Position information acquisition method and apparatus, and device

Abstract

The present application belongs to the technical field of communications. Disclosed are a position information acquisition method and apparatus, and a device. The position information acquisition method in the embodiments of the present application comprises: a first device acquiring measurement information for calculating position information, wherein the position information is position information of a measurement target, and the measurement information comprises at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance-related information between the measurement target and a receiving device of the measurement signal; propagation delay or propagation distance information of the target path; propagation delay or propagation distance information of the reference path; position information of a sending device of the measurement signal; and position information of the receiving device of the measurement signal, the target path being a signal path associated with the measurement target in the measurement signal.

Description

Position information acquisition method, device and equipment

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202410997667.7, filed on July 24, 2024, the contents of which are incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application belongs to the field of communication technology, and specifically relates to a position information acquisition method, device and equipment. BACKGROUND

[0004] In many scenarios, the position information of a target needs to be acquired, that is, the target needs to be positioned. In some related technologies, a device can only acquire the position-related information of a sensor or a global navigation satellite system (GNSS), which leads to poor positioning performance of the device. SUMMARY

[0005] Embodiments of the present application provide a position information acquisition method, device and equipment, which can solve the problem of poor positioning performance of a device.

[0006] In a first aspect, a position information acquisition method is provided, comprising:

[0007] A first device acquires measurement information used to calculate position information, the position information being position information of a measurement target, and the measurement information comprising at least one of the following:

[0008] arrival angle information of a target path of the measurement signal;

[0009] arrival angle information of a reference path of the measurement signal;

[0010] difference information between the target path and the reference path;

[0011] distance-related information between the measurement target and a receiving device of the measurement signal;

[0012] propagation time delay or propagation distance information of the target path;

[0013] propagation time delay or propagation distance information of the reference path;

[0014] position information of a sending device of the measurement signal;

[0015] position information of the receiving device of the measurement signal;

[0016] The target path is a signal path in the measurement signal associated with the measurement target.

[0017] In a second aspect, a position information acquisition method is provided, comprising:

[0018] A second device acquires measurement information used for calculating position information, the position information being position information of a measurement target;

[0019] The second device sends the measurement information to a first device;

[0020] The measurement information comprises at least one of:

[0021] Angle of arrival information of a target path of a measurement signal;

[0022] Angle of arrival information of a reference path of the measurement signal;

[0023] Difference information between the target path and the reference path;

[0024] Distance-related information between the measurement target and a receiving device of the measurement signal;

[0025] Propagation time delay or propagation distance information of the target path;

[0026] Propagation time delay or propagation distance information of the reference path;

[0027] Position information of a sending device of the measurement signal;

[0028] Position information of the receiving device of the measurement signal;

[0029] The target path is a signal path in the measurement signal associated with the measurement target.

[0030] In a third aspect, a position information acquisition apparatus is provided, comprising:

[0031] A processing module is configured to acquire measurement information used for calculating position information, the position information being position information of a measurement target, and the measurement information comprising at least one of:

[0032] Angle of arrival information of a target path of a measurement signal;

[0033] Angle of arrival information of a reference path of the measurement signal;

[0034] Difference information between the target path and the reference path;

[0035] Distance-related information between the measurement target and a receiving device of the measurement signal;

[0036] Propagation time delay or propagation distance information of the target path;

[0037] propagation time delay or propagation distance information of the reference path;

[0038] position information of a sending device of the measurement signal;

[0039] position information of a receiving device of the measurement signal;

[0040] wherein the target path is a signal path in the measurement signal associated with the measurement target.

[0041] In a fourth aspect, a position information acquisition apparatus is provided, comprising:

[0042] a processing module configured to acquire measurement information used to calculate position information, the position information being position information of a measurement target;

[0043] a sending module configured to send the measurement information to a first device;

[0044] wherein the measurement information comprises at least one of:

[0045] angle of arrival information of a target path of a measurement signal;

[0046] angle of arrival information of a reference path of a measurement signal;

[0047] difference information between the target path and the reference path;

[0048] distance related information between the measurement target and a receiving device of the measurement signal;

[0049] propagation time delay or propagation distance information of the target path;

[0050] propagation time delay or propagation distance information of the reference path;

[0051] position information of a sending device of the measurement signal;

[0052] position information of a receiving device of the measurement signal;

[0053] wherein the target path is a signal path in the measurement signal associated with the measurement target.

[0054] In a fifth aspect, a position information acquisition apparatus is provided, the apparatus being configured to perform the steps of the position information acquisition method of a first device as provided in the embodiments of the present application.

[0055] In a sixth aspect, a position information acquisition apparatus is provided, the apparatus being configured to perform the steps of the position information acquisition method of a second device as provided in the embodiments of the present application.

[0056] In a seventh aspect, a device is provided, which includes a processor and a memory, the memory storing programs or instructions executable on the processor, and the programs or instructions, when executed by the processor, implement the steps of the method for acquiring location information of a first device according to the embodiments of the present application.

[0057] In an eighth aspect, a device is provided, which includes a processor and a communication interface, and the communication interface or the processor is configured to acquire measurement information used to calculate location information, the location information being location information of a measurement target, and the measurement information includes at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; location information of a transmitting device of the measurement signal; location information of the receiving device of the measurement signal; and the target path is a signal path of the measurement signal associated with the measurement target.

[0058] In a ninth aspect, a device is provided, which includes a processor and a memory, the memory storing programs or instructions executable on the processor, and the programs or instructions, when executed by the processor, implement the steps of the method for acquiring location information of a second device according to the embodiments of the present application.

[0059] In a tenth aspect, a device is provided, which includes a processor and a communication interface, and the communication interface or the processor is configured to acquire measurement information used to calculate location information, the location information being location information of a measurement target, and the communication interface is configured to send the measurement information to a first device; and the measurement information includes at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; location information of a transmitting device of the measurement signal; location information of the receiving device of the measurement signal; and the target path is a signal path of the measurement signal associated with the measurement target.

[0060] In an eleventh aspect, a readable storage medium is provided, which stores programs or instructions, and the programs or instructions, when executed by a processor, implement the steps of the method for acquiring location information of a first device according to the embodiments of the present application, or implement the steps of the method for acquiring location information of a first device according to the embodiments of the present application.

[0061] In a twelfth aspect, a wireless communication system is provided, including a first device and a second device, the first device being configured to perform the steps of the method for acquiring location information of a first device according to embodiments of the present application, and the second device being configured to perform the steps of the method for acquiring location information of a second device according to embodiments of the present application.

[0062] In a thirteenth aspect, a chip is provided, including a processor and a communication interface, the communication interface being coupled to the processor, and the processor being configured to execute programs or instructions to implement the method for acquiring location information of a first device according to embodiments of the present application, or to implement the method for acquiring location information of a second device according to embodiments of the present application.

[0063] In a fourteenth aspect, a computer program / program product is provided, stored in a storage medium, and executed by at least one processor to implement the steps of the method for acquiring location information of a first device according to embodiments of the present application, or to implement the steps of the method for acquiring location information of a second device according to embodiments of the present application.

[0064] In embodiments of the present application, the first device acquires measurement information used to calculate location information, the location information being location information of a measurement target, and the measurement information including at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; location information of a transmitting device of the measurement signal; location information of the receiving device of the measurement signal; wherein the target path is a signal path in the measurement signal associated with the measurement target. Since the above measurement information is used to calculate the location information of the measurement target, the location information can be acquired based on the measurement signal, so as to improve the positioning performance of the device. BRIEF DESCRIPTION OF DRAWINGS

[0065] FIG. 1 is a schematic diagram of a system according to embodiments of the present application;

[0066] FIG. 2 is a schematic diagram of a sensing measurement scenario according to embodiments of the present application;

[0067] FIG. 3 is a schematic diagram of another sensing measurement scenario according to embodiments of the present application;

[0068] FIG. 4 is a flowchart of a method for acquiring location information according to embodiments of the present application;

[0069] FIG. 5a and FIG. 5b are schematic diagrams of two coordinate systems according to an embodiment of the present application;

[0070] FIG. 6a and FIG. 6b are schematic diagrams of a position relationship of a space node according to an embodiment of the present application;

[0071] FIG. 7a and FIG. 7b are schematic diagrams of a position relationship of another space node according to an embodiment of the present application;

[0072] FIG. 8 is a flowchart of another position information acquisition method according to an embodiment of the present application;

[0073] FIG. 9 is a schematic diagram of a perceived position according to an embodiment of the present application;

[0074] FIG. 10 is a schematic diagram of a signal path according to an embodiment of the present application;

[0075] FIG. 11 is a schematic diagram of another signal path according to an embodiment of the present application;

[0076] FIG. 12 is a structural diagram of a position information acquisition apparatus according to an embodiment of the present application;

[0077] FIG. 13 is a structural diagram of another position information acquisition apparatus according to an embodiment of the present application;

[0078] FIG. 14 is a structural diagram of a communication device according to an embodiment of the present application;

[0079] FIG. 15 is a structural diagram of a terminal according to an embodiment of the present application;

[0080] FIG. 16 is a structural diagram of a network-side device according to an embodiment of the present application. DETAILED DESCRIPTION

[0081] The technical solutions in the embodiments of the present application will be described clearly below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0082] The terms "first", "second", and the like in the specification and claims of this application are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the present application described herein are, for example, capable of orderly or chronological functioning or sequencing irrespective of the terms used to describe them. Furthermore, it is to be understood that the terms "comprise", "comprising", "comprises", "include", "including", "includes" and the like are used broadly and encompass the terms "consisting of", "consisting essentially of", and "consist of". As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items. As used herein, the term "or" is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise, or clear from the context, the phrase "X employs A or B" is intended to mean that X employs A or B or both. Stated differently, "A or B" means A or B or both. As used herein, the term "about" means approximately or nearly, for example, the term "about X" means that X is approximately met or nearly met. As used herein, the term "and / or" means "and" or "or", for example, "A and / or B" means "A and B", "A or B", "A and", "B and", "A or", and "B or".

[0083] The term "indicate" in the present application can be a direct indication (or explicit indication) or an indirect indication (or implicit indication). The direct indication can be understood as that the sender explicitly informs the receiver of specific information, operations to be performed or requested results, etc. in the indication sent by the sender. The indirect indication can be understood as that the receiver determines the corresponding information according to the indication sent by the sender, or judges and determines the operations to be performed or the requested results according to the judgment result.

[0084] It is worth noting that the technology described in the embodiments of the present application is not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems.

[0085] The terms "system" and "network" are often used interchangeably in the embodiments of the present application, and the described techniques can be used in the above-mentioned systems and radio technologies, as well as other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in most of the following description, but these techniques can also be applied to systems other than NR systems, such as 6th Generation (6G) communication systems. th

[0086] FIG. 1 shows a block diagram of a wireless communication system to which embodiments of the present application can be applied. The wireless communication system includes a terminal 11 and a network side device 12.

[0087] The terminal 11 can be a terminal side device such as a mobile phone, a Tablet Personal Computer, a Laptop Computer, a notebook computer, a Personal Digital Assistant (PDA), a palmtop computer, a netbook, an Ultra-mobile Personal Computer (UMPC), a Mobile Internet Device (MID), an Augmented Reality (AR) device, a Virtual Reality (VR) device, a robot, a wearable device, a flight vehicle, a Vehicle User Equipment (VUE), a shipboard device, a Pedestrian User Equipment (PUE), a smart home (a home device with a wireless communication function such as a refrigerator, a television, a washing machine, or furniture, etc.), a game console, a Personal Computer (PC), a kiosk, or a self-service machine, etc. The wearable device includes a smart watch, a smart bracelet, a smart earphone, smart glasses, smart jewelry (a smart bracelet, a smart necklace, a smart ring, a smart necklace, a smart anklet, a smart necklace, etc.), a smart wristband, smart clothes, etc. The vehicle-mounted device can also be referred to as a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, or a vehicle-mounted unit, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiments of the present application.

[0088] ​The network side device 12 can include an access network device or a core network device, wherein the access network device can also be referred to as a radio access network (RAN) device, a radio access network function, a radio access network unit, or a satellite. The access network device can include a base station, a wireless local area network (WLAN) access point (AP), or a wireless fidelity (WiFi) node, etc. Among them, the base station can be referred to as a node B (NB), an evolved node B (eNB), a next generation node B (gNB), a new radio node B (NR Node B), an access point, a relay base station (RBS), a serving base station (SBS), a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home node B (HNB), a home evolved node B, a transmit / receive point (TRP), or some other suitable term in the art, as long as the same technical effect is achieved. The base station is not limited to a specific technical term, and it should be noted that in the embodiments of the present application, only the base station in the NR system is taken as an example for introduction, and the specific type of the base station is not limited.

[0089] The core network device can also be referred to as a core network node, a core network function, or a core network network element, etc., which includes but is not limited to at least one of the following: a mobility management entity (MME), an access and mobility management function (AMF), a session management function (SMF), a user plane function (UPF), a policy control function (PCF), a policy and charging rules function (PCRF), an edge application server discovery function (EASDF), a unified data management (UDM), a unified data repository (UDR), a home subscriber server (HSS), a centralized network configuration (CNC), a network repository function (NRF), a network exposure function (NEF), a local NEF (L-NEF), a binding support function (BSF), an application function (AF), a location management function (LMF), a gateway mobile location center (GMLC), a network data analytics function (NWDAF), etc. It should be noted that only the core network device in the NR system is taken as an example for introduction in the embodiments of the present application, and the specific type of the core network device is not limited. If the name of the core network device mentioned in the embodiments of the present application changes in the subsequent protocol version (for example, 6G), it is also within the protection scope of the present application.

[0090] Optionally, the core network device can be implemented by one or more function modules in one device, or can be implemented by multiple devices together, and the embodiments of the present application do not make a specific limitation hereon. It can be understood that the above function modules can be network elements in a hardware device, can be software function modules running on a special hardware, or can be virtualized function modules instantiated on a platform (for example, a cloud platform).

[0091] In some embodiments, the network side device and the terminal can have a sensing capability in addition to the communication capability. The sensing capability, i.e., one or more devices having the sensing capability, can sense the position, distance, speed, etc. of a target object, or detect, track, identify, image, etc. the target object, event or environment, etc. through the transmission and reception of wireless signals. Some sensing functions and application scenarios are shown in Table 1:

[0092] Table 1

[0093] It should be noted that the sensing categories shown in Table 1 above are only an example, and the categories of sensing measurement are not limited in the embodiments of the present application.

[0094] In addition, the embodiments of the present application can be applied to a communication-sensing integrated scenario. The communication-sensing integration refers to the integration of communication and sensing functions through spectrum sharing and hardware sharing in the same system. The system can sense the position, distance, speed, etc. while transmitting information, and detect, track, identify, etc. the target device or event. The communication system and the sensing system complement each other to improve the overall performance and bring better service experience.

[0095] For example, the integration of communication and radar is a typical communication-sensing integrated (communication-sensing fusion) application. The integration of communication and radar system can bring many advantages, such as cost saving, size reduction, power consumption reduction, spectrum efficiency improvement, mutual interference reduction, etc., thereby improving the overall system performance.

[0096] In the embodiments of the present application, according to the differences between the sensing signal transmission node and the reception node, there can be, but are not limited to, six kinds of sensing links shown in FIG. 2. It should be noted that each sensing link in FIG. 2 is exemplified by one transmission node and one reception node. According to different sensing requirements, different sensing links can be selected in the actual system, and the transmission node and the reception node of each sensing link can be one or more. Moreover, the actual sensing system can include multiple different sensing links. In addition, the sensing targets in FIG. 2 are exemplified by a person and a vehicle, and it is assumed that neither the person nor the vehicle carries or installs a signal receiving / transmitting device. The sensing targets in the actual scenario will be more diverse.

[0097] Sensing link 1: Base station self-emission self-reception sensing. In this mode, the base station transmits a sensing signal and obtains a sensing result by receiving the echo of the sensing signal.

[0098] Sensing link 2: Inter-base station air interface sensing. In this mode, base station 2 receives the sensing signal transmitted by base station 1 to obtain a sensing result.

[0099] Sensing link 3: Uplink air interface sensing. In this mode, the base station receives the sensing signal transmitted by the terminal to obtain a sensing result.

[0100] Sensing link 4: Downlink air interface sensing. In this mode, the terminal receives the sensing signal transmitted by the base station to obtain a sensing result.

[0101] Sensing link 5: Terminal self-emission self-reception sensing. In this mode, the terminal transmits a sensing signal and obtains a sensing result by receiving the echo of the sensing signal.

[0102] Sensing link 6: Inter-terminal sidelink sensing. For example, terminal 2 receives the sensing signal transmitted by terminal 1 to obtain a sensing result, or terminal 1 receives the sensing signal transmitted by terminal 2 to obtain a sensing result.

[0103] Radar can be divided into single-base radar and double / multi-base radar according to whether the transmitter and receiver are separated. Double-base radar generally requires the transmitting and receiving antennas to be far apart, comparable to the radar range.

[0104] Among them, the external radiation source radar is a special case of double-base radar, which uses related electromagnetic wave detection theory and signal processing technology to obtain non-cooperative electromagnetic signals transmitted by a third party (such as a communication base station), and realizes detection, positioning, tracking and identification of targets. It is also called passive radar, double / multi-base passive radar, passive radar, non-cooperative illumination source radar or non-cooperative passive detection system.

[0105] Double-base radar sensing result calculation generally needs to be based on reference channel (direct path) signal and monitoring channel (reflected path) signal. A typical double-base radar architecture is shown in FIG. 3, where the left side represents a two-dimensional space and the right side represents a three-dimensional space. Among them, R T is the distance from the signal transmitting end (Tx) to the target, R R is the distance from the signal receiving end (Rx) to the target, L is the baseline distance, and β is the double-base angle.

[0106] In some embodiments, the signaling transmission between the wireless access network device and the terminal, between different terminals is through Radio Resource Control (RRC) signaling or Medium Access Control Control Element (MAC CE) or layer 1 signaling or other newly defined sensing signaling; the signaling transmission between the sensing network function and the terminal can be through Non-Access-Stratum (NAS) signaling (forwarded through the AMF) or through RRC signaling or MAC CE or layer 1 signaling or other newly defined sensing signaling; the interaction between the sensing network function and the base station can be forwarded to the wireless access network through the N2 interface by the AMF; or the core network sensing network function is sent to the UPF, and the UPF is sent to the wireless access network through the N3 interface; or sent to the wireless access network (such as the base station) through a newly defined interface; the signaling transmission between the wireless access network devices can be through the Xn interface.

[0107] In some embodiments, the sensing network function can also be called a sensing network element or a sensing management function (Sensing MF), which can be on the RAN side or the core network side, refers to a network node in the core network or RAN responsible for at least one function of sensing request processing, sensing resource scheduling, sensing information interaction, sensing data processing, etc., which can be based on the upgrade of AMF or LMF in the mobile communication network, or other network nodes or newly defined network nodes. Specifically, the function characteristics of the sensing network function / sensing network element can include at least one of the following:

[0108] Interact with the wireless signal sending device or the wireless signal measuring device (including the target terminal or the serving base station of the target terminal or the base station associated with the target area) to obtain the target sensing result or the value of the sensing measurement quantity (uplink measurement quantity or downlink measurement quantity) sent by the wireless signal measuring device, wherein the target information includes sensing processing request, sensing capability, sensing auxiliary data, sensing measurement quantity type, and sensing resource configuration information, etc., wherein the wireless signal can also be referred to as a sensing signal;

[0109] According to the type of sensing service, the sensing service consumer information, the required Quality of Service (QoS) requirement information, the sensing capability of the wireless signal sending device, the sensing capability of the wireless signal measuring device, etc. to determine the sensing method to be used, which can include: wireless access network device A sends to wireless access network device B, or wireless access network device sends to terminal, or wireless access network device A self-sending and self-receiving, or terminal sending to wireless access network device, or terminal self-sending and self-receiving, or terminal A sending to terminal B, etc.

[0110] determining a sensing device to serve the sensing service according to the type of the sensing service, information of a consumer of the sensing service, required sensing QoS requirement information, sensing capability of a wireless signal transmitting device, sensing capability of a wireless signal measuring device, and other factors, wherein the sensing device includes the wireless signal transmitting device or the wireless signal measuring device;

[0111] managing overall coordination and scheduling of resources required for the sensing service, such as corresponding configuration of sensing resources of a wireless access network device or a terminal;

[0112] performing data processing on values of sensing measurement quantities, or performing calculation to obtain sensing results. Further, the sensing results are verified, and sensing accuracy is estimated.

[0113] In order to better understand the technical solutions provided by the embodiments of the present application, the definition of the information element (Information Element) related to measurement in the embodiments of the present application can be as follows:

[0114] The position information acquisition method, device and equipment provided by the embodiments of the present application will be described in detail in combination with the drawings and some embodiments and application scenarios.

[0115] Please refer to FIG. 4, which is a flowchart of a position information acquisition method provided by an embodiment of the present application. As shown in FIG. 4, the method includes the following steps:

[0116] In step 401, a first device acquires measurement information used for calculating position information, wherein the position information is position information of a measurement target, and the measurement information includes at least one of the following:

[0117] arrival angle information of a target path of a measurement signal;

[0118] arrival angle information of a reference path of the measurement signal;

[0119] difference information between the target path and the reference path;

[0120] distance-related information between the measurement target and a receiving device of the measurement signal;

[0121] propagation time delay or propagation distance information of the target path;

[0122] propagation time delay or propagation distance information of the reference path;

[0123] position information of a transmitting device of the measurement signal;

[0124] Position information of a receiving device of the measurement signal

[0125] The target path is a path associated with the measurement target in the measurement signal.

[0126] The first device can be a terminal or a network side device.

[0127] In some embodiments, the measurement information can be received by the first device from a second device, and the second device can be a terminal or a network side device.

[0128] In some embodiments, the measurement information can be obtained by the first device by measuring the measurement signal.

[0129] In some embodiments, the measurement information can be obtained by the first device by measuring the measurement signal and based on the measurement result, i.e., the measurement information can be an intermediate measurement result.

[0130] The measurement target can be an object, such as a vehicle or an obstacle, or the measurement target can be a pedestrian, and in some embodiments, the measurement target can be a passive target, i.e., the position information of the passive measurement target can be obtained.

[0131] In the embodiments of the present application, the measurement can be sensing, i.e., the position of the target can be obtained by sensing, such as the position information of the passive sensing target.

[0132] The measurement signal can be a special signal for sensing services, or a communication signal, such as a reference signal or a synchronization signal, etc.

[0133] The special signal for sensing services can be a sensing signal generated based on a Chirp or a Frequency Modulated Continuous Wave (FMCW) signal, or a sensing signal generated based on a Pseudo-Random (PN) sequence or a ZC sequence, etc.

[0134] The reference signal can be a Demodulation Reference Signal (DMRS), a Channel State Information Reference Signal (CSI-RS), a Sounding Reference Signal (SRS), or a Positioning Reference Signal (PRS), etc.

[0135] The synchronization signal can be a primary synchronization signal (PSS) or a secondary synchronization signal (SSS).

[0136] The signal carrying the communication data can be a physical downlink shared channel (PDSCH), a physical uplink shared channel (PUSCH), a physical downlink control channel (PDCCH), or a physical uplink control channel (PUCCH).

[0137] The signal path associated with the measurement target in the measurement signal can be a signal path affected by the measurement target in the measurement signal, a signal path passing through the measurement target, or a signal path associated with a portion of the measurement signal reflected by the measurement target during propagation.

[0138] The reference path can be a pre-specified or protocol-agreed signal path, for example, the reference path includes at least one of:

[0139] A line of sight (LOS) path, a signal path reflected by a known target.

[0140] In some embodiments, the LOS path can be a first-arrival path, for example, a signal path between the signal transceiver devices that satisfies the LOS condition, i.e., then the LOS path is the first-arrival path.

[0141] In some embodiments, the signal path reflected by a known target can be a signal path reflected by a Reconfigurable Intelligence Surface (RIS), a Backscatter, or other known passive targets.

[0142] The angle of arrival information can be an azimuth angle of arrival (AoA) or a zenith angle of arrival (ZoA).

[0143] The difference information between the target path and the reference path can be a difference in propagation delay or a difference in propagation distance between the target path and the reference path.

[0144] The distance-related information between the measurement target and the receiving device of the measurement signal can be distance-related information capable of representing a distance between the measurement target and the receiving device of the measurement signal.

[0145] The propagation delay can be understood as a propagation time, a time of flight (ToF), an absolute arrival time, or an absolute delay.

[0146] The propagation distance of the target path or the reference path and the propagation delay information can be one-to-one correspondence, for example: the propagation distance of the target path is c·(Δτ+τ L ), where (Δτ+τ L ) represents the propagation delay of the target path, c represents the speed of light, and the transmission distance of the reference path is c·τ L , where τ L is the propagation delay of the reference path.

[0147] In the embodiments of the present application, the measurement information can also be referred to as a measurement result.

[0148] The receiving device of the measurement signal can be the first device, or the receiving device of the measurement signal can be a second device.

[0149] The sending device of the measurement signal can be a third device, such as a terminal or a network side device.

[0150] The receiving device of the measurement signal can be the first device or the second device, and specifically can be a terminal or a network side device.

[0151] In some embodiments, the second device can send the measurement signal to the first device, the first device can receive the measurement signal and perform measurement to obtain the measurement information, and the first device can report the measurement information or the position information to the second device or the third device. The position information reported by the first device can be the position information or the trajectory information of the measurement target, that is, the target position information is calculated by the first device; or the measurement information reported by the first device can be an intermediate measurement result used to calculate the position information or the trajectory information of the measurement target, and the position information of the measurement target is calculated by the second device or the third device. The first device and the second device can be a terminal or a network device (such as a base station or a TRP), specifically, the second device can be a base station and the first device can be a terminal; or the second device can be a terminal and the first device can be a base station; or the first device and the second device can both be base stations; or the first device and the second device can both be terminals. The third device can be a core network perception network function or a perception network element, or other core network network functions or network elements, or other base stations or terminals. In some embodiments, the third device and the second device can also refer to the same device.

[0152] In the embodiments of the present application, the measurement information includes the at least one item, which can be understood as that the position information of the measurement target can be calculated based on the at least one item, that is, the position information of the measurement target can be calculated based on any one or a combination of the plurality of items, and specifically, the position information of the measurement target can be found based on a preconfigured mapping relationship between each item and the position information of the measurement target, or the position information of the measurement target can be calculated based on a preconfigured formula, a variable of the formula being the one item or the plurality of items. For example, the position information of the measurement target is calculated based on the AoA information of the target range, such as the position information of the measurement target is calculated based on a preconfigured calculation formula, a variable of the calculation formula including the AoA of the target range, or the position information of the measurement target is found based on a preconfigured mapping relationship between the AoA of the target range and the position information of the measurement target. For another example, the position information of the measurement target is calculated based on the distance-related information between the measurement target and the receiving device of the measurement signal, such as the position information of the measurement target is calculated based on a preconfigured calculation formula, a variable of the calculation formula including the distance-related information, or the position information of the measurement target is found based on a preconfigured mapping relationship between the distance-related information and the position information of the measurement target. For another example, the propagation time delay or propagation distance information of the target range is calculated based on the position information of the sending device of the measurement signal and the position information of the receiving device of the measurement signal, and then the position information of the measurement target is calculated based on the propagation time delay or propagation distance information of the target range.

[0153] It should be noted that the embodiments of the present application do not limit the specific manner of calculating the position information of the measurement target, and the above calculation manner is only an example.

[0154] In some embodiments, the measurement information used for calculating the position information can be that the first device calculates the position information of the measurement target based on the measurement information, or the first device sends the measurement information to other devices, such as a network side device or a server, and other devices calculate the position information of the measurement target based on the measurement information, so as to obtain the position information based on the measurement signal and improve the positioning performance of the device.

[0155] In the embodiments of the present application, since the measurement information is used to calculate the position information of the measurement target, the position information based on the measurement signal can be obtained, and the positioning performance of the device is improved.

[0156] In some embodiments, each item of the measurement information can include one or more information, for example, the AoA information of the target range can include one or more AoA information, for example, the first device can calculate the multi-AoA information based on the antenna spacing of the first device, such as the antenna spacing of the first device is dλ, λ is the wavelength, and then the AoA of the target range is A plurality of angles can be obtained according to the value of d, wherein:

[0157] k is an integer.

[0158] Similarly, the same applies to the reference radial angle of arrival information and the difference between the target radial angle of arrival and the reference radial angle of arrival, which will not be described herein.

[0159] In this way, by obtaining multiple measurement information, the position information of the measurement target can be calculated, and the position information with higher accuracy or reliability can be selected from the multiple measurement information to avoid measurement ambiguity and improve the accuracy or reliability of positioning.

[0160] As an optional implementation, the angle of arrival information includes at least one of:

[0161] a local coordinate system (LCS) based azimuth angle of arrival;

[0162] a local coordinate system (LCS) based zenith angle of arrival;

[0163] a global coordinate system (GCS) based azimuth angle of arrival;

[0164] a global coordinate system (GCS) based zenith angle of arrival.

[0165] The above local coordinate system based azimuth angle of arrival can be understood as the azimuth angle of arrival in the local coordinate system or the azimuth angle of arrival relative to the local coordinate system. The above local coordinate system based zenith angle of arrival can be understood as the zenith angle of arrival in the local coordinate system or the zenith angle of arrival relative to the local coordinate system.

[0166] The local coordinate system can be a reference coordinate system defined with the terminal antenna array as a reference, or a reference coordinate system defined with the terminal itself as a reference, for example, as shown in FIG. 5a, the horizontal direction of the terminal screen is the x' axis, the vertical direction of the terminal screen is the y' axis, and the normal direction of the terminal screen is the z' axis.

[0167] The above global coordinate system based azimuth angle of arrival can be understood as the azimuth angle of arrival in the global coordinate system or the azimuth angle of arrival relative to the global coordinate system. The above global coordinate system based zenith angle of arrival can be understood as the zenith angle of arrival in the global coordinate system or the zenith angle of arrival relative to the global coordinate system.

[0168] The global coordinate system can be an East-North-Sky reference coordinate system, for example, as shown in FIG. 5b.

[0169] In the embodiments of the present application, the conversion relationship between the local coordinate system and the global coordinate system is that the angle of arrival information based on the local coordinate system can be used to calculate the angle of arrival information based on the global coordinate system, and the angle of arrival information based on the global coordinate system can be used to calculate the angle of arrival information based on the local coordinate system. For example, as shown in FIG. 5b, the conversion relationship information between the local coordinate system and the global coordinate system includes that the local coordinate system and the global coordinate system rotate around the z-axis by an angle α, rotate around the y-axis by an angle β, and rotate around the x-axis by an angle γ.

[0170] In the embodiments, the angle of arrival information in the global coordinate system or the local coordinate system can be provided, so that the angle of arrival information can be applied to more position information calculation scenarios, and the compatibility of positioning can be improved.

[0171] As an optional embodiment, the difference information between the target path and the reference path includes at least one of the following:

[0172] The difference in propagation time delay between the target path and the reference path;

[0173] The difference in propagation distance between the target path and the reference path;

[0174] The difference in azimuth angle of arrival between the target path and the reference path, or the cosine value of the difference in azimuth angle of arrival between the target path and the reference path;

[0175] The difference in zenith angle of arrival between the target path and the reference path, or the cosine value of the difference in zenith angle of arrival between the target path and the reference path;

[0176] The incoming wave angle between the target path and the reference path, or the cosine value of the incoming wave angle between the target path and the reference path.

[0177] The difference in propagation time delay between the target path and the reference path can be understood as the relative time delay of the target path relative to the reference path, which can be represented as Δτ.

[0178] The difference in propagation distance between the target path and the reference path and the difference in propagation time delay can be one-to-one correspondence, for example, the difference in propagation distance ΔL between the target path and the reference path is c·Δτ, and c represents the speed of light.

[0179] In some embodiments, the position information of the measurement target can be calculated directly based on the difference in propagation time delay or the difference in propagation distance between the target path and the reference path, or the distance between the measurement target and the receiving device of the measurement signal is calculated based on the difference in propagation time delay or the difference in propagation distance between the target path and the reference path, and then the position information of the measurement target is calculated based on the distance between the measurement target and the receiving device of the measurement signal.

[0180] In some embodiments, the position information of the measurement target can be calculated based on the difference of the azimuth of arrival or the cosine value of the difference of the azimuth of arrival between the target path and the reference path.

[0181] In some embodiments, the angle of arrival or the cosine value of the angle of arrival between the target path and the reference path can be calculated based on the difference of the azimuth of arrival or the cosine value of the difference of the azimuth of arrival between the target path and the reference path, and the position information of the measurement target can be calculated based on the angle of arrival or the cosine value of the angle of arrival.

[0182] In some embodiments, the angle of arrival or the cosine value of the angle of arrival between the target path and the reference path can be calculated based on the difference of the zenith of arrival or the cosine value of the difference of the zenith of arrival between the target path and the reference path, and the position information of the measurement target can be calculated based on the angle of arrival or the cosine value of the angle of arrival.

[0183] In some embodiments, the angle of arrival or the cosine value of the angle of arrival between the target path and the reference path can be calculated based on the azimuth of arrival and the zenith of arrival of the target path and the reference path, and the position information of the measurement target can be calculated based on the angle of arrival or the cosine value of the angle of arrival.

[0184] The angle of arrival can be understood as the difference of the angle of arrival in the bistatic plane, or the angle between the line connecting the target path and the receiving device and the line connecting the transmitting device and the receiving device in the 3D space.

[0185] In this embodiment, different difference information can be provided to support multiple ways of calculating the position information of the measurement target.

[0186] As an optional way, the distance-related information includes at least one of:

[0187] The distance information between the measurement target and the receiving device of the measurement signal.

[0188] The propagation time delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

[0189] The distance information between the measurement target and the receiving device of the measurement signal represents the distance between the measurement target and the receiving device of the measurement signal. In some embodiments, the position information of the measurement target can be calculated based on the distance between the measurement target and the receiving device of the measurement signal.

[0190] The propagation delay information associated with the distance between the measurement target and the receiving device of the measurement signal indicates the propagation delay corresponding to the distance between the measurement target and the receiving device of the measurement signal. In some embodiments, the position information of the measurement target can be calculated by directly measuring the propagation delay between the measurement target and the receiving device of the measurement signal.

[0191] In this embodiment, the position information of the measurement target can be calculated based on the distance-related information between the measurement target and the receiving device of the measurement signal, which can save the calculation amount, because the distance between the receiving devices of the measurement signal can be measured without other information.

[0192] As an optional embodiment, the first device obtains the measurement information used for calculating the position information, including:

[0193] The first device measures the measurement signal to obtain the measurement information used for calculating the position information; or

[0194] The first device receives the measurement information used for calculating the position information sent by the second device.

[0195] The first device measures the measurement signal to obtain the measurement information used for calculating the position information; or

[0196] It should be noted that the manner of measuring the measurement information in the embodiments of the present application is not limited, for example, the measurement information can be obtained by using the manner defined in the protocol, or the measurement information can be obtained by using the manner newly defined in the subsequent protocol.

[0197] The measurement information can be obtained by measuring the measurement signal, so that the receiving device of the measurement signal can obtain the measurement information.

[0198] The measurement information sent by the second device can be obtained by measuring the measurement signal sent by the third device, and then sent to the first device, so that the measurement information can be measured by other devices to save the power consumption of the first device.

[0199] Optionally, the method further includes:

[0200] The first device sends first indication information to the second device; or

[0201] The first device receives the first indication information.

[0202] The first indication information is used to indicate the measurement information, or the first indication information is used to indicate the reporting of the measurement information.

[0203] In this embodiment, the first device can send the first indication information to the second device after obtaining the measurement information from the second device, or before obtaining the measurement information from the second device.

[0204] In this embodiment, the first device can receive the first indication information from the second device, such as the first indication information sent by the second device, to instruct the first device to perform measurement to obtain the measurement information.

[0205] In this embodiment, the first device can obtain the measurement information based on the first indication information, to obtain the measurement information on demand, so as to avoid obtaining the measurement information without indication, and to avoid the situation that the measurement information is not used, thereby saving the power consumption of the first device.

[0206] In some embodiments, the first indication information can not be transmitted, for example, the measurement information can be obtained at a specific time or location by default or by pre-configuration.

[0207] Optionally, the first indication information comprises at least one of the following:

[0208] configuration information of the measurement signal;

[0209] measurement configuration information;

[0210] reporting configuration information;

[0211] measurement requirement information.

[0212] The configuration information of the measurement signal can be used to configure the type of the measurement signal, such as a dedicated sensing signal, a reference signal, a synchronization signal, or a signal carrying communication data.

[0213] The configuration information of the measurement signal can enable the first device or the second device to perform more reliable measurement, thereby improving the measurement performance.

[0214] The measurement configuration information can configure measurement resources, measurement quantities, and other measurement-related configurations.

[0215] For example, the measurement configuration information comprises at least one of the following:

[0216] an angle measurement quantity;

[0217] an expected angle measurement range;

[0218] a time delay measurement quantity;

[0219] a distance measurement quantity.

[0220] The angle measurement quantity can include at least one of the following:

[0221] AoA, wherein, if the first device is a terminal, the AoA is a downlink AoA (DL-AoA), and if the first device is a network side device, the AoA is an uplink AoA (UL-AoA);

[0222] ZoA, wherein, if the first device is a terminal, the ZoA is a DL-ZoA, and if the first device is a network side device, the ZoA is a UL-ZoA;

[0223] target radial AoA;

[0224] reference radial AoA;

[0225] target radial ZoA;

[0226] reference radial ZoA;

[0227] angle difference, such as a bi-static plane target radial and reference radial angle difference.

[0228] The expected angle measurement range can be a reference radial AoA range, a target radial AoA range, etc., so that the first device or the second device only needs to measure the arrival angle in the range during the measurement process, so as to save the measurement overhead.

[0229] The time delay measurement quantity can include at least one of the following: time difference of arrival, time of arrival.

[0230] The distance measurement quantity can include at least one of the following: propagation distance, propagation distance difference.

[0231] In some embodiments, the measurement quantity is associated with a measurement requirement (such as a perception requirement), and the second device or the third device sends the first device the perception requirement information (target positioning requirement information), and the first device determines the corresponding measurement quantity based on the target positioning requirement information, that is, the measurement configuration information can not be sent.

[0232] The measurement configuration information can make the first device or the second device perform more accurate measurement, so as to improve the reliability of the measurement, and also save the measurement overhead.

[0233] The reporting configuration information is used to configure how the first device reports the measurement information, that is, the criteria for reporting the measurement information, and can include at least one of the following:

[0234] reported time-frequency domain resource configuration;

[0235] The reporting period can be a coherent processing time of sensing, and the measurement result is reported according to the reporting period. The coherent processing time refers to a time corresponding to each calculation of the sensing measurement result. For example, the first device or the second device performs a two-dimensional fast Fourier transform (FFT) operation to obtain a time length corresponding to a delay-Doppler diagram. One coherent processing time can include multiple time slots or symbols.

[0236] The reporting trigger condition can be a pre-set event, including but not limited to at least one of the following:

[0237] An event of entering a specific area (for example, a cell);

[0238] An event of reaching a specific time;

[0239] An event of a certain type of measurement signal reaching a certain threshold;

[0240] An event of the device moving more than a certain pre-defined (straight line) distance from a previous position;

[0241] An event of the device orientation changing more than a certain pre-defined angle. The device orientation can be the orientation of a certain device of the device, or the orientation of the screen or the antenna, etc.

[0242] An event of the motion speed of the device exceeding a certain pre-defined speed threshold;

[0243] An event of the environmental information (for example, temperature, humidity or illumination intensity) measured by the sensor of the device changing more than a certain range.

[0244] The above reporting configuration information can be used to report only under certain conditions to save reporting overhead.

[0245] The above measurement requirement information is used to represent the requirement information corresponding to the measurement behavior, and specifically includes a target positioning requirement, a 3D positioning requirement or a two-dimensional (2D) positioning requirement.

[0246] In some embodiments, the measurement requirement information can be sensing requirement information, and the sensing requirement information is described below.

[0247] The above measurement requirement information can be used to measure on demand to save measurement overhead.

[0248] It should be noted that the at least one indicated by the above first indication information can also be a protocol agreement or pre-configuration, that is, it can not be configured in the above first indication information.

[0249] As an optional embodiment, the measurement information further includes at least one of the following:

[0250] a number of the detected measurement targets;

[0251] a number of the target paths;

[0252] auxiliary information associated with the measurement information, the auxiliary information being used for assisting in calculating the position information.

[0253] The number of the detected measurement targets refers to a number of measurement target signals detected in a process of measuring the measurement signal.

[0254] The number of the target paths refers to a number of target paths detected in a process of measuring the measurement signal.

[0255] The number of the measurement targets or the target paths can be used to report the number of the measurement targets, and in the case of multiple measurement targets, the measurement information of the multiple measurement targets can be indicated respectively to calculate the position information of the multiple measurement targets, thereby improving the positioning performance.

[0256] The auxiliary information used for assisting in calculating the position information can be understood as that the position information can be calculated more accurately or more quickly based on the auxiliary information, thereby improving the positioning performance.

[0257] In some embodiments, the auxiliary information can include at least one of the following:

[0258] timestamp information;

[0259] measurement performance indication information;

[0260] measurement accuracy information;

[0261] propagation mode indication information, the propagation mode indication information being used for indicating a signal propagation mode between a sending device and a receiving device of the measurement signal;

[0262] coordinate system conversion relationship information;

[0263] device information of the second device.

[0264] The timestamp information can represent a timestamp corresponding to the measurement information, and through the timestamp information, the time corresponding to the position information can be obtained when the position information of the measurement target is calculated, thereby improving the positioning performance.

[0265] The measurement performance indication information can be indication information used for indicating the measurement performance, and through the indication information, the performance of the position information can be indirectly reflected, so that the position information can be applied to a matched scene based on the performance when the position information is applied.

[0266] The measurement accuracy information can include at least one of:

[0267] The angle accuracy information, the angle difference accuracy information, the accuracy information of the cosine value of the angle difference, the accuracy information of the time difference of arrival, and the accuracy information of the distance.

[0268] For example, the accuracy information of each angle measurement result is included in the above-mentioned auxiliary information, wherein the accuracy information can be the accuracy information of uncertainty, such as the value of the target radial AoA And the uncertainty range of the target radial AoA The actual result of the target radial AoA can be considered as

[0269] Alternatively, the common accuracy information of at least one angle measurement result, such as the common uncertainty range of the AoA (including the target radial AoA or the reference radial AoA)

[0270] The measurement accuracy information can enable the first device or the third device to consider the accuracy information when calculating the position information of the measurement target, so that the calculated position information is more reliable.

[0271] The propagation mode indication information can be LOS / NLOS indication, such as indicating whether the first device and the second device are LOS or NLOS, or indicating the probability information of LOS or NLOS between the first device and the second device.

[0272] The propagation mode indication information can enable the first device or the third device to consider the propagation mode when calculating the position information of the measurement target, so that the calculated position information is more reliable.

[0273] The coordinate system conversion relationship information is the coordinate system conversion relationship information between the LCS and the GCS, and can include at least one of:

[0274] The rotation angle α between the LCS and the GCS;

[0275] The rotation angle β between the LCS and the GCS;

[0276] The rotation angle γ between the LCS and the GCS;

[0277] The accuracy information of the coordinate system conversion relationship, that is, the uncertainty of the rotation angle, can give the accuracy information (uncertainty range) of the three rotation angles respectively, or the common accuracy information, for example: according to the rotation angle measurement value α and the rotation angle accuracy information Δα, the actual result of the rotation angle between the LCS and the GCS about the z-axis can be considered as

[0278] In some embodiments, when the angle in the measurement information is a local coordinate system angle, the measurement information includes coordinate system conversion relationship information.

[0279] The coordinate system conversion relationship information enables the first device or the third device to more simply and quickly calculate the position information of the measurement position.

[0280] The device information of the second device can include motion information of the second device. For example, the second device motion information includes whether the device is stationary, the motion speed of the second device, and the motion direction of the second device.

[0281] In some embodiments, the device information can be position information, such as Cartesian coordinates (x Rx ,y Rx ,z Rx ) relative to a known reference point.

[0282] The position information of the second device enables the first device or the third device to consider the device information of the second position when calculating the position information of the measurement target, which is beneficial to improving the reliability of the position information.

[0283] In some embodiments, the auxiliary information can include device information of the first device.

[0284] As an optional embodiment, the method further includes:

[0285] The first device calculates the position information of the measurement target based on the measurement information.

[0286] In this embodiment, the position information of the measurement target can be directly calculated by the first device, so as to improve the positioning performance of the first device.

[0287] In some embodiments, the first device can also send the measurement information to the third device, and the third device calculates the position information of the measurement target.

[0288] In some embodiments, the first device calculates the position information based on the measurement information can include:

[0289] The first device calculates the position information of the measurement target according to the distance between the measurement target and the receiving device of the measurement signal and the angle of arrival information of the target range.

[0290] The position information of the measurement target can be calculated by first calculating the relative position coordinates of the measurement coordinates with respect to the receiving device of the measurement signal based on the distance between the measurement target and the receiving device of the measurement signal, and the angle of arrival of the target path, and then calculating the position information of the measurement target based on the relative position coordinates and the position coordinates of the receiving device of the measurement signal.

[0291] For example, in a 3D positioning scenario, position information can be calculated in the following two ways:

[0292] Method 1: Based on the target diameter AoA in the global coordinate system T ZoA T R R Calculate the relative position coordinates (x, y) of the target object and the receiving device of the measurement signal in the global coordinate system. Target-Rx ,y Target-Rx ,z Target-rx ), where AoA T ZoA represents the azimuth angle of arrival of the target path. T R represents the zenith angle of the target path. R x represents the distance between the target being measured and the receiving device of the measurement signal; Target-Rx =R R ·sin(ZoA T )·cos(AoA T ), y Target-Rx =R R ·sin(ZoA T )·sin(AoA T ), z Target-Rx = R R ·cos(ZoA T );

[0293] Then, based on the relative position coordinates of the target and the receiving device of the measurement signal in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y, y) of the target in the global coordinate system are calculated. Target ,y Target ,z Target )=(x Target-Rx ,y Target-Rx ,z Target-Rx )+(x Rx ,y Rx ,z Rx ).

[0294] Method 2: Based on the angle AoA′ of the target diameter in the local coordinate system T ZoA′ T RR Calculate the target's position coordinates (x′) in the local coordinate system. Target ,y′ Target ,z′ Target ), AoA′ T ZoA′ represents the azimuth angle of arrival of the target path. T Indicates the zenith angle of the target path; x′ Target-Rx =R R ·sin(ZoA′ T )·cos(AoA′ T ), y′ Target-Rx =R R ·sin(ZoA′ T )·sin(AoA′ T ), z′ Target-Rx =R R ·cos(ZoA′ T );

[0295] Then, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system are obtained. Target-Rx ,y Target-Rx ,z Target-Rx Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (x, y) in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0296] It should be noted that in some implementations, what needs to be obtained is not the position coordinates of the target in the global coordinate system, but rather the position information of the target relative to the receiving device. This position information can be the position coordinates of the target in a local coordinate system with the receiving device as the reference, or it can be the distance R of the target relative to the receiving device. R And the angle AoA′ relative to the receiving device T ZoA′ T .

[0297] For example, in a two-dimensional positioning scenario, location information can be calculated in the following two ways:

[0298] Method 1: Based on the angle AoA of the target diameter in the global coordinate system. T ZoA T R R Calculate the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system. Target-Rx ,y Target-Rx ,z Target-Rx ), where xTarget-Rx =R R ·cos(AoA T ), y Target-Rx =R R ·sin(AoA T ), z Target-Rx =0;

[0299] Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x, y) of the measurement target in the global coordinate system are calculated. Target ,y Target ,z Target )=(x Target-Rx ,y Target-Rx ,z Target-Rx )+(x Rx ,y Rx ,z Rx ).

[0300] Method 2: Based on the angle ZoA′ of the target diameter in the local coordinate system T R R Calculate the target's position coordinates (x′) in the local coordinate system. Target ,y′ Target ,z′ Target Then, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system are obtained. Target-Rx ,y Target-Rx ,z Target-Rx Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (x, y) in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0301] It should be noted that, in this embodiment of the application, the method of calculating the position information of the measurement target based on the above-mentioned distance and the angle of arrival information of the target path is not limited. For example, in some embodiments, the position information of the measurement target can also be found directly based on the mapping relationship between the above-mentioned distance, the angle of arrival information of the target path and the position information.

[0302] The above calculation of the target's position information based on the distance and the target's angle of arrival can improve the reliability of the position information.

[0303] It should be noted that the embodiments of the present application are not limited to calculating the position information of the measurement target according to the distance and the angle of arrival information of the target path. For example, in some embodiments, the position information of the measurement target can be directly calculated according to the angle of arrival difference, the propagation time difference or the propagation distance difference between the target path and the reference path, such as finding the position information of the measurement target based on the pre-configured mapping relationship between the angle of arrival difference, the propagation time difference or the propagation distance difference and the position information of the measurement target. Alternatively, in some embodiments, the position of the measurement target can not be a specific position coordinate. For example, the above-mentioned position information can be the distance between the measurement target and the receiving device of the measurement signal, or the angle of the measurement target relative to the receiving device.

[0304] Optionally, the method further comprises:

[0305] The first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival of the reference path and the angle of arrival of the target path.

[0306] The angle of arrival or the cosine value of the angle of arrival is calculated according to the angle of arrival information of the target path and the angle of arrival information of the reference path; or

[0307] The measurement information includes the angle of arrival or the cosine value of the angle of arrival.

[0308] The angle of arrival or the cosine value of the angle of arrival can be calculated by the first device based on the measurement information, for example, the angle of arrival can be calculated as follows:

[0309] Method one, calculating the angle of arrival θ of the reference path and the target path according to the angle of arrival information of the reference path and the target path R = cos -1 (sin(ZoA T )sin(ZoA L )cos(AoA L -AoA T )+cos(ZoA T )cos(ZoA L )).

[0310] Method two, calculating the angle of arrival θ of the reference path and the target path R = |ZoA' L -ZoA' T | (calculated in a local coordinate system); optionally, if the target and the signal transceiver device are located on the same horizontal plane, θ R = |AoA L -AoA T|mod 180° (calculated in global coordinate system);

[0311] wherein ZoA T denotes the arrival zenith angle of the target path in the global coordinate system, ZoA L denotes the arrival azimuth angle of the reference path in the global coordinate system, AoA L denotes the arrival azimuth angle of the reference path in the global coordinate system, AoA T denotes the arrival azimuth angle of the target path in the global coordinate system, ZoA′ L denotes the arrival azimuth angle of the reference path in the local coordinate system, ZoA′ T denotes the arrival azimuth angle of the target path in the local coordinate system.

[0312] Alternatively, the above measurement information directly includes the incoming wave angle or the cosine value of the incoming wave angle.

[0313] In some embodiments, the first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the incoming wave angle, comprising:

[0314] The first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the incoming wave angle, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path, wherein the difference information comprises at least one of the following: the difference in propagation time delay between the target path and the reference path; the difference in propagation distance between the target path and the reference path; or

[0315] The first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the incoming wave angle and the time delay or propagation distance information of the target path.

[0316] For example, the distance between the measurement target and the receiving device of the measurement signal can be calculated by the following formula:

[0317] wherein R T +R R = ΔL + L = c · (Δτ + τ L ), wherein L represents the propagation distance of the reference path, i.e. the distance between the sending device and the receiving device of the measurement signal, Δτ + τ L represents the propagation time delay of the target path, Δτ represents the difference in propagation time delay between the target path and the reference path, τ L represents the propagation time delay of the reference path, θ R represents the incoming wave angle between the target path and the reference path.

[0318] In some embodiments, the distance between the measurement target and the receiving device of the measurement signal is not limited by the incoming angle or the cosine value of the incoming angle of the reference path and the target path, and the distance is calculated, for example, directly included in the measurement information, so that the distance between the measurement target and the receiving device of the measurement signal does not need to be calculated, and for example, the distance can be obtained based on the mapping relationship of the pre-configured target path angle of arrival information, the reference path angle of arrival information and the distance.

[0319] It should be noted that the embodiments of the present application do not limit the specific calculation of the above-mentioned parameters, and the specific calculation can be based on the spatial position relationship between the parameters.

[0320] For example, for a three-dimensional positioning scene, the position relationship of the parameters is as shown in FIGS. 6a and 6b, wherein the x-axis, y-axis and z-axis are global coordinate system (GCS) coordinate axes, and the x'-axis, y'-axis and z'-axis are local coordinate system (LCS) coordinate axes. Among them, AoA' ZT is the AoA of the target path in the local coordinate system, that is, the projection of the direction vector of the target in the local coordinate system in the x'Oy' plane relative to the x' axis. ZoA' T is the ZoA of the target path in the local coordinate system, that is, the angle of the direction vector of the target path in the local coordinate system relative to the z' axis. The reference path in the local coordinate system has an azimuth angle AoA' L and a zenith angle ZoA' L , the reference path in the global coordinate system has an azimuth angle AoA T , a zenith angle ZoA T , and the LOS path in the global coordinate system has an azimuth angle AoA L , a zenith angle ZoA L , and the definitions are similar and will not be repeated.

[0321] Among them, θ R is the incoming angle of the reference path and the target path, that is, the angle between the connection line of the transmitting and receiving devices of the measurement signal and the connection line between the receiving device of the measurement signal and the measurement target, which is embodied in the plane determined by the transmitting device, the receiving device and the measurement target of the measurement signal, which can also be called a bistatic plane.

[0322] For example, for a two-dimensional positioning scene, the position relationship of the parameters is as shown in FIGS. 7a and 7b, wherein the coordinate system and the angle information are similar to those of the three-dimensional positioning scene, and will not be repeated. Among them, θ RThe angle between the reference path and the target path is the angle between the line connecting the transceiver of the measurement signal and the line connecting the receiver of the measurement signal and the target. This angle is reflected on the plane defined by the signal transmitting device, the signal receiving device, and the target. When the target and the transceiver are on the same horizontal plane, this angle is reflected on the xOy plane of the global coordinate system. In this case, the xOy plane is the bistatic plane.

[0323] The following examples illustrate the calculation of the position information of the measurement target in both 3D and 2D positioning scenarios:

[0324] The calculation process for the target position information in three-dimensional space under bistatic sensing mode is as follows:

[0325] The first or third device performing the calculation of the target's location information acquires one or more of the following information:

[0326] Target path AoA T ;

[0327] Target diameter ZoA T ;

[0328] LOS Path AoA L ;

[0329] LOS path ZoA L ;

[0330] The time delay difference Δτ between the target path and the LOS path (or the initial path or the reference path reflected by a known target) (or the propagation distance difference ΔL = c·Δτ between the target path and the LOS path, where c represents the speed of light);

[0331] LOS path (or initial path or reference path reflected by a known target) absolute time delay τ L (or the distance between signal transceivers L = c·τ) L (i.e., the path distance of LOS).

[0332] In this context, the LOS path (where the signal transceiver meets the LOS condition) can generally be considered the first path, while the target path refers to the path associated with the portion of the signal propagation that is reflected by the sensing target. The specific definition of the path is explained below.

[0333] Among them, AoA L ZoA L , τ L It can be LOS path-related information obtained through signal measurement, or it can be based on the location information of the signal transmitting device (x). Tx ,y Tx ,z Tx ), signal receiving device location information (x Rx ,yRx ,z Rx ) Calculated, for example:

[0334] AoA L =atan2(y Tx -y Rx ,x TX -x Rx ), atan2 represents finding the arctangent function value in the four quadrants;

[0335] acos represents finding the value of the inverse cosine function.

[0336] Among them, the target path AoA T Target path ZoA T LOS path AoA L LOS path ZoA L for:

[0337] Angle information in the global coordinate system (GCS), or;

[0338] Angle information in the local coordinate system (LCS).

[0339] If the obtained angle information is the local coordinate system (LCS) angle information, i.e., the target diameter AoA′ T Target path ZoA′ T ,LOS Path AoA′ L ,LOS Path ZoA′ L Then, the angle information of the global coordinate system can be calculated based on the transformation relationship between the local coordinate system and the global coordinate system.

[0340] Based on the arrival angle information of the LOS path and the target path, calculate the angle θ between the incoming waves of the LOS path and the target path. R =cos -1 (sin(ZoA T )sin(ZoA L )cos(AoA L -AoA T )+cos(ZoA T )cos(ZoA L )).

[0341] Calculate the distance between the target and the signal receiving device. Where R T +R R =ΔL+L=

[0342] c·(Δτ+τ L ), where Δτ+τ L That is, the absolute time delay of the target path.

[0343] According to the distance between the measuring target and the signal receiving device and the angle information of the target path, the target position information is calculated, for example:

[0344] According to the target path angle AoA T , ZoA T , R R , the relative position coordinates (x Target-Rx , y Target-Rx , z Target-Rx ) of the target in the global coordinate system and the signal receiving device are calculated, wherein x Target-Rx =R R ·sin(ZoA T )·cos(AoA T ), y Target-Rx =R R ·sin(ZoA T )·sin(AoA T ), z Target-Rx =R R ·cos(ZoA T ).

[0345] Further, according to the relative position coordinates of the measuring signal receiving device in the global coordinate system and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x Target , y Target , z Target ) of the target in the global coordinate system are calculated, wherein (x Target-Rx , y Target-Rx , z Target-Rx )+(x Rx , y Rx , z Rx ).

[0346] The position coordinates (x′ T , y′ T , z′ R ) of the target in the local coordinate system can also be calculated according to the target path angle AoA′ Target , ZoA′ Target , R Target , wherein x′ Target-Rx =R R ·sin(ZoA′ T )·cos(AoA′ T ), y′ Target-Rx =R R ·sin(ZoA′ T )·sin(AoA′ T ), z′ Target-Rx =R R·cos(ZoA′ T );

[0347] Then, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target and the signal receiving device in the global coordinate system are obtained. Target-Rx ,y Target-Rx ,z Target-Rx Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the target's position coordinates (x, y) in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0348] It should be noted that in some implementations, what needs to be obtained is not the position coordinates of the target in the global coordinate system, but rather the position information of the target relative to the receiving device. This position information can be the position coordinates of the target in a local coordinate system with the receiving device as the reference, or it can be the distance R of the target relative to the receiving device. R And the angle AoA′ relative to the receiving device T ZoA′ T .

[0349] The calculation process for target location information in two-dimensional space under bistatic sensing mode is as follows:

[0350] In some sensing scenarios, only two-dimensional positioning is required. For example, when the transceiver and the target are on the same or approximately on the same horizontal plane, or when the signal receiving device only supports a linear antenna array, calculating the target position based on a single-dimensional angle and time delay can only yield two-dimensional position coordinates. Specifically, the calculation process for target position information in two-dimensional space is as follows:

[0351] The device that performs target location information calculations acquires the following information:

[0352] Target path AoA T ;

[0353] LOS Path AoA L ;

[0354] Target diameter ZoA T (Optional)

[0355] LOS path ZoA L (Optional)

[0356] The time delay difference Δτ between the target path and the LOS path (or the initial path or the reference path reflected by a known target) (or the propagation distance difference ΔL = c·Δτ between the target path and the LOS path, where c represents the speed of light);

[0357] LOS path (or first path or reference path through known target reflection) absolute time delay τ L (or the distance L = c·τ between the signal transceiver devices L , i.e. the LOS path propagation distance).

[0358] AoA L , τ L may be the LOS path related information measured by measuring the measured signal, or may be calculated according to the signal transmitting device position information (x Tx , y Tx , z Tx ), the signal receiving device position information (x Rx , y RX , z RX ), for example:

[0359] AoA L = atan2 (y Tx - y Rx , x Tx - x Rx ), atan2 represents the four quadrant inverse tangent function value;

[0360] wherein the target path ZoA T (optinally), the LOS path ZoA L (optinally) can be defaulted to 90° in the case that the measuring target and the signal transceiver device are located in the same horizontal plane, i.e. no need to measure.

[0361] wherein the target path AoA T , the LOS path AoA L is the angle information in the global coordinate system (GCS), if the obtained angle information is the local coordinate system (LCS) angle information, for example the target path ZoA' T , the LOS path ZoA' L (for the case of supporting linear array at the receiving end, the LCS takes the linear array axis direction as the z' axis, and the measured local coordinate system ZoA angle information, in the case that the target and the signal transceiver device are located in the same horizontal plane, the local coordinate system AoA can be defaulted to 0°, or default, i.e. no need to measure), the global coordinate system angle information can be calculated according to the local coordinate system and global coordinate system conversion relationship information.

[0362] According to the angle of arrival information of the LOS path and the target path, the incoming wave included angle θ R between the LOS path and the target path is calculated L = |ZoA' T| (calculated in local coordinate system); alternatively, if the target and signal transceiving device are located on the same horizontal plane, it can also be θ R = |AoA L -AoA T | mod 180° (calculated in global coordinate system).

[0363] Calculate the distance between the target and the signal receiving device where R T +R R = ΔL + L = c ·

[0364] (Δτ + τ L ), where Δτ + τ L is the absolute time delay of the target path.

[0365] Calculate the target position information according to the distance between the target and the signal receiving device and the angle information of the target path.

[0366] Calculate the relative position coordinates (x Target-Rx , y Target-Rx , z Target-Rx ) of the target with respect to the signal receiving device in the global coordinate system according to the global coordinate system target reflection path angle AoA T , ZoA T , R R , wherein x Target-Rx = R R · cos(AoA T ), y Target-Rx = R R · sin(AoA T ), z Target-Rx = 0.

[0367] Further, calculate the position coordinates (x Target , y Target , z Target ) of the target in the global coordinate system according to the relative position coordinates with respect to the signal receiving device in the global coordinate system and the position coordinates of the signal receiving device in the global coordinate system, i.e., (x Target-Rx , y Target-Rx , z Target-Rx ) + (x Rx , y Rx , z Rx ).

[0368] Alternatively, calculate the position coordinates (x′ T , y′ R , z′ Target ) of the target in the local coordinate system according to the local coordinate system target reflection path angle ZoA′ Target , R Target .), and then according to the conversion relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x Target-Rx ,y Target-Rx ,z Target-Rx ) of the target and the signal receiving device in the global coordinate system are obtained, and then according to the relative position coordinates of the target and the signal receiving device in the global coordinate system and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x Target ,y Target ,z Target ) of the target in the global coordinate system are calculated.

[0369] Through the above various embodiments, the embodiments of the present application can realize the calculation manner of the passive sensing target position information in different scenarios in the bistatic sensing mode, and the clear definition of the calculation manner of various intermediate measurement results and the message interaction process, so as to improve the positioning performance.

[0370] In the embodiments of the present application, a first device obtains measurement information used for calculating position information, the position information being position information of a measurement target, and the measurement information including at least one of the following: arrival angle information of a target path of a measurement signal; arrival angle information of a reference path of the measurement signal; difference information between the target path and the reference path; distance related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; position information of a sending device of the measurement signal; position information of the receiving device of the measurement signal; wherein the target path is a signal path in the measurement signal associated with the measurement target. Since the above measurement information is used for calculating the position information of the measurement target, the position information can be obtained based on the measurement signal, so as to improve the positioning performance of the device.

[0371] Please refer to FIG. 8, which is a flow chart of another position information obtaining method provided by the embodiments of the present application, as shown in FIG. 8, including the following steps:

[0372] Step 801: A second device obtains measurement information used for calculating position information, the position information being position information of a measurement target.

[0373] Step 802: The second device sends the measurement information to a first device.

[0374] The measurement information includes at least one of the following:

[0375] Arrival angle information of a target path of a measurement signal;

[0376] Arrival angle information of a reference path of the measurement signal;

[0377] difference information between the target path and the reference path;

[0378] distance-related information between the measurement target and the receiving device of the measurement signal;

[0379] propagation time delay or propagation distance information of the target path;

[0380] propagation time delay or propagation distance information of the reference path;

[0381] position information of the sending device of the measurement signal;

[0382] position information of the receiving device of the measurement signal;

[0383] The target path is a signal path in the measurement signal associated with the measurement target.

[0384] Optionally, the reference path includes at least one of:

[0385] a line of sight (LOS) path, and a signal path reflected by a known target.

[0386] Optionally, the angle of arrival information includes at least one of:

[0387] an azimuth angle of arrival based on a local coordinate system;

[0388] a zenith angle of arrival based on a local coordinate system;

[0389] an azimuth angle of arrival based on a global coordinate system;

[0390] a zenith angle of arrival based on a global coordinate system.

[0391] Optionally, the difference information between the target path and the reference path includes at least one of:

[0392] a difference in propagation time delay between the target path and the reference path;

[0393] a difference in propagation distance between the target path and the reference path;

[0394] a difference in azimuth angle of arrival between the target path and the reference path, or a cosine value of the difference in azimuth angle of arrival between the target path and the reference path;

[0395] a difference in zenith angle of arrival between the target path and the reference path, or a cosine value of the difference in zenith angle of arrival between the target path and the reference path;

[0396] an included angle of arrival between the target path and the reference path, or a cosine value of the included angle of arrival between the target path and the reference path.

[0397] Optionally, the distance-related information comprises at least one of:

[0398] distance information between the measurement target and a receiving device of the measurement signal;

[0399] propagation time delay information associated with a distance between the measurement target and a receiving device of the measurement signal.

[0400] Optionally, the second device acquires measurement information for calculating the position information, comprising:

[0401] the second device measures the measurement signal to obtain measurement information for calculating the position information; or

[0402] the second device measures the measurement signal to obtain first measurement information for calculating the position information, and acquires second measurement information based on the first measurement information, wherein the measurement information for calculating the position information comprises the second measurement information.

[0403] Optionally, the first measurement information comprises at least one of:

[0404] arrival angle information of the target path;

[0405] arrival angle information of the reference path;

[0406] difference information between the target path and the reference path;

[0407] propagation time delay or propagation distance information of the reference path;

[0408] position information of a sending device of the measurement signal;

[0409] position information of a receiving device of the measurement signal;

[0410] Optionally, the second measurement information comprises at least one of:

[0411] arrival angle information of the target path;

[0412] arrival angle information of the reference path;

[0413] difference information between the target path and the reference path;

[0414] distance-related information between the measurement target and a receiving device of the measurement signal;

[0415] propagation time delay or propagation distance information of the target path.

[0416] Optionally, the method further comprises:

[0417] The second device receives first indication information, the first indication information being used for indicating acquisition of the measurement information, or the first indication information being used for indicating reporting of the measurement information.

[0418] Optionally, the first indication information comprises at least one of the following:

[0419] configuration information of the measurement signal;

[0420] measurement configuration information;

[0421] reporting configuration information;

[0422] measurement requirement information.

[0423] Optionally, the measurement configuration information comprises at least one of the following:

[0424] an angle measurement quantity;

[0425] an expected angle measurement range;

[0426] a time delay measurement quantity;

[0427] a distance measurement quantity.

[0428] Optionally, the measurement information further comprises at least one of the following:

[0429] a number of detected measurement targets;

[0430] a number of target diameters;

[0431] auxiliary information associated with the measurement information, the auxiliary information being used for assisting in calculation of the position information.

[0432] Optionally, the auxiliary information comprises at least one of the following:

[0433] timestamp information;

[0434] measurement performance indication information;

[0435] measurement precision information;

[0436] propagation mode indication information, the propagation mode indication information being used for indicating a signal propagation mode between a sending device and a receiving device of the measurement signal;

[0437] coordinate system conversion relationship information;

[0438] device information of the second device.

[0439] Optionally, the device information of the second device comprises at least one of the following:

[0440] motion information of the second device.

[0441] It should be noted that the embodiment is as the implementation of the second device corresponding to the embodiment shown in FIG. 4, and the specific implementation can refer to the related description of the embodiment shown in FIG. 4. To avoid repeated description, the embodiment will not be described again.

[0442] The method provided in the embodiment is exemplified by taking measurement as an example of perception through multiple embodiments:

[0443] Embodiment one:

[0444] In the embodiment, the device c (sensing network function) calculates the position information, that is, the device c is the first device in the above embodiment.

[0445] In the embodiment, the process of acquiring measurement information (such as measurement results) by the device b (signal receiving device, that is, the second device in the above embodiment) and feeding back to the device c, and calculating the position information by the device c is described, and the specific process is shown in FIG. 9. In the embodiment, the device b does not have the position information of the device a (that is, the sending device of the measurement signal) or the transceiving device distance information, and cannot calculate the distance from the measurement target to the device b and the specific position information of the target. The device c can acquire the position information of the device a and the device b or the transceiving device distance information, so as to complete the calculation of the target position information.

[0446] Step 1, the device c (for example, sensing network function (SensingMF)) acquires the sensing requirement. The sensing requirement includes target positioning requirement, and specifically, it can be three-dimensional positioning requirement or two-dimensional positioning requirement. The source of the sensing requirement can include the following ways:

[0447] Way one, the sensing requirement comes from an external application, at this time, an application function (Application Function, AF) sends the sensing requirement to the NEF, and then sends it to the AMF. The AMF selects the SensingMF, and sends the sensing requirement to the SensingMF; or the AF directly sends the sensing requirement to the SensingMF.

[0448] Way two, the sensing requirement can also come from a base station and / or UE, at this time, the base station and / or UE sends to the AMF. The AMF selects the SensingMF, and sends the sensing requirement to the SensingMF; or the base station and / or UE directly sends the sensing requirement to the SensingMF.

[0449] Way three, the sensing requirement can also come from a core network element, the core network element sends the sensing requirement to the AMF; the AMF selects the SensingMF, and sends the sensing requirement to the SensingMF; or the core network element directly sends the sensing requirement to the SensingMF.

[0450] It should be noted that the way of forwarding the sensing requirement through the AMF can be but not limited to the scenario where multiple sensing network elements are deployed in the network, and the AMF needs to select a suitable sensing network element from the multiple sensing network elements according to the location of the sensing object, the sensing service type or the sensing QoS requirement information and other information; the way of not forwarding the sensing requirement through the AMF can be but not limited to the scenario where one or less SensingMF is deployed in the network.

[0451] Wherein, if the device c is a base station or a terminal, the device c obtains the sensing requirement in the following way: receiving the sensing requirement information sent by the sensing network function. In particular, the device c and the device a are the same device, and the device a obtains the sensing requirement information.

[0452] Step 2, device c sends first indication information to device a or device b, or device a sends first indication information to device b, for indicating device a to obtain measurement data and / or report measurement data, the first indication information includes at least one of the following:

[0453] Measurement signal configuration information, the measurement signal is a signal used for sensing, including at least one of the following: dedicated sensing signal; reference signal; synchronization signal; signal carrying communication data.

[0454] Reporting configuration;

[0455] Measurement configuration information;

[0456] Wherein, the measurement configuration information includes at least one of the following: signal resource indication information of measurement, such as identification of measurement signal; measurement quantity indication information;

[0457] Wherein, the measurement quantity indication information includes at least one of the following:

[0458] Angle measurement quantity, including at least one of the following: angle of arrival AoA (DL-AoA if device b is a terminal, UL-AoA if device b is a base station), ZoA (DL-ZoA if device b is a terminal, UL-ZoA if device b is a base station), angle of arrival difference; (target path AoA, LOS path AoA, target path ZoA, LOS path ZoA, difference between the angles of arrival of the two base stations in the plane target path and LOS path)

[0459] Expected angle measurement range, such as LOS path AoA range, target path AoA range, etc.

[0460] Time delay measurement quantity, including at least one of the following: time difference of arrival, time of arrival;

[0461] Distance measurement quantity, including at least one of the following: propagation distance, propagation distance difference.

[0462] Alternatively, the measurement quantity is associated with the perception requirement, and the device c or the device a sends the device b the perception requirement information, i.e., the positioning requirement information, and further, the positioning requirement information includes a positioning requirement type, i.e., a three-dimensional positioning requirement or a two-dimensional positioning requirement (the measurement quantity associated with the three-dimensional positioning requirement and the two-dimensional positioning requirement is different), and the device b determines the corresponding measurement quantity based on the target positioning requirement information.

[0463] Alternatively, the measurement configuration information can further include the perception requirement information, the measurement quantity can be associated with the perception requirement, the device c or the device a sends the device b the perception requirement information (target positioning requirement information), and the device b determines the corresponding measurement quantity based on the target positioning requirement information; or the device b determines the precision requirement, the time delay requirement, or the signal configuration information related to the measurement result based on the perception requirement information; or the device b determines the signal processing method based on the perception requirement information, such as whether to perform static clutter elimination, a target path detection method, etc.

[0464] It should be noted that the above-mentioned items in the first indication information can be sent in the same signaling, or can be sent in different signaling.

[0465] Step 3: The device a sends the measurement signal to the device b.

[0466] Step 4: The device a performs the measurement process according to the first indication information, i.e., receives the measurement signal sent by the device a and measures to obtain the first measurement data.

[0467] Step 5: The device a sends the measurement information to the device c, and the measurement information includes at least one of the following:

[0468] The measurement result, the auxiliary information associated with the measurement result;

[0469] The measurement result, i.e., the value of the measurement quantity, includes at least one of the following:

[0470] The number of detected targets, or the number of target paths;

[0471] The target path AoA (including the global coordinate system angle AoA T , or the local coordinate system angle AoA' T ) ;

[0472] The target path ZoA (including the global coordinate system angle ZoA T , or the local coordinate system angle ZoA' T ) ;

[0473] The angle difference θ R between the target path and the LOS path on the bistatic plane, i.e., the difference between the angles of arrival of the target path and the LOS path.

[0474] cos(θ R );

[0475] Δτ;

[0476] ΔL;

[0477] AoA L or AoA′ L );

[0478] ZoA L or ZoA′ L );

[0479] AoA ZoA

[0480]

[0481]

[0482] at least one of the following:

[0483] timestamp information;

[0484] measurement performance index information;

[0485] precision information;

[0486] LOS / NLOS indication: whether the link between device a and device b is LOS or NLOS (may be LOS / NLOS probability information);

[0487] coordinate system conversion relationship information;

[0488] device information, including at least one of the following: device b position information, such as Cartesian coordinates (x Rx , y Rx , z Rx ) relative to a certain known reference point, device b motion information including whether the device is stationary, device b motion speed, device b motion direction.

[0489] Step 6, device c receives the measurement information and calculates the position information of the measurement target.

[0490] ​Wherein, the position information of the measurement target comprises at least one of the following:

[0491] In the first way, the device c obtains the position information of the devices a and b, or the distance information (absolute time of arrival information) between the devices a and b. For example, the position information of the devices a and b can be stored as known prior information on the core network side; or the distance information (absolute time of arrival information) between the devices a and b is obtained by performing measurement such as RTT measurement by the devices a and b, and then the device c needs to obtain the corresponding device a receiving-transmitting time difference and the device b receiving-transmitting time difference respectively. The focus of the embodiment is to calculate the position information of the target, and thus the specific obtaining method of the device position information or the distance is not limited.

[0492] In the second way, the device c calculates the position information of the target according to the position information of the devices a and b, or the distance information (absolute time of arrival information) between the devices a and b, and the measurement result in the first measurement data sent by the device a. The specific calculation method can refer to the method provided in the foregoing embodiment. The position information of the measurement target comprises at least one of the following:

[0493] The Cartesian coordinates of a global coordinate system relative to a reference point, i.e. the values of x, y and z, further comprising the units (mm, cm, dm, m, etc.) of x, y and z, for example, the coordinates of the measurement target relative to the signal receiving device in the global coordinate system (x, y, z), or the coordinates of the measurement target relative to the origin of the coordinate system (a certain known reference position) in the global coordinate system (x, y, z); Target-Rx Target-Rx Target-Rx Target Target Target

[0494] The Cartesian coordinates of a local coordinate system relative to a reference point, i.e. the values of x, y and z, further comprising the units (mm, cm, dm, m, etc.) of x, y and z, for example, the coordinates of the measurement target relative to the origin of the coordinate system (a certain known reference position) in the local coordinate system of the device b (x', y', z'); Target Target Target

[0495] The longitude, latitude and height information of the measurement target, comprising absolute longitude, latitude and height information, or relative longitude, latitude and height information relative to a reference point.

[0496] The distance and angle information of the measurement target relative to a reference point, for example, the distance of the target to the receiving device, and the angle information of the target relative to the receiving device.

[0497] ​​​​​​​​​Optionally, if the sensing requirement is initiated by the device b, the device c further sends the position information of the measurement target to the device b.

[0498] Embodiment two:

[0499] In this embodiment, the device c (sensing network function) calculates the position information, i.e., the device c is the first device.

[0500] In this embodiment, the device b (signal receiving device) acquires the measurement result and feeds back to the device c, i.e., the device b is the second device, and the process of position information calculation by the device c is described.

[0501] In this embodiment, the device b can acquire the position information of the device a (signal sending device), or the position information of the device b, or the distance information between the transceiving devices, so as to calculate the distance from the target to the device b. The device c acquires the measurement result from the device b, and completes the calculation of the position information of the target.

[0502] The specific process can refer to FIG. 9 and embodiment one, except that the device b further needs to acquire the position information of the device a, or the position information of the device b, or the distance information between the transceiving devices. Specifically, the following can be performed:

[0503] The position information of the device a and the device b is stored as known prior information at the core network side, and the device c sends the first indication information or other signaling to the device b.

[0504] Or the distance information L (or absolute arrival time information τ L ) between the device a and the device b is obtained through the measurement performed by the device a and the device b, e.g., RTT measurement, the device c acquires the corresponding device a receiving-sending time difference and device b receiving-sending time difference, and calculates the distance information between the device a and the device b, or the absolute arrival time information, and sends the first indication information or other signaling to the device b.

[0505] Or the distance information L (or absolute arrival time information τ ) between the device a and the device b is obtained through the measurement performed by the device a and the device b, e.g., RTT measurement, the device b acquires the corresponding device a receiving-sending time difference, and combines the device b receiving-sending time difference obtained through its own measurement to calculate the distance information between the device a and the device b, or the absolute arrival time information.

[0506] The device b receives the measurement signal and measures to obtain the first measurement information, including at least one of the following:

[0507] The number of detected targets, or the number of target paths;

[0508] The target path AoA (including the global coordinate system angle AoA T , or the local coordinate system angle AoA′T );

[0509] Target range ZoA (including global coordinate system angle ZoA T , or local coordinate system angle ZoA' T );

[0510] Difference of target range and LOS range angle of arrival θ R in bistatic plane;

[0511] Cosine value of difference of target range and LOS range angle of arrival cos(θ R ) in bistatic plane;

[0512] Difference of time of arrival of target range and LOS range (or first range or reference range reflected by known target);

[0513] Difference of propagation distance of target range and LOS range (or first range or reference range reflected by known target);

[0514] LOS range AoA (including global coordinate system angle AoA L , or local coordinate system angle AoA' L );

[0515] LOS range ZoA (including global coordinate system angle ZoA L , or local coordinate system angle ZoA' L );

[0516] Difference of LOS range AoA and target range AoA;

[0517] Difference of LOS range ZoA and target range ZoA.

[0518] The device b calculates the second measurement information according to the first measurement information, the distance information between the device a and the device b, or the absolute time of arrival information, and the second measurement information includes at least one of the following:

[0519] The number of detected targets, or the number of target ranges;

[0520] The distance R R of the target to the receiving device;

[0521] The absolute time of arrival associated with the distance of the target to the receiving device

[0522] Difference of target range and LOS range angle of arrival θ R in bistatic plane;

[0523] Cosine value of difference of target range and LOS range angle of arrival cos(θ R ) in bistatic plane;

[0524] absolute arrival time of the target path, i.e., Δτ+τ L ;

[0525] propagation distance of the target path, R T +R R = ΔL+L=c·(Δτ+τ L );

[0526] The device b sends the measurement information to the device c, and the measurement information comprises at least one of the following: the second measurement information, and the auxiliary information associated with the measurement result, the specific definition of which is described in the foregoing embodiment.

[0527] The device c receives the measurement information and calculates the target position information, the specific definition of which is described in the foregoing embodiment, and the method of calculating the target position information is as described in the foregoing embodiment.

[0528] Embodiment three:

[0529] The device b (the signal receiving device) calculates the position information, i.e., the device b is the first device described above.

[0530] In this embodiment, the process of the device b (the signal receiving device) obtaining the measurement information and calculating the position information and then feeding back to the device c is described, and the specific process is shown in FIG. 9. In this embodiment, the device b can obtain the device a position information, or the device b position information, or the transceiver device distance information, so as to calculate the distance from the target to the device b and further calculate the target position information, and then feed back the target position information to the device c.

[0531] Similarly, the specific process can refer to FIG. 9 and embodiment one, wherein the device b also needs to obtain the device a position information, or the device b position information, or the transceiver device distance information, and the specific process can refer to embodiment two.

[0532] The device c sends the first indication information to the device b, and the measurement quantity indication information in the first indication information further comprises at least one of the following:

[0533] the position measurement quantity;

[0534] the measurement quantity format, used to indicate that the position measurement quantity adopts the Cartesian coordinate or the latitude and altitude, or adopts the absolute position or the relative position, or gives the reference point position information corresponding to the relative position, or indicates whether the position measurement quantity is a three-dimensional position measurement quantity or a two-dimensional position measurement quantity.

[0535] The device b receives the measurement signal and measures the measurement information, the specific content of which is shown in the foregoing embodiment. The device b calculates the measurement result according to the measurement information and the distance information between the device a and the device b or the absolute time of arrival information, the measurement result including at least one of the following:

[0536] The number of detected targets or the number of target paths;

[0537] Target position information, the specific content of which is the same as that in the first embodiment;

[0538] The device b sends the measurement data to the device c, the measurement data including at least one of the following: the measurement result, auxiliary information associated with the measurement result, and the specific definition of the auxiliary information associated with the measurement result being shown in the foregoing embodiment; wherein the precision information in the auxiliary information associated with the measurement result further includes position precision information, for example, the uncertainty and confidence associated with the horizontal or vertical position information; and wherein if the position information in the measurement result is the position information in the local coordinate system, the coordinate system conversion relationship information is included in the auxiliary information associated with the measurement result.

[0539] The device c receives the measurement data and obtains the position information of the measurement target, and optionally, further obtains the trajectory information of the measurement target according to the position information of the measurement target.

[0540] The fourth embodiment is as follows:

[0541] This embodiment mainly describes the definition of the target path and the LOS path.

[0542] The signal receiving device performs channel estimation based on the transmitted measurement signal X(k) and the received signal Y(k) corresponding to the measurement signal to obtain channel response information H(k)=Y(k) / X(k), wherein k=0, 1, 2, …, K-1 represents the resource unit index. After the terminal obtains the channel response H(k), it is transformed into the first domain, and the target path and the LOS path are determined in the first domain. The target path or the LOS path can also refer to a specific sample point in the first domain. In general, the LOS path can be considered as the first-arriving path when the signal receiving device and the signal transmitting device satisfy the LOS condition, and the target path refers to the path associated with the reflection of the sensing target in the signal propagation. In the process of transforming the channel response H(k) into the first domain, the target path is also determined in the first domain after specific preprocessing (such as clutter elimination, smoothing filtering, etc.) is performed on the channel data in the first domain.

[0543] The first domain includes one of the following:

[0544] Delay domain;

[0545] Doppler domain;

[0546] Azimuth angle domain;

[0547] Elevation angle domain (zenith angle domain);

[0548] At least two domains combined in the delay domain, the Doppler domain, the azimuth angle domain and the elevation angle domain. For example, delay-Doppler domain, delay-Doppler-angle domain, etc.

[0549] For example, H(f) is a channel response, where f = 0, 1, 2, …, N-1 represents a frequency domain sampling point (for example, a subcarrier index), which can be transformed into a delay domain (the first domain) by inverse Fourier transform of H(f); for another example, H(f, t) is a channel response, where f = 0, 1, 2, …, N-1 represents a frequency domain sampling point (for example, a subcarrier index), and t = 0, 1, 2, …, M-1 represents a time domain sampling point (for example, an OFDM symbol index), which can be transformed into a delay-Doppler domain (the first domain) by inverse Fourier transform along the frequency domain and Fourier transform along the time domain; for another example, H(f, t, s) is a channel response, where f = 0, 1, 2, …, N-1 represents a frequency domain sampling point (for example, a subcarrier index), t = 0, 1, 2, …, M-1 represents a time domain sampling point (for example, an OFDM symbol index), and s = 0, 1, 2, …, P-1 represents a space domain sampling point (an antenna index or a port index), which can be transformed into a delay-Doppler-angle domain (the first domain) by inverse Fourier transform along the frequency domain, Fourier transform along the time domain and Fourier transform along the antenna domain.

[0550] The target path refers to a part of the associated path that passes through the reflection of the perceived target in signal propagation, and the specific determination method can be according to the path in the channel information of the first domain that meets the first condition, and the first condition includes at least one of the following:

[0551] The amplitude or power of the path exceeds a preset threshold or is located in a preset interval range; for example, the preset threshold is y times of a noise threshold, or the preset threshold is a constant false alarm rate (CFAR) detection threshold; optionally, the path that meets the amplitude or power exceeding the preset threshold or being located in the preset interval range can be further screened, for example, clustering processing is performed, at least one path that passes through the reflection of the same target is selected as a target path, or a plurality of paths belonging to the same target are combined, for example, weighted combination to obtain a target path;

[0552] The amplitude or power of the path is greater than the amplitude or power of other paths in the first domain-specific interval range, i.e., the peak value or relative peak value in the first domain is searched as the target path, or described as X (X≥1) paths with the largest amplitude or power in the first domain-specific interval range;

[0553] The Doppler of the path exceeds a preset threshold or is located in a preset interval range;

[0554] The time delay of the path exceeds a preset threshold or is located in a preset interval range;

[0555] The angle of the path exceeds a preset threshold or is located in a preset interval range;

[0556] The amplitude or power difference between the path and the first-arrival path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter / other known passive target, etc.)) exceeds a preset threshold or is located in a preset interval range;

[0557] The Doppler difference between the path and the first-arrival path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is located in a preset interval range;

[0558] The time delay difference between the path and the first-arrival path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is located in a preset interval range;

[0559] The angle difference between the path and the first-arrival path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is located in a preset interval range;

[0560] The amplitude or power or phase of the path satisfies a specific modulation rule, which is the modulation rule of a Tag / backscatter device or RIS, i.e., the path associated with the sensing target can be a path modulated and reflected by a Tag / backscatter device or RIS;

[0561] It should be noted that each of the above first conditions can also be based on the results of a period of time statistics; for example, the proportion of the above indicators (e.g., Doppler of the path, time delay of the path, etc.) exceeding the preset threshold or being located in the preset interval range reaches a preset proportion within a preset time window, or the number of the above indicators (e.g., Doppler of the path, time delay of the path, etc.) exceeding the preset threshold or being located in the preset interval range reaches a preset number within a preset time window;

[0562] The preset threshold or the set interval range is sent by other devices to the receiving device, and is determined by other devices according to the sensing prior information or the sensing requirement. Alternatively, the preset threshold or the set interval range is determined by the receiving device according to the sensing prior information or the sensing requirement.

[0563] The sensing prior information or the sensing requirement includes the following information:

[0564] The sensing service or the sensing service type can be, for example, detection of whether a target exists, positioning, trajectory tracking, speed detection, distance detection, angle detection, acceleration detection, material analysis, component analysis, shape detection, category division, radar cross section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading, gait recognition, expression recognition, face recognition, respiratory monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / air pressure monitoring, air quality monitoring, weather condition monitoring, environment reconstruction, topography, building / vegetation distribution detection, people flow or vehicle flow detection, crowd density or vehicle density detection, etc. The sensing service type can be classified according to certain characteristics of a plurality of different sensing services, for example, classified according to functions into detection type sensing services (for example, including intrusion detection, fall detection), parameter estimation type sensing services (distance, angle, speed calculation), recognition type sensing services (action recognition, identity recognition), etc., can also be classified according to a sensing range (short distance sensing, medium distance sensing, long distance sensing), classified according to a sensing precision (coarse-grained sensing, fine-grained sensing, etc.), classified according to power consumption / energy consumption, classified according to resource occupation, etc. If the sensing service is respiratory monitoring, the corresponding normal respiratory frequency can be determined according to the gender and age of a person (for example, male: 13-21 times / minute, female: 15-20 times / minute; adult: 12-20 times / minute, child: about 30-40 times / minute), which can be used as sensing prior information. For example, in the sensing requirement, the corresponding service is highway scene target detection, and the target speed should be in the range of 60-150 km / h, which can be used as sensing prior information.

[0565] The sensing target area refers to a position area of a sensing object or a position area that needs to be imaged or reconstructed. For example, a preset interval range of a time delay of a sensing target correlation radius is determined according to the approximate position / distance of the sensing object.

[0566] The sensing object type classifies sensing objects according to possible motion characteristics of the sensing objects, and each sensing object type includes information such as a typical motion speed range, a typical motion acceleration range, and a typical RCS range of a typical sensing object.

[0567] The number of perceived targets; for example, the camera perception result can be used as a kind of perception prior information to obtain the number of perceived targets.

[0568] Perceived QoS: performance index of perceiving a target area or a perception object, including at least one of the following:

[0569] Perceived resolution (further divided into: ranging resolution, angle resolution, velocity resolution, imaging resolution, etc.);

[0570] Perceived accuracy (further divided into: ranging accuracy, angle accuracy, velocity accuracy, positioning accuracy, etc.);

[0571] Perceived range (further divided into: ranging range, velocity range, angle range, imaging range, etc.);

[0572] Perceived time delay (the time interval from sending a perception signal to obtaining a perception result, or the time interval from initiating a perception requirement to obtaining a perception result);

[0573] Perceived update rate (the time interval between two adjacent perception executions and obtaining a perception result);

[0574] Detection probability (the probability of being correctly detected in the presence of a perception object);

[0575] False alarm probability (the probability of falsely detecting a perception target in the absence of a perception object);

[0576] Maximum number of perceivable targets.

[0577] Taking time delay domain target path selection as an example, as shown in FIG. 10, according to the first condition 1, paths with amplitudes exceeding a preset threshold are determined to be satisfied, and the paths are clustered for further screening to obtain target paths 0, 1 and 2;

[0578] Alternatively, a plurality of paths belonging to the same target after clustering can be merged, for example, weighted to obtain a target path;

[0579] Alternatively, according to the first condition 2, local peak detection is performed to obtain target paths 0, 1 and 2, that is, a path with the largest amplitude compared with X (X≥1) adjacent paths is found as a target path; optionally, before local peak detection, the channel data in the time delay domain is preprocessed by smoothing filtering or clutter elimination.

[0580] Alternatively, taking time delay-Doppler domain target path selection as an example, as shown in FIG. 11, according to the first condition 2, local peak detection is performed to obtain target paths 0 and 1.

[0581] Embodiment five:

[0582] This embodiment mainly describes the definition of signal configuration information.

[0583] The signal configuration information comprises at least one of the following:

[0584] A signal resource identifier (ID) for distinguishing different signal resource configurations;

[0585] A signal purpose, indicating whether the signal is a signal for communication (such as channel measurement, channel estimation, synchronization, bearing data information, etc.), a signal for sensing, or a signal for both communication and sensing. Specifically, it can also be a signal for which sensing service or a signal for which type of sensing service.

[0586] A waveform, such as Orthogonal Frequency Division Multiplexing (OFDM), Single-Carrier Frequency Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signal, etc.

[0587] A subcarrier spacing, for example, the subcarrier spacing of an OFDM system is 30KHz.

[0588] A guard interval, which is the time interval between the time when the signal ends to be transmitted and the time when the latest echo signal of the signal is received; this parameter is proportional to the maximum sensing distance; for example, it can be calculated by c / (2R max ), where R max is the maximum sensing distance (belongs to sensing requirement information), for example, for a self-emitting and self-receiving sensing signal, R max represents the maximum distance from the sensing signal transmission point to the signal transmission point; in some cases, the OFDM signal cyclic prefix (CP) can play the role of minimum guard interval; c is the speed of light.

[0589] A starting frequency domain position, i.e., a starting frequency point, which can also be a starting RE or RB index;

[0590] A starting time domain position, i.e., a starting time point, which can also be a starting symbol index, a time slot index, or a frame index;

[0591] A terminal frequency domain position, i.e., a terminal frequency point, which can be represented by a terminal RE or RB index;

[0592] The termination time-domain position, i.e., the termination time point, can be represented by a termination RE, RB index;

[0593] The frequency-domain resource length, i.e., the frequency-domain bandwidth, is inversely proportional to the distance resolution, and the frequency-domain bandwidth B of each measurement signal is greater than or equal to c / (2AR), where c is the speed of light, and AR is the distance resolution;

[0594] The time-domain resource length, also referred to as burst duration, is inversely proportional to the Doppler resolution.

[0595] The frequency-domain resource interval, representing the interval between adjacent signal frequency-domain resource units, can be represented by a number of REs or a number of RBs, or by a density value Density, for example, Density = 1 indicating that one RE in each RB is used to carry a signal. The frequency-domain resource interval is inversely proportional to the maximum unambiguous distance / delay, and for an OFDM system, when contiguous mapping of subcarriers is used, the frequency-domain interval is equal to the subcarrier interval;

[0596] The time-domain resource interval, representing the time interval between two adjacent signal resource units, is associated with the maximum unambiguous Doppler shift or the maximum unambiguous velocity.

[0597] The time-domain resource characteristic, periodic transmission, semi-persistent transmission, and aperiodic transmission.

[0598] The time-domain burst resource interval or time-domain burst transmission period is associated with the refresh frequency of the sensing result.

[0599] The signal power, for example, from -20 dBm to 23 dBm with a value every 2 dBm.

[0600] The sequence information, including sequence type information (ZC sequence, PN sequence, etc.), sequence generation method, sequence length, etc.

[0601] The signal direction, angle information or beam information of signal transmission.

[0602] The quasi co-location (QCL) relationship, for example, the sensing signal includes multiple resources, each resource is associated with a synchronization signal block (SSB) QCL, and the QCL includes type A, type B, type C, or type D.

[0603] Cyclic prefix (CP) information, including CP type, CP length, etc., wherein the CP type can be normal cyclic prefix (NCP), extended cyclic prefix (ECP), or a newly designed CP dedicated for perception measurement, etc.

[0604] The embodiments of the present application provide a complete target positioning method in a bistatic perception mode, including a calculation method of passive perception target position information corresponding to different scenarios, and a calculation method and message interaction process of various intermediate measurement results involved, which can cope with different positioning perception application scenarios and improve the perception positioning performance.

[0605] The position information acquisition method provided in the embodiments of the present application can be executed by a position information acquisition device. In the embodiments of the present application, the position information acquisition method executed by the position information acquisition device is taken as an example to illustrate the position information acquisition device provided in the embodiments of the present application.

[0606] The embodiments of the present application provide a position information acquisition device. As an example, the position information acquisition device can be a communication device or a component in the communication device, such as a chip. The communication device can be a terminal, a network side device, or a server, etc. For example, the terminal can include but is not limited to the types of the terminal 11 listed above, the network side device can include but is not limited to the types of the network side device 12 listed above, and the embodiments of the present application are not limited specifically.

[0607] The position information acquisition apparatus or the position information acquisition apparatus can include a receiving module, a sending module and a processing module. The receiving module, the sending module and the processing module can be implemented by software or by hardware. When implemented by hardware, the processing module can be implemented by a processor, which can include a general-purpose processor, a special-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), an artificial intelligent (AI) processor, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a network processor (NP), a field programmable gate array (FPGA) or other programmable logic device, a gate circuit, a transistor, a discrete hardware component, etc. The receiving module and the sending module can be implemented by a communication interface, which can include a transceiver, a pin, a circuit, a bus, a radio frequency unit, etc.

[0608] Specifically, referring to FIG. 12, when the position information acquisition apparatus is a terminal or a component in the terminal, or the position information acquisition apparatus is a network side device or a component in the network side device, the position information acquisition apparatus 1200 includes:

[0609] The processing module 1201 is configured to acquire measurement information used for calculating position information, the position information being position information of a measurement target, and the measurement information including at least one of:

[0610] angle of arrival information of a target path of the measurement signal;

[0611] angle of arrival information of a reference path of the measurement signal;

[0612] difference information between the target path and the reference path;

[0613] distance related information between the measurement target and a receiving device of the measurement signal;

[0614] propagation time delay or propagation distance information of the target path;

[0615] propagation time delay or propagation distance information of the reference path;

[0616] position information of a sending device of the measurement signal;

[0617] position information of a receiving device of the measurement signal;

[0618] wherein the target path is a path in the measurement signal associated with the measurement target.

[0619] Optionally, the reference path comprises at least one of:

[0620] a line-of-sight (LOS) path, a path reflected by a known target.

[0621] Optionally, the angle-of-arrival information comprises at least one of:

[0622] an azimuth angle of arrival based on a local coordinate system;

[0623] a zenith angle of arrival based on a local coordinate system;

[0624] an azimuth angle of arrival based on a global coordinate system;

[0625] a zenith angle of arrival based on a global coordinate system.

[0626] Optionally, the difference information between the target path and the reference path comprises at least one of:

[0627] a difference in propagation time delay between the target path and the reference path;

[0628] a difference in propagation distance between the target path and the reference path;

[0629] a difference in azimuth angle of arrival between the target path and the reference path, or a cosine value of the difference in azimuth angle of arrival between the target path and the reference path;

[0630] a difference in zenith angle of arrival between the target path and the reference path, or a cosine value of the difference in zenith angle of arrival between the target path and the reference path;

[0631] an angle of arrival between the target path and the reference path, or a cosine value of the angle of arrival between the target path and the reference path.

[0632] Optionally, the distance-related information comprises at least one of:

[0633] distance information between the measurement target and a receiving device of the measurement signal;

[0634] propagation time delay information associated with a distance between the measurement target and a receiving device of the measurement signal.

[0635] Optionally, the obtaining measurement information for calculating the position information comprises:

[0636] measure the measurement signal to obtain measurement information used for calculating the position information; or

[0637] receive measurement information used for calculating the position information sent by the second device.

[0638] Optionally, the apparatus further comprises:

[0639] a sending module, configured to send first indication information to the second device; or

[0640] a receiving module, configured to receive first indication information.

[0641] The first indication information is used for instructing to obtain the measurement information, or the first indication information is used for instructing to report the measurement information.

[0642] Optionally, the first indication information comprises at least one of the following:

[0643] configuration information of the measurement signal;

[0644] measurement configuration information;

[0645] reporting configuration information;

[0646] measurement requirement information.

[0647] Optionally, the measurement configuration information comprises at least one of the following:

[0648] an angle measurement quantity;

[0649] an expected angle measurement range;

[0650] a time delay measurement quantity;

[0651] a distance measurement quantity.

[0652] Optionally, the measurement information further comprises at least one of the following:

[0653] a number of detected measurement targets;

[0654] a number of target diameters;

[0655] auxiliary information associated with the measurement information, the auxiliary information being used for assisting in calculating the position information.

[0656] Optionally, the auxiliary information comprises at least one of the following:

[0657] timestamp information;

[0658] measurement performance indication information;

[0659] measurement accuracy information;

[0660] Propagation mode indication information, the propagation mode indication information being used to indicate a signal propagation mode between a transmitting device and a receiving device of the measurement signal;

[0661] Coordinate system conversion relationship information;

[0662] Device information of the second device.

[0663] Optionally, the device information of the second device comprises:

[0664] Motion information of the second device.

[0665] Optionally, the processing module is further configured to calculate position information of the measurement target based on the measurement information.

[0666] Optionally, the calculation of the position information based on the measurement information comprises:

[0667] calculating the position information of the measurement target according to a distance between the measurement target and the receiving device of the measurement signal, and the angle of arrival information of the target path;

[0668] Optionally, the processing module is further configured to calculate the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival or the cosine value of the angle of arrival of the target path and the reference path;

[0669] wherein the angle of arrival or the cosine value of the angle of arrival is calculated according to the angle of arrival information of the target path and the angle of arrival information of the reference path; or

[0670] The measurement information comprises the angle of arrival or the cosine value of the angle of arrival.

[0671] Optionally, the calculation of the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival comprises:

[0672] calculating the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival, the time delay or propagation distance information of the reference path, and difference information between the target path and the reference path, the difference information comprising at least one of the following: a propagation time delay difference between the target path and the reference path; a propagation distance difference between the target path and the reference path; or

[0673] calculating the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival and the time delay or propagation distance information of the target path.

[0674] The above position information acquisition apparatus can improve the positioning performance of a device.

[0675] The position information acquisition apparatus provided in the embodiments of the present application can implement each process implemented by the method embodiment of FIG. 4 and achieve the same technical effects. To avoid repetition, details are not described herein again.

[0676] Referring to FIG. 13, when the position information acquisition apparatus is a terminal or a component in the terminal, or the position information acquisition apparatus is a network side device or a component in the network side device, the position information acquisition apparatus 1300 includes:

[0677] a processing module 1301 configured to acquire measurement information used for calculating position information, the position information being position information of a measurement target;

[0678] a sending module 1302 configured to send the measurement information to a first device;

[0679] The measurement information includes at least one of the following:

[0680] angle of arrival information of a target path of a measurement signal;

[0681] angle of arrival information of a reference path of the measurement signal;

[0682] difference information between the target path and the reference path;

[0683] distance related information between the measurement target and a receiving device of the measurement signal;

[0684] propagation time delay or propagation distance information of the target path;

[0685] propagation time delay or propagation distance information of the reference path;

[0686] position information of a sending device of the measurement signal;

[0687] position information of the receiving device of the measurement signal;

[0688] The target path is a signal path in the measurement signal associated with the measurement target.

[0689] Optionally, the reference path includes at least one of the following:

[0690] a line of sight (LOS) path and a signal path reflected by a known target.

[0691] Optionally, the angle of arrival information includes at least one of the following:

[0692] an azimuth of arrival based on a local coordinate system;

[0693] a zenith of arrival based on the local coordinate system;

[0694] an azimuth of arrival based on a global coordinate system;

[0695] an arrival zenith angle based on the global coordinate system.

[0696] Optionally, the difference information between the target path and the reference path comprises at least one of:

[0697] a difference in propagation time delay between the target path and the reference path;

[0698] a difference in propagation distance between the target path and the reference path;

[0699] a difference in azimuth of arrival between the target path and the reference path, or a cosine value of the difference in azimuth of arrival between the target path and the reference path;

[0700] a difference in zenith angle of arrival between the target path and the reference path, or a cosine value of the difference in zenith angle of arrival between the target path and the reference path;

[0701] an angle of arrival between the target path and the reference path, or a cosine value of the angle of arrival between the target path and the reference path.

[0702] Optionally, the distance-related information comprises at least one of:

[0703] distance information between the measurement target and a receiving device of the measurement signal;

[0704] propagation time delay information associated with a distance between the measurement target and a receiving device of the measurement signal.

[0705] Optionally, the measurement information used for calculating the position information comprises:

[0706] measuring the measurement signal to obtain the measurement information used for calculating the position information; or

[0707] measuring the measurement signal to obtain first measurement information used for calculating the position information, and obtaining second measurement information based on the first measurement information, wherein the measurement information used for calculating the position information comprises the second measurement information.

[0708] Optionally, the first measurement information comprises at least one of:

[0709] arrival angle information of the target path;

[0710] arrival angle information of the reference path;

[0711] difference information between the target path and the reference path;

[0712] propagation time delay or propagation distance information of the reference path;

[0713] Position information of a transmitting device of the measurement signal;

[0714] Position information of a receiving device of the measurement signal;

[0715] The second measurement information comprises at least one of:

[0716] Arrival angle information of the target path;

[0717] Arrival angle information of the reference path;

[0718] Difference information between the target path and the reference path;

[0719] Distance related information between the measurement target and the receiving device of the measurement signal;

[0720] Propagation time delay or propagation distance information of the target path.

[0721] Optionally, the apparatus further comprises:

[0722] a receiving module, configured to receive first indication information, the first indication information being used to indicate acquisition of the measurement information, or the first indication information being used to indicate reporting of the measurement information.

[0723] The first indication information comprises at least one of:

[0724] Configuration information of the measurement signal;

[0725] Measurement configuration information;

[0726] Reporting configuration information;

[0727] Measurement requirement information.

[0728] Optionally, the measurement configuration information comprises at least one of:

[0729] Angle measurement quantity;

[0730] Expected angle measurement range;

[0731] Time delay measurement quantity;

[0732] Distance measurement quantity.

[0733] Optionally, the measurement information further comprises at least one of:

[0734] Number of detected measurement targets;

[0735] Number of target paths;

[0736] Auxiliary information associated with the measurement information, the auxiliary information being used to assist in calculation of the position information.

[0737] Optionally, the assistance information comprises at least one of:

[0738] timestamp information;

[0739] measurement performance indication information;

[0740] measurement accuracy information;

[0741] propagation mode indication information, used for indicating a signal propagation mode between a sending device and a receiving device of the measurement signal;

[0742] coordinate system conversion relationship information;

[0743] device information of the second device.

[0744] Optionally, the device information of the second device comprises at least one of:

[0745] motion information of the second device.

[0746] The above position information obtaining apparatus can improve the positioning performance of the device.

[0747] The position information obtaining apparatus provided in the embodiments of the present application can implement each process achieved by the method embodiment of Figure 8 and achieve the same technical effects. To avoid repetition, details are not described herein.

[0748] As shown in Figure 14, the embodiments of the present application further provide a communication device 1400, comprising a processor 1401 and a memory 1402, wherein the memory 1402 stores programs or instructions executable on the processor 1401. For example, when the communication device 1400 is a first device, the programs or instructions are executed by the processor 1401 to implement each step of the above position information obtaining method embodiment of the first device and achieve the same technical effects. When the communication device 1400 is a second device, the programs or instructions are executed by the processor 1401 to implement each step of the above position information obtaining method embodiment of the second device and achieve the same technical effects. To avoid repetition, details are not described herein.

[0749] The embodiments of the present application further provide a terminal comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to run programs or instructions to implement the steps in the method embodiment shown in Figure 4. The terminal embodiment corresponds to the above terminal-side method embodiment, and each implementation process and implementation manner of the above method embodiment can be applied to the terminal embodiment and achieve the same technical effects. The terminal can be the position information obtaining apparatus shown in Figure 12. Specifically, Figure 8 is a hardware structure schematic diagram of a terminal implementing the embodiments of the present application.

[0750] The terminal 1500 includes, but is not limited to, at least part of components such as a radio frequency unit 1501, a network module 1502, an audio output unit 1503, an input unit 1504, a sensor 1505, a display unit 1506, a user input unit 1507, an interface unit 1508, a memory 1509, and a processor 1510.

[0751] Those skilled in the art can understand that the terminal 1500 can further include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 1510 through a power management system, so as to realize functions such as management of charging, discharging, and power consumption management through the power management system. The terminal structure shown in FIG. 15 does not constitute a limitation on the terminal, and the terminal can include more or fewer components than those shown, or combine certain components, or different component arrangements, which will not be described here.

[0752] It should be understood that in the embodiments of the present application, the input unit 1504 can include a graphics processor 15041 and a microphone 15042, and the graphics processor 15041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1506 can include a display panel 15061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 1507 includes at least one of a touch panel 15071 and other input devices 15072. The touch panel 15071 is also called a touch screen. The touch panel 15071 can include two parts of a touch detection device and a touch controller. The other input devices 15072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), trackballs, mice, joysticks, which will not be described here.

[0753] In the embodiments of the present application, the radio frequency unit 1501 can transmit downlink data from the network side device to the processor 1510 for processing after receiving the downlink data. In addition, the radio frequency unit 1501 can send uplink data to the network side device. Generally, the radio frequency unit 1501 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0754] The memory 1509 can be used to store software programs or instructions and various data. The memory 1509 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), and the like. In addition, the memory 1509 can include a volatile memory or a non-volatile memory. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 1509 in the embodiments of the present application includes but is not limited to these and any other suitable types of memory.

[0755] The processor 1510 can include one or more processing units; optionally, the processor 1510 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 1510.

[0756] The radio frequency unit 1501 or the processor 1510 is configured to obtain measurement information used for calculating position information, the position information being position information of a measurement target, and the measurement information including at least one of the following:

[0757] Angle of arrival information of a target path of a measurement signal;

[0758] Angle of arrival information of a reference path of the measurement signal;

[0759] difference information between the target path and the reference path;

[0760] distance-related information between the measurement target and the receiving device of the measurement signal;

[0761] propagation time delay or propagation distance information of the target path;

[0762] propagation time delay or propagation distance information of the reference path;

[0763] position information of the sending device of the measurement signal;

[0764] position information of the receiving device of the measurement signal;

[0765] The target path is a signal path in the measurement signal associated with the measurement target.

[0766] Optionally, the reference path includes at least one of:

[0767] a line-of-sight (LOS) path, a signal path reflected by a known target.

[0768] Optionally, the angle-of-arrival information includes at least one of:

[0769] an azimuth angle of arrival based on a local coordinate system;

[0770] a zenith angle of arrival based on a local coordinate system;

[0771] an azimuth angle of arrival based on a global coordinate system;

[0772] a zenith angle of arrival based on a global coordinate system.

[0773] Optionally, the difference information between the target path and the reference path includes at least one of:

[0774] a difference in propagation time delay between the target path and the reference path;

[0775] a difference in propagation distance between the target path and the reference path;

[0776] a difference in azimuth angle of arrival between the target path and the reference path, or a cosine value of the difference in azimuth angle of arrival between the target path and the reference path;

[0777] a difference in zenith angle of arrival between the target path and the reference path, or a cosine value of the difference in zenith angle of arrival between the target path and the reference path;

[0778] an included angle of arrival between the target path and the reference path, or a cosine value of the included angle of arrival between the target path and the reference path.

[0779] Optionally, the distance-related information comprises at least one of:

[0780] distance information between the measurement target and a receiving device of the measurement signal;

[0781] propagation time delay information associated with a distance between the measurement target and a receiving device of the measurement signal.

[0782] Optionally, the measurement information used for calculating the position information comprises:

[0783] measuring the measurement signal to obtain the measurement information used for calculating the position information; or

[0784] receiving the measurement information used for calculating the position information sent by the second device.

[0785] Optionally, the radio frequency unit 1501 is further configured to:

[0786] the first device sends first indication information to the second device; or

[0787] the first device receives the first indication information.

[0788] The first indication information is used to indicate obtaining the measurement information, or the first indication information is used to indicate reporting the measurement information.

[0789] Optionally, the first indication information comprises at least one of:

[0790] configuration information of the measurement signal;

[0791] measurement configuration information;

[0792] reporting configuration information;

[0793] measurement requirement information.

[0794] Optionally, the measurement configuration information comprises at least one of:

[0795] an angle measurement quantity;

[0796] an expected angle measurement range;

[0797] a time delay measurement quantity;

[0798] a distance measurement quantity.

[0799] Optionally, the measurement information further comprises at least one of:

[0800] a number of detected measurement targets;

[0801] a number of target ranges;

[0802] auxiliary information associated with the measurement information, the auxiliary information being used to assist in calculating the position information.

[0803] Optionally, the auxiliary information comprises at least one of:

[0804] timestamp information;

[0805] measurement performance indication information;

[0806] measurement precision information;

[0807] propagation mode indication information, the propagation mode indication information being used to indicate a signal propagation mode between a transmitting device and a receiving device of the measurement signal;

[0808] coordinate system conversion relationship information;

[0809] device information of the second device.

[0810] Optionally, the device information of the second device comprises:

[0811] motion information of the second device.

[0812] Optionally, the processor 1510 is further configured to:

[0813] calculate position information of the measurement target based on the measurement information.

[0814] Optionally, the calculating the position information based on the measurement information comprises:

[0815] calculating the position information of the measurement target according to a distance between the measurement target and a receiving device of the measurement signal and the angle of arrival information of the target path;

[0816] Optionally, the processor 1510 is further configured to:

[0817] calculate the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival of the reference path or the cosine value of the angle of arrival with the target path;

[0818] wherein the angle of arrival or the cosine value of the angle of arrival is calculated according to the angle of arrival information of the target path and the angle of arrival information of the reference path; or

[0819] the angle of arrival or the cosine value of the angle of arrival is included in the measurement information.

[0820] Optionally, the calculating the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival comprises:

[0821] According to the incoming wave angle, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path, the distance between the measurement target and the receiving device of the measurement signal is calculated, and the difference information includes at least one of the following: the difference in propagation time delay between the target path and the reference path; the difference in propagation distance between the target path and the reference path; or

[0822] According to the incoming wave angle and the time delay or propagation distance information of the target path, the distance between the measurement target and the receiving device of the measurement signal is calculated.

[0823] The terminal can improve the positioning performance of the device.

[0824] It can be understood that the implementation process of each implementation mode mentioned in the embodiment can refer to the related description of the position information acquisition method embodiment, and achieve the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0825] It should be noted that the first device is taken as a terminal for example in the embodiment, and the second device can also be a terminal in the embodiment, that is, the terminal can also implement each step in the method shown in FIG. 8.

[0826] The application embodiment also provides a network side device including a processor and a communication interface, the communication interface and the processor are coupled, the processor is used to run programs or instructions, and the steps of the method embodiment shown in FIG. 8 are implemented. The network side device embodiment corresponds to the network side device method embodiment, and each implementation process and implementation mode of the method embodiment can be applied to the network side device embodiment, and the same technical effects can be achieved.

[0827] Specifically, the application embodiment also provides a network side device, which can be the position information acquisition apparatus shown in FIG. 13. As shown in FIG. 16, the network side device 1600 includes an antenna 1601, a radio frequency device 1602, a baseband device 1603, a processor 1604, and a memory 1605. The antenna 1601 is connected with the radio frequency device 1602. In the uplink direction, the radio frequency device 1602 receives information through the antenna 1601, and sends the received information to the baseband device 1603 for processing. In the downlink direction, the baseband device 1603 processes the information to be sent and sends it to the radio frequency device 1602, and the radio frequency device 1602 processes the received information and sends it out through the antenna 1601.

[0828] The method performed by the network side device in the above embodiment can be implemented in the baseband device 1603, which includes a baseband processor.

[0829] The baseband device 1603 may, for example, include at least one baseband board on which a plurality of chips are disposed, as shown in FIG. 16, one of the chips being, for example, a baseband processor connected with the memory 1605 through a bus interface to invoke programs in the memory 1605 to perform the network device operations shown in the above method embodiments.

[0830] The network side device may further include a network interface 1606, for example, a Common Public Radio Interface (CPRI).

[0831] Specifically, the network side device 1600 of the embodiments of the present application further includes instructions or programs stored in the memory 1605 and executable on the processor 1604, the processor 1604 invoking the instructions or programs in the memory 1605 to perform the methods performed by the modules shown in FIG. 13 and achieve the same technical effects, and thus repeated descriptions are omitted.

[0832] The radio frequency device 1602 or the processor 1604 is configured to acquire measurement information used to calculate position information, the position information being position information of a measurement target;

[0833] The radio frequency device 1602 is configured to send the measurement information to a first device;

[0834] The measurement information includes at least one of the following:

[0835] Angle of arrival information of a target path of a measurement signal;

[0836] Angle of arrival information of a reference path of the measurement signal;

[0837] Difference information between the target path and the reference path;

[0838] Distance related information between the measurement target and a receiving device of the measurement signal;

[0839] Propagation time delay or propagation distance information of the target path;

[0840] Propagation time delay or propagation distance information of the reference path;

[0841] Position information of a sending device of the measurement signal;

[0842] Position information of the receiving device of the measurement signal;

[0843] The target path is a signal path in the measurement signal associated with the measurement target.

[0844] Optionally, the reference path includes at least one of the following:

[0845] Line of Sight (LOS) path, signal path reflected by a known target.

[0846] Optionally, the angle of arrival information comprises at least one of:

[0847] azimuth of arrival based on a local coordinate system;

[0848] zenith angle of arrival based on a local coordinate system;

[0849] azimuth of arrival based on a global coordinate system;

[0850] zenith angle of arrival based on a global coordinate system.

[0851] Optionally, the difference information between the target path and the reference path comprises at least one of:

[0852] propagation time difference between the target path and the reference path;

[0853] propagation distance difference between the target path and the reference path;

[0854] azimuth of arrival difference between the target path and the reference path, or a cosine value of the azimuth of arrival difference between the target path and the reference path;

[0855] zenith angle of arrival difference between the target path and the reference path, or a cosine value of the zenith angle of arrival difference between the target path and the reference path;

[0856] angle of arrival between the target path and the reference path, or a cosine value of the angle of arrival between the target path and the reference path.

[0857] Optionally, the distance related information comprises at least one of:

[0858] distance information between the measurement target and a receiving device of the measurement signal;

[0859] propagation time information associated with the distance between the measurement target and a receiving device of the measurement signal.

[0860] Optionally, the measurement information used for calculating the position information comprises:

[0861] measuring the measurement signal to obtain the measurement information used for calculating the position information; or

[0862] measuring the measurement signal to obtain first measurement information used for calculating the position information, and obtaining second measurement information based on the first measurement information, wherein the measurement information used for calculating the position information comprises the second measurement information.

[0863] Optionally, the first measurement information comprises at least one of:

[0864] the angle of arrival information of the target path;

[0865] the angle of arrival information of the reference path;

[0866] the difference information between the target path and the reference path;

[0867] the propagation delay or propagation distance information of the target path;

[0868] the position information of the sending device of the measurement signal;

[0869] the position information of the receiving device of the measurement signal;

[0870] Optionally, the second measurement information comprises at least one of:

[0871] the angle of arrival information of the target path;

[0872] the angle of arrival information of the reference path;

[0873] the difference information between the target path and the reference path;

[0874] the distance related information between the measurement target and the receiving device of the measurement signal;

[0875] the propagation delay or propagation distance information of the target path.

[0876] Optionally, the radio frequency device 1602 is further configured to:

[0877] receive first indication information, wherein the first indication information is used to indicate to acquire the measurement information, or the first indication information is used to indicate to report the measurement information.

[0878] Optionally, the first indication information comprises at least one of:

[0879] the configuration information of the measurement signal;

[0880] measurement configuration information;

[0881] reporting configuration information;

[0882] measurement requirement information.

[0883] Optionally, the measurement configuration information comprises at least one of:

[0884] an angle measurement quantity;

[0885] an expected angle measurement range;

[0886] a delay measurement quantity;

[0887] distance measurement quantity.

[0888] Optionally, the measurement information further comprises at least one of:

[0889] the number of the detected measurement targets;

[0890] the number of the target diameters;

[0891] auxiliary information associated with the measurement information, the auxiliary information being used for assisting in calculating the position information.

[0892] Optionally, the auxiliary information comprises at least one of:

[0893] timestamp information;

[0894] measurement performance indication information;

[0895] measurement accuracy information;

[0896] propagation mode indication information, the propagation mode indication information being used for indicating a signal propagation mode between a sending device and a receiving device of the measurement signal;

[0897] coordinate system conversion relationship information;

[0898] device information of the second device.

[0899] Optionally, the device information of the second device comprises at least one of:

[0900] motion information of the second device.

[0901] The above network-side device can improve the positioning performance of the device.

[0902] It can be understood that the implementation process of each implementation manner mentioned in the embodiment can refer to the related description of the position information acquisition method embodiment, and achieve the same or corresponding technical effects. To avoid repetition, it will not be described here.

[0903] It should be noted that the second device is taken as the network-side device for example in the embodiment, and the second device can also be the network-side device in the embodiment, that is, the network-side device can also implement each step in the method shown in FIG. 4.

[0904] The application embodiment further provides a readable storage medium, the readable storage medium stores a program or instructions, the program or instructions are executed by a processor to implement each process of the above position information acquisition method embodiment, and can achieve the same technical effects. To avoid repetition, it will not be described here.

[0905] The processor is the processor in the terminal in the above-described embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and the like. In some examples, the readable storage medium can be a non-transitory readable storage medium.

[0906] The embodiment of the present application further provides a chip, which comprises a processor and a communication interface, wherein the communication interface is coupled with the processor, and the processor is configured to execute programs or instructions to implement the processes of the above-mentioned position information acquisition method embodiment and achieve the same technical effects. To avoid repetition, details are not described herein.

[0907] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system on chip (SOC), a chip system or a system on chip (SOC) chip.

[0908] The embodiment of the present application further provides a computer program / program product stored in a storage medium, which is executed by at least one processor to implement the processes of the above-mentioned position information acquisition method embodiment and achieve the same technical effects. To avoid repetition, details are not described herein.

[0909] The embodiment of the present application further provides a wireless communication system, which comprises a first device and a second device. The first device can be used to execute the steps of the position information acquisition method of the first device provided in the embodiment of the present application. The second device can be used to execute the steps of the position information acquisition method of the second device provided in the embodiment of the present application.

[0910] It should be noted that, in this document, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to the order of performing the functions shown or discussed, but can also include performing the functions in a substantially simultaneous manner or in a reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0911] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned example methods can be realized by means of a computer software product and a general hardware platform as necessary, and of course can also be realized by hardware. The computer software product is stored in a storage medium (such as a ROM, a RAM, a magnetic disc, an optical disc, etc.), and includes a plurality of instructions for enabling a terminal or a network side device to execute the method described in each embodiment of the present application.

[0912] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative rather than limiting. Those skilled in the art can make many forms of embodiments under the inspiration of the present application without departing from the scope of the present application and the scope protected by the claims, and these embodiments all belong to the protection of the present application.

Claims

1. A method for obtaining position information, comprising: obtaining, by a first device, measurement information for calculating position information of a measurement target, the measurement information comprising at least one of: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance-related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; position information of a transmitting device of the measurement signal; position information of the receiving device of the measurement signal; wherein the target path is a path of the measurement signal associated with the measurement target; and wherein the reference path comprises at least one of: a line of sight (LOS) path; a path of the measurement signal reflected by a known target. The angle of arrival information comprises at least one of: an azimuth angle of arrival based on a local coordinate system; a zenith angle of arrival based on a local coordinate system; an azimuth angle of arrival based on a global coordinate system; a zenith angle of arrival based on a global coordinate system. The difference information between the target path and the reference path comprises at least one of: a difference in propagation time delay between the target path and the reference path; a difference in propagation distance between the target path and the reference path; a difference in azimuth angle of arrival between the target path and the reference path, or a cosine value of the difference in azimuth angle of arrival between the target path and the reference path; a difference in zenith angle of arrival between the target path and the reference path, or a cosine value of the difference in zenith angle of arrival between the target path and the reference path; an included angle of arrival between the target path and the reference path, or a cosine value of the included angle of arrival between the target path and the reference path. The distance-related information comprises at least one of: distance information between the measurement target and the receiving device of the measurement signal; propagation time delay information associated with the distance between the measurement target and the receiving device of the measurement signal. The first device obtains the measurement information for calculating the position information, comprising: measuring, by the first device, the measurement signal to obtain the measurement information for calculating the position information; or receiving, by the first device, the measurement information for calculating the position information sent by a second device. The method further comprises: sending, by the first device, first indication information to the second device; or receiving, by the first device, the first indication information; wherein the first indication information is used to indicate obtaining the measurement information, or the first indication information is used to indicate reporting the measurement information. The first indication information comprises at least one of: configuration information of the measurement signal; measurement configuration information; reporting configuration information; and measurement requirement information. The measurement configuration information comprises at least one of: an angle measurement quantity; an expected angle measurement range; a time delay measurement quantity; and a distance measurement quantity. The measurement information further comprises at least one of: a number of detected measurement targets; a number of target paths; and auxiliary information associated with the measurement information, the auxiliary information being used to assist in calculating the position information. ​ ​ 2. The method of claim 1, wherein, ​ ​ 3. The method of claim 1 or 2, wherein, ​ ​ ​ ​ ​ 4. The method of any one of claims 1 to 3, wherein, ​ ​ ​ ​ ​ ​ 5. The method of any one of claims 1 to 4, wherein, ​ ​ ​ 6. The method of any one of claims 1 to 5, wherein, ​ ​ ​ 7. The method of claim 6, wherein, ​ ​ ​ ​ 8. The method of claim 7, wherein, ​ ​ ​ ​ ​ 9. The method of claim 8, wherein, ​ ​ ​ ​ ​ 10. The method of any one of claims 1 to 9, wherein, ​ ​ ​ ​ 11. The method of claim 10, wherein, The auxiliary information includes at least one of the following: timestamp information; measurement performance indication information; measurement accuracy information; propagation mode indication information, used for indicating a signal propagation mode between a sending device and a receiving device of the measurement signal; coordinate system conversion relationship information; device information of the second device.

12. The method of claim 11, wherein, The device information of the second device includes: motion information of the second device.

13. The method of any one of claims 1 to 12, wherein, The method further includes: The first device calculates position information of the measurement target based on the measurement information.

14. The method of claim 13, wherein, The first device calculates the position information based on the measurement information includes: The first device calculates the position information of the measurement target according to a distance between the measurement target and a receiving device of the measurement signal, and the angle of arrival information of the target path.

15. The method of claim 14, wherein, The method further includes: The first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival or the cosine value of the angle of arrival between the reference path and the target path; wherein the angle of arrival or the cosine value of the angle of arrival is calculated according to the angle of arrival information of the target path and the angle of arrival information of the reference path; or The angle of arrival or the cosine value of the angle of arrival is included in the measurement information.

16. The method of claim 15, wherein, The first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival includes: The first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path, the difference information including at least one of the following: a propagation time delay difference between the target path and the reference path; a propagation distance difference between the target path and the reference path; or The first device calculates the distance between the measurement target and the receiving device of the measurement signal according to the angle of arrival and the time delay or propagation distance information of the target path.

17. A position information acquisition method, comprising: A second device acquires measurement information used for calculating position information, the position information being position information of a measurement target; The second device sends the measurement information to a first device; wherein the measurement information includes at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of a measurement signal; difference information between the target path and the reference path; distance related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; position information of a sending device of the measurement signal; position information of a receiving device of the measurement signal; wherein the target path is a signal path in the measurement signal associated with the measurement target.

18. The method of claim 17, wherein, The reference path includes at least one of the following: a line of sight (LOS) path, a signal path reflected by a known target.

19. The method of claim 17 or 18, wherein, The angle of arrival information includes at least one of the following: azimuth of arrival based on a local coordinate system; zenith angle of arrival based on a local coordinate system; azimuth of arrival based on a global coordinate system; An arrival zenith angle based on a global coordinate system.

20. The method of any one of claims 17-19, wherein, The difference information between the target path and the reference path includes at least one of: A difference in propagation time delay between the target path and the reference path; A difference in propagation distance between the target path and the reference path; A difference in arrival azimuth angle between the target path and the reference path, or a cosine value of the difference in arrival azimuth angle between the target path and the reference path; A difference in arrival zenith angle between the target path and the reference path, or a cosine value of the difference in arrival zenith angle between the target path and the reference path; An included angle of a wave between the target path and the reference path, or a cosine value of the included angle of the wave between the target path and the reference path.

21. The method of any one of claims 17-20, wherein, The distance-related information includes at least one of: Distance information between the measurement target and a receiving device of the measurement signal; Propagation time delay information associated with the distance between the measurement target and the receiving device of the measurement signal.

22. The method of any one of claims 17-21, wherein, The second device acquires measurement information for calculating position information, including: The second device measures the measurement signal to obtain measurement information for calculating position information; or The second device measures the measurement signal to obtain first measurement information for calculating position information, and acquires second measurement information based on the first measurement information, wherein the measurement information for calculating position information includes the second measurement information.

23. The method of claim 22, wherein, The first measurement information includes at least one of: Arrival angle information of the target path; Arrival angle information of the reference path; Difference information between the target path and the reference path; Propagation time delay or propagation distance information of the reference path; Position information of a sending device of the measurement signal; Position information of a receiving device of the measurement signal; The second measurement information includes at least one of: Arrival angle information of the target path; Arrival angle information of the reference path; Difference information between the target path and the reference path; Distance-related information between the measurement target and a receiving device of the measurement signal; Propagation time delay or propagation distance information of the target path.

24. The method of claim 22 or 23, wherein, The method further includes: The second device receives first indication information, which is used to indicate acquisition of the measurement information, or which is used to indicate reporting of the measurement information.

25. The method of claim 24, wherein, The first indication information includes at least one of: Configuration information of the measurement signal; Measurement configuration information; Reporting configuration information; Measurement requirement information.

26. The method of claim 25, wherein, The measurement configuration information includes at least one of: An angle measurement quantity; An expected angle measurement range; A time delay measurement quantity; A distance measurement quantity.

27. The method of any one of claims 17-26, wherein, The measurement information further includes at least one of: A number of detected measurement targets; A number of target paths; Auxiliary information associated with the measurement information, which is used to assist in calculating the position information.

28. The method of claim 27, wherein, The auxiliary information includes at least one of: Timestamp information; Measurement performance indication information; Measurement accuracy information; Propagation mode indication information, which is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal; Coordinate system conversion relationship information; Device information of the second device.

29. The method of claim 28, wherein, The device information of the second device comprises at least one of the following: Motion information of the second device.

30. A position information acquisition apparatus, comprising: a processing module configured to acquire measurement information used for calculating position information, the position information being position information of a measurement target, and the measurement information comprising at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance-related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; position information of a transmitting device of the measurement signal; position information of the receiving device of the measurement signal; wherein the target path is a signal path of the measurement signal associated with the measurement target.

31. The apparatus of claim 30, wherein, The acquiring of the measurement information used for calculating the position information comprises: measuring the measurement signal to obtain the measurement information used for calculating the position information; or receiving the measurement information used for calculating the position information sent by a second device.

32. The apparatus of claim 31, wherein, The apparatus further comprises: a sending module configured to send first indication information to the second device; or a receiving module configured to receive the first indication information; wherein the first indication information is used for instructing the acquiring of the measurement information, or the first indication information is used for instructing the reporting of the measurement information.

33. The apparatus of any one of claims 30-32, wherein, The processing module is further configured to calculate the position information of the measurement target based on the measurement information.

34. A position information acquisition apparatus, comprising: a processing module configured to acquire measurement information used for calculating position information, the position information being position information of a measurement target; a sending module configured to send the measurement information to a first device; wherein the measurement information comprises at least one of the following: angle of arrival information of a target path of a measurement signal; angle of arrival information of a reference path of the measurement signal; difference information between the target path and the reference path; distance-related information between the measurement target and a receiving device of the measurement signal; propagation time delay or propagation distance information of the target path; propagation time delay or propagation distance information of the reference path; position information of a transmitting device of the measurement signal; position information of the receiving device of the measurement signal; wherein the target path is a signal path of the measurement signal associated with the measurement target.

35. The apparatus of claim 34, wherein, The acquiring of the measurement information used for calculating the position information comprises: measuring the measurement signal to obtain the measurement information used for calculating the position information; or measuring the measurement signal to obtain first measurement information used for calculating the position information, and acquiring second measurement information based on the first measurement information, wherein the measurement information used for calculating the position information comprises the second measurement information.

36. The apparatus of claim 35, wherein, The apparatus further comprises: a receiving module configured to receive first indication information, the first indication information being used for instructing the acquiring of the measurement information, or the first indication information being used for instructing the reporting of the measurement information.

37. An apparatus comprising a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions, when executed by the processor, implement steps of the position information acquisition method according to any one of claims 1 to 16, or the programs or instructions, when executed by the processor, implement steps of the position information acquisition method according to any one of claims 17 to 29.

38. A readable storage medium, the readable storage medium storing programs or instructions, the programs or instructions, when executed by a processor, implement steps of the position information acquisition method according to any one of claims 1 to 16, or implement steps of the position information acquisition method according to any one of claims 17 to 29.

39. A computer program product, the computer program product being stored in a storage medium, the computer program product being executed by at least one processor to implement steps of the position information acquisition method according to any one of claims 1 to 16, or implement steps of the position information acquisition method according to any one of claims 17 to 29.

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