Positioning and sensing fusion method, electronic device and storage medium

Abstract

Provided in the present application are a positioning and sensing fusion method, an electronic device and a storage medium. The positioning and sensing fusion method comprises: acquiring sensing data and positioning data; and on the basis of the sensing data and the positioning data, performing matching to obtain sensing and positioning fusion data.

Description

Location-sensing fusion methods, electronic devices and storage media Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to location-sensing fusion methods, electronic devices, and storage media. Background Technology

[0002] With the continuous emergence of new services and demands, wireless communication networks, while providing increasingly powerful communication capabilities, will also expand their basic capabilities to support these new services and demands. Among these, sensing capabilities are an important potential direction. Integrating communication and sensing into a single design offers lower cost and power consumption compared to two separate systems, optimizing resource utilization. Referring to Figure 1, in the sensing process, the sensing target does not participate in the sensing measurement process. The sensing transmitter sends a sensing signal, which is received by the sensing receiver after being emitted or scattered by the sensing target. The sensing receiver obtains sensing measurement data, and the sensing receiver or network determines the characteristics of the sensing target. In contrast, during the positioning process, the device being located has a communication connection with the network, and the network is aware of the location of the device. The location of the device is determined by the characteristics of the wireless signals transmitted between the network and the positioning device. In the measurement process for determining the location of the device, the positioning device participates in the measurement process.

[0003] Through sensing technology, the features of the perceived target are acquired. However, because the perceived target does not participate in the sensing and measurement process, it is impossible to bind the perceived features to the identity of the perceived target. Yet, in many scenarios, it is necessary to determine the identity of the perceived target. For example, referring to Figure 2, in a drone sensing scenario, drones flying in the air can include both legally connected drones and illegally unconnected drones. Both types of drones can be sensed, but these illegal, unconnected drones need to be managed, for example, driven away. Therefore, how to fuse positioning data with sensing data to match the perceived target with its corresponding identity has become an urgent problem to be solved. Summary of the Invention

[0004] The embodiments of this application aim to provide a sensing and positioning fusion method, electronic device, and storage medium to fuse positioning data with sensing data and bind sensing targets with their corresponding positioning data, thereby improving the utilization rate of sensing data and expanding the application scenarios of positioning data.

[0005] According to an embodiment of this application, a perception and positioning fusion method is provided, wherein the method is applied to a first node, and the method includes: acquiring perception data and positioning data; and matching the perception data and the positioning data to obtain perception and positioning fusion data.

[0006] An electronic device according to an embodiment of this application includes: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the perception-localization fusion method as described in any of the embodiments of this application.

[0007] According to an embodiment of this application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores one or more programs, which are executed by one or more processors to implement any of the perception and positioning fusion methods described in the embodiments of this application. Attached Figure Description

[0008] Figure 1 is an example diagram of a perception and localization scenario provided in this application;

[0009] Figure 2 is a schematic diagram of a scenario where legitimate users and illegitimate users coexist, as provided in this application;

[0010] Figure 3 is a flowchart of a perception and localization fusion method provided in an embodiment of this application;

[0011] Figure 4 is a flowchart of another perception and localization fusion method provided in an embodiment of this application;

[0012] Figure 5 is a flowchart of another perception and localization fusion method provided in an embodiment of this application;

[0013] Figure 6 is a flowchart of another perception and localization fusion method provided in an embodiment of this application;

[0014] Figure 7 is a flowchart of another perception and localization fusion method provided in an embodiment of this application;

[0015] Figure 8 is an example diagram of a perception and localization fusion method provided in an embodiment of this application;

[0016] Figure 9 is an example architecture diagram of perception and localization fusion provided in an embodiment of this application;

[0017] Figure 10 is an example architecture diagram of another perception and localization fusion provided in the embodiments of this application;

[0018] Figure 11 is an example architecture diagram of another perception and localization fusion provided in the embodiments of this application;

[0019] Figure 12 is an example diagram of another perception and localization fusion method provided in an embodiment of this application;

[0020] Figure 13 is an example architecture diagram of another perception and localization fusion provided in the embodiments of this application;

[0021] Figure 14 is an example diagram of another perception and localization fusion method provided in an embodiment of this application;

[0022] Figure 15 is an example diagram of another perception and localization fusion method provided in an embodiment of this application;

[0023] Figure 16 is an example diagram of another perception and localization fusion method provided in an embodiment of this application;

[0024] Figure 17 is an example architecture diagram of another perception and localization fusion provided in the embodiments of this application;

[0025] Figure 18 is a schematic diagram of a sensing and positioning fusion device provided in an embodiment of this application;

[0026] Figure 19 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] In the following description, the use of suffixes such as “module,” “part,” or “unit” to denote elements is solely for the purpose of illustration in this application and has no particular meaning in itself. Therefore, “module,” “part,” or “unit” may be used interchangeably.

[0028] Figure 3 is a flowchart of a perception and positioning fusion method provided in an embodiment of this application. This embodiment of the application is applicable to the situation of perception and positioning fusion. Referring to Figure 3, the method provided in this embodiment of the application includes steps 110-120.

[0029] 110. Acquire sensor data and location data.

[0030] Sensing data can be data obtained through sensing. Sensing data can be obtained by the first node or by other nodes. For example, sensing data can be sensed by the terminal device and reported to the first node, or the first node can obtain sensing data through the sensing capabilities enabled by the sensing function, etc.; positioning data can be data obtained through positioning. Positioning data can be determined by the location management function, or reported by the terminal device, etc.

[0031] In this embodiment of the application, the first node can acquire sensing data and positioning data respectively, and the sources of sensing data and positioning data can be different.

[0032] 120. Obtain sensory and positioning fusion data by matching sensory data and positioning data.

[0033] Perception-location fusion data can be generated by fusing perception data and positioning data that match the same target. Perception-location fusion data can correspond to the same target. In some application embodiments, the data portion corresponding to the perception data or positioning data in the perception-location fusion data can be omitted.

[0034] In this embodiment of the application, sensing data and positioning data are obtained through the first node. By fusing the matched sensing data and positioning data, sensing and positioning fusion data can be obtained, which can improve the utilization rate of sensing data and expand the application scenarios of positioning data.

[0035] In some embodiments, the first node includes at least one of the following: a base station, a sensing function, and an application function. Here, a base station refers to a device that provides wireless coverage, and its form also includes a Transmission and Reception Point (TRP), etc.

[0036] Sensing data and positioning data can be fused and matched in one or more of the base station, sensing function and application function. Among them, the sensing function (SF) is mainly responsible for sensing process management and can collect and process sensing data.

[0037] Figure 4 is a flowchart of another perception and localization fusion method provided in the embodiment of this application. The embodiment of this application is an explanation based on the above embodiment. Referring to Figure 4, the method provided in the embodiment of this application includes steps 210-240.

[0038] 210. Send a sensing control request to at least one sensing device.

[0039] Sensing devices can be terminal devices that perform sensing operations. Sensing devices may include user terminals, base stations, or other dedicated sensing equipment. A sensing control request can be a request that triggers the sensing device to perform sensing operations. Sensing control requests can be implemented through pre-negotiated or configured communication protocols.

[0040] In this embodiment of the application, the first node can send a sensing control request to one or more sensing devices, thereby triggering the sensing devices to perform sensing so that the sensing devices can collect sensing data of the sensing target.

[0041] 220. Receive sensing data fed back from sensing devices.

[0042] After sensing, the sensing device can acquire sensing data, and the sensing device can feed this sensing data back to the first node, which can then receive the sensing data.

[0043] 230. Determine the characteristics of the sensing target based on the sensing data, and determine the positioning data for the location management function based on the characteristics of the sensing target.

[0044] Target features can be characteristics that identify the target corresponding to the perceived data. These features can include distance, orientation, and shape. The Location Management Function (LMF) is primarily responsible for controlling the positioning process and can perform the terminal's positioning function.

[0045] In this embodiment, the first node can process the sensed data to extract sensed target features. The rules for extracting sensed target features can be pre-configured or negotiated. For example, sensed target features can be obtained by processing the sensed data through a neural network model or by parsing the sensed data through protocol rules. The first node can send the extracted sensed target features to the location management function, which can determine the corresponding location data according to the sensed target features. This correspondence can mean that there is matching information between the sensed target features and the location data, or that the sensed target features and the location data belong to the same terminal.

[0046] 240. Obtain sensing and positioning fusion data by matching sensing data and positioning data.

[0047] Based on the above application embodiments, the perception control request includes at least one of the following: perception service quality requirements, perception area, perception data reporting cycle, and perception area identifier.

[0048] In this application embodiment, the Quality of Service (QoS) requirement can be the QoS requirements that the sensing device's sensing measurements meet. The content of the QoS requirement can include at least one of the following: positioning accuracy, speed accuracy, sensing density, sensing capacity, radar cross section (RCS) range, minimum moving speed requirement, maximum moving speed requirement, nearest sensing distance requirement, farthest sensing distance requirement, reconstruction accuracy, imaging accuracy, refresh rate, detection probability, false alarm rate, etc.

[0049] The sensing region refers to the area that needs to be sensed. It can be composed of one of the following parameters: reference point location, sensing region type, and sensing region shape. The reference point location can include at least one of the following: longitude, latitude, and height. The reference point location can also include positional precision, such as the longitude of the longitude, latitude, and height. The reference point represents the reference position of the sensing region, and the location of the sensing region can be determined based on this reference position and the shape and size of the sensing region. The reference point location can be the location of the center point of the sensing region. The sensing region type can be information identifying the shape of the sensing region, and can include at least one of the following: cuboid, sphere, cylinder, irregular body, cone, rectangle, circle, sector, irregular shape, torus, etc. The sensing region shape can indicate the contour features of the sensing region. Different sensing region types can be described in different ways. For example, if the sensing region type is cuboid, the shape can be identified using length, width, and height, or by the positions of the eight vertices. If the sensing region type is sphere, the shape can be represented by its radius. Taking a cylindrical sensing region as an example, its shape can be represented using a combination of radius and height. Taking an irregular solid or irregular shape as an example, its shape can be represented using the positions of its vertices. Taking a sector as an example, its shape can be represented using a combination of radius and included angle. Taking a torus as an example, its shape can be represented using radius and the width of the torus.

[0050] In this embodiment, the sensing data reporting cycle can be the cycle during which the sensing device feeds back sensing data to the first node, and the sensing data reporting cycle can be configured according to the business scenario.

[0051] In this embodiment of the application, the sensing area identifier is used to identify a sensing area.

[0052] In some embodiments, determining location data for a location management function based on the characteristics of the perceived target includes: sending a location request message to the location management function; and receiving a location information response message sent by the location management function, wherein the location information response message includes location data of at least one terminal device.

[0053] A location request message can be a message requesting location data. This message may include parameters such as a list of terminals, the location area, location service quality, location information interval, and area identifiers. A location information response message can be a message from the location management function returning location data. This message may include the terminal device identifier, terminal device location information, serving cell identifier, and access management function information.

[0054] The location request messages and location response messages provided to the location management function are based on a service-based architecture and can be accessed by other functions. These location request messages and location response messages can also be used independently.

[0055] In this embodiment, the first node can send a location request message to the location management function according to the acquired sensing target features, thereby searching for the location data of the terminal corresponding to the sensing target features within the location management function. The location management function can send a location information response message back to the first node, enabling the first node to obtain location data. The location information response message may carry the location data of one or more terminal devices.

[0056] Based on the above application embodiments, the location request message includes at least one of the following: terminal list, location area, location service quality, location information interval, and location area identifier.

[0057] In this embodiment, the location request message may carry one or more parameters from the following: terminal list, location area, location service quality, location information interval, and location area identifier. The location area may indicate a request for location data from terminal devices within a defined area. This location area may include at least one of the following parameters: base station identifier information, transmission and reception point (TRP) information, cell identifier information, basic service set identifier (BSSID) information, partial basic service set identifier (Partial BSSID), reference point location, location area type, and location area shape. The location service quality may be a location QoS requirement, which may include at least one of the following: horizontal positioning accuracy, vertical positioning accuracy, horizontal velocity accuracy, vertical velocity accuracy, and latency requirements. The latency requirement may be a response latency requirement, which can be categorized by latency value or latency level. For example, latency requirements may include low latency, medium latency, high latency, etc., or latency requirements may include 1ms, 5ms, 20ms, 100ms, etc. The location information interval can be the time interval for requesting location data feedback, and its value can be configured according to the business scenario. The location area identifier can represent an identifier of an area used to request location.

[0058] In some embodiments, the system may further include: a base station or SF sending a request message to an access management function or other function, the request message being used to request a list of terminals existing in a specific area, and the base station or SF sending a location request message based on the terminal list.

[0059] The request message sent by the base station or SF to the access management function or other functions shall include at least one of the following information: area identifier, reference point identifier, reference point location, base station identifier information, transmission and reception point identifier information, cell identifier information, basic service set identifier information, partial basic service set identifier information, and terminal type.

[0060] Access management functions or other functions send a response message, which includes at least the following information: a list of terminals.

[0061] Based on the above-described embodiments, the location data includes at least one of the following: terminal device location, terminal device speed, terminal device movement direction, and timestamp.

[0062] Location data may include parameters such as terminal device location, terminal device speed, terminal device direction of movement, and timestamp. Terminal device location may include the coordinates of the terminal device, which can be identified by longitude, latitude, and altitude. The terminal location may also include the accuracy requirements corresponding to longitude, latitude, and altitude. Terminal device speed can identify the movement speed of the terminal device and may include at least one of the following: speed, horizontal speed, horizontal speed direction, vertical speed, and vertical speed direction. The timestamp can indicate the time when the terminal device's location and / or speed were measured.

[0063] Based on the above application embodiments, the location information response message includes at least one of the following parameters: terminal device identifier, terminal device location information, serving cell identifier, and access management function information.

[0064] In this embodiment, the terminal device identifier can be a unique identifier indicating the terminal device. The terminal device identifier may include at least one of the following: SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, or other identifiers. Other identifiers may include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identifiers configured for the terminal device in other fields. For example, in the case of drones, the terminal device identifier may include an identifier assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0065] The terminal device positioning information may include the location information of one or more terminal devices. The location information of each terminal device may include parameters such as terminal device position, terminal device speed, terminal device direction of movement, and timestamp. The terminal device position may include the coordinates of the terminal device, which can be identified by longitude, latitude, and altitude. The terminal device position may also include the accuracy requirements corresponding to the longitude, latitude, and altitude. The terminal device speed can identify the movement speed of the terminal device and may include at least one of the following: speed, horizontal speed, horizontal speed direction, vertical speed, and vertical speed direction. The timestamp may indicate the time when the terminal device position and / or speed were measured.

[0066] The serving cell identifier can be used to identify the cell identifier of the terminal device being served. The serving cell identifier can include identifiers defined by 4G, 5G networks or identifiers defined by future networks. For example, the 4G cell identifier can include ECGI, and the 5G cell identifier can include NCGI.

[0067] Access management function information may include information corresponding to functions or entities that provide access and / or mobility management for terminal devices. Access management function information may include at least one of the following: access management function identifier, access management function Internet Protocol (IP) address, access management function port, access management function Media Access Control (MAC) address, etc.

[0068] Based on the above application embodiments, the positioning area indicates the location information of the terminal device requesting the positioning area, and the positioning area includes at least one of the following parameters: base station identification information, transmission and reception point identification information, cell identification information, basic service set identifier information, partial basic service set identifier information, reference point location, positioning area type, and positioning area shape.

[0069] In this embodiment of the application, the base station identification information included in the positioning area can indicate the identification of one or more base stations within the positioning area; the transmission and reception point identification information can indicate the identification of one or more TRPs within the positioning area; the cell identification information can indicate the identification of one or more cells within the positioning area; the basic service set identifier information can indicate one or more basic service set identifiers within the positioning area; and the partial service set identifier information can indicate one or more partial BSSIDs within the positioning area.

[0070] The reference point location can indicate the position of the center point within the positioning area. The reference point location can include longitude, latitude, and altitude. The accuracy requirements for the longitude, latitude, and altitude of the reference point location also need to be specified. The sensing area type can include at least one of the following: cuboid, sphere, cylinder, irregular body, cone, rectangle, circle, sector, irregular shape, torus, etc. The sensing area shape can indicate the contour features of the sensing area. Different sensing area types can be described in different ways. For example, with a cuboid sensing area, the shape can be identified using length, width, and height, or by the positions of the eight vertices. With a sphere sensing area, the shape can be represented by the radius. With a cylinder sensing area, the shape can be represented by a combination of radius and height. With an irregular body or irregular shape sensing area, the shape can be represented by the positions of each vertex. With a sector sensing area, the shape can be represented by a combination of radius and included angle. With a torus sensing area, the shape can be represented by the radius and the width of the torus.

[0071] Location service quality can be location QoS requirements, which can include at least one of the following: horizontal positioning accuracy, vertical positioning accuracy, horizontal velocity accuracy, vertical velocity accuracy, and latency requirements. Latency requirements can be response latency requirements, which can be classified by latency values ​​or latency levels. For example, latency requirements can include low latency, medium latency, high latency, etc., or latency requirements can include 1ms, 5ms, 20ms, 100ms, etc.

[0072] In some application embodiments, it also includes: opening up the perception capability to trusted third parties.

[0073] The first node may include sensing functions or base stations. The first node may develop sensing capabilities to a trusted third party. The trusted third party may include a third party that has been granted credit by the communication service provider. This third party may be a third party entity other than the direct user of the communication service (usually an individual user or a corporate user).

[0074] Based on the above-described embodiments, the open sensing capabilities include at least one of the following: terminal identifier, sensing target type, sensing target features, and sensing target location information.

[0075] In this embodiment of the application, the terminal identifier can be the identification information used to identify the sensing terminal with open sensing capabilities; the sensing target type can include the type of sensing target, which can include people, vehicles, drones, animals, ships, human breathing, human movement, trees, buildings, imaging, etc. The sensing target type can also be further divided into each type. For example, vehicles can be further divided into sedans, sport utility vehicles, multi-purpose vehicles, trucks, buses, special vehicles, etc.

[0076] The perceived target features can be the provided characteristic information of the perceived target, including movement speed, movement direction, position, contour information, etc. The perceived target positioning information refers to the position information of the perceived target, which can include one or more position information pieces. Each position information piece can be represented by at least one of the following parameters: perceived target position, perceived target speed, perceived target movement direction, and timestamp. The perceived target's position and speed can be the true position, true speed, revised position, or revised speed.

[0077] When the sensing data and the positioning data do not match, the corresponding sensing data or positioning data can be omitted in the sensing fusion data. The terminal identifier in the sensing function open sensing capability can be omitted or configured to a specific sequence. For example, the terminal identifier is set to all 1s.

[0078] Figure 5 is a flowchart of another perception and localization fusion method provided in the embodiment of this application. The embodiment of this application is an explanation based on the above embodiment. The method is generally applied to the first node. Referring to Figure 5, the method provided in the embodiment of this application includes 310-330.

[0079] 310. Obtain location data reported by the terminal device or determine location data from the location management function.

[0080] In this embodiment of the application, the location data can be reported by the terminal device or obtained by the location management function. The terminal device can perform location measurement and feed back the measured location data to the first node, or the first node can request location data from the location management function.

[0081] 320. Obtain sensing data reported by the terminal device or sensing data obtained by the base station, wherein the sensing data is obtained based on the sensing control request of the sensing function.

[0082] The first node can receive sensing data reported by the terminal device, or sensing data obtained by the base station. The sensing data can be used to control the terminal device or base station to perform sensing measurements based on the sensing control request through the sensing function.

[0083] 330. Obtain perception and positioning fusion data by matching perception data and positioning data.

[0084] In some embodiments, determining the location data for a location management function includes: sending a location request message to the location management function; and receiving a location information response message sent by the location management function, wherein the location information response message includes location data of at least one terminal device.

[0085] In this embodiment, the first node can send a location request message to the location management function according to the acquired sensing target features, thereby searching for the location data of the terminal corresponding to the sensing target features within the location management function. The location management function can send a location information response message back to the first node, enabling the first node to obtain location data. The location information response message may carry the location data of one or more terminal devices.

[0086] In some application embodiments, the location data includes at least one of the following: terminal identifier, terminal location information, serving cell identifier, and access management function information.

[0087] In some other embodiments, the location request message includes at least one of the following: a terminal list, a location area, location service quality information, a location information interval, and a location area identifier.

[0088] In some embodiments, the system may further include: a base station or SF sending a request message to an access management function or other function, the request message being used to request a list of terminals existing in a specific area, and the base station or SF sending a location request message based on the terminal list.

[0089] The request message sent by the base station or SF to the access management function or other functions shall include at least one of the following information: area identifier, reference point identifier, reference point location, base station identifier information, transmission and reception point identifier information, cell identifier information, basic service set identifier information, partial basic service set identifier information, and terminal type.

[0090] Access management functions or other functions send a response message, which includes at least the following information: a list of terminals.

[0091] In some application embodiments, the method further includes: reporting the sensing and positioning fusion data to the sensing function, wherein the sensing and positioning fusion data includes at least one of the following: terminal device identifier, base station identifier information, transmission and reception point identifier information, cell identifier information, basic service set identifier information, partial basic service set identifier information, sensing target type, sensing target feature, and sensing target positioning information.

[0092] In this embodiment of the application, after the first node obtains the sensing and positioning fusion data, it can report the sensing and positioning fusion data to the sensing function. The sensing and positioning fusion data may include at least one of the following parameters: terminal device identifier, base station identifier information, transmission and receiving point identifier information, cell identifier information, basic service set identifier information, partial basic service set identifier information, sensing target type, sensing target feature, and sensing target positioning information.

[0093] In some application embodiments, it also includes requesting identification information from the access and mobility management functions.

[0094] The Access and Mobility Management Function (AMF) is primarily responsible for registration management, connection management, and mobility management. The identification information can be related to the sensing and positioning fusion data, including terminal device identification information, base station identification information, TRP identification information, cell identification information, BSSID information, and Partial BSSID information.

[0095] In this embodiment of the application, the first node may request identification information from the AMF. The identification information may include the global identifier of the terminal device, which may include SUPI, PEI, GPSI, IMSI, MAC Address, IP Address or other identifiers.

[0096] Based on the above application embodiments, the request includes at least one of the following parameters: terminal device identification information, base station identification information, transmission and reception point identification information, cell identification information, basic service set identifier information, and partial basic service set identifier information.

[0097] The request sent by the first node to the AMF may include one or more parameters selected from terminal device identification information, base station identification information, transmission and reception point identification information, cell identification information, basic service set identifier information, and partial basic service set identifier information, enabling the AMF to determine the global identification information of the terminal device according to these parameters. The terminal device identification can be used to identify the local or regional identifier of the target in the network, and may also include a Temporary Cell Radio Network Temporary Identifier (T-CRNTI). The first node may also request this information from other entities or entities that possess the capability to convert the terminal's local identifier into a global identifier.

[0098] In some application embodiments, the sensing capabilities of the sensing function are open to trusted third parties. This openness can be achieved directly or through other functions or entities.

[0099] After acquiring the sensing and positioning fusion data uploaded by the first node, the sensing function can open its sensing capabilities to trusted third parties. These open sensing capabilities can include terminal identification, target type, target characteristics, and target positioning information. The target positioning information includes one or more location information points. These location information points can be arranged in chronological order to form a motion trajectory, which can identify the movement of a target over time. These location information points together constitute a motion trajectory.

[0100] When the sensing data and the positioning data do not match, the corresponding sensing data or positioning data can be omitted in the sensing fusion data. The terminal identifier in the sensing function open sensing capability can be omitted or configured to a specific sequence. For example, a specific sequence is that the terminal identifier is set to all 1s.

[0101] Figure 6 is a flowchart of another perception and localization fusion method provided in the embodiment of this application. The embodiment of this application is an explanation based on the above embodiment. Referring to Figure 6, the method provided in the embodiment of this application includes 410-430.

[0102] 410. Obtain sensory data based on the sensory capabilities enabled by the sensory function.

[0103] In this embodiment of the application, the sensing function can open sensing capabilities, and the first node can obtain sensing data through the sensing capabilities opened by the sensing function. The sensing capabilities opened by the sensing function can include at least one of the following: terminal identifier, sensing target type, sensing target features, and sensing target location information.

[0104] 420. Obtain location data.

[0105] Location data can be obtained through positioning measurements using terminal devices, or through positioning measurements using base stations, or through location management functions.

[0106] 430. Obtain sensing and positioning fusion data by matching sensing data and positioning data.

[0107] In some embodiments of the application, obtaining location data includes: obtaining location data from a location management function; or, obtaining location data reported by a terminal device.

[0108] In this embodiment of the application, the first node may request location data from the location management function, or obtain location data reported by the terminal device.

[0109] In some application embodiments, the sensing capability includes at least one of the following parameters: the type of the sensing target, the features of the sensing target, and the location information of the sensing target.

[0110] In this embodiment, the sensing capabilities of the sensing function can include sensing target type, sensing target features, and sensing target location information. The sensing target type can include people, vehicles, drones, animals, ships, human breathing, human movement, trees, buildings, and imaging. Each sensing target type can be further subdivided; for example, a vehicle can be further divided into sedans, SUVs, multi-purpose vehicles, trucks, buses, and special-purpose vehicles. Sensing target features can be provided characteristic information of the sensing target, including movement speed, movement direction, position, and contour information. Sensing target location information refers to the location information of the sensing target, which can include one or more location information items. Each location information item can be represented by at least one of the following parameters: sensing target position, sensing target speed, sensing target movement direction, and timestamp. The sensing target's position and speed can be the actual position, actual speed, revised position, or revised speed.

[0111] Figure 7 is a flowchart of another perception and localization fusion method provided in the embodiment of this application. The embodiment of this application is an explanation based on the above embodiment. Referring to Figure 7, the method provided in the embodiment of this application includes steps 510-520.

[0112] 510. Acquire sensor data and location data.

[0113] 520. Based on preset rules, the sensing data and positioning data are matched to obtain sensing and positioning fusion data, wherein the preset rules include at least one of the following: distance error threshold and speed error threshold.

[0114] In this embodiment of the application, after the first node acquires the sensing data and the positioning data, it can match the sensing data and the positioning data according to a preset rule. The preset rule used for matching may include a distance error threshold or a speed error threshold. For example, if the distance error between the trajectory point of the object moving in the sensing data and the trajectory point of the object moving in the positioning data is less than the threshold value, then the sensing data and the positioning data are considered to match. Alternatively, if the trajectory point error between the trajectory point of the object moving in the sensing data and the trajectory point of the object moving in the positioning data is less than the speed error threshold, then the sensing data and the positioning data are considered to match.

[0115] Distance error threshold and velocity error threshold can be pre-configured. When the first node matches the sensing data with the positioning data, it can include multiple rules for matching at the same time. That is, the positioning data and sensing data must meet both the distance error threshold and the velocity error threshold.

[0116] In an exemplary implementation, referring to Figure 2, taking a low-altitude drone scenario as an example, both legitimate and illegitimate users will simultaneously exist within the low-altitude drone scenario. Legitimate users have a communication connection with the mobile communication network, receive flight control commands, and report their flight status to the network. Illegitimate users, on the other hand, do not have a communication connection with the mobile communication network or their flights are not registered. The base station senses the low-altitude sensing target. The devices for sensing and measuring the sensing target may include TRPs, user equipment (UE), customer premises equipment (CPE), reference sensing nodes, etc., which can be collectively referred to as sensing devices. In the sensing measurement, one sensing device can complete the transmission and reception of sensing signals, or multiple sensing devices can cooperate to complete the transmission and reception of sensing signals.

[0117] The device providing communication for low-altitude operations can be the same device as the sensing device or a different device. Taking Figure 2 as an example, there are three sensing targets in the low-altitude airspace: sensing target 1, sensing target 2, and sensing target 3. Sensing target 1 and sensing target 2 are legitimate users, while sensing target 3 is an illegitimate user. Referring to Figure 8, the sensing and positioning fusion method provided in this application embodiment may include the following process:

[0118] 1: SF sends a sensing control request to the sensing device, wherein the sensing control request carries at least one of the following parameters: sensing QoS requirements, sensing area, and sensing data reporting cycle.

[0119] The quality of service requirements for sensing can be the QoS requirements that sensing devices must meet in their sensing measurements. The content of the quality of service requirements for sensing can include at least one of the following: positioning accuracy, speed accuracy, sensing density, sensing capacity, radar cross-section range, minimum moving speed requirement, maximum moving speed requirement, nearest sensing distance requirement, farthest sensing distance requirement, reconstruction accuracy, imaging accuracy, refresh rate, detection probability, false alarm rate, etc.

[0120] The sensing area can refer to the sensing area that needs to be sensed. The sensing area can be composed of one of the following parameters: the location of the reference point, the type of sensing area, and the shape of the sensing area.

[0121] (1) The location of a reference point may include at least one of the following: longitude, latitude, altitude, etc. The location of a reference point may also include location accuracy, such as the longitude of longitude, latitude, and altitude. The location of a reference point may be the location of the center point of the sensing area.

[0122] (2) The type of the sensing area can be information that identifies the shape of the sensing area. The type of the sensing area can include at least one of the following: cuboid, sphere, cylinder, irregular body, cone, rectangle, circle, sector, irregular shape, ring, etc.

[0123] (3) The shape of the sensing region can indicate its contour features. Different sensing region types can be described in different ways. For example, if the sensing region type is a cuboid, the shape can be identified by its length, width, and height, or by the positions of its eight vertices. If the sensing region type is a sphere, the shape can be represented by its radius. If the sensing region type is a cylinder, the shape can be represented by a combination of its radius and height. If the sensing region type is an irregular body or irregular shape, the shape can be represented by the positions of its vertices. If the sensing region type is a sector, the shape can be represented by a combination of its radius and included angle. If the sensing region type is a ring, the shape can be represented by its radius and the width of the ring.

[0124] The perception data reporting cycle can be the cycle during which the perception device feeds back perception data to the first node. The perception data reporting cycle can be configured according to the business scenario.

[0125] 2: The sensing equipment performs sensing measurements on low-altitude drones to obtain sensing data.

[0126] 3: The sensing device reports the sensing data to SF.

[0127] 4: Referring to Figure 9, the SF processes the sensing data to obtain the characteristics of the sensing target. Based on the characteristics of the sensing target, the SF queries the LMF for the location information of the UE in the corresponding area or location. The location request message sent by the SF to the LMF may include at least one of the following parameters: terminal list, location area, location QoS, location information interval, and location area identifier. The location data of the LMF may be obtained from the UE's report.

[0128] The location area indication requests UE location information within the location area, which includes at least one of the following parameters: base station identification information, TRP identification information, cell identification information, BSSID information, partial BSSID information, reference point location, location area type, and location area shape.

[0129] Base station identification information includes the identifiers of one or more base stations. TRP identification information includes the identifiers of one or more TRPs. Cell identification information includes the identifiers of one or more cells. These identifiers can be identifiers defined in 4G, 5G networks, or identifiers defined in future networks.

[0130] BSSID information includes one or more BSSIDs; Partial BSSID information includes one or more partial BSSIDs.

[0131] The location of a reference point must include at least one of the following parameters: longitude, latitude, or altitude. The accuracy requirements for the longitude, latitude, and altitude must also be specified.

[0132] The location area type refers to the type of the area to be located, which must include at least one of the following parameters: cuboid, sphere, cylinder, irregular shape, cone, rectangle, circle, sector, polygon, and torus.

[0133] The shape of a positioning region indicates its contour features. Different types of positioning regions have different shape descriptions. The shape of a cuboid can be represented by its length, width, and height, or by the positions of its eight vertices; the shape of a sphere is represented by its radius. A cylinder is represented by a combination of its radius and height; irregular shapes or polygons can be represented by the positions of their vertices; a sector is represented by a combination of its radius and included angle; and an annulus is represented by the radius of its inner ring and the width of the annulus.

[0134] The QoS requirements for a given location must include at least one of the following parameters: horizontal positioning accuracy, vertical positioning accuracy, horizontal velocity accuracy, vertical velocity accuracy, and latency requirements.

[0135] Latency requirements refer to the latency requirements for the response. They must include at least one of the following parameters: low latency, medium latency, high latency, 1ms, 5ms, 20ms, or 100ms.

[0136] The location information interval refers to the time interval between two adjacent locations of the reported UE, which cannot exceed this location interval. For example, if the location information interval is 1ms, it means that the time interval between two adjacent locations of the UE must be less than or equal to 1ms.

[0137] In this embodiment of the application, the LMF determines the location of the corresponding UE based on the parameters in the location request message.

[0138] LMF methods for determining the UE's location may include cellular network positioning, WLAN positioning, Bluetooth positioning, GNSS positioning, UWB positioning, and tag positioning.

[0139] The LMF either obtains the UE's location before receiving the location request message or initiates the UE location process for the location area after receiving the location request message.

[0140] The methods by which the LMF determines which UEs are located in the location area may include: determining based on the association of the UEs or determining in conjunction with other functions.

[0141] 5. The LMF sends a location information response message to the SF. The location information response message includes the location information of at least one UE. The location information of each UE includes at least one of the following parameters: UE identifier, UE location information, serving cell identifier, and access management function information.

[0142] The UE identifier indicates the UE's ID. The UE identifier can be SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, or other identifiers. Other identifiers may include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identification information configured for terminal devices in other fields. For example, in the context of drones, the terminal device identifier may include identifiers assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0143] UE location information includes the location information of one or more UEs. The location information of each UE includes at least one of the following parameters: UE location, UE speed, UE movement direction, and timestamp.

[0144] UE location refers to the coordinates of the UE, which must include at least one of the following parameters: longitude, latitude, and altitude. The accuracy requirements for longitude, latitude, and altitude are also required.

[0145] The speed of a UE refers to the movement speed of the UE, and includes at least one of the following parameters: speed, horizontal speed, horizontal speed direction, vertical speed, and vertical speed direction.

[0146] The timestamp is used to indicate the moment when the UE's position and / or velocity were measured.

[0147] The serving cell identifier can be used to identify the cell identifier of the terminal device being served. The serving cell identifier can include identifiers defined by 4G, 5G networks or identifiers defined by future networks. For example, the 4G cell identifier can include ECGI, and the 5G cell identifier can include NCGI.

[0148] Access management function information may include functions or entities that provide access and / or mobility management for terminal devices. Access management function information may include at least one of the following: access management function identifier, access management function IP address, access management function port, and access management function MAC address.

[0149] In some application embodiments, in operation 5 above, the LMF actively sends a location response message to the SF.

[0150] 6: SF receives a location information response message. On one hand, SF obtains sensing data through sensing devices and processes the sensing data to obtain sensing results. On the other hand, SF obtains location information from LMF. SF matches the obtained location information with the sensing data. The matching rules of SF include at least one of the following: distance error threshold and speed error threshold.

[0151] In some embodiments, referring to Figure 10, the SF obtains sensing data, which may be forwarded to the SF by the base station through the AMF.

[0152] In other embodiments, referring to Figure 11, the SF obtains the sensing data, which may be achieved by the base station directly uploading the sensing data to the SF.

[0153] The error between the trajectory points of an object's movement obtained by sensing and the trajectory points of an object's movement obtained by positioning is less than the distance accuracy threshold, which can be used to match sensing data with positioning information.

[0154] The matching conditions between perceived data and positioning information can be limited by a ratio, which can be pre-configured, such as 90% or 95%. For example, if the distance error threshold is 1m and the ratio is configured to 95%, it means that the error should not exceed 1m when 95% of the points are matched.

[0155] Alternatively, the errors between the trajectory points of an object's movement obtained from perception and those obtained from localization can be matched proportionally to a speed error threshold.

[0156] The matching conditions between perceived data and positioning information can be limited by a certain percentage, which can be pre-configured, such as 90% or 95%. For example, if the speed error threshold is 1 m / s and the percentage is configured to be 90%, it means that the error does not exceed 1 m / s when 90% of the points are matched.

[0157] When multiple matching rules are specified, the location information and the sensed data need to satisfy multiple rules simultaneously.

[0158] For example, as shown in Figure 2, the SF obtains the flight trajectory points of sensing target 1, sensing target 2, and sensing target 3, and requests the positioning trajectory points of UE1 and UE2 in the corresponding areas from the LMF. The SF matches the positioning trajectory and the sensing trajectory, and determines that sensing target 1 matches UE1 and sensing target 2 matches UE2. Then, the identifier of sensing target 1 is the identifier of UE1, and the identifier of sensing target 2 is the identifier of UE2.

[0159] 7: SF opens its sensing capabilities to trusted third-party applications, such as Application Functions (AFs). The sensing capabilities sent by SF to AFs include at least the following parameters: UE identifier, sensing target type, sensing target characteristics, and sensing target location information.

[0160] The UE identifier can be a unique identifier for a terminal device. The terminal device identifier may include at least one of the following: SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, or other identifiers. Other identifiers may include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identifiers configured for the terminal device in other domains. For example, in the context of drones, the terminal device identifier may include identifiers assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0161] The type of perceived target can include the type of perceived target, such as people, vehicles, drones, animals, ships, human breathing, human movement, trees, buildings, imaging, etc. The type of perceived target can also be further subdivided into each type. For example, vehicles can be further divided into sedans, sport utility vehicles, multi-purpose vehicles, trucks, buses, special vehicles, etc.

[0162] The perceived target features can be the provided characteristic information of the perceived target, including movement speed, movement direction, position, contour information, etc. The perceived target positioning information refers to the position information of the perceived target, which can include one or more position information pieces. Each position information piece can be represented by at least one of the following parameters: perceived target position, perceived target speed, perceived target movement direction, and timestamp. The perceived target's position and speed can be the true position, true speed, revised position, or revised speed.

[0163] In another exemplary embodiment, referring to FIG12, the perception and localization fusion method provided in this application embodiment may include the following process:

[0164] 1: The UE reports location information to the base station, which includes the location information of one or more UEs. The location information of each UE includes at least one of the following: UE identifier, UE location, UE speed, UE movement direction and timestamp.

[0165] The UE identifier is the local representation of the UE, and may include a temporary cell radio network temporary identifier; the UE location refers to the UE's coordinates, including at least one of the following parameters: longitude, latitude, and altitude. The UE location also includes the accuracy requirements for the longitude, latitude, and altitude; the UE speed refers to the UE's movement speed, including at least one of the following parameters: speed, horizontal speed, horizontal speed direction, vertical speed, and vertical speed direction; the timestamp is used to indicate the time when the UE's location and / or speed were measured.

[0166] 2: SF sends a sensing control request to the sensing device, and the sensing control request carries at least one of the following parameters: sensing QoS requirements, sensing area, sensing data reporting cycle, and sensing area identifier.

[0167] Sensing QoS requirements refer to the QoS requirements that sensing devices need to meet for sensing measurements, including at least one of the following: positioning accuracy, speed accuracy, sensing density, sensing capacity, RCS range, minimum moving speed requirement, maximum moving speed requirement, nearest sensing distance requirement, farthest sensing distance requirement, reconstruction accuracy, imaging accuracy, refresh rate, detection probability, and false alarm rate.

[0168] The sensing area can indicate the area that the sensing device needs to sense. The sensing area includes at least one of the following parameters: reference point location, sensing area type, and sensing area shape.

[0169] The reference point location must include at least one of the following parameters: longitude, latitude, or altitude. The accuracy requirements for these parameters must also be considered. The reference point location is the position of the center point of the sensing area.

[0170] The type of sensing area refers to the type of the area to be sensed, which must include at least one of the following parameters: cuboid, sphere, cylinder, irregular body, cone, rectangle, circle, sector, irregular shape, and torus.

[0171] The shape of a sensory region indicates its contour features. Different types of sensory regions have different shape descriptions. The shape of a cuboid can be represented by its length, width, and height, or by the positions of its eight vertices; the shape of a sphere is represented by its radius. A cylinder is represented by a combination of its radius and height; irregular bodies or shapes can be represented by the positions of their vertices; a sector is represented by a combination of its radius and included angle; and a torus is represented by the radius of its inner ring and the width of the torus.

[0172] 3: Referring to Figure 13, when the sensing device is a UE, the sensing data is reported to the base station. The sensing device may also include the base station, that is, the base station can also perform measurement sensing to obtain sensing data.

[0173] 4: On the one hand, the base station obtains sensing data through sensing equipment and processes the sensing data to obtain sensing results. On the other hand, the base station obtains positioning information from the UE and performs matching based on the sensing results and positioning information. The matching rules of the base station include at least one of the following: distance error threshold and speed error threshold.

[0174] The error between the trajectory points of an object's movement obtained by sensing and the trajectory points of an object's movement obtained by positioning is less than the distance accuracy threshold, which can be used to match sensing data with positioning information.

[0175] The matching conditions between perceived data and positioning information can be limited by a ratio, which can be pre-configured, such as 90% or 95%. For example, if the distance error threshold is 1m and the ratio is configured to 95%, it means that the error should not exceed 1m when 95% of the points are matched.

[0176] Alternatively, the errors between the trajectory points of an object's movement obtained from perception and those obtained from localization can be matched proportionally to a speed error threshold.

[0177] The matching conditions between perceived data and positioning information can be limited by a certain percentage, which can be pre-configured, such as 90% or 95%. For example, if the speed error threshold is 1 m / s and the percentage is configured to be 90%, it means that the error does not exceed 1 m / s when 90% of the points are matched.

[0178] When multiple matching rules are specified, the location information and the sensed data need to satisfy multiple rules simultaneously.

[0179] For example, as shown in Figure 2, the SF obtains the flight trajectory points of sensing target 1, sensing target 2, and sensing target 3, and requests the positioning trajectory points of UE1 and UE2 in the corresponding areas from the UE. The base station matches the positioning trajectory and the sensing trajectory, and determines that sensing target 1 matches UE1 and sensing target 2 matches UE2. Then, the identifier of sensing target 1 is the identifier of UE1, and the identifier of sensing target 2 is the identifier of UE2.

[0180] The matching threshold is configured by the network. That is, the base station receives the configuration message from the network, which carries the above-mentioned data matching rules. The above-mentioned matching rules include at least one of the following: distance error threshold and speed error threshold.

[0181] 5: The base station reports sensing information to the SF. The reported sensing information shall include at least one of the following parameters: UE identifier, base station identifier information, TRP identifier information, cell identifier information, BSSID information, Partial BSSID information, sensing target type, sensing target characteristics, and sensing target location information.

[0182] The target identifier is used to identify the local identifier of the target within the network. Temporary Radio Network Identifier (T-CRNTI).

[0183] Base station identification information includes the identifiers of one or more base stations. TRP identification information includes the identifiers of one or more TRPs. Cell identification information includes the identifiers of one or more cells. These identifiers can be identifiers defined in 4G, 5G networks, or identifiers defined in future networks.

[0184] BSSID information includes one or more BSSIDs; Partial BSSID information includes one or more partial BSSIDs.

[0185] The type of perceived target refers to the type of perceived target, such as people, vehicles, UAVs, animals, ships, breathing, movement, objects, and images. Each category can be further subdivided. For example, vehicles can be categorized into sedans, SUVs, and trucks.

[0186] Target location information refers to the location information of a target, including one or more location information of the target. The location information of each target includes at least one of the following parameters: target position, target velocity, target direction of movement, and timestamp.

[0187] 6: The SF requests identification information from the AMF, and the request message includes at least one of the following parameters: UE identifier, base station identifier information, TRP identifier information, cell identifier information, BSSID information, and Parisal BSSID information.

[0188] The UE identifier is used to identify the local or regional identifier of the sensed target within the network. Temporary Radio Network Identifier (T-CRNTI).

[0189] The AFM responds to the SF with identification information, and the response message includes at least one of the following parameters: UE identifier, which is a global identifier and may include SUPI, PEI, GPSI, IMSI, MAC Address, IP address, and other identifiers.

[0190] 7: SF opens its sensing capabilities to trusted third parties, such as AF. The sensing capabilities sent by SF to AF shall include at least the following parameters: UE identifier, sensing target type, sensing target characteristics, and sensing target location information.

[0191] The perceived target type can be used to identify a unique identifier for the perceived target within the network. The perceived target identifier can include SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, and other identifiers. Other identifiers can include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identifier information configured for terminal devices in other fields. For example, in the drone scenario, the terminal device identifier can include identifiers assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0192] The type of perceived target can include the type of perceived target, such as people, vehicles, drones, animals, ships, human breathing, human movement, trees, buildings, imaging, etc. The type of perceived target can also be further subdivided into each type. For example, vehicles can be further divided into sedans, sport utility vehicles, multi-purpose vehicles, trucks, buses, special vehicles, etc.

[0193] The perceived target features can be the provided characteristic information of the perceived target, including movement speed, movement direction, position, contour information, etc. The perceived target positioning information refers to the position information of the perceived target, which can include one or more position information pieces. Each position information piece can be represented by at least one of the following parameters: perceived target position, perceived target speed, perceived target movement direction, and timestamp. The perceived target's position and speed can be the true position, true speed, revised position, or revised speed.

[0194] In one exemplary implementation, referring to FIG14, the perception-localization fusion method provided in this application embodiment may include the following process:

[0195] 1: The UE reports location information to the base station, which includes the location information of one or more UEs. The location information of each UE includes at least one of the following: UE identifier, UE location, UE speed, UE movement direction and timestamp.

[0196] 2: SF sends a sensing control request to the sensing device, and the sensing control request carries at least one of the following parameters: sensing QoS requirements, sensing area, and sensing data reporting cycle.

[0197] 3: When the sensing device is a UE, it reports the sensing data to the base station.

[0198] 4: On the one hand, the base station obtains sensing data through sensing equipment and processes the sensing data to obtain sensing results. On the other hand, the base station obtains positioning information from the UE and performs matching based on the sensing results and positioning information. The matching rules of the base station include at least one of the following: distance error threshold and speed error threshold.

[0199] 5: The base station requests identification information from the AMF, and the request message includes at least one of the following parameters: UE identifier, base station identifier information, TRP identifier information, cell identifier information, BSSID information, and Parisal BSSID information.

[0200] 6: The base station reports sensing information to the SF. The reported sensing information shall include at least one of the following parameters: UE identifier, base station identifier, TRP identifier, cell identifier, BSSID, Partial BSSID, sensing target type, sensing target characteristics, and sensing target location information.

[0201] 7: SF opens its sensing capabilities to trusted third parties, such as AF. The sensing capabilities sent by SF to AF shall include at least the following parameters: UE identifier, sensing target type, sensing target characteristics, and sensing target location information.

[0202] The perceived target type can be used to identify a unique identifier for the perceived target within the network. The perceived target identifier can include SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, and other identifiers. Other identifiers can include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identifier information configured for terminal devices in other fields. For example, in the drone scenario, the terminal device identifier can include identifiers assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0203] The type of perceived target can include the type of perceived target, such as people, vehicles, drones, animals, ships, human breathing, human movement, trees, buildings, imaging, etc. The type of perceived target can also be further subdivided into each type. For example, vehicles can be further divided into sedans, sport utility vehicles, multi-purpose vehicles, trucks, buses, special vehicles, etc.

[0204] The perceived target features can be the provided characteristic information of the perceived target, including movement speed, movement direction, position, contour information, etc. The perceived target positioning information refers to the position information of the perceived target, which can include one or more position information pieces. Each position information piece can be represented by at least one of the following parameters: perceived target position, perceived target speed, perceived target movement direction, and timestamp. The perceived target's position and speed can be the true position, true speed, revised position, or revised speed.

[0205] In one exemplary implementation, referring to FIG15, the perception-localization fusion method provided in this application embodiment may include the following process:

[0206] 1: SF sends a sensing control request to the sensing device, and the sensing control request message carries at least one of the following parameters: sensing QoS requirements, sensing area, and sensing data reporting cycle.

[0207] 2: The sensing equipment detects low-altitude drones.

[0208] 3: Based on the characteristics of the perceived target, the SF queries the LMF for the location information of the UE in the corresponding area or location. The SF sends a location request message to the LMF, which includes at least one of the following parameters: terminal list, location area, location QoS, location information interval, and area identifier.

[0209] The location area indication requests UE location information within the location area, which includes at least one of the following parameters: base station identification information, TRP identification information, cell identification information, BSSID information, partial BSSID information, reference point location, location area type, and location area shape.

[0210] Base station identification information includes the identifiers of one or more base stations. TRP identification information includes the identifiers of one or more TRPs. Cell identification information includes the identifiers of one or more cells. These identifiers can be identifiers defined in 4G, 5G networks, or identifiers defined in future networks.

[0211] BSSID information includes one or more BSSIDs; Partial BSSID information includes one or more partial BSSIDs.

[0212] The location of a reference point must include at least one of the following parameters: longitude, latitude, or altitude. The accuracy requirements for the longitude, latitude, and altitude must also be specified.

[0213] The location area type refers to the type of the area to be located, which must include at least one of the following parameters: cuboid, sphere, cylinder, irregular shape, cone, rectangle, circle, sector, polygon, and torus.

[0214] The shape of the positioning region indicates the contour features of the sensing region. Different types of positioning regions have different shape descriptions. The shape of a cuboid can be represented by its length, width, and height, or by the positions of its eight vertices; the shape of a sphere is represented by its radius. A cylinder is represented by a combination of the radius and height of the circle; irregular shapes or polygons can be represented by the positions of each vertex; a sector is represented by a combination of its radius and included angle; and a torus is represented by the radius of its inner ring and the width of the ring.

[0215] The QoS requirements for a given location must include at least one of the following parameters: horizontal positioning accuracy, vertical positioning accuracy, horizontal velocity accuracy, vertical velocity accuracy, and latency requirements.

[0216] Latency requirements refer to the latency requirements for the response. They must include at least one of the following parameters: low latency, medium latency, high latency, 1ms, 5ms, 20ms, or 100ms.

[0217] The location information interval refers to the time interval between two adjacent locations of the reported UE, which cannot exceed this location interval. For example, if the location information interval is 1ms, it means that the time interval between two adjacent locations of the UE must be less than or equal to 1ms.

[0218] In this embodiment of the application, the LMF determines the location of the corresponding UE based on the parameters in the location request message.

[0219] LMF methods for determining the UE's location may include cellular network positioning, WLAN positioning, Bluetooth positioning, GNSS positioning, UWB positioning, and tag positioning.

[0220] The LMF either obtains the UE's location before receiving the location request message or initiates the UE location process for the location area after receiving the location request message.

[0221] LMF can determine which UEs are located in the location area by means of: determining based on the association of the UEs or by cooperating with other functions.

[0222] 4: The LMF sends a location information response message to the SF. The location information response message includes the location information of at least one UE. The location information of each UE includes at least one of the following parameters: UE identifier, UE location information, serving cell identifier, and access management function information.

[0223] The UE identifier indicates the UE's ID. The UE identifier can be SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, or other identifiers. Other identifiers may include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identification information configured for terminal devices in other fields. For example, in the context of drones, the terminal device identifier may include identifiers assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0224] UE location information includes the location information of one or more UEs. The location information of each UE includes at least one of the following parameters: UE location, UE speed, UE movement direction, and timestamp.

[0225] UE location refers to the coordinates of the UE, which must include at least one of the following parameters: longitude, latitude, and altitude. The accuracy requirements for longitude, latitude, and altitude are also required.

[0226] The speed of a UE refers to the movement speed of the UE, and includes at least one of the following parameters: speed, horizontal speed, horizontal speed direction, vertical speed, and vertical speed direction.

[0227] The timestamp is used to indicate the moment when the UE's position and / or velocity were measured.

[0228] The serving cell identifier can be used to identify the cell identifier of the terminal device being served. The serving cell identifier can include identifiers defined by 4G, 5G networks or identifiers defined by future networks. For example, the 4G cell identifier can include ECGI, and the 5G cell identifier can include NCGI.

[0229] Access management function information may include functions or entities that provide access and / or mobility management for terminal devices. Access management function information may include at least one of the following: access management function identifier, access management function IP address, access management function port, and access management function MAC address.

[0230] In some application embodiments, in operation 4, the LMF actively sends a location response message to the SF.

[0231] 5: The base station requests identification information from the AMF, and the request message includes at least one of the following parameters:

[0232] UE identifier, base station identifier, TRP identifier, cell identifier, BSSID, and Parisal BSSID.

[0233] 6: The base station will report the sensing information to the SF. The sensing information sent by the base station to the SF includes information about at least one sensing target. The information about each sensing target includes at least one of the following parameters: sensing target identifier, sensing target type, sensing target characteristics, and sensing target location information.

[0234] The target identifier is used to uniquely identify a target within the network. This identifier can be SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, or other identifiers. Other identifiers include UE identifiers defined for future mobile communication networks such as 6G and 7G. For example, in drone scenarios, identifiers assigned by the Civil Aviation Administration of China (CAAC) may be used.

[0235] The type of perceived target refers to the type of perceived target, such as people, vehicles, UAVs, animals, ships, breathing, movement, objects, and images. Each category can be further subdivided. For example, vehicles can be categorized into sedans, SUVs, and trucks.

[0236] Target location information refers to the location information of a target, including one or more location information of the target. The location information of each target includes at least one of the following parameters: target position, target velocity, target direction of movement, and timestamp.

[0237] 7: SF opens its sensing capabilities to trusted third parties, such as AF. The sensing capabilities sent by SF to AF shall include at least the following parameters: UE identifier, sensing target type, sensing target characteristics, and sensing target location information.

[0238] The perceived target type can be used to identify a unique identifier for the perceived target within the network. The perceived target identifier can include SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, and other identifiers. Other identifiers can include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identifier information configured for terminal devices in other fields. For example, in the drone scenario, the terminal device identifier can include identifiers assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0239] The type of perception target can include the type of perception target, such as people, vehicles, drones, animals, ships, human breathing, human movement, trees, buildings, imaging, etc. The type of perception target can also be divided into each type. For example, vehicles can be divided into sedans, sport utility vehicles, multi-purpose vehicles, trucks, buses, special vehicles, etc.

[0240] The perceived target features can be the provided characteristic information of the perceived target, including movement speed, movement direction, position, contour information, etc. The perceived target positioning information refers to the position information of the perceived target, which can include one or more position information pieces. Each position information piece can be represented by at least one of the following parameters: perceived target position, perceived target speed, perceived target movement direction, and timestamp. The perceived target's position and speed can be the true position, true speed, revised position, or revised speed.

[0241] In one exemplary implementation, referring to FIG16, the perception-localization fusion method provided in this application embodiment may include the following process:

[0242] 1: SF sends a sensing control request to the sensing device, wherein the sensing control request carries at least one of the following parameters: sensing QoS requirements, sensing area, sensing data reporting cycle, and sensing area identifier.

[0243] The quality of service requirements for sensing can be the QoS requirements that sensing devices must meet in their sensing measurements. The content of the quality of service requirements for sensing can include at least one of the following: positioning accuracy, speed accuracy, sensing density, sensing capacity, radar cross-section range, minimum moving speed requirement, maximum moving speed requirement, nearest sensing distance requirement, farthest sensing distance requirement, reconstruction accuracy, imaging accuracy, refresh rate, detection probability, false alarm rate, etc.

[0244] The sensing area can refer to the sensing area that needs to be sensed. The sensing area can be composed of one of the following parameters: the location of the reference point, the type of sensing area, and the shape of the sensing area.

[0245] (1) The location of a reference point may include at least one of the following: longitude, latitude, altitude, etc. The location of a reference point may also include location accuracy, such as the longitude of longitude, latitude, and altitude. The location of a reference point may be the location of the center point of the sensing area.

[0246] (2) The type of the sensing area can be information that identifies the shape of the sensing area. The type of the sensing area can include at least one of the following: cuboid, sphere, cylinder, irregular body, cone, rectangle, circle, sector, irregular shape, ring, etc.

[0247] (3) The shape of the sensing region can indicate its contour features. Different sensing region types can be described in different ways. For example, if the sensing region type is a cuboid, the shape can be identified by its length, width, and height, or by the positions of its eight vertices. If the sensing region type is a sphere, the shape can be represented by its radius. If the sensing region type is a cylinder, the shape can be represented by a combination of its radius and height. If the sensing region type is an irregular body or irregular shape, the shape can be represented by the positions of its vertices. If the sensing region type is a sector, the shape can be represented by a combination of its radius and included angle. If the sensing region type is a ring, the shape can be represented by its radius and the width of the ring.

[0248] The perception data reporting cycle can be the cycle during which the perception device feeds back perception data to the first node. The perception data reporting cycle can be configured according to the business scenario.

[0249] 2: The sensing equipment performs sensing measurements on low-altitude drones to obtain sensing data. See Figure 17. The sensing equipment includes a base station.

[0250] 3: The sensing device reports the sensing data to SF.

[0251] 4: SF opens its perception capabilities to trusted third-party applications, such as AF. The perception capabilities sent by SF to AF shall include at least one of the following parameters: perception target type, perception target characteristics, and perception target location information.

[0252] Perceived target type refers to the type of perceived target, such as people, vehicles, UAVs, animals, ships, human breathing, human movement, trees, buildings, and images. Each category can be further subdivided. For example, vehicles can be further divided into sedans, SUVs, trucks, etc.

[0253] Target location information refers to the location information of a target, including one or more location information of the target. The location information of each target includes at least one of the following parameters: target position, target velocity, target direction of movement, and timestamp.

[0254] 5: The SF processes the sensing data to obtain the characteristics of the sensing target. Based on the characteristics of the sensing target, the SF queries the LMF for the location information of the UE in the corresponding area or location. The location request message sent by the SF to the LMF may include at least one of the following parameters: terminal list, location area, location QoS, location information interval, and area identifier.

[0255] The location area indication requests UE location information within the location area, which includes at least one of the following parameters: base station identification information, TRP identification information, cell identification information, BSSID information, partial BSSID information, reference point location, location area type, and location area shape.

[0256] Base station identification information includes the identifiers of one or more base stations. TRP identification information includes the identifiers of one or more TRPs. Cell identification information includes the identifiers of one or more cells. These identifiers can be identifiers defined in 4G, 5G networks, or identifiers defined in future networks.

[0257] BSSID information includes one or more BSSIDs; Partial BSSID information includes one or more partial BSSIDs.

[0258] The location of a reference point must include at least one of the following parameters: longitude, latitude, or altitude. The accuracy requirements for the longitude, latitude, and altitude must also be specified.

[0259] The location area type refers to the type of the area to be located, which must include at least one of the following parameters: cuboid, sphere, cylinder, irregular shape, cone, rectangle, circle, sector, polygon, and torus.

[0260] The shape of the positioning region indicates the contour features of the sensing region. Different types of positioning regions have different shape descriptions. The shape of a cuboid can be represented by its length, width, and height, or by the positions of its eight vertices; the shape of a sphere is represented by its radius. A cylinder is represented by a combination of the radius and height of the circle; irregular shapes or polygons can be represented by the positions of each vertex; a sector is represented by a combination of its radius and included angle; and a torus is represented by the radius of its inner ring and the width of the ring.

[0261] The QoS requirements for a given location must include at least one of the following parameters: horizontal positioning accuracy, vertical positioning accuracy, horizontal velocity accuracy, vertical velocity accuracy, and latency requirements.

[0262] Latency requirements refer to the latency requirements for the response. They must include at least one of the following parameters: low latency, medium latency, high latency, 1ms, 5ms, 20ms, or 100ms.

[0263] The location information interval refers to the time interval between two adjacent locations of the reported UE, which cannot exceed this location interval. For example, if the location information interval is 1ms, it means that the time interval between two adjacent locations of the UE must be less than or equal to 1ms.

[0264] In this embodiment of the application, the LMF determines the location of the corresponding UE based on the parameters in the location request message.

[0265] LMF methods for determining the UE's location may include cellular network positioning, WLAN positioning, Bluetooth positioning, GNSS positioning, UWB positioning, and tag positioning.

[0266] The LMF either obtains the UE's location before receiving the location request message or initiates the UE location process for the location area after receiving the location request message.

[0267] LMF can determine which UEs are located in the location area by means of: determining based on the association of the UEs or by cooperating with other functions.

[0268] 6. The LMF sends a location information response message to the SF. The location information response message includes the location information of at least one UE. The location information of each UE includes at least one of the following parameters: UE identifier, UE location information, serving cell identifier, and access management function information.

[0269] The UE identifier indicates the UE's ID. The UE identifier can be SUPI, PEI, GPSI, IMSI, MAC Address, IP Address, or other identifiers. Other identifiers may include UE identifiers defined by future mobile communication networks such as 6G and 7G, or unique identification information configured for terminal devices in other fields. For example, in the context of drones, the terminal device identifier may include identifiers assigned by the Civil Aviation Administration of China, such as the drone registration number.

[0270] UE location information includes the location information of one or more UEs. The location information of each UE includes at least one of the following parameters: UE location, UE speed, UE movement direction, and timestamp.

[0271] UE location refers to the coordinates of the UE, which must include at least one of the following parameters: longitude, latitude, and altitude. The accuracy requirements for longitude, latitude, and altitude are also required.

[0272] The speed of a UE refers to the movement speed of the UE, and includes at least one of the following parameters: speed, horizontal speed, horizontal speed direction, vertical speed, and vertical speed direction.

[0273] The timestamp is used to indicate the moment when the UE's position and / or velocity were measured.

[0274] The serving cell identifier can be used to identify the cell identifier of the terminal device being served. The serving cell identifier can include identifiers defined by 4G, 5G networks or identifiers defined by future networks. For example, the 4G cell identifier can include ECGI, and the 5G cell identifier can include NCGI.

[0275] Access management function information may include functions or entities that provide access and / or mobility management for terminal devices. Access management function information may include at least one of the following: access management function identifier, access management function IP address, access management function port, and access management function MAC address.

[0276] In some application embodiments, in operation 6, the LMF actively sends a location response message to the SF.

[0277] 7: AF performs matching and fusion based on the acquired sensing data and positioning data. The matching rules of AF include at least one of the following: distance error threshold and velocity error threshold.

[0278] The error between the trajectory points of an object's movement obtained by sensing and the trajectory points of an object's movement obtained by positioning is less than the distance accuracy threshold, which can be used to match sensing data with positioning information.

[0279] The matching conditions between perceived data and positioning information can be limited by a ratio, which can be pre-configured, such as 90% or 95%. For example, if the distance error threshold is 1m and the ratio is configured to 95%, it means that the error should not exceed 1m when 95% of the points are matched.

[0280] Alternatively, the errors between the trajectory points of an object's movement obtained from perception and those obtained from localization can be matched proportionally to a speed error threshold.

[0281] The matching conditions between perceived data and positioning information can be limited by a certain percentage, which can be pre-configured, such as 90% or 95%. For example, if the speed error threshold is 1 m / s and the percentage is configured to be 90%, it means that the error does not exceed 1 m / s when 90% of the points are matched.

[0282] When multiple matching rules are specified, the location information and the sensed data need to satisfy multiple rules simultaneously.

[0283] Figure 18 is a schematic diagram of a perception and positioning fusion device provided in an embodiment of this application. This device can execute the perception and positioning fusion method provided in any embodiment of this application, and has the corresponding functional modules and beneficial effects of the method. This device can be implemented by software and / or hardware, and is generally applied to the first node. As shown in Figure 18, the device provided in this embodiment includes: a data acquisition module 601, used to acquire perception data and positioning data; and a fusion matching module 602, used to match the perception data and the positioning data to obtain perception and positioning fusion data.

[0284] In some application embodiments, the first node to which the device is applied includes at least one of the following: a base station, a sensing function, and an application function.

[0285] In some embodiments, the data acquisition module 601 includes a request unit for sending a sensing control request to at least one sensing device.

[0286] A sensing data unit is used to receive the sensing data fed back by the sensing device.

[0287] The positioning data unit is used to determine the characteristics of the sensing target based on the sensing data, and to determine the positioning data to the location management function based on the characteristics of the sensing target.

[0288] In some other embodiments, the perception control request in the data acquisition module 601 includes at least one of the following: perception service quality requirements, perception area, perception data reporting cycle, and perception area identifier.

[0289] In some embodiments, the positioning data unit within the data acquisition module 601 is used to: send a positioning request message to the location management function; and receive a positioning information response message sent by the location management function, wherein the positioning information response message includes the positioning data of at least one terminal device.

[0290] Based on the above application embodiments, the location request message includes at least one of the following: terminal list, location area, location service quality, location information interval, and location area identifier.

[0291] Based on the above-described embodiments, the location data includes at least one of the following: terminal device location, terminal device speed, terminal device movement direction, and timestamp.

[0292] Based on the above application embodiments, the positioning area indicates the location information of the terminal device requesting the positioning area, and the positioning area includes at least one of the following parameters: base station identification information, transmission and reception point identification information, cell identification information, basic service set identifier information, partial basic service set identifier information, reference point location, positioning area type, positioning area shape, and positioning area identifier.

[0293] Based on the above application embodiments, the location information response message includes at least one of the following parameters: terminal device identifier, terminal device location information, serving cell identifier, and access management function information.

[0294] Based on the above application embodiments, the location request message includes at least one of the following: a terminal list, a location area, location service quality information, a location information interval, and a location area identifier.

[0295] Location area identifier is the area identifier used to request location.

[0296] In some embodiments, the system may further include: a base station or SF sending a request message to an access management function or other function, the request message being used to request a list of terminals existing in a specific area, and the base station or SF sending the location request message based on the requested list of terminals.

[0297] The request message sent by the base station or SF to the access management function or other functions shall include at least one of the following information: area identifier, reference point identifier, reference point location, base station identifier information, transmission and reception point identifier information, cell identifier information, basic service set identifier information, partial basic service set identifier information, and terminal type.

[0298] Access management functions or other functions send a response message, which includes at least the following information: a list of terminals.

[0299] In some embodiments, the device further includes a capability opening module for opening up sensing capabilities to trusted third parties.

[0300] Based on the above application embodiments, the sensing capabilities opened in the capability opening module include at least one of the following: terminal identifier, sensing target type, sensing target features, and sensing target location information.

[0301] In some application embodiments, the data acquisition module 601 includes: a positioning data unit, used to acquire the positioning data reported by the terminal device or to determine the positioning data from the location management function.

[0302] The sensing data unit is used to acquire the sensing data reported by the terminal device or the sensing data obtained by the base station, wherein the sensing data is obtained based on the sensing control request of the sensing function.

[0303] In some embodiments, the sensing data unit is used to: send a location request message to the location management function; and receive a location information response message sent by the location management function, wherein the location information response message includes the location data of at least one terminal device.

[0304] In the above-mentioned application embodiments, the location data includes at least one of the following: terminal identifier, terminal location information, serving cell identifier, and access management function information.

[0305] In some application embodiments, it further includes: a fusion reporting module, used to report the sensing and positioning fusion data to the sensing function, wherein the sensing and positioning fusion data includes at least one of the following: terminal device identifier, base station identifier information, transmission and receiving point identifier information, cell identifier information, basic service set identifier information, partial basic service set identifier information, sensing target type, sensing target feature, and sensing target positioning information.

[0306] In some embodiments, the application also includes an identification request module, used to request identification information from the access and mobility management functions.

[0307] In some application embodiments, the request in the identification request module includes at least one of the following parameters: terminal device identification information, base station identification information, transmission and reception point identification information, cell identification information, basic service set identifier information, and partial basic service set identifier information.

[0308] In the above application embodiments, the sensing capabilities of the sensing function are open to trusted third parties.

[0309] In some application embodiments, the sensing function requests identification information from the access and mobility management functions.

[0310] In some embodiments, the data acquisition module 601 is further configured as: a capability acquisition unit, configured to acquire sensing data based on the sensing capabilities enabled by the sensing function; and a capability positioning unit, configured to acquire the positioning data.

[0311] Based on the above application embodiments, the capability positioning unit is used to: obtain the positioning data from the location management function; and obtain the positioning data reported by the terminal device.

[0312] In some application embodiments, the perception capability in the capability acquisition unit includes at least one of the following parameters: perception target type, perception target features, and perception target location information.

[0313] In some application embodiments, the fusion matching module 602 is used to: match the sensing data and the positioning data based on preset rules to obtain the sensing and positioning fusion data, wherein the preset rules include at least one of the following: distance error threshold and speed error threshold.

[0314] Figure 19 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device includes a processor 10 and a memory 11. The number of processors 10 in the electronic device can be one or more. Figure 19 shows one processor 10 as an example. The processor 10 and the memory 11 in the electronic device can be connected by a bus or other means. Figure 19 shows a connection via a bus as an example.

[0315] The memory 11, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the modules corresponding to the device in this embodiment (data acquisition module 601 and fusion matching module 602). The processor 10 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 11, thereby realizing the above-described perception and positioning fusion method.

[0316] The memory 11 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device. Furthermore, the memory 11 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 11 may include memory remotely located relative to the processor 10, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0317] This application embodiment also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a perception-localization fusion method. The method includes: acquiring perception data and localization data; and matching the perception data and localization data to obtain perception-localization fusion data.

[0318] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this application can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application can essentially be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the carrier aggregation method described in the various embodiments of this application.

[0319] It is worth noting that in the embodiments of the above-mentioned device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of this application.

[0320] Those skilled in the art will understand that all or some of the operations, apparatuses, or devices disclosed above can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0321] In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or operation may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. The corresponding software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

Claims

1. A perception-localization fusion method, applied to a first node, comprising: Acquire sensing data and positioning data; Perception and positioning fusion data is obtained by matching the perception data and the positioning data.

2. The method according to claim 1, wherein, The first node includes at least one of the following: a base station, a sensing function, and an application function.

3. The method according to claim 1, wherein, The first node includes a sensing function, and the acquisition of sensing data and positioning data includes: Send a sensing control request to at least one sensing device; Receive the sensing data fed back by the sensing device; The characteristics of the perceived target are determined based on the perceived data, and the location data is then determined by the location management function based on the perceived target characteristics.

4. The method according to claim 3, wherein, The perception control request includes at least one of the following: Sensing service quality requirements, sensing areas, sensing data reporting cycle, and sensing area identifiers.

5. The method according to claim 3, wherein, The step of determining the location data based on the perceived target features to the location management function includes: Send a location request message to the location management function; The location management function receives a location information response message, wherein the location information response message includes the location data of at least one terminal device.

6. The method according to claim 5, wherein, The location request message includes at least one of the following: terminal list, location area, location service quality, location information interval, and location area identifier.

7. The method according to claim 5, wherein, The location data includes at least one of the following: terminal device location, terminal device speed, terminal device movement direction, and timestamp.

8. The method according to claim 6, wherein, The location area indicates the location information of the terminal device requesting the location area, and the location area includes one of the following parameters: Base station identification information, transmission and reception point identification information, cell identification information, basic service set identifier information, partial basic service set identifier information, reference point location, positioning area type, and positioning area shape.

9. The method according to claim 5, wherein, The location information response message includes at least one of the following parameters: Terminal device identifier, terminal device location information, serving cell identifier, and access management function information.

10. The method according to claim 1, wherein, The first node includes sensing capabilities or a base station, and also includes: Open up perception capabilities to third-party trustees.

11. The method according to claim 10, wherein, The open sensing capabilities include at least one of the following: terminal identifier, sensing target type, sensing target characteristics, and sensing target location information.

12. The method according to claim 1, wherein, The first node includes a base station, and the acquisition of sensing data and positioning data includes: Obtain the location data reported by the terminal device or determine the location data from the location management function; The sensing data is obtained from the terminal device or the base station, wherein the sensing data is obtained based on the sensing control request of the sensing function.

13. The method according to claim 12, wherein, The location management function determines the location data, including: Send a location request message to the location management function; The location management function receives a location information response message, wherein the location information response message includes the location data of at least one terminal device.

14. The method according to claim 12 or 13, wherein, The location data includes at least one of the following: Terminal identifier, terminal location information, serving cell identifier, and access management function information.

15. The method according to claim 13, wherein, The location request message includes at least one of the following: Terminal list, location area, location service quality information, location information interval, and location area identifier.

16. The method according to claim 12, further comprising: The sensing and positioning fusion data is reported to the sensing function, wherein the sensing and positioning fusion data includes at least one of the following: Terminal device identifier, base station identifier information, transmission and receiving point identifier information, cell identifier information, basic service set identifier information, partial basic service set identifier information, sensing target type, sensing target characteristics, and sensing target location information.

17. The method of claim 12, further comprising: Request identification information from the access and mobility management functions.

18. The method according to claim 17, wherein, The request includes at least one of the following parameters: Terminal equipment identification information, base station identification information, transmission and receiving point identification information, cell identification information, basic service set identifier information, and partial basic service set identifier information.

19. The method according to claim 16, wherein, The sensing capabilities of the aforementioned sensing function are open to trusted third parties.

20. The method according to claim 16, wherein, The sensing function requests identification information from the access and mobility management functions.

21. The method according to claim 1, wherein, The first node includes application functions, and the acquisition of sensing data and positioning data includes: The sensing data is obtained based on the sensing capabilities enabled by the sensing function; Obtain the location data.

22. The method according to claim 21, wherein, The acquisition of the location data includes: Obtain the location data from the location management function; Obtain the location data reported by the terminal device.

23. The method according to claim 21, wherein, The sensing capability includes at least one of the following parameters: Perceive target type, perceive target characteristics, perceive target location information.

24. The method according to claim 1, wherein, The step of obtaining perception-location fusion data by matching the perception data and the positioning data includes: The sensing data and the positioning data are matched based on preset rules to obtain the sensing and positioning fusion data, wherein the preset rules include at least one of the following: Distance error threshold, speed error threshold.

25. An electronic device, comprising: At least one processor; The memory is configured to store at least one program. When the at least one program is executed by the at least one processor, the at least one processor implements the perception-localization fusion method as described in any one of claims 1-24.

26. A computer-readable storage medium storing at least one program, said at least one program being executed by at least one processor to implement the perception-localization fusion method as described in any one of claims 1-24.

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