Positioning method, terminal device and network device

Abstract

Provided are a positioning method, a terminal device and a network device. The positioning method comprises: a terminal device sending first information to a first network device, wherein the first information is used for indicating a non-line-of-sight (NLOS) channel deviation of the location of the terminal device.

Description

Positioning method, terminal device and network device Technical Field

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

[0002] The location of a terminal device is typically determined based on the distance between the terminal device and network equipment. In related technologies, this distance is typically assumed to be a line-of-sight (LOS) path. Unfortunately, in most terrestrial wireless signal propagation environments, particularly indoors or in urban settings, a LOS path does not always exist between the terminal device and network equipment, leading to errors in the terminal device's positioning.

[0003] Summary of the Invention

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

[0005] In a first aspect, a positioning method is provided, including: a terminal device sends first information to a first network device, where the first information is used to indicate a non-line-of-sight (NLOS) channel deviation of a location of the terminal device.

[0006] In some embodiments, the first information is carried in a line-of-sight LOS indication or a NLOS indication.

[0007] In some embodiments, the first information is used to indicate a mean and / or variance of the NLOS channel deviation.

[0008] In some embodiments, the first information is determined based on one or more of: a pseudorange between the terminal device and a second network device, an estimated value of a position of the terminal device, and an estimated value of a clock error of the terminal device.

[0009] In some embodiments, the estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on a pseudorange between the terminal device and the second network device.

[0010] In some embodiments, the estimated value of the terminal device's position and the estimated value of the terminal device's clock error are determined by the following formula: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

[0011] In some embodiments, the number of second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

[0012] In some embodiments, the NLOS channel deviation γ of the second network device b among the B second network devices is b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

[0013] In some embodiments, γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance

[0014] In some embodiments, the formula for determining the estimated value of the position of the terminal device and the estimated value of the clock error of the terminal device is determined based on the average of the NLOS channel deviation of each second network device in the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

[0015] In some embodiments, the The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is The gamma b The Gaussian probability distribution of

[0016] In a second aspect, a positioning method is provided, including: a first network device receives first information sent by a terminal device, where the first information is used to indicate a non-line-of-sight (NLOS) channel deviation of a location of the terminal device.

[0017] In some embodiments, the first information is carried in a line-of-sight LOS indication or a NLOS indication.

[0018] In some embodiments, the first information is used to indicate a mean and / or variance of the NLOS channel deviation.

[0019] In some embodiments, the first information is determined based on one or more of: a pseudorange between the terminal device and a second network device, an estimated value of a position of the terminal device, and an estimated value of a clock error of the terminal device.

[0020] In some embodiments, the estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on a pseudorange between the terminal device and the second network device.

[0021] In some embodiments, the estimated value of the terminal device's position and the estimated value of the terminal device's clock error are determined by the following formula: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

[0022] In some embodiments, the number of second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

[0023] In some embodiments, the NLOS channel deviation γ of the second network device b among the B second network devices is b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

[0024] In some embodiments, γ bThe number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance

[0025] In some embodiments, the formula for determining the estimated value of the position of the terminal device and the estimated value of the clock error of the terminal device is determined based on the average of the NLOS channel deviation of each second network device in the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

[0026] In some embodiments, the The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is The gamma b The Gaussian probability distribution of

[0027] According to a third aspect, a terminal device is provided, comprising: a sending unit configured to send first information to a first network device, wherein the first information is configured to indicate a non-line-of-sight (NLOS) channel deviation of a location of the terminal device.

[0028] In some embodiments, the first information is carried in a line-of-sight LOS indication or a NLOS indication.

[0029] In some embodiments, the first information is used to indicate a mean and / or variance of the NLOS channel deviation.

[0030] In some embodiments, the first information is determined based on one or more of: a pseudorange between the terminal device and a second network device, an estimated value of a position of the terminal device, and an estimated value of a clock error of the terminal device.

[0031] In some embodiments, the estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on a pseudorange between the terminal device and the second network device.

[0032] In some embodiments, the estimated value of the terminal device's position and the estimated value of the terminal device's clock error are determined by the following formula: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

[0033] In some embodiments, the number of second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

[0034] In some embodiments, the NLOS channel deviation γ of the second network device b among the B second network devices is b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

[0035] In some embodiments, γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance

[0036] In some embodiments, the formula for determining the estimated value of the position of the terminal device and the estimated value of the clock error of the terminal device is determined based on the average of the NLOS channel deviation of each second network device in the B second network devices. The expansion solution formula is in, is the variance of the random variable.

[0037] In some embodiments, the The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is The gamma b The Gaussian probability distribution of

[0038] In a fourth aspect, a network device is provided, which is a first network device, and includes: a receiving unit for receiving first information sent by a terminal device, wherein the first information is used to indicate a non-line-of-sight NLOS channel deviation at a location of the terminal device.

[0039] In some embodiments, the first information is carried in a line-of-sight LOS indication or a NLOS indication.

[0040] In some embodiments, the first information is used to indicate a mean and / or variance of the NLOS channel deviation.

[0041] In some embodiments, the first information is determined based on one or more of: a pseudorange between the terminal device and a second network device, an estimated value of a position of the terminal device, and an estimated value of a clock error of the terminal device.

[0042] In some embodiments, the estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on a pseudorange between the terminal device and the second network device.

[0043] In some embodiments, the estimated value of the terminal device's position and the estimated value of the terminal device's clock error are determined by the following formula: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

[0044] In some embodiments, the number of second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

[0045] In some embodiments, the NLOS channel deviation γ of the second network device b among the B second network devices is b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

[0046] In some embodiments, γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance

[0047] In some embodiments, the formula for determining the estimated value of the position of the terminal device and the estimated value of the clock error of the terminal device is determined based on the average of the NLOS channel deviation of each second network device in the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

[0048] In some embodiments, the The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is The gamma b The Gaussian probability distribution of

[0049] In a fifth aspect, a terminal device is provided, comprising a processor and a memory, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the terminal device executes part or all of the steps in the method of the first aspect.

[0050] In a sixth aspect, a network device is provided, comprising a processor, a memory, and a transceiver, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the network device executes part or all of the steps in the method of the second aspect.

[0051] In a seventh aspect, an embodiment of the present application provides a device comprising a memory and a processor, wherein the processor can call and run a computer program from the memory to implement some or all of the steps described in the methods of the above aspects.

[0052] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program enables a terminal device and / or a network device to execute part or all of the steps in the methods of the above aspects.

[0053] In a ninth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a terminal device and / or a network device to perform some or all of the steps of the methods described in each of the above aspects. In some implementations, the computer program product may be a software installation package.

[0054] In the tenth aspect, an embodiment of the present application provides a chip, which includes a memory and a processor. The processor can call and run a computer program from the memory to implement some or all of the steps described in the methods of the above aspects.

[0055] In the positioning method provided in an embodiment of the present application, a terminal device may send first information to a first network device, where the first information indicates a non-line-of-sight (NLOS) channel deviation at the terminal device's location. This first information can be used to correct the estimated value of the terminal device's location, thereby improving the positioning accuracy of the terminal device. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] FIG1 is a schematic diagram of a wireless communication system used in an embodiment of the present application.

[0057] FIG2 shows an example diagram of line-of-sight and non-line-of-sight in an application scenario.

[0058] FIG3 is a schematic flow chart of a positioning method provided in an embodiment of the present application.

[0059] FIG4 is a schematic diagram showing the principle of a statistical method for unsupervised learning provided in an embodiment of the present application.

[0060] FIG5 is a schematic structural diagram of a terminal device provided in an embodiment of the present application.

[0061] FIG6 is a schematic structural diagram of a network device provided in an embodiment of the present application.

[0062] FIG7 is a schematic structural diagram of a device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The technical solution in this application will be described below with reference to the accompanying drawings.

[0064] Communication System

[0065] Figure 1 illustrates a wireless communication system 100 used in an embodiment of the present application. The wireless communication system 100 may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 may provide communication coverage for a specific geographic area and may communicate with the terminal device 120 within the coverage area.

[0066] FIG1 exemplarily shows a network device and two terminals. Optionally, the wireless communication system 100 may include multiple network devices and each network device may include other numbers of terminal devices within its coverage area, which is not limited in the embodiments of the present application.

[0067] Optionally, the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiment of the present application.

[0068] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth generation (5G) system or new radio (NR), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), etc. The technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0069] The terminal device in the embodiments of the present application may also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device. The terminal device in the embodiments of the present application may refer to a device that provides voice and / or data connectivity to a user and can be used to connect people, objects and machines, such as a handheld device with wireless connection function, a vehicle-mounted device, etc. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. Optionally, the UE can be used to act as a base station. For example, the UE can act as a scheduling entity that provides sidelink signals between UEs in vehicle-to-everything (V2X) or device-to-device (D2D). For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and smart home devices communicate without relaying the communication signal through a base station.

[0070] The network device in the embodiments of the present application may be a device for communicating with a terminal device. The network device may also include an access network device. The access network device may also be referred to as a radio access network device or a base station. The access network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. Access network equipment can broadly cover various names as follows, or be replaced with the following names, such as: base station (BS), node B (NodeB), evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmission point (TRP), transmitting point (TP), master eNB (MeNB), secondary eNB (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, base band unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station can be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof. The base station can also refer to a communication module, a modem or a chip for being provided in the aforementioned device or apparatus. The base station can also be a mobile switching center and a device that performs the base station function in D2D, V2X, machine-to-machine (M2M) communications, a network side device in a 6G network, a device that performs the base station function in a future communication system, and the like. The base station can support networks with the same or different access technologies. The embodiments of the present application do not limit the specific technology and specific device form adopted by the access network device.

[0071] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0072] In some deployments, the network device in the embodiments of the present application may refer to a CU or a DU, or the network device may include a CU and a DU. The gNB may also include an AAU.

[0073] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on the water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0074] The communication equipment involved in the wireless communication system may include not only access network equipment and terminal equipment, but also core network equipment. The core network equipment may also be a type of network equipment.

[0075] The core network equipment in the embodiment of the present application may include equipment that processes and forwards user signaling and data. For example, the core network equipment may include a core network access and mobility management function (AMF), a session management function (SMF), and core network equipment such as a user plane gateway and a positioning server. Among them, the user plane gateway may be a server with functions such as mobility management, routing, and forwarding of user plane data, generally located on the network side, such as a serving gateway (SGW) or a packet data network gateway (PGW) or a user plane function entity (UPF). AMF and SMF can be equivalent to the mobility management entity (MME) in the LTE system. AMF is mainly responsible for access, and SMF is mainly responsible for session management. Of course, the core network may also include other network elements, which are not listed here one by one.

[0076] The positioning server has a positioning function. The positioning server involved in the embodiments of the present application may include a location management function (LMF) or a location management component (LMC), or may be a local location management function (LLMF) located in a network device, which is not limited in the embodiments of the present application. In some embodiments, the positioning server may also be referred to as a location management device.

[0077] It should be understood that all or part of the functions of the communication device in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (such as a cloud platform).

[0078] Positioning technology

[0079] With the rise of intelligent technology, positioning needs are becoming increasingly urgent in some industries. Traditional positioning systems, such as the Global Navigation Satellite System (GNSS) and Ultra-Wide Band (UWB), are limited by their coverage and cannot be widely used indoors. With the development of communication technology, 5G, with its advantages such as large bandwidth, low latency, and massive connections, will help upgrade infrastructure and bring the entire society into the intelligent era. With the rapid development of global 5G deployment and vertical applications, the industry urgently needs high-precision 5G positioning and 5G converged positioning technologies.

[0080] Among them, in the process of development of communication technology, 5G positioning was mentioned in the 3rd Generation Partnership Project (3GPP). For example, the 3GPP Rel-16 version frozen in June 2020 introduced the 5G base station (BS) positioning function. The design goal of Rel-16 is to have an indoor horizontal and vertical positioning accuracy of less than 3m (80% of users are in this area) and an end-to-end delay of less than 1s. Afterwards, 3GPP proposed in the 5GAdvanced project to continuously enhance positioning capabilities to enable emerging industries such as the Internet of Things and smart cities. It will also be further extended to areas such as public safety to provide seamless positioning services. At present, positioning scenarios are mainly divided into two categories: wide-area positioning scenarios and local-area positioning scenarios. Among them, local-area positioning scenarios, especially local scenarios, are in urgent need of positioning. The most typical example is the management of personnel, vehicles, equipment, and facilities.

[0081] In a wireless positioning system, the location of a mobile terminal device can be estimated by mapping signal characteristics to spatial locations. Positioning methods can be based on ranging, for example.

[0082] For ranging-based positioning, a geometric body (such as a circle or hyperbola) can be constructed based on the distance from the terminal device to at least three network devices. Furthermore, the positioning result can be obtained by calculating the intersection between the geometric bodies. Time of arrival (TOA) and time difference of arrival (TDOA) are commonly used signal features in ranging-based positioning methods. Ranging positioning methods based on received signal strength (RSS) require fitting a path loss model.

[0083] In the related art, the distance from a terminal device (or mobile node) to each of at least three network devices (or reference nodes) is usually determined based on a line-of-sight (LOS) path. LOS can refer to the ability of a terminal device to be located and a network device to observe each other visually or with visual aids. Generally, LOS can be understood as the absence of obstacles between the terminal device to be located and a network device. In the LOS path, the value obtained by multiplying the speed of light by the transmission time of the signal from the terminal device to the network device can be determined as the straight-line distance from the terminal device to the network device.

[0084] However, in most terrestrial wireless signal propagation environments, especially in indoor or urban scenarios, there may be a non-line of sight (NLOS or NLoS) path between the terminal device and the network device, that is, there is not always a LOS path between the terminal device and the network device. NLOS can refer to the inability of the terminal device to be located and a network device to observe each other visually or with visual aids. Generally, NLOS can be understood as an obstacle between the terminal device to be located and a network device. Since the NLOS path between the terminal device and the network device is not taken into account, the distance between the terminal device and the network device determined in the related art may have errors, resulting in errors in the final determined position of the terminal device.

[0085] For ease of understanding, the positioning method of the terminal device in the related art is schematically illustrated below with reference to Figure 2. In Figure 2, the terminal device 121 is the terminal device to be positioned. The terminal device 121 can receive the positioning reference signals of the network device 111, the network device 112 and the network device 113 respectively to determine the distance ρ1 between the terminal device 121 and the network device 111, the distance ρ2 between the terminal device 121 and the network device 112, and the distance ρ3 between the terminal device 121 and the network device 113. It should be noted that the number of network devices shown in Figure 2 is only an example. In an actual positioning scenario, the number of network devices that send positioning reference signals can be B, where B is greater than or equal to 3. In some embodiments, the network device that sends the positioning reference signal can be referred to as a second network device. The network device that sends the positioning reference signal can be a base station with a known location, that is, the second network device can be a base station, and the location of the base station is known.

[0086] As shown in Figure 2, there are no obstacles along the transmission path from terminal device 121 to network device 111, and along the transmission path between terminal device 121 and network device 112. However, there is an obstacle 210 along the transmission path between terminal device 121 and network device 113. This obstacle can be any object that affects signal transmission. Therefore, the paths between network device 111 and terminal device 121, and between network device 112 and terminal device 121, are line-of-sight paths, as shown by solid lines. The path between network device 113 and terminal device 121 is non-line-of-sight, as shown by dashed lines.

[0087] As can be seen from FIG2 , under a non-line-of-sight path, the actual transmission path of the signal between the network device 113 and the terminal device 121 is a broken line. At this point, if the distance between the network device 113 and the terminal device 121 is still determined according to the method in the related art (i.e., the speed of light multiplied by the transmission time), the determined distance ρ3 between the network device 113 and the terminal device 121 (as shown by the dotted line in FIG2 ) will be greater than the actual distance between the network device 113 and the terminal device 121. Therefore, the distance determined between the terminal device and the network device may contain an error (this error may be called an NLOS error), which may further lead to the problem of falling into a local optimum when determining the position of the terminal device using this distance, thereby causing an error in the determined position of the terminal device.

[0088] Currently, 3GPP is discussing 5G positioning standards, with indoor factories being a key application scenario. Indoor factory environments can be subject to significant NLOS errors. Due to these NLOS errors, the positioning accuracy of terminal devices in related technologies is low, making it difficult to meet the positioning accuracy requirements of current and future communication technologies.

[0089] To address the aforementioned issues, in the positioning method proposed in an embodiment of the present application, a terminal device may send first information to a first network device. The first information is used to indicate the non-line-of-sight (NLOS) channel deviation of the terminal device's location. This first information can be used to correct the estimated value of the terminal device's position, thereby improving the terminal device's positioning accuracy.

[0090] The positioning method in the embodiment of the present application is described in detail below with reference to Figure 3. As shown in Figure 3, the positioning method 300 provided in the embodiment of the present application may include step S310.

[0091] In step S310, the terminal device sends first information to the first network device.

[0092] The terminal device is a terminal device to be located. The embodiment of the present application does not specifically limit the type of the terminal device, and it can be any of the terminal devices described above. In some embodiments, a tag is configured on the terminal device to communicate with the network device through the tag to achieve positioning.

[0093] In some embodiments, the first network device may be a serving base station that provides communication services to the terminal device. For example, the terminal device may receive messages from other terminal devices through the serving base station, or the terminal device may forward messages through the serving base station. The embodiments of this application do not specifically limit the specific services provided by the serving base station. In some embodiments, the first network device may communicate with a positioning server to forward the first information sent by the terminal device to the positioning server.

[0094] As an example, the first network device may be any one of the network devices in Figure 2. That is, the first network device may be one of the multiple second network devices mentioned above that provide positioning reference signals to the terminal device.

[0095] As another example, the first network device may be a network device independent of multiple second network devices that send positioning reference signals, that is, the first network device does not send a positioning reference signal to the terminal device, but receives the first information sent by the terminal device.

[0096] In some other embodiments, the first network device may be a positioning server.

[0097] The first information is used to indicate the non-line-of-sight (NLOS) channel deviation at the location of the terminal device. The non-line-of-sight (NLOS) channel deviation at the location of the terminal device can also be referred to as an NLOS error. By indicating the non-line-of-sight (NLOS) channel deviation at the location of the terminal device using the first information, the location of the terminal device can be corrected based on the first information when subsequently accurately locating the terminal device. For example, after receiving the first information, the first network device can correct the location of the terminal device based on the first information.

[0098] In some embodiments, the first information is carried in a line-of-sight LOS indication or an NLOS indication. That is, the LOS indication or NLOS indication sent by the terminal device to the first network device includes the first information, and the first information is a reporting parameter of the LOS indication or the NLOS indication. The LOS indication or the NLOS indication can be indication information indicating the line-of-sight type of the communication channel between the terminal device and the second network device. For example, the LOS indication or the NLOS indication can include whether the distance between the terminal device and the second network device measured by the terminal device includes an LOS path or an NLOS path, and / or the probability that the distance between the terminal device and the second network device measured by the terminal device includes an LOS path or an NLOS path.

[0099] As previously described, the number of second network devices that transmit positioning reference signals to the terminal device is B, and B is greater than or equal to 3. The B second network devices can transmit positioning reference signals simultaneously. The B second network devices can achieve time synchronization via GNSS. In view of this, in some embodiments, the NLOS channel deviation at the location of the terminal device includes the NLOS channel deviation of each of the B second network devices.

[0100] In some embodiments, the first information is used to indicate a mean and / or variance of the NLOS channel deviation. Based on this, the first information includes a mean of the NLOS channel deviation of each second network device among the B second network devices.

[0101] In some embodiments, the first information is determined based on one or more of: a pseudorange between the terminal device and the second network device, an estimate of a position of the terminal device, and an estimate of a clock error of the terminal device.

[0102] The pseudorange between the terminal device and the second network device is the distance calculated by multiplying the speed of light by the transmission time of the positioning reference signal. As previously mentioned, the number of second network devices sending positioning reference signals to the terminal device is B. Therefore, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices.

[0103] Taking the second network device b among the B second network devices as an example, the formula for determining the pseudo-range between the second network device b and the terminal device is: ρ b =ct b Among them, ρ b is the pseudo-range from the second network device b to the terminal device, c is the speed of light, t b is the estimated propagation time between the terminal device and the second network device b, where the second network device b is one of the B second network devices and b∈{1,…,B}.

[0104] If the path between the second network device b and the terminal device is an NLOS path, as shown in FIG2 , ρ b will include the NLOS error (i.e., the NLOS channel deviation γ b , γ b is the NLOS channel deviation γ of the second network device b b ≥0 and γ b is the random range deviation in the NLOS channel). As an implementation, ρ b The determination formula can be expressed as formula 1, which is: b =ct b =∥xx b ∥+τ+γ b +n b .

[0105] Wherein, x is the position coordinate of the terminal device to be solved; τ is the clock error of the terminal device to be solved; x b is the position of the second network device b; τ can be understood as being caused by the asynchrony between the terminal device and the second network device b; n b is a random variable that explains the residual pseudorange estimation error. In some embodiments, n b is a variance of It should be noted that the position in the embodiment of the present application can generally be represented by a coordinate value, and the coordinate value can be two-dimensional (2D) or three-dimensional (3D).

[0106] In the above formula 1, if the position coordinates are two-dimensional coordinates, there are at least three known positions x of the second network device. b and the corresponding pseudorange ρ b is known, based on this, the three unknowns in formula 1 can be solved according to this known information. For example, based on the positioning algorithm, x and τ in formula 1 can be estimated to obtain the estimated value of the terminal device's position and the estimated value of the terminal device's clock error. Where x = (x, y). The estimated value of the terminal device's position can be expressed as The estimated value of the terminal device's clock error can be expressed as

[0107] In an embodiment of the present application, the estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device can be determined based on the pseudorange between the terminal device and the second network device by a maximum likelihood estimate (MLE) algorithm. MLE is considered to be asymptotically unbiased and asymptotically reaches the Cramer-Rao lower bound (CRLB). Therefore, it is asymptotically effective and optimal. CRLB is a tool for measuring whether an unbiased estimator is effective. If this indicator is achieved, it means that the estimated value is a minimum variance unbiased estimate. The minimum variance unbiased estimate indicates that the estimated value is a valid estimate.

[0108] As an example, the estimated value of the terminal device's position and the estimated value of the terminal device's clock error are determined by Formula 2, which is: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the terminal device's location determined based on the maximum likelihood estimation algorithm, is an estimated value of the clock error of the terminal device determined based on the maximum likelihood estimation algorithm. As mentioned above, the number of the second network devices may be B. Based on this, ρ can be understood as including multiple ρ b That is, the pseudorange ρ between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, that is, ρ includes B ρ b , every two ρ b The value of b in is different.

[0109] Combined with Figure 2 and the above, the pseudorange ρ b The NLOS error γ is included in b and τ, when τ is known, γ can be estimated and eliminated in MLE b In some embodiments, γ b The determination formula is formula 3, which is: Among them, ρ b is the pseudorange between the second network device b and the terminal device, is the estimated value of the terminal device’s location, x b is the location of the second network device b, is an estimated value of the clock error of the terminal device, the second network device b is one of B second network devices and b∈{1,…,B}.

[0110] In some embodiments, if there is an NLOS path between the second network device b and the terminal device, in the wireless communication channel, due to reflection or scattering, the positioning reference signal reaches the receiving point (i.e., the terminal device) through different propagation paths. Since the time delay of each path may be different, the pseudorange between the second network device b and the terminal device may be p b There may be multiple, the multiple ρ b It can also be called an observation value. Based on this, the γ corresponding to the second network device b b The number may include multiple.

[0111] In some embodiments, if there is enough scattering in the propagation environment, the positioning reference signal will appear as a superposition of a large number of statistically independent random variables when it reaches the receiver. According to the central limit theorem, the impulse response of such a wireless channel will be a Gaussian process. Based on this, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance That is, when there are multiple observations, a mixture Gaussian model can be used to update γ b The mean μ b and variance

[0112] In some embodiments, the estimated value of the terminal device's location and / or an estimate of the clock error of the terminal equipment It can be determined based on multiple iterations. For example, if the number of iterations is I, the estimated value of the terminal device's position determined in each of the I iterations is and / or an estimate of the clock error of the terminal equipment The method is similar, that is, the formula used in the iterative calculation process is the same, except that the initial value used in each iteration is different. The initial value used in each iteration can be based on multiple ρ values ​​of each second network device collected at the current iteration time. b At the next iteration, that is, in the tracking loop, the observation value at the next moment (the multiple ρ values ​​of each second network device) is used. b ) Update the initial iteration position of the terminal device and re-iterate the final position of the terminal device. It should be noted that the initial iteration position can be determined according to Formula 2. The initial iteration position used in each iteration can be understood as the first path.

[0113] As mentioned above, γ b The formula for determining When the estimated value of the terminal device's position and / or an estimate of the clock error of the terminal equipment When it is determined based on I iterations, at the i-th iteration in I iterations, the NLOS error between the second network device b and the terminal device can be recorded as γ i,b .in, is the initial iteration position of the terminal device in the i-th iteration, is the initial value of the estimated value of the terminal device clock error in the i-th iteration, that is, and is the assumed value determined according to Formula 2, and i is the iteration counter.

[0114] In some embodiments, the first information can be used to iterate the estimated value of the terminal device's position (i.e., the final position of the terminal device) and the estimated value of the terminal device's clock error. As an example, the formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error during the reiteration process (Formula 2 above) is based on the mean of the NLOS channel deviation of each of the B second network devices. At this time, the expanded solution formula of Formula 2 above is Formula 4, which is: in, is the random variable n b The variance of .

[0115] In some embodiments, Equation 4 is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined based on n b is a variance of A zero-mean Gaussian random variable, ρ b The conditional likelihood function can be expressed as Formula 5, which is: Since the impulse response of the wireless channel is a Gaussian process, γ b The Gaussian probability distribution of can be expressed as Formula 6, which is:

[0116] As an example, the derivation process of Formula 4 is as follows.

[0117] First, determine ρ based on Formula 5 and Formula 6 b Likelihood function of ρ. b The likelihood function of can be expressed as Formula 7, which is as follows.

[0118] Among them, p(ρ b |x,τ) is ρ bLikelihood function. According to formula 7, ρ b The likelihood function is ρ b The conditional likelihood function and γ b The product of the Gaussian probability distributions.

[0119] Secondly, since the pseudorange measurements are independent, the joint likelihood distribution of ρ is the accumulation of marginal distributions, that is, the joint likelihood distribution of ρ can be expressed as Formula 8, which is: where p(ρ|x,τ) is the joint likelihood distribution of ρ.

[0120] Combining Formula 2, Formula 7, and Formula 8, Formula 2 can be expanded into Formula 4.

[0121] Among them, in formula 4 and It can be numerically obtained by an iterative method. The embodiment of the present application does not specifically limit the type of iterative method. For example, a Newton-Raphson (NR) iterative method or a blind learning algorithm can be used for solving. Preferably, a blind learning algorithm can be used for solving to overcome the problem that the Newton-Raphson (NR) iterative method may have a local optimal solution.

[0122] The embodiments of the present application do not specifically limit the type of blind learning algorithm. As an implementation method, the blind learning algorithm can be a Markov Chain Monte Carlo (MCMC) algorithm. In the MCMC algorithm, Metropolis–Hastings sampling (MH sampling for short) and Gibbs sampling are two widely used forms. MH sampling is a statistical method for unsupervised learning. It can gradually find the optimal solution of the objective function through the Markov chain based on the corresponding estimated values ​​of the current state and the next state. The entire search process is shown in Figure 4. For the current sample, the next sample is constructed through the Markov chain state transition matrix with a certain probability. Continuous iteration until the optimal state is found. In the case of an initial sample, MH sampling gradually searches for the optimal solution through the Markov chain and eliminates bad samples.

[0123] In some embodiments, the open data set of Rel-18 (the first version of 5G-Advanced) can be used to study 5G positioning algorithms. With the maturity of massive multiple-input multiple-output (MIMO) antennas, smart surfaces and other technologies, more NLOS signals and virtual anchors will help improve 5G positioning accuracy. In addition to high-precision positioning, this integrated sensing and communication (ISAC) is expected to become one of the main features of 6G. Therefore, the proposed algorithm can be verified using the open data set for Rel-18. Through verification, it was found that the accuracy of the positioning method in the embodiment of the present application meets the existing standards, which improves the accuracy of the positioning algorithm in the prior art. Therefore, the embodiment of the present application uses the 3GPP 5G Rel-18 data set to achieve meter-level positioning, which is of reference significance for the practical application of 5G-Advanced high-precision technology.

[0124] The positioning algorithm in the embodiment of the present application uses maximum likelihood estimation (MLE) to calculate the position of the terminal device, calculates NLOS by measuring the first arrival path, and estimates the NLOS error relative to the base station, without having to determine whether the first arrival path is LOS / NLOS. This algorithm estimates and eliminates the NLOS error and uses Markov Chain Monte Carlo to achieve positioning, thereby avoiding the problem of low positioning accuracy caused by the susceptibility of 5G signals to multipath effects, effectively improving positioning accuracy.

[0125] For ease of understanding, the present application embodiment is described in more detail below in conjunction with a specific embodiment. It should be noted that the examples below are only to help those skilled in the art understand the present application embodiment, rather than to limit the present application embodiment to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given, and such modifications or changes also fall within the scope of the present application embodiment.

[0126] The steps of the MLE positioning method provided in the embodiment of the present application are as follows.

[0127] 1. Initialize parameters x0, μ0 and collect N pseudorange measurements for each of iterations 0-1.

[0128] Where x0, μ0 are the initial position of the terminal device and the initial clock error of the terminal device at the first iteration. In some embodiments, x0, μ0 can be determined based on the formula 2 above. For the i-th iteration, the N pseudorange measurement values ​​collected are recorded as ρ i,1 ,…,ρ i,N .

[0129] 2. For the number of iterations N and the number of second network devices B, cyclically calculate the N NLOS deviations of the second network device b in the i-th iteration, where i = 0 to I and b = 1 to B.

[0130] In the i-th iteration, the N NLOS deviations of the second network device b can be expressed as γ 1,i,b ,…,γ N,i,b For the nth NLOS deviation γ among N NLOS deviations n,i,b , and its calculation formula is: in, and Available through public Determine. Where n = 1 to N.

[0131] 3. Calculate the mean μ of the NLOS deviation of the second network device b at the i-th iteration based on the N NLOS deviations of the second network device b at the i-th iteration. i,b . That is [γ 1,i,b ,…,γ N,i,b ]→μ i,b .

[0132] The program code corresponding to the MLE positioning method can be expressed as follows.

[0133] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 4 . The device embodiment of the present application is described in detail below in conjunction with Figures 5 to 7 . It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for parts not described in detail, reference can be made to the above method embodiment.

[0134] As shown in FIG5 , a terminal device 500 is provided in an embodiment of the present application. The terminal device 500 may include: a sending unit 510 .

[0135] The sending unit 510 is used to send first information to the first network device, where the first information is used to indicate the non-line-of-sight NLOS channel deviation of the location of the terminal device.

[0136] In some embodiments, the first information is carried in a line-of-sight LOS indication or a NLOS indication.

[0137] In some embodiments, the first information is used to indicate a mean and / or variance of the NLOS channel deviation.

[0138] In some embodiments, the first information is determined based on one or more of: a pseudorange between the terminal device and a second network device, an estimated value of a position of the terminal device, and an estimated value of a clock error of the terminal device.

[0139] In some embodiments, the estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on a pseudorange between the terminal device and the second network device.

[0140] In some embodiments, the estimated value of the terminal device's position and the estimated value of the terminal device's clock error are determined by the following formula: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

[0141] In some embodiments, the number of second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

[0142] In some embodiments, the NLOS channel deviation γ of the second network device b among the B second network devices is b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

[0143] In some embodiments, γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance

[0144] In some embodiments, the formula for determining the estimated value of the position of the terminal device and the estimated value of the clock error of the terminal device is determined based on the average of the NLOS channel deviation of each second network device in the B second network devices. The expansion solution formula is in, is the variance of the random variable.

[0145] In some embodiments, the The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is The gamma b The Gaussian probability distribution of

[0146] As shown in FIG6 , a network device 600 provided in an embodiment of the present application is shown. The network device 600 may be the first network device described above and may include a receiving unit 610 .

[0147] The receiving unit 610 is used to receive first information sent by a terminal device, where the first information is used to indicate a non-line-of-sight (NLOS) channel deviation at a location of the terminal device.

[0148] In some embodiments, the first information is carried in a line-of-sight LOS indication or a NLOS indication.

[0149] In some embodiments, the first information is used to indicate a mean and / or variance of the NLOS channel deviation.

[0150] In some embodiments, the first information is determined based on one or more of: a pseudorange between the terminal device and a second network device, an estimated value of a position of the terminal device, and an estimated value of a clock error of the terminal device.

[0151] In some embodiments, the estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on a pseudorange between the terminal device and the second network device.

[0152] In some embodiments, the estimated value of the terminal device's position and the estimated value of the terminal device's clock error are determined by the following formula: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

[0153] In some embodiments, the number of second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

[0154] In some embodiments, the NLOS channel deviation γ of the second network device b among the B second network devices is b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

[0155] In some embodiments, γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance

[0156] In some embodiments, the formula for determining the estimated value of the position of the terminal device and the estimated value of the clock error of the terminal device is determined based on the average of the NLOS channel deviation of each second network device in the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

[0157] In some embodiments, the The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is The gamma b The Gaussian probability distribution of

[0158] Figure 7 is a schematic diagram of a device provided in an embodiment of the present application. Device 700 may be a device for positioning. Dashed lines in Figure 7 indicate that the unit or module is optional. Device 700 may be used to implement the method described in the above method embodiment. Device 700 may be a chip, terminal device, or network device.

[0159] The device 700 may include one or more processors 710. The processor 710 may support the device 700 to implement the method described in the method embodiment above. The processor 710 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0160] The apparatus 700 may further include one or more memories 720. The memories 720 store programs that can be executed by the processor 710, causing the processor 710 to perform the methods described in the above method embodiments. The memories 720 may be independent of the processor 710 or integrated into the processor 710.

[0161] The apparatus 700 may further include a transceiver 730. The processor 710 may communicate with other devices or chips via the transceiver 730. For example, the processor 710 may transmit and receive data with other devices or chips via the transceiver 730.

[0162] The present application also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to a terminal or network device provided in the present application, and the program enables a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0163] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to a terminal or network device provided in the present application, and the program causes a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0164] The embodiments of the present application also provide a computer program. The computer program can be applied to the terminal or network device provided in the embodiments of the present application, and the computer program enables a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0165] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first", "second", "third", and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0166] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0167] In the embodiment of the present application, "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should be understood that determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0168] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0169] In the embodiments of the present application, "pre-definition" or "pre-configuration" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device and a network device). The present application does not limit the specific implementation method. For example, pre-definition may refer to information defined in a protocol.

[0170] In the embodiments of the present application, the “protocol” may refer to a standard protocol in the communications field, for example, it may include an LTE protocol, an NR protocol, and related protocols used in future communication systems, and the present application does not limit this.

[0171] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0172] In the embodiments of this application, the term "include" can refer to direct inclusion or indirect inclusion. Alternatively, the term "include" in the embodiments of this application can be replaced with "indicates" or "is used to determine." For example, "A includes B" can be replaced with "A indicates B" or "A is used to determine B."

[0173] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0174] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0175] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0176] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0177] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0178] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A positioning method, characterized in that: include: The terminal device sends first information to the first network device, where the first information is used to indicate a non-line-of-sight (NLOS) channel deviation at a location of the terminal device.

2. The method according to claim 1, characterized in that The first information is carried in a line-of-sight LOS indication or a NLOS indication.

3. The method according to any one of claims 1 to 2, characterized in that The first information is used to indicate a mean value and / or a variance of the NLOS channel deviation.

4. The method according to any one of claims 1 to 3, characterized in that The first information is determined based on one or more of the following: a pseudorange between the terminal device and the second network device, an estimated value of the position of the terminal device, and an estimated value of a clock error of the terminal device.

5. The method according to claim 4, characterized in that The estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on the pseudorange between the terminal device and the second network device.

6. The method according to claim 5, characterized in that The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

7. The method according to any one of claims 4 to 6, characterized in that The number of the second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

8. The method according to claim 7, characterized in that The NLOS channel deviation γ of the second network device b among the B second network devices b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

9. The method according to claim 8, characterized in that γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance 10. The method according to claim 9, characterized in that The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is determined based on the average value of the NLOS channel deviation of each of the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

11. The method according to claim 10, characterized in that described The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is: The gamma b The Gaussian probability distribution of is:

12. A positioning method, characterized in that: include: The first network device receives first information sent by the terminal device, where the first information is used to indicate a non-line-of-sight (NLOS) channel deviation at a location of the terminal device.

13. The method according to claim 12, characterized in that The first information is carried in a line-of-sight LOS indication or a NLOS indication.

14. The method according to any one of claims 12 to 13, characterized in that The first information is used to indicate a mean value and / or a variance of the NLOS channel deviation.

15. The method according to any one of claims 12 to 14, characterized in that The first information is determined based on one or more of the following: a pseudorange between the terminal device and the second network device, an estimated value of the position of the terminal device, and an estimated value of a clock error of the terminal device.

16. The method according to claim 15, characterized in that The estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on the pseudorange between the terminal device and the second network device.

17. The method according to claim 16, characterized in that The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

18. The method according to any one of claims 15 to 17, characterized in that The number of the second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

19. The method according to claim 18, characterized in that The NLOS channel deviation γ of the second network device b among the B second network devices b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

20. The method according to claim 19, characterized in that γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance 21. The method according to claim 20, characterized in that The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is determined based on the average value of the NLOS channel deviation of each of the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

22. The method according to claim 21, characterized in that described The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is: The gamma b The Gaussian probability distribution of is:

23. A terminal device, characterized in that: include: A sending unit is used to send first information to a first network device, where the first information is used to indicate a non-line-of-sight NLOS channel deviation at a location of the terminal device.

24. The terminal device according to claim 23, characterized in that The first information is carried in a line-of-sight LOS indication or a NLOS indication.

25. The terminal device according to any one of claims 23-24, characterized in that: The first information is used to indicate a mean value and / or a variance of the NLOS channel deviation.

26. The terminal device according to any one of claims 23 to 25, characterized in that: The first information is determined based on one or more of the following: a pseudorange between the terminal device and the second network device, an estimated value of the position of the terminal device, and an estimated value of a clock error of the terminal device.

27. The terminal device according to claim 26, characterized in that The estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on the pseudorange between the terminal device and the second network device.

28. The terminal device according to claim 27, characterized in that The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, τ is the position coordinate of the terminal device to be solved The clock error of the device.

29. The terminal device according to any one of claims 26 to 28, characterized in that: The number of the second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

30. The terminal device according to claim 29, characterized in that The NLOS channel deviation γ of the second network device b among the B second network devices b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

31. The terminal device according to claim 30, characterized in that γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance 32. The terminal device according to claim 31, characterized in that The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is determined based on the average value of the NLOS channel deviation of each of the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

33. The terminal device according to claim 32, characterized in that described The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is: The gamma b The Gaussian probability distribution of is:

34. A network device, characterized in that: The network device is a first network device, and the network device includes: A receiving unit is used to receive first information sent by a terminal device, where the first information is used to indicate a non-line-of-sight (NLOS) channel deviation at a location of the terminal device.

35. The network device according to claim 34, wherein: The first information is carried in a line-of-sight LOS indication or a NLOS indication.

36. The network device according to any one of claims 34-35, characterized in that: The first information is used to indicate a mean value and / or a variance of the NLOS channel deviation.

37. The network device according to any one of claims 34 to 36, characterized in that: The first information is determined based on one or more of the following: a pseudorange between the terminal device and the second network device, an estimated value of the position of the terminal device, and an estimated value of a clock error of the terminal device.

38. The network device according to claim 37, wherein: The estimated value of the position of the terminal device and / or the estimated value of the clock error of the terminal device are determined by a maximum likelihood estimation algorithm based on the pseudorange between the terminal device and the second network device.

39. The network device according to claim 38, wherein: The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is: Wherein, ρ is the pseudo-range between the terminal device and the second network device, is the estimated value of the location of the terminal device, is the estimated value of the clock error of the terminal device, x is the position coordinate of the terminal device to be solved, and τ is the clock error of the terminal device to be solved.

40. The network device according to any one of claims 37 to 39, characterized in that: The number of the second network devices is B, the pseudorange between the terminal device and the second network device includes the pseudorange between the terminal device and each of the B second network devices, and the first information includes the average of the NLOS channel deviations of each of the B second network devices.

41. The network device according to claim 40, wherein: The NLOS channel deviation γ of the second network device b among the B second network devices b The formula for determining is: Among them, ρ b is the pseudo distance between the second network device b and the terminal device, x b is the position of the second network device b, the second network device b is one of the B second network devices and b∈{1,…,B}.

42. The network device according to claim 41, wherein: γ b The number includes multiple, multiple γ b Used to update the mean μ of the NLOS channel deviation of the second network device b in combination with the mixed Gaussian model b and / or variance 43. The network device according to claim 42, wherein: The formula for determining the estimated value of the terminal device's position and the estimated value of the terminal device's clock error is determined based on the average value of the NLOS channel deviation of each of the B second network devices. The expansion solution formula is: in, is the variance of the random variable.

44. The network device according to claim 43, wherein: described The expansion solution formula is based on ρ b The conditional likelihood function and γ b The Gaussian probability distribution is determined by the b The conditional likelihood function is: The gamma b The Gaussian probability distribution of is:

45. A terminal device, characterized in that: The terminal device comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory so that the terminal device executes the method according to any one of claims 1 to 11.

46. ​​A network device, characterized in that The network device comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory so as to enable the network device to execute the method according to any one of claims 12 to 22.

47. A device, characterized in that The device comprises a processor configured to call a program from a memory so as to enable the device to execute the method according to any one of claims 1 to 22.

48. A chip, characterized in that The device comprises a processor configured to call a program from a memory so that a device equipped with the chip executes the method according to any one of claims 1 to 22.

49. A computer-readable storage medium, characterized in that A program is stored thereon, and the program causes a computer to execute the method according to any one of claims 1 to 22.

50. A computer program product, characterized in that The method comprises a program for causing a computer to execute the method according to any one of claims 1 to 22.

51. A computer program, characterized in that The computer program causes a computer to execute the method according to any one of claims 1 to 22.

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