality) device (100c), a hand-held device (100d), a home appliance (100e), an IoT (Internet of Things) device (100f), and an AI device / server (400). For example, the vehicle may include a vehicle equipped with a wireless communication function, an autonomous vehicle, a vehicle capable of performing vehicle-to-vehicle communication, etc. Here, the vehicle may include an Unmanned Aerial Vehicle (UAV) (e.g., a drone) and / or an Aerial Vehicle (AV) (e.g., an Advanced Air Mobility (AAM)). The XR device may include an Augmented Reality (AR) / Virtual Reality (VR) / Mixed Reality (MR) device, and may be implemented in the form of a Head-Mounted Device (HMD), a Head-Up Display (HUD) equipped in a vehicle, a television, a smartphone, a computer, a wearable device, a home appliance, a digital signage, a vehicle, a robot, etc. The portable device may include a smartphone, a smart pad, a wearable device (e.g., a smart watch, smart glasses), a computer (e.g., a laptop, etc.), etc. The home appliance may include a TV, a refrigerator, a washing machine, etc. The IoT device may include a sensor, a smart meter, etc. For example, a base station and a network may also be implemented as a wireless device, and a specific wireless device (200a) may operate as a base station / network node to other wireless devices.

[0124] Here, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may include not only LTE, NR, and 6G, but also Narrowband Internet of Things for low-power communication. At this time, for example, NB-IoT technology may be an example of LPWAN (Low Power Wide Area Network) technology, and may be implemented with standards such as LTE Cat NB1 and / or LTE Cat NB2, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification may perform communication based on LTE-M technology. At this time, for example, LTE-M technology may be an example of LPWAN technology, and may be called by various names such as eMTC (enhanced Machine Type Communication). For example, LTE-M technology can be implemented by at least one of various standards such as 1) LTE CAT 0, 2) LTE Cat M1, 3) LTE Cat M2, 4) LTE non-BL (non-Bandwidth Limited), 5) LTE-MTC, 6) LTE Machine Type Communication, and / or 7) LTE M, and is not limited to the above-described names. Additionally or alternatively, the wireless communication technology implemented in the wireless devices (100a to 100f) of the present specification can include at least one of ZigBee, Bluetooth, and Low Power Wide Area Network (LPWAN) considering low-power communication, and is not limited to the above-described names. For example, ZigBee technology can create personal area networks (PAN) related to small / low-power digital communication based on various standards such as IEEE 802.15.4, and can be called by various names.

[0125] Wireless devices (100a to 100f) can be connected to a network (300) via a base station (200). Artificial Intelligence (AI) technology can be applied to the wireless devices (100a to 100f), and the wireless devices (100a to 100f) can be connected to an AI server (400) via the network (300). The network (300) can be configured using a 3G network, a 4G (e.g., LTE) network, a 5G (e.g., NR) network, etc. The wireless devices (100a to 100f) can communicate with each other via the base station (200) / network (300), but can also communicate directly (e.g., sidelink communication) without going through the base station / network. For example, vehicles (100b-1, 100b-2) can communicate directly (e.g., V2V (Vehicle to Vehicle) / V2X (Vehicle to Everything) communication). In addition, IoT devices (e.g., sensors) can communicate directly with other IoT devices (e.g., sensors) or other wireless devices (100a to 100f).

[0126] Wireless communication / connection (150a, 150b, 150c) can be established between wireless devices (100a~100f) / base stations (200), and base stations (200) / base stations (200). Here, wireless communication / connection can be achieved through various wireless access technologies (e.g., 5G NR) such as uplink / downlink communication (150a), sidelink communication (150b) (or, D2D communication), and communication between base stations (150c) (e.g., relay, IAB (Integrated Access Backhaul). Through wireless communication / connection (150a, 150b, 150c), wireless devices and base stations / wireless devices, and base stations and base stations can transmit / receive wireless signals to each other. For example, wireless communication / connection (150a, 150b, 150c) can transmit / receive signals through various physical channels. To this end, at least some of various configuration information setting processes for transmitting / receiving wireless signals, various signal processing processes (e.g., channel encoding / decoding, modulation / demodulation, resource mapping / demapping, etc.), and resource allocation processes can be performed based on various proposals of the present disclosure.

[0127] FIG. 10 illustrates a wireless device according to an embodiment of the present disclosure. The embodiment of FIG. 10 may be combined with various embodiments of the present disclosure.

[0128] Referring to FIG. 10, the first wireless device (100) and the second wireless device (200) can transmit and receive wireless signals via various wireless access technologies (e.g., LTE, NR). Here, {the first wireless device (100), the second wireless device (200)} can correspond to {the wireless device (100x), the base station (200)} and / or {the wireless device (100x), the wireless device (100x)} of FIG. 9.

[0129] A first wireless device (100) includes one or more processors (102) and one or more memories (104), and may further include one or more transceivers (106) and / or one or more antennas (108). The processor (102) controls the memories (104) and / or the transceivers (106), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (102) may process information in the memory (104) to generate first information / signal, and then transmit a wireless signal including the first information / signal via the transceiver (106). Furthermore, the processor (102) may receive a wireless signal including second information / signal via the transceiver (106), and then store information obtained from signal processing of the second information / signal in the memory (104). The memory (104) may be connected to the processor (102) and may store various information related to the operation of the processor (102). For example, the memory (104) may perform some or all of the processes controlled by the processor (102), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (102) and the memory (104) may be part of a communication modem / circuit / chip designed to implement a wireless communication technology (e.g., LTE, NR). The transceiver (106) may be connected to the processor (102) and may transmit and / or receive wireless signals via one or more antennas (108). The transceiver (106) may include a transmitter and / or a receiver. The transceiver (106) may be used interchangeably with an RF (Radio Frequency) unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0130] A second wireless device (200) includes one or more processors (202), one or more memories (204), and may further include one or more transceivers (206) and / or one or more antennas (208). The processor (202) controls the memories (204) and / or the transceivers (206), and may be configured to implement the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document. For example, the processor (202) may process information in the memory (204) to generate third information / signals, and then transmit a wireless signal including the third information / signals via the transceivers (206). In addition, the processor (202) may receive a wireless signal including fourth information / signals via the transceivers (206), and then store information obtained from signal processing of the fourth information / signals in the memory (204). The memory (204) may be connected to the processor (202) and may store various information related to the operation of the processor (202). For example, the memory (204) may perform some or all of the processes controlled by the processor (202), or may store software code including commands for performing the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. Here, the processor (202) and the memory (204) may be part of a communication modem / circuit / chip designed to implement wireless communication technology (e.g., LTE, NR). The transceiver (206) may be connected to the processor (202) and may transmit and / or receive wireless signals via one or more antennas (208). The transceiver (206) may include a transmitter and / or a receiver. The transceiver (206) may be used interchangeably with an RF unit. In the present disclosure, a wireless device may also mean a communication modem / circuit / chip.

[0131] Hereinafter, the hardware elements of the wireless device (100, 200) will be described in more detail. Although not limited thereto, one or more protocol layers may be implemented by one or more processors (102, 202). For example, one or more processors (102, 202) may implement one or more layers (e.g., functional layers such as PHY, MAC, RLC, PDCP, RRC, SDAP). One or more processors (102, 202) may generate one or more Protocol Data Units (PDUs) and / or one or more Service Data Units (SDUs) according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) may generate messages, control information, data, or information according to the descriptions, functions, procedures, proposals, methods, and / or operation flowcharts disclosed in this document. One or more processors (102, 202) can generate signals (e.g., baseband signals) including PDUs, SDUs, messages, control information, data or information according to the functions, procedures, proposals and / or methods disclosed herein, and provide the signals to one or more transceivers (106, 206). One or more processors (102, 202) can receive signals (e.g., baseband signals) from one or more transceivers (106, 206) and obtain PDUs, SDUs, messages, control information, data or information according to the descriptions, functions, procedures, proposals, methods and / or operational flowcharts disclosed herein.

[0132] One or more processors (102, 202) may be referred to as a controller, a microcontroller, a microprocessor, or a microcomputer. One or more processors (102, 202) may be implemented by hardware, firmware, software, or a combination thereof. For example, one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more Digital Signal Processing Devices (DSPDs), one or more Programmable Logic Devices (PLDs), or one or more Field Programmable Gate Arrays (FPGAs) may be included in one or more processors (102, 202). The descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed in this document may be implemented using firmware or software, and the firmware or software may be implemented to include modules, procedures, functions, etc. The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software configured to perform one or more processors (102, 202) or stored in one or more memories (104, 204) and executed by one or more processors (102, 202). The descriptions, functions, procedures, suggestions, methods and / or operation flowcharts disclosed in this document may be implemented using firmware or software in the form of codes, instructions and / or sets of instructions.

[0133] One or more memories (104, 204) may be coupled to one or more processors (102, 202) and may store various forms of data, signals, messages, information, programs, codes, instructions, and / or commands. The one or more memories (104, 204) may be configured as ROM, RAM, EPROM, flash memory, hard drives, registers, cache memory, computer-readable storage media, and / or combinations thereof. The one or more memories (104, 204) may be located internally and / or externally to the one or more processors (102, 202). Additionally, the one or more memories (104, 204) may be coupled to the one or more processors (102, 202) via various technologies, such as wired or wireless connections.

[0134] One or more transceivers (106, 206) can transmit user data, control information, wireless signals / channels, etc., as mentioned in the methods and / or flowcharts of this document, to one or more other devices. One or more transceivers (106, 206) can receive user data, control information, wireless signals / channels, etc., as mentioned in the descriptions, functions, procedures, proposals, methods and / or flowcharts of this document, from one or more other devices. For example, one or more transceivers (106, 206) can be connected to one or more processors (102, 202) and can transmit and receive wireless signals. For example, one or more processors (102, 202) can control one or more transceivers (106, 206) to transmit user data, control information, or wireless signals to one or more other devices. Additionally, one or more processors (102, 202) may control one or more transceivers (106, 206) to receive user data, control information, or wireless signals from one or more other devices. Additionally, one or more transceivers (106, 206) may be coupled to one or more antennas (108, 208), and one or more transceivers (106, 206) may be configured to transmit and receive user data, control information, wireless signals / channels, or the like, as referred to in the descriptions, functions, procedures, proposals, methods, and / or operational flowcharts disclosed herein, via one or more antennas (108, 208). In this document, one or more antennas may be multiple physical antennas or multiple logical antennas (e.g., antenna ports). One or more transceivers (106, 206) can convert received user data, control information, wireless signals / channels, etc. from RF band signals to baseband signals in order to process the received user data, control information, wireless signals / channels, etc. using one or more processors (102, 202).One or more transceivers (106, 206) may convert user data, control information, wireless signals / channels, etc. processed by one or more processors (102, 202) from baseband signals to RF band signals. For this purpose, one or more transceivers (106, 206) may include an (analog) oscillator and / or filter.

[0135] FIG. 11 illustrates a signal processing circuit for a transmission signal according to an embodiment of the present disclosure. The embodiment of FIG. 11 may be combined with various embodiments of the present disclosure.

[0136] Referring to FIG. 11, the signal processing circuit (1000) may include a scrambler (1010), a modulator (1020), a layer mapper (1030), a precoder (1040), a resource mapper (1050), and a signal generator (1060). Although not limited thereto, the operations / functions of FIG. 11 may be performed in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 10. The hardware elements of FIG. 11 may be implemented in the processor (102, 202) and / or the transceiver (106, 206) of FIG. 10. For example, blocks 1010 to 1060 may be implemented in the processor (102, 202) of FIG. 10. Additionally, blocks 1010 to 1050 may be implemented in the processor (102, 202) of FIG. 10, and block 1060 may be implemented in the transceiver (106, 206) of FIG. 10.

[0137] The codeword can be converted into a wireless signal through the signal processing circuit (1000) of FIG. 11. Here, the codeword is an encoded bit sequence of an information block. The information block may include a transport block (e.g., an UL-SCH transport block, a DL-SCH transport block). The wireless signal may be transmitted through various physical channels (e.g., a PUSCH or a PDSCH).

[0138] Specifically, the codeword can be converted into a bit sequence scrambled by a scrambler (1010). The scramble sequence used for scrambling is generated based on an initialization value, and the initialization value may include ID information of the wireless device, etc. The scrambled bit sequence can be modulated into a modulation symbol sequence by a modulator (1020). The modulation method may include pi / 2-BPSK (pi / 2-Binary Phase Shift Keying), m-PSK (m-Phase Shift Keying), m-QAM (m-Quadrature Amplitude Modulation), etc. The complex modulation symbol sequence can be mapped to one or more transmission layers by a layer mapper (1030). The modulation symbols of each transmission layer can be mapped to the corresponding antenna port(s) by a precoder (1040) (precoding). The output z of the precoder (1040) can be obtained by multiplying the output y of the layer mapper (1030) by a precoding matrix W of N*M. Here, N is the number of antenna ports, and M is the number of transmission layers. Here, the precoder (1040) can perform precoding after performing transform precoding (e.g., DFT transform) on complex modulation symbols. In addition, the precoder (1040) can perform precoding without performing transform precoding.

[0139] The resource mapper (1050) can map modulation symbols of each antenna port to time-frequency resources. The time-frequency resources can include multiple symbols (e.g., CP-OFDMA symbols, DFT-s-OFDMA symbols) in the time domain and multiple subcarriers in the frequency domain. The signal generator (1060) generates a wireless signal from the mapped modulation symbols, and the generated wireless signal can be transmitted to another device through each antenna. To this end, the signal generator (1060) can include an Inverse Fast Fourier Transform (IFFT) module, a Cyclic Prefix (CP) inserter, a Digital-to-Analog Converter (DAC), a frequency uplink converter, etc.

[0140] The signal processing process for receiving signals in a wireless device can be configured in reverse order of the signal processing process (1010 to 1060) of FIG. 11. For example, a wireless device (e.g., 100, 200 of FIG. 10) can receive wireless signals from the outside through an antenna port / transceiver. The received wireless signals can be converted into baseband signals through a signal restorer. For this purpose, the signal restorer can include a frequency downlink converter, an analog-to-digital converter (ADC), a CP remover, and a fast Fourier transform (FFT) module. Thereafter, the baseband signal can be restored to a codeword through a resource demapper process, a postcoding process, a demodulation process, and a descrambling process. The codewords can be restored to the original information blocks through decoding. Accordingly, a signal processing circuit (not shown) for a received signal may include a signal restorer, a resource de-mapper, a postcoder, a demodulator, a de-scrambler, and a decoder.

[0141] Figure 12 illustrates a wireless device according to an embodiment of the present disclosure. The wireless device may be implemented in various forms depending on the use case / service (see Figure 9). The embodiment of Figure 12 may be combined with various embodiments of the present disclosure.

[0142] Referring to FIG. 12, the wireless device (100, 200) corresponds to the wireless device (100, 200) of FIG. 10 and may be composed of various elements, components, units / units, and / or modules. For example, the wireless device (100, 200) may include a communication unit (110), a control unit (120), a memory unit (130), and additional elements (140). The communication unit may include a communication circuit (112) and a transceiver(s) (114). For example, the communication circuit (112) may include one or more processors (102, 202) and / or one or more memories (104, 204) of FIG. 10. For example, the transceiver(s) (114) may include one or more transceivers (106, 206) and / or one or more antennas (108, 208) of FIG. 10. The control unit (120) is electrically connected to the communication unit (110), the memory unit (130), and the additional elements (140) and controls the overall operation of the wireless device. For example, the control unit (120) may control the electrical / mechanical operation of the wireless device based on the program / code / command / information stored in the memory unit (130). In addition, the control unit (120) may transmit information stored in the memory unit (130) to an external device (e.g., another communication device) via a wireless / wired interface through the communication unit (110), or store information received from an external device (e.g., another communication device) via a wireless / wired interface in the memory unit (130).

[0143] The additional element (140) may be configured in various ways depending on the type of the wireless device. For example, the additional element (140) may include at least one of a power unit / battery, an input / output unit (I / O unit), a driving unit, and a computing unit. Although not limited thereto, the wireless device may be implemented in the form of a robot (Fig. 9, 100a), a vehicle (Fig. 9, 100b-1, 100b-2), an XR device (Fig. 9, 100c), a portable device (Fig. 9, 100d), a home appliance (Fig. 9, 100e), an IoT device (Fig. 9, 100f), a digital broadcasting terminal, a hologram device, a public safety device, an MTC device, a medical device, a fintech device (or a financial device), a security device, a climate / environmental device, an AI server / device (Fig. 9, 400), a base station (Fig. 9, 200), a network node, etc. Wireless devices may be mobile or stationary depending on the use / service.

[0144] In FIG. 12, various elements, components, units / parts, and / or modules within the wireless device (100, 200) may be interconnected entirely via a wired interface, or at least some may be wirelessly connected via a communication unit (110). For example, within the wireless device (100, 200), the control unit (120) and the communication unit (110) may be wired, and the control unit (120) and the first unit (e.g., 130, 140) may be wirelessly connected via the communication unit (110). In addition, each element, component, unit / part, and / or module within the wireless device (100, 200) may further include one or more elements. For example, the control unit (120) may be composed of one or more processor sets. For example, the control unit (120) may be composed of a set of a communication control processor, an application processor, an electronic control unit (ECU), a graphics processing processor, a memory control processor, etc. As another example, the memory unit (130) may be composed of a random access memory (RAM), a dynamic RAM (DRAM), a read only memory (ROM), a flash memory, a volatile memory, a non-volatile memory, and / or a combination thereof.

[0145] Below, the implementation example of Fig. 12 is described in more detail with reference to the drawings.

[0146] FIG. 13 illustrates a mobile device according to an embodiment of the present disclosure. The mobile device may include a smartphone, a smart pad, a wearable device (e.g., a smartwatch, smartglasses), or a portable computer (e.g., a laptop, etc.). The mobile device may be referred to as a Mobile Station (MS), a User Terminal (UT), a Mobile Subscriber Station (MSS), a Subscriber Station (SS), an Advanced Mobile Station (AMS), or a Wireless Terminal (WT). The embodiment of FIG. 13 may be combined with various embodiments of the present disclosure.

[0147] Referring to FIG. 13, the portable device (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a memory unit (130), a power supply unit (140a), an interface unit (140b), and an input / output unit (140c). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 to 130 / 140a to 140c correspond to blocks 110 to 130 / 140 of FIG. 12, respectively.

[0148] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with other wireless devices and base stations. The control unit (120) can control components of the mobile device (100) to perform various operations. The control unit (120) can include an AP (Application Processor). The memory unit (130) can store data / parameters / programs / codes / commands required for operating the mobile device (100). In addition, the memory unit (130) can store input / output data / information, etc. The power supply unit (140a) supplies power to the mobile device (100) and can include a wired / wireless charging circuit, a battery, etc. The interface unit (140b) can support connection between the mobile device (100) and other external devices. The interface unit (140b) can include various ports (e.g., audio input / output ports, video input / output ports) for connection with external devices. The input / output unit (140c) can input or output video information / signals, audio information / signals, data, and / or information input from a user. The input / output unit (140c) may include a camera, a microphone, a user input unit, a display unit (140d), a speaker, and / or a haptic module.

[0149] For example, in the case of data communication, the input / output unit (140c) obtains information / signals (e.g., touch, text, voice, image, video) input by the user, and the obtained information / signals can be stored in the memory unit (130). The communication unit (110) converts the information / signals stored in the memory into wireless signals, and can directly transmit the converted wireless signals to other wireless devices or to a base station. In addition, the communication unit (110) can receive wireless signals from other wireless devices or base stations, and then restore the received wireless signals to the original information / signals. The restored information / signals can be stored in the memory unit (130) and then output in various forms (e.g., text, voice, image, video, haptic) through the input / output unit (140c).

[0150] FIG. 14 illustrates a vehicle or autonomous vehicle according to one embodiment of the present disclosure. The vehicle or autonomous vehicle may be implemented as a mobile robot, a car, a train, a manned or unmanned aerial vehicle (AV), a ship, or the like. The embodiment of FIG. 14 may be combined with various embodiments of the present disclosure.

[0151] Referring to FIG. 14, a vehicle or autonomous vehicle (100) may include an antenna unit (108), a communication unit (110), a control unit (120), a driving unit (140a), a power supply unit (140b), a sensor unit (140c), and an autonomous driving unit (140d). The antenna unit (108) may be configured as a part of the communication unit (110). Blocks 110 / 130 / 140a to 140d correspond to blocks 110 / 130 / 140 of FIG. 12, respectively.

[0152] The communication unit (110) can transmit and receive signals (e.g., data, control signals, etc.) with external devices such as other vehicles, base stations (e.g., base stations, road side units, etc.), and servers. The control unit (120) can control elements of the vehicle or autonomous vehicle (100) to perform various operations. The control unit (120) can include an ECU (Electronic Control Unit). The drive unit (140a) can drive the vehicle or autonomous vehicle (100) on the ground. The drive unit (140a) can include an engine, a motor, a power train, wheels, brakes, a steering device, etc. The power supply unit (140b) supplies power to the vehicle or autonomous vehicle (100) and can include a wired / wireless charging circuit, a battery, etc. The sensor unit (140c) can obtain vehicle status, surrounding environment information, user information, etc. The sensor unit (140c) may include an IMU (inertial measurement unit) sensor, a collision sensor, a wheel sensor, a speed sensor, an incline sensor, a weight detection sensor, a heading sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, a pedal position sensor, etc. The autonomous driving unit (140d) may implement a technology for maintaining a driving lane, a technology for automatically controlling speed such as adaptive cruise control, a technology for automatically driving along a set path, a technology for automatically setting a path and driving when a destination is set, etc.

[0153] For example, the communication unit (110) can receive map data, traffic information data, etc. from an external server. The autonomous driving unit (140d) can generate an autonomous driving route and driving plan based on the acquired data. The control unit (120) can control the drive unit (140a) so that the vehicle or autonomous vehicle (100) moves along the autonomous driving route according to the driving plan (e.g., speed / direction control). During autonomous driving, the communication unit (110) can irregularly / periodically acquire the latest traffic information data from an external server and can acquire surrounding traffic information data from surrounding vehicles. In addition, during autonomous driving, the sensor unit (140c) can acquire vehicle status and surrounding environment information. The autonomous driving unit (140d) can update the autonomous driving route and driving plan based on newly acquired data / information. The communication unit (110) can transmit information regarding the vehicle location, autonomous driving route, driving plan, etc. to the external server. External servers can predict traffic information data in advance using AI technology or other technologies based on information collected from vehicles or autonomous vehicles, and provide the predicted traffic information data to the vehicles or autonomous vehicles.

[0154] The claims set forth in this specification may be combined in various ways. For example, the technical features of the method claims of this specification may be combined and implemented as a device, and the technical features of the device claims of this specification may be combined and implemented as a method. Furthermore, the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a device, and the technical features of the method claims and the technical features of the device claims of this specification may be combined and implemented as a method.

Claims

1. In the method, A step of obtaining location information of a second device from a first device; A step of obtaining first location information of a third device from the second device; A step of combining the position information of the second device and the first position information of the third device based on the positioning error of the first device with respect to the third device exceeding a threshold; and A method comprising: determining a location of the third device based on a combination of location information of the second device and first location information of the third device.

2. In paragraph 1, A method wherein the threshold is determined based on a positioning error of the third device with respect to the third device.

3. In paragraph 2, A method wherein the positioning of the third device with respect to the third device is positioning based on at least one of GNSS (Global Navigation Satellite System), RAT (Radio Access Technology), WiFi, or UWB (Ultra-Wideband).

4. In paragraph 1, A method wherein the positioning error of the first device with respect to the third device is determined based on the distance between the first device and the third device.

5. In paragraph 1, A method wherein the positioning error of the first device with respect to the third device is determined based on sensor information of the first device.

6. In paragraph 1, A step of obtaining second location information of the third device from the first device; and A method further comprising: determining a location of the third device based on second location information of the third device, based on a positioning error of the first device with respect to the third device not exceeding a threshold; 7. In paragraph 1, A method wherein the location information of the second device and the first location information of the third device are combined based on the positioning accuracy of the first device with respect to the second device being higher than the positioning accuracy of the second device with respect to the second device.

8. In paragraph 7, A method wherein the positioning of the second device with respect to the second device is positioning based on at least one of GNSS (Global Navigation Satellite System), RAT (Radio Access Technology), WiFi, or UWB (Ultra-Wideband).

9. In paragraph 1, A step of obtaining second location information of the third device from the third device; and A step of combining the location information of the second device, the first location information of the third device, and the second location information of the third device based on the location accuracy of the second device with respect to the third device being higher than the location accuracy of the third device with respect to the third device; further comprising: A method in which the location of the third device is determined based on a combination of location information of the second device, first location information of the third device, and second location information of the third device.

10. In paragraph 1, A step of obtaining second location information of the third device from the fourth device; A step of obtaining location information of the fourth device from the second device; and A step of combining the location information of the second device, the first location information of the third device, the second location information of the third device, and the location information of the fourth device based on the positioning error of the first device with respect to the third device exceeding a threshold; further comprising: A method wherein the location of the third device is determined based on a combination of location information of the second device, first location information of the third device, second location information of the third device, and location information of the fourth device.

11. In paragraph 1, A method wherein the location of the third device is determined by one of a digital twin, a server, a Multi-Access Edge Computing (MEC), or a Road Side unit (RSU) based on a combination of location information of the second device and first location information of the third device.

12. In paragraph 1, A method wherein the positioning of the first device with respect to the third device, the positioning of the first device with respect to the second device, or the positioning of the second device with respect to the third device is sensor-based positioning.

13. In paragraph 12, A method wherein the sensor comprises at least one of a radar, a LiDAR, an ultrasonic sensor or a camera.

14. On the server, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said server: Obtain location information of the second device from the first device; Obtain first location information of a third device from the second device; Based on the positioning error of the first device with respect to the third device exceeding a threshold, the position information of the second device and the first position information of the third device are combined; and A server that determines the location of the third device based on a combination of the location information of the second device and the first location information of the third device.

15. In a processing device set to control a server, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said server: Obtain location information of the second device from the first device; Obtain first location information of a third device from the second device; Based on the positioning error of the first device with respect to the third device exceeding a threshold, the position information of the second device and the first position information of the third device are combined; and A processing device that determines the location of the third device based on a combination of the location information of the second device and the first location information of the third device.

16. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the server to: Obtain location information of the second device from the first device; Obtain first location information of a third device from the second device; Based on the positioning error of the first device with respect to the third device exceeding a threshold, the position information of the second device and the first position information of the third device are combined; and A non-transitory computer-readable storage medium that determines the location of the third device based on a combination of location information of the second device and first location information of the third device.

17. In the method, Step of obtaining location information of a second device; A step of obtaining first location information of a third device from the second device; A step of combining the position information of the second device and the first position information of the third device based on the positioning error of the first device with respect to the third device exceeding a threshold; and A method comprising: determining a location of the third device based on a combination of location information of the second device and first location information of the third device.

18. In the first device, At least one transmitter / receiver; at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: Obtain location information of the second device; Obtain first location information of a third device from the second device; Based on the positioning error of the first device with respect to the third device exceeding a threshold, the position information of the second device and the first position information of the third device are combined; and A first device that determines the location of the third device based on a combination of location information of the second device and first location information of the third device.

19. In a processing device set to control the first device, at least one processor; and At least one memory connected to said at least one processor and storing instructions, said instructions being executed by said at least one processor, wherein said first device causes: Obtain location information of the second device; Obtain first location information of a third device from the second device; Based on the positioning error of the first device with respect to the third device exceeding a threshold, the position information of the second device and the first position information of the third device are combined; and A processing device that determines the location of the third device based on a combination of the location information of the second device and the first location information of the third device.

20. A non-transitory computer-readable storage medium that records commands, The above commands, when executed, cause the first device to: Obtain location information of the second device; Obtain first location information of a third device from the second device; Based on the positioning error of the first device with respect to the third device exceeding a threshold, the position information of the second device and the first position information of the third device are combined; and A non-transitory computer-readable storage medium that determines the location of the third device based on a combination of location information of the second device and first location information of the third device.

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