Positioning method and apparatus, and storage medium

Abstract

The present disclosure relates to the technical field of communications, and provides a positioning method and apparatus, and a storage medium. The method is applied to a first function network element, and comprises: receiving first measurement information sent by a first communication device, the first measurement information being measurement information of a first signal, and the first signal being a signal obtained by a first Internet of Things device modulating an excitation signal; and determining the position of the first Internet of Things device on the basis of the first measurement information and the position of the first communication device. The solution of the present disclosure can implement positioning of a first Internet of Things device.

Description

Positioning methods, devices and storage media

[0001] This disclosure claims priority to Chinese Patent Application No. 202411194241.4, filed on August 28, 2024, entitled “Positioning Method, Apparatus and Storage Medium”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of communication technology, and in particular to a positioning method, apparatus and storage medium. Background Technology

[0003] Ambient IoT (A-IoT) devices are devices that can obtain energy from excitation electromagnetic signals emitted from the environment and operate under the power of that energy. A-IoT devices can operate completely without battery power, effectively solving the bottleneck problem in the development of low-power IoT and representing a key technology for the next generation of IoT development.

[0004] In scenarios such as factory, goods, archive, asset management, and warehouse storage, it is necessary to locate A-IoT devices and determine their positions. Therefore, there is an urgent need to provide a solution for locating A-IoT devices. Summary of the Invention

[0005] This disclosure provides a positioning method, apparatus, and storage medium for locating Internet of Things (IoT) devices.

[0006] Firstly, this disclosure provides a positioning method applied to a first functional network element, the method comprising:

[0007] Receive first measurement information sent by the first communication device, wherein the first measurement information is measurement information of the first signal, and the first signal is a signal obtained by the first Internet of Things device modulating the excitation signal;

[0008] The location of the first IoT device is determined based on the first measurement information and the location of the first communication device.

[0009] In some embodiments, the first measurement information includes at least one of the following:

[0010] First transmission time information is used to indicate the first transmission time of the first signal from the first IoT device to the first communication device;

[0011] The first carrier phase information is used to indicate the first carrier phase measurement quantity corresponding to the first signal;

[0012] First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device;

[0013] First distance information is used to indicate the first distance between the first IoT device and the first communication device.

[0014] In some embodiments, the first measurement information satisfies at least one of the following:

[0015] When the first measurement information includes first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time;

[0016] When the first measurement information includes first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement.

[0017] When the first measurement information includes first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival.

[0018] When the first measurement information includes first distance information, the first measurement information also includes first distance confidence information, which is used to indicate the confidence level of the first distance.

[0019] In some embodiments, determining the location of the first IoT device based on first measurement information and the location of the first communication device includes:

[0020] The device receives second measurement information sent by the first communication device. The second measurement information is measurement information of a second signal, which is a signal obtained by the second Internet of Things device modulating an excitation signal.

[0021] The location of the first IoT device is determined based on the first measurement information, the location of the first communication device, the second measurement information, and the location of the second IoT device.

[0022] In some embodiments, the second measurement information includes at least one of the following:

[0023] The second transmission time information is used to indicate the second transmission time of the second signal from the second IoT device to the first communication device;

[0024] The second carrier phase information is used to indicate the second carrier phase measurement quantity corresponding to the second signal;

[0025] The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device;

[0026] The second distance information is used to indicate the second distance between the second IoT device and the first communication device;

[0027] Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time;

[0028] Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement;

[0029] Differential distance information is used to indicate the difference between the first distance and the second distance.

[0030] In some embodiments, the second measurement information satisfies at least one of the following:

[0031] When the second measurement information includes second transmission time information, the second measurement information also includes second time confidence information, which is used to indicate the confidence level of the second transmission time;

[0032] When the second measurement information includes second carrier phase information, the second measurement information also includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement.

[0033] When the second measurement information includes second angle information, the second measurement information also includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival;

[0034] When the second measurement information includes second distance information, the second measurement information also includes second distance confidence information, which is used to indicate the confidence level of the second distance.

[0035] In some embodiments, the method further includes:

[0036] Receive a location request sent by a second communication device;

[0037] Based on the location request, excitation signal configuration information is sent to the first communication device and the second communication device. The excitation signal configuration information is used to configure the excitation signal, which is the signal sent by the second communication device to the first IoT device.

[0038] In some embodiments, the excitation signal includes multiple frequency sub-excitation signals, and the first signal includes a signal obtained by the first Internet of Things device modulating each of the multiple frequency sub-excitation signals.

[0039] In some embodiments, the method further includes:

[0040] The second IoT device is determined based on the location of the second communication device;

[0041] The excitation signal is the signal sent by the second communication device to the second IoT device.

[0042] In some embodiments, the excitation signal configuration information includes:

[0043] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0044] And / or,

[0045] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0046] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0047] Secondly, this disclosure provides a positioning method applied to a first communication device, the method comprising:

[0048] Receive a first signal sent by a first IoT device, wherein the first signal is a signal obtained by the first IoT device modulating an excitation signal;

[0049] Acquire the first measurement information of the first signal;

[0050] Send first measurement information to the first functional network element. The first measurement information is used to locate the first Internet of Things device.

[0051] In some embodiments, acquiring first measurement information of the first signal includes:

[0052] The first signal is measured based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device, and / or the first carrier phase measurement quantity corresponding to the first signal;

[0053] First measurement information is obtained based on the first transmission time and / or the first carrier phase measurement.

[0054] In some embodiments, the first measurement information includes at least one of the following:

[0055] First transmission time information, used to indicate the first transmission time;

[0056] First carrier phase information, used to indicate the first carrier phase measurement;

[0057] First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device;

[0058] First distance information is used to indicate the first distance between the first IoT device and the first communication device.

[0059] In some embodiments, the first measurement information satisfies at least one of the following:

[0060] When the first measurement information includes first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time;

[0061] When the first measurement information includes first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement.

[0062] When the first measurement information includes first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival.

[0063] When the first measurement information includes first distance information, the first measurement information also includes first distance confidence information, which is used to indicate the confidence level of the first distance.

[0064] In some embodiments, the method further includes:

[0065] Receive a second signal sent by a second IoT device, wherein the second signal is a signal obtained by the second IoT device modulating an excitation signal;

[0066] Acquire the second measurement information of the second signal;

[0067] Send second measurement information to the first functional network element. The first and second measurement information are used to locate the first Internet of Things device.

[0068] In some embodiments, acquiring second measurement information of the second signal includes:

[0069] The second signal is measured based on the excitation signal configuration information to obtain the second transmission time of the second signal from the second IoT device to the first communication device, and / or the second carrier phase measurement quantity corresponding to the second signal;

[0070] Second measurement information is obtained based on the second transmission time and / or the second carrier phase measurement.

[0071] In some embodiments, the second measurement information includes at least one of the following:

[0072] The second transmission time information is used to indicate the second transmission time;

[0073] Second carrier phase information is used to indicate the second carrier phase measurement;

[0074] The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device;

[0075] The second distance information is used to indicate the second distance between the second IoT device and the first communication device;

[0076] Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time;

[0077] Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement;

[0078] Differential distance information is used to indicate the difference between the first distance and the second distance.

[0079] In some embodiments, the second measurement information satisfies at least one of the following:

[0080] When the second measurement information includes second transmission time information, the second measurement information also includes second time confidence information, which is used to indicate the confidence level of the second transmission time;

[0081] When the second measurement information includes second carrier phase information, the second measurement information also includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement.

[0082] When the second measurement information includes second angle information, the second measurement information also includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival;

[0083] When the second measurement information includes second distance information, the second measurement information also includes second distance confidence information, which is used to indicate the confidence level of the second distance.

[0084] In some embodiments, the method further includes:

[0085] The device receives excitation signal configuration information sent by the first functional network element. The excitation signal configuration information is used to configure the excitation signal, which is a signal sent by the second communication device to the first IoT device.

[0086] In some embodiments, the excitation signal includes multiple frequency sub-excitation signals, and the first signal includes a signal obtained by the first Internet of Things device modulating each of the multiple frequency sub-excitation signals.

[0087] In some embodiments, the excitation signal is a signal sent by the second communication device to the second Internet of Things device.

[0088] In some embodiments, the excitation signal configuration information includes:

[0089] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0090] And / or,

[0091] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0092] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0093] Thirdly, this disclosure provides a positioning method applied to a second communication device, the method comprising:

[0094] Send a location request to the first functional network element;

[0095] Receive excitation signal configuration information sent by the first functional network element; the excitation signal configuration information is used to configure the excitation signal.

[0096] Send an excitation signal to the first IoT device.

[0097] In some embodiments, the method further includes:

[0098] Based on the excitation signal configuration information, an excitation signal is sent to the second IoT device.

[0099] In some embodiments, the excitation signal configuration information includes:

[0100] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0101] And / or,

[0102] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0103] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0104] Fourthly, this disclosure provides a positioning device applied to a first functional network element, the device comprising:

[0105] The first receiving module is used to receive first measurement information sent by the first communication device. The first measurement information is measurement information of a first signal, and the first signal is a signal obtained by the first Internet of Things device modulating an excitation signal.

[0106] The determination module is used to determine the location of the first Internet of Things device based on the first measurement information and the location of the first communication device.

[0107] Fifthly, this disclosure provides a positioning device applied to a first communication device, the device comprising:

[0108] The second receiving module is used to receive a first signal sent by the first IoT device, wherein the first signal is a signal obtained by the first IoT device modulating an excitation signal;

[0109] The acquisition module is used to acquire the first measurement information of the first signal;

[0110] The first transmitting module is used to transmit first measurement information to the first functional network element, and the first measurement information is used to locate the first Internet of Things device.

[0111] Sixthly, this disclosure provides a positioning device for use in a second communication device, the device comprising:

[0112] The second sending module is used to send a location request to the first functional network element;

[0113] The third receiving module is used to receive the excitation signal configuration information sent by the first functional network element. The excitation signal configuration information is used to configure the excitation signal.

[0114] The third transmitting module is used to send excitation signals to the first IoT device.

[0115] In a seventh aspect, this disclosure provides a positioning device, including: a memory, a transceiver, and a processor.

[0116] A memory for storing computer programs; a transceiver for sending and receiving data under the control of a processor; and a processor for reading the computer programs from the memory and executing the method described in any of the first aspects.

[0117] Eighthly, this disclosure provides a positioning device, including: a memory, a transceiver, and a processor.

[0118] A memory for storing computer programs; a transceiver for sending and receiving data under the control of a processor; and a processor for reading the computer programs from the memory and executing the method described in any of the second aspects.

[0119] Ninthly, this disclosure provides a positioning device, including: a memory, a transceiver, and a processor.

[0120] A memory for storing computer programs; a transceiver for sending and receiving data under the control of a processor; and a processor for reading the computer programs from the memory and executing the method described in any of the third aspects.

[0121] In a tenth aspect, this disclosure provides a non-transitory readable storage medium storing a computer program for causing a processor to perform the method described in any one of the first to third aspects.

[0122] The positioning method, apparatus, and storage medium disclosed herein involve a first functional network element receiving first measurement information sent by a first communication device, and then determining the location of a first IoT device based on the first measurement information and the location of the first communication device. When positioning the first IoT device is required, since the first IoT device lacks the ability to generate signals, an excitation signal can be sent to the first IoT device. The first IoT device modulates the excitation signal to obtain a first signal, which is then sent to the first communication device. Upon receiving the first signal, the first communication device processes it to obtain first measurement information. Based on the first measurement information and the location of the first communication device, the first functional network element can achieve positioning of the first IoT device. Attached Figure Description

[0123] Figure 1 is a schematic diagram of an applicable application scenario provided by an embodiment of this disclosure;

[0124] Figure 2 is a flowchart of the positioning method provided in an embodiment of this disclosure;

[0125] Figure 3 is a schematic diagram of determining the location of a first Internet of Things device according to an embodiment of this disclosure;

[0126] Figure 4 is a schematic diagram (2) illustrating the determination of the location of the first Internet of Things (IoT) device according to an embodiment of this disclosure;

[0127] Figure 5 is a signaling diagram of the positioning method provided in the embodiments of this disclosure;

[0128] Figure 6 is a schematic diagram of ranging based on integer ambiguity and carrier phase measurement provided in an embodiment of this disclosure;

[0129] Figure 7 is a schematic diagram of a suitable application scenario provided by an embodiment of this disclosure;

[0130] Figure 8 is a signaling diagram of the positioning method provided in the embodiments of this disclosure;

[0131] Figure 9 is a schematic diagram of the clock error elimination using dual differential processing provided in an embodiment of this disclosure;

[0132] Figure 10 is a schematic diagram of the positioning device provided in an embodiment of this disclosure;

[0133] Figure 11 is a second structural schematic diagram of the positioning device provided in an embodiment of this disclosure;

[0134] Figure 12 is a schematic diagram of the positioning device provided in an embodiment of this disclosure.

[0135] Figure 13 is a schematic diagram of the positioning device provided in an embodiment of this disclosure;

[0136] Figure 14 is a schematic diagram of the positioning device provided in an embodiment of this disclosure.

[0137] Figure 15 is a schematic diagram of the positioning device provided in an embodiment of this disclosure. Detailed Implementation

[0138] In this disclosure, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0139] In this disclosure, the term "at least one" refers to one or more, "multiple" refers to two or more, and other quantifiers are similar.

[0140] The terms "first," "second," etc., used in the embodiments of this disclosure are for illustrative purposes and to distinguish the objects being described. They do not indicate any order and do not imply any particular limitation on the number of objects in the embodiments of this disclosure. They do not constitute any limitation on the embodiments of this disclosure.

[0141] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0142] This disclosure provides a positioning method, apparatus, and storage medium. A first Internet of Things (IoT) device receives an excitation signal and, based on the excitation signal, backscatters or reflects a first signal to a first communication device. The first communication device then reports the first measurement information of the first signal to a first functional network element, thereby achieving positioning of the first IoT device based on the first measurement information and the location of the first communication device.

[0143] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0144] The technical solutions provided in this disclosure are applicable to a variety of systems, especially 5G systems. For example, applicable systems may include Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Long Term Evolution Advanced (LTE-A), Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), and 5G New Radio (NR). All of these systems include terminal equipment and network equipment. The systems may also include a core network component, such as Evolved Packet System (EPS) or 5G system (5GS). These systems may use NTN technology to provide cellular coverage, but this disclosure does not limit this.

[0145] The terminal devices involved in the embodiments of this disclosure can be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of the terminal devices may differ in different systems; for example, in a 5G system, a terminal device can be called User Equipment (UE). Wireless terminal devices can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, for example, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the RAN. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but is not limited to these terms in the embodiments disclosed herein.

[0146] The network device disclosed in this embodiment may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, the base station may also be called an access point, or a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device may be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network equipment involved in this disclosure can be a base transceiver station (BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA) system, a NodeB in a wide-band Code Division Multiple Access (WCDMA) system, an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in this disclosure. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may be geographically separated.

[0147] With the booming development of IoT technology, the power supply, battery life and maintenance of IoT devices have become important reasons hindering the massive connection and ultra-large-scale development of IoT. Therefore, IoT technology needs to introduce devices without batteries or energy storage capabilities, or devices with energy storage capabilities but without the need for manual battery replacement or charging.

[0148] Among related technologies, low-complexity tag identification can be achieved through barcodes or radio frequency identification (RFID) technology. However, RFID technology suffers from severe interference and limited capacity in high-density deployment scenarios, which limits its application scenarios.

[0149] Based on this, a new type of Internet of Things (IoT) device has been introduced, namely the A-IoT device. An A-IoT device is a device without batteries or energy storage capacity, or a device with energy storage capacity that does not require manual replacement or charging. It can receive excitation electromagnetic signals emitted in the environment to obtain energy and operate under the drive of energy.

[0150] In scenarios such as factory, goods, archive, asset management, and warehouse storage, it is necessary to locate A-IoT devices and determine their positions. Therefore, this disclosure provides a positioning method to locate A-IoT devices. The solution of this disclosure embodiment will be described below with reference to the accompanying drawings.

[0151] First, an applicable application scenario of the present disclosure embodiment will be introduced with reference to Figure 1.

[0152] Figure 1 is a schematic diagram of an applicable application scenario provided by an embodiment of the present disclosure. As shown in Figure 1, it includes a Location Management Function (LMF) network element 11, a first communication device 12, an A-IoT device 13, and a second communication device 14.

[0153] In the example in Figure 1, A-IoT device 13 is an IoT device to be located. A-IoT device 13 does not have the ability to generate signals independently. It needs to receive external excitation signals (signal S1 in Figure 1), modulate the excitation signals to obtain modulated signals (signal S2 in Figure 1), and then transmit the modulated signals by backscattering or reflection.

[0154] In A-IoT-based systems, four different network topologies can be included, which will be described below.

[0155] The first network topology includes A-IoT devices and network devices, which can communicate directly in both directions.

[0156] The second network topology includes A-IoT devices and terminals, which can communicate directly in both directions.

[0157] The third network topology includes A-IoT devices, relay devices, and network devices. In one implementation, the A-IoT devices communicate uplink with the network devices via relay devices, while the A-IoT devices can directly communicate downlink with the network devices. In another implementation, the A-IoT devices communicate downlink with the network devices via relay devices, while the A-IoT devices can directly communicate uplink with the network devices.

[0158] The fourth network topology includes A-IoT devices, relay devices, and network devices. Network devices and relay devices are bidirectionally connected, and bidirectional communication between network devices and A-IoT devices is achieved through relay devices.

[0159] Since the positioning process requires the A-IoT device 13 to backscatter or reflect the excitation signal, the applicable network topology in this embodiment may include a first network topology and a second network topology.

[0160] The second communication device 14 can be a terminal or a network device (as shown in Figure 1, network device C or terminal D), and is the transmitting device for signal S1. When the second communication device 14 is network device C, the network topology between the second communication device 14 and the A-IoT device 13 is the first network topology; when the second communication device 14 is terminal D, the network topology between the second communication device 14 and the A-IoT device 13 is the second network topology.

[0161] The first communication device 12 can be a terminal or a network device (as shown in Figure 1, network device A or terminal B), and the first communication device 12 is the receiving device for signal S2. When the first communication device 12 is network device A, the network topology between the first communication device 12 and the A-IoT device 13 is the first network topology; when the first communication device 12 is terminal B, the network topology between the first communication device 12 and the A-IoT device 13 is the second network topology.

[0162] The second communication device 14 sends signal S1 to the A-IoT device 13. After receiving signal S1, the A-IoT device 13 modulates signal S1 to obtain signal S2, and sends signal S2 to the first communication device 12. Then, the first communication device 12 obtains the corresponding measurement information based on signal S2, and reports the measurement information of signal S2 to the LMF network element 11. The LMF network element 11 determines the location of the A-IoT device 13 based on the measurement information of signal S2 and the location of the first communication device 12.

[0163] In some scenarios, configuration information (such as excitation signal configuration information) needs to be transmitted between LMF network element 11 and the first communication device 12, and between LMF network element 11 and the second communication device 14. Taking the transmission of configuration information between LMF network element 11 and the first communication device 12 as an example, LMF network element 11 can directly send configuration information to the first communication device 12, or it can send configuration information to the first communication device 12 through other network devices.

[0164] In the scenario where LMF network element 11 directly sends configuration information to the first communication device 12, if the first communication device 12 is a network device, the LMF network element 11 and the first communication device 12 can transmit configuration information via NR Positioning Protocol A (NRPPa); if the first communication device 12 is a terminal, the LMF network element 11 and the first communication device 12 can transmit configuration information via LTE Positioning Protocol (LPP). Other dedicated protocols can also be used for configuration information transmission between the LMF network element 11 and the first communication device 12, and this embodiment does not limit the scope of such transmission.

[0165] In the scenario where LMF network element 11 sends configuration information to the first communication device 12 through other network devices, if the first communication device 12 is a network device, after LMF network element 11 sends configuration information to other network devices, the other network devices and the first communication device 12 transmit configuration information through the X2 interface; if the first communication device 12 is a terminal, after LMF network element 11 sends configuration information to other network devices, the other network devices can carry the configuration information through Radio Resource Control (RRC) signaling, thereby sending the configuration information to the first communication device 12.

[0166] The above embodiments have described an applicable application scenario of the present disclosure. The following describes the solution of the present disclosure embodiment in conjunction with Figure 2, based on the application scenario illustrated in Figure 1.

[0167] Figure 2 is a flowchart of the positioning method provided in an embodiment of this disclosure. The method is applied to a first functional network element. As shown in Figure 2, the method includes:

[0168] S21. Receive first measurement information sent by the first communication device, wherein the first measurement information is measurement information of the first signal, and the first signal is a signal obtained by the first Internet of Things device modulating the excitation signal.

[0169] The first IoT device is the IoT device to be located, such as the A-IoT device 13 in Figure 1. Since the first IoT device does not have the ability to generate signals independently, when it needs to be located, a second communication device can send an excitation signal (e.g., signal S1 in Figure 1) to the first IoT device. After receiving the excitation signal, the first IoT device can modulate it, and the modulation method can include, for example, frequency modulation, amplitude modulation, or phase modulation. After the first IoT device modulates the excitation signal, it obtains a first signal (e.g., signal S2 in Figure 1), and then the first IoT device sends the first signal to the first communication device.

[0170] The process of a first IoT device sending a first signal to a first communication device can be achieved by sending the first signal through reflection or by backscattering. In this embodiment, the number of first communication devices can be one or more. Any communication device within the signal coverage area of ​​the first IoT device can receive the first signal sent by the first IoT device. The first functional network element can designate all communication devices within the signal coverage area of ​​the first IoT device that receive the first signal as first communication devices, or it can select a subset of these devices. Optionally, the first functional network element determines the first communication device based on the distance between each communication device receiving the first signal and the second communication device. For example, the communication device with the smaller distance to the second communication device can be designated as the first communication device. Optionally, the first functional network element determines the communication device with the larger power-related parameters of the received first signal as the first communication device. The power-related parameters of the first signal may include, for example, the Reference Signal Receiving Power (RSRP), the Received Signal Strength Indicator (RSSI), the Signal-to-Noise Ratio (SNR), the Signal-to-Interference-plus-Noise Ratio (SINR), and so on.

[0171] After receiving the first signal, the first communication device processes the first signal to obtain first measurement information. The first measurement information may include information related to a first distance between the first communication device and the first IoT device. For example, the first communication device processes the first signal to obtain a first transmission time from the first IoT device to the first communication device; combining the first transmission time and the speed of light, the first distance between the first communication device and the first IoT device can be determined. The first measurement information may also include information related to a first angle of arrival of the first signal from the first IoT device to the first communication device; based on the first measurement information, the first angle of arrival of the first signal from the first IoT device to the first communication device can be determined.

[0172] After receiving the first measurement information, the first communication device sends the first measurement information to the first functional network element, which in turn receives the first measurement information. The first functional network element is a network element for locating the first IoT device. For example, the first functional network element can be the LMF network element 11 shown in Figure 1, or a location management server, etc.

[0173] S22. Based on the first measurement information and the location of the first communication device, determine the location of the first Internet of Things device.

[0174] Since the first measurement information includes information related to the first distance between the first communication device and the first IoT device, the first functional network element can obtain the first distance between the first communication device and the first IoT device based on the first measurement information after receiving it.

[0175] If the first measurement information also includes information related to the first angle of arrival of the first signal from the first IoT device to the first communication device, the first functional network element can obtain the first angle of arrival from the first IoT device to the first communication device based on the first measurement information after receiving the first measurement information.

[0176] Since the location of the first communication device is known, after determining the first distance based on the first measurement information, the location of the first IoT device can be determined by combining the location of the first communication device and the first distance. If the first angle of arrival can be determined based on the first measurement information, the location of the first IoT device can be determined based on the location of the first communication device, the first distance, and the first angle of arrival.

[0177] This process can be understood by referring to Figures 3 and 4.

[0178] Figure 3 is a schematic diagram of determining the location of the first Internet of Things device according to an embodiment of this disclosure. As shown in Figure 3, the explanation is based on the example of one first communication device.

[0179] If the number of first communication devices is 1, i.e. device A in the example of Figure 3, and device A is located at point O1, then based on the first measurement information reported by device A, the distance d1 between device A and the first IoT device can be determined, and thus it can be determined that the first IoT device is located on a circle with point O1 as the center and d1 as the radius.

[0180] In this scenario, the first measurement information also needs to include information related to the first angle of arrival of the first signal from the first IoT device to the first communication device in order to locate the first IoT device. As shown in Figure 3, the first functional network element determines the first angle of arrival based on the first measurement information. After determining the first angle of arrival, the angle α1 can be obtained. Based on the angle α1, the position of the first IoT device can be determined on a circle with device A as the center and d1 as the radius.

[0181] Figure 4 is a schematic diagram of determining the location of the first Internet of Things device according to an embodiment of this disclosure. As shown in Figure 4, the following explanation is given with two first communication devices as an example.

[0182] As shown in Figure 4, taking two first communication devices as an example, these two devices are device A and device B, with device A located at point O1 and device B located at point O2. Based on the first measurement information reported by device A, the distance d1 between device A and the first IoT device can be determined, thus determining that the first IoT device is located on a circle with device A as the center and d1 as the radius. Based on the first measurement information reported by device B, the distance d2 between device B and the first IoT device can be determined, thus determining that the first IoT device is located on a circle with device B as the center and d2 as the radius. Then, the first functional network element can determine the intersection of these two circles as the location of the first IoT device.

[0183] If the first arrival angle α from the first IoT device to device A can be determined based on the first measurement information reported by device A, and the first arrival angle β from the first IoT device to device B can be determined based on the first measurement information reported by device B, then the first functional network element can determine a position on a circle with device A as the center and d1 as the radius based on the first arrival angle α, and determine a position on a circle with device B as the center and d2 as the radius based on the first arrival angle β. Then, the position of the first IoT device can be determined based on these two positions, and so on.

[0184] The positioning method provided in this embodiment involves a first functional network element receiving first measurement information sent by a first communication device, and then determining the location of a first Internet of Things (IoT) device based on the first measurement information and the location of the first communication device. When positioning the first IoT device is required, since the first IoT device lacks the ability to generate signals, an excitation signal can be sent to the first IoT device. The first IoT device modulates the excitation signal to obtain a first signal, which is then sent to the first communication device. Upon receiving the first signal, the first communication device processes it to obtain first measurement information. Based on the first measurement information and the location of the first communication device, the first functional network element can achieve positioning of the first IoT device.

[0185] Based on any of the above embodiments, the solutions of the present disclosure embodiments will be further described below with reference to the accompanying drawings.

[0186] In one possible implementation, the first and second communication devices have already achieved high-precision clock synchronization. If there are multiple first communication devices, and all of them are network devices, then the high-precision clock synchronization among the multiple first communication devices can be achieved by sharing the same clock source, through fiber optic synchronization, etc. If there are multiple first communication devices, and these devices include network devices and terminals, then synchronization between network devices and terminals, and between terminals themselves, needs to be performed over the air interface.

[0187] If the first and second communication devices have achieved high-precision clock synchronization, there is no clock deviation during the positioning process. In this scenario, the solution of this embodiment will be further described with reference to Figure 5.

[0188] Figure 5 is a signaling diagram of the positioning method provided in this embodiment of the present disclosure. As shown in Figure 5, it includes:

[0189] S51, the second communication device sends a location request to the first functional network element.

[0190] When the first IoT device has a location requirement, the second communication device sends a location request to the first functional network element. The location request is used to request the location of the first IoT device, and the first functional network element receives the location request accordingly.

[0191] S52, the first functional network element sends excitation signal configuration information to the first communication device and the second communication device based on the positioning request. The excitation signal configuration information is used to configure the excitation signal.

[0192] Upon receiving a location request, the first functional network element can determine that the first IoT device needs to be located. Since the first IoT device does not have the ability to generate signals independently and needs to rely on backscattered or reflected signals from an excitation signal, the first functional network element can configure or generate excitation signal configuration information, which is used to configure the excitation signal.

[0193] In this embodiment of the disclosure, the excitation signal is a reference signal that can be used for IoT device positioning. For example, it may include downlink time difference of arrival (DL-TDOA) or uplink time difference of arrival (UL-TDOA) positioning reference signals, such as positioning reference signal (PRS), channel state indication reference signal (CSI-RS), sounding reference signal (SRS), etc. Any reference signal that can be used for IoT device positioning can be used as an excitation signal.

[0194] S53, the second communication device sends an excitation signal to the first IoT device.

[0195] Excitation signal configuration information is used to configure the excitation signal. The excitation signal configuration information can be used to indicate one or more of the following information: amplitude, phase, frequency, wavelength, etc.

[0196] Taking a single-carrier excitation signal as an example, the excitation signal can be expressed in the form of the following equation (1):

[0197] Where s(t) is the excitation signal, t is time, and A in f is the amplitude of the excitation signal. c φ is the frequency (i.e., the frequency point) of the excitation signal. in This represents the initial phase deviation of the excitation signal.

[0198] Excitation signal configuration information can be used to indicate A in f c φ in The second communication device is configured based on the excitation signal configuration information indicated by A. in f c φ in The excitation signal s(t) can be determined and sent to the first IoT device.

[0199] S54, the first IoT device modulates the excitation signal to obtain the first signal.

[0200] The first IoT device can modulate the excitation signal using any of the following methods: amplitude modulation, frequency modulation, or phase modulation. Optionally, the first IoT device can modulate the excitation signal based on a reference signal sequence.

[0201] With excitation signal as For example, if the second communication device sends an excitation signal s(t) to the first IoT device, then the signal received by the first IoT device is y. in (t), y in (t) can be expressed in the form of the following equation (2):

[0202] Where h1 is the attenuation caused by the channel, t is time, and A in f is the amplitude of the excitation signal. c φ is the frequency (i.e., the frequency point) of the excitation signal. in The initial phase deviation of the excitation signal is τ1, the time delay of the excitation signal from the transmitting antenna of the second communication device to the receiving antenna of the first IoT device via wireless transmission is w1, and the complex Gaussian receiving noise of the first IoT device is also known as the receiving thermal noise of the first IoT device.

[0203] If the reference signal sequence is {1,0,1,0,1,0}, and taking amplitude modulation as an example, then for y in (t) Amplitude modulation can be performed to obtain the first signal y. out (t), where the six values ​​in the reference signal sequence {1,0,1,0,1,0} correspond to six different times, namely t=1, t=2, t=3, t=4, t=5, and t=6. Correspondingly, the first signal backscattered or reflected by the first IoT device at these six different times is y. out (1), y out (2), y out (3), y out (4), y out (5), y out (6). Since the values ​​of the reference signal sequence at times t=2, t=4, and t=6 are 0, the reference signal sequence is used to determine the values ​​of y. in (t) can be modulated to obtain y out (2)=y out (4)=y out (6) = 0, and for the three times t = 1, t = 3, and t = 5, the first signal y out (t) satisfies the following equation (3):

[0204] Among them, A out-on The first IoT device modulates and maps the reference signal sequence to the amplitude value of the first signal, φ. scatter This could be a phase shift caused by reflection or a non-ideal phase caused by the transmitting circuit in the first IoT device.

[0205] Taking t=1 as an example, substituting t=1 into equation (3) above, we can obtain the first signal at time t=1. The calculation method for the first signal at t=3 and t=5 is the same, and will not be repeated here.

[0206] S55, the first IoT device sends a first signal to the first communication device.

[0207] After receiving the first signal, the first IoT device can send the first signal to the first communication device through backscattering or reflection, and the first communication device will receive the first signal accordingly.

[0208] S56, the first communication device measures the first signal based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device, and / or the first carrier phase measurement quantity corresponding to the first signal.

[0209] For the first transmission time, the first communication device can perform autocorrelation between the first signal and the reference signal sequence, and obtain the first transmission time from the autocorrelation result. The first communication device can also obtain the start time of the backscattering or reflection of the first signal by the first IoT device, as well as the reception time of receiving the first signal, and determine the time difference between the start time and the reception time as the first transmission time.

[0210] For the first carrier phase measurement, the first communication device can perform down-conversion processing on the first signal to obtain the channel response signal of the first signal, and then determine the phase value of the channel response signal as the first carrier phase measurement.

[0211] Specifically, based on the above equation (3), the first signal r(t) received by the first communication device can be determined as:

[0212] w2 is the sum of the received thermal noise of the first communication device and the received thermal noise w1 of the first Internet of Things device.

[0213] It should be noted that, since equation (3) above represents the first signal y backscattered or reflected by the first IoT device at the three times t=1, t=3, and t=5, outTherefore, equation (4) represents the first signal r(t) received by the first communication device at times t=1, t=3, and t=5. Since y... out Since r(t) = 0, r(t) = 0 at the three times t = 2, t = 4, and t = 6.

[0214] Then, the first communication device generates a local signal s based on the excitation signal configuration information. L (t):

[0215] Where t is time, A L φ represents the amplitude of the local signal. L f represents the phase of the local signal. c The frequency of the excitation signal is also the frequency of the local signal.

[0216] The first communication device performs down-conversion processing on r(t). Specifically, without considering the interference signal received by the first communication device, r(t) and s... L Multiplying the conjugates of (t) yields the channel response signal r of the first signal. B :

[0217] Based on equation (6), the first carrier phase measurement φ (i.e., the phase difference between the first signal transmitted by the first IoT device and the first signal received by the first communication device) can be obtained as: φ = angle(r B ) = mod(-2πf c 2τ1+φ in +φ scatter -φ L +φ w ,2*π) (7)

[0218] Where, φ w The phase of w2.

[0219] S57, the first communication device acquires first measurement information based on the first transmission time and / or the first carrier phase measurement.

[0220] Optionally, the first measurement information includes at least one of the following 1.1 to 1.4:

[0221] 1.1 First transmission time information, used to indicate the first transmission time of the first signal from the first IoT device to the first communication device.

[0222] After the first communication device determines the first transmission time, it can send the first transmission time information to the first functional network element. The first transmission time information is carried in the first measurement information. After receiving the first transmission time information, the first functional network element can determine the first transmission time.

[0223] If the excitation signal is a single-frequency excitation signal, then for any first communication device, the first communication device can obtain the first transmission time of the first signal from the first IoT device r to the first communication device i based on the single-frequency excitation signal.

[0224] If the excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. K Let K be the total number of transmission frequencies of the excitation signal, and K is a positive integer. Then, for any first communication device i, based on the sub-excitation signals at multiple frequencies, the first communication device i can obtain the first transmission time of the first signal from the first IoT device to the first communication device i. This first transmission time includes the first transmission time corresponding to each of the K frequencies, denoted as follows:

[0225] Optionally, if the first measurement information includes first transmission time information, the first measurement information may further include first time confidence information, which is used to indicate the confidence level of the first transmission time.

[0226] Confidence level indicates the range of credibility of the corresponding parameter, that is, the interval in which the corresponding parameter falls. For the confidence level of the first transmission time, it indicates the interval in which the first transmission time falls.

[0227] The confidence level of the first transmission time can be obtained by measuring the first transmission time multiple times. Each measurement process can be described in S51 to S56. Specifically, the second communication device sends an excitation signal to the first IoT device multiple times. The first IoT device then modulates the excitation signal multiple times to obtain a corresponding first signal, and sends the first signal back to the first communication device multiple times. The first communication device processes the first signal to obtain the first transmission time. Multiple first transmission times can be obtained during these multiple measurements, and the confidence level of the first transmission time can be obtained by combining these multiple first transmission times.

[0228] For example, if a total of 10 measurement processes are performed, resulting in 10 first transmission times, and these 10 first transmission times are all distributed around 10s, with a maximum value not exceeding 12s and a minimum value not less than 8s, then the confidence level of the first transmission time can be determined to be 10s ± 2s.

[0229] Optionally, if the excitation signal includes sub-excitation signals at multiple frequency points, the first time confidence information is used to indicate the confidence of the first transmission time corresponding to each frequency point.

[0230] 1.2 First carrier phase information, used to indicate the first carrier phase measurement quantity corresponding to the first signal.

[0231] After the first communication device determines the first carrier phase measurement, it can send the first carrier phase information to the first functional network element. The first carrier phase information is carried in the first measurement information. After receiving the first carrier phase information, the first functional network element can determine the first carrier phase measurement.

[0232] If the excitation signal is a single-frequency excitation signal, then for any first communication device i, the first communication device can obtain the first carrier phase measurement corresponding to the first signal based on the single-frequency excitation signal.

[0233] If the excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. K Let K be the total number of transmission frequencies of the excitation signal, and K is a positive integer. Then, for any first communication device i, based on the sub-excitation signals at multiple frequencies, the first communication device i can obtain the first carrier phase measurement corresponding to the first signal. This first carrier phase measurement includes the first carrier phase measurements corresponding to each of the K frequency points, denoted as follows:

[0234] Optionally, if the first measurement information includes first carrier phase information, the first measurement information may further include first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement.

[0235] The confidence level of the first carrier phase measurement indicates the interval in which the first carrier phase measurement falls. The confidence level of the first carrier phase measurement can be obtained by measuring the first carrier phase measurement multiple times. For details of each measurement process, please refer to the relevant descriptions in S51 to S56.

[0236] For example, if a total of 10 measurement processes are performed, resulting in 10 first carrier phase measurements, and these 10 first carrier phase measurements are all distributed around 15 degrees, with a maximum value not exceeding 17 degrees and a minimum value not less than 13 degrees, then the confidence level of the first carrier phase measurement can be determined to be 15 degrees ± 2 degrees.

[0237] Optionally, if the excitation signal includes sub-excitation signals at multiple frequency points, the first carrier phase position confidence information is used to indicate the confidence level of the first carrier phase measurement corresponding to each frequency point.

[0238] 1.3 First angle information, used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device.

[0239] If the first communication device has a multi-antenna array, when the first communication device receives the first signal, it can obtain the first angle of arrival of the first signal from the first IoT device to the first communication device. The first angle of arrival may include, for example, the azimuth of arrival (AOA) and / or the zenith of arrival (ZOA) of the first signal from the first IoT device to the first communication device.

[0240] After the first communication device determines the first angle of arrival, it can send the first angle information to the first functional network element. The first angle information is carried in the first measurement information. After receiving the first angle information, the first functional network element can determine the first angle of arrival.

[0241] If the excitation signal is a single-frequency excitation signal, then for any first communication device, the first communication device can obtain the first arrival angle of the first signal from the first IoT device to the first communication device based on the single-frequency excitation signal.

[0242] If the excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. K K is the total number of transmission frequencies of the excitation signal, and K is a positive integer. For any first communication device, the first communication device can obtain the first angle of arrival of the first signal from the first IoT device to the first communication device based on the sub-excitation signals of multiple frequencies, wherein the first angle of arrival includes the first angle of arrival corresponding to each of the K frequencies.

[0243] In some embodiments, where the first measurement information includes first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival.

[0244] The confidence level for the first angle of arrival indicates the interval in which the first angle of arrival lies. The confidence level for the first angle of arrival can be obtained by measuring the first angle of arrival multiple times. For details on each measurement process, please refer to the relevant descriptions in S51 to S56.

[0245] For example, if a total of 10 measurement processes are performed, resulting in 10 first angles of arrival, and these 10 first angles of arrival are all distributed around 80 degrees, with the maximum value not exceeding 85 degrees and the minimum value not less than 75 degrees, then the confidence level of the first angle of arrival can be determined to be 80 degrees ± 5 degrees.

[0246] Optionally, if the excitation signal includes sub-excitation signals at multiple frequencies, the first angle confidence information is used to indicate the confidence of the first angle of arrival corresponding to each frequency.

[0247] 1.4 First distance information, used to indicate the first distance between the first IoT device and the first communication device.

[0248] After the first communication device obtains the first transmission time and / or the first carrier phase measurement, the first distance can be obtained based on the first transmission time and / or the first carrier phase measurement.

[0249] For example, after determining the first transmission time, the first communication device multiplies the first transmission time by the speed of signal transmission (i.e., the speed of light) and uses the product as the first distance.

[0250] For example, the integer ambiguity corresponding to the first carrier phase measurement can be calculated based on the first transmission time, and the first distance can be calculated based on the integer ambiguity and the first carrier phase measurement.

[0251] The meanings of integer ambiguity and first carrier phase measurement can be understood in conjunction with Figure 6. Figure 6 is a schematic diagram of ranging based on integer ambiguity and carrier phase measurement provided in an embodiment of this disclosure. As shown in Figure 6, let the distance between point M and point N be d. When measuring the distance between point M and point N, a signal can be sent from point M to a device at point N through a certain device. The wavelength of the signal is λ. Then: d=(x+φ)*λ (8)

[0252] Where φ is the phase difference of the signal from point M to point N, i.e., the carrier phase measurement, and x is the integer ambiguity corresponding to the carrier phase measurement. Where x is a positive integer, and φ is a decimal between 0 and 1 (if expressed in degrees, φ is an angle value between 0 and 2π).

[0253] Taking Figure 6 as an example, the distance d = 100.3λ, where x = 100 represents the integer ambiguity and φ = 0.3 represents the carrier phase measurement. Therefore, the distance can be obtained by measuring the integer ambiguity and the carrier phase measurement, combined with the wavelength of the signal.

[0254] After determining the first transmission time and the first carrier phase measurement, the first communication device calculates the product of the first transmission time and the signal transmission speed. The quotient of this product and the wavelength of the first signal is then rounded down to obtain the integer ambiguity corresponding to the first carrier phase measurement. Finally, the sum of the first carrier phase measurement and its corresponding integer ambiguity is multiplied by the wavelength of the first signal to obtain the first distance.

[0255] Specifically, let the wavelength of the first signal be λ, and the speed of light be c. Let be the actual transmission distance the first signal travels from the first IoT device r to the first communication device i, then:

[0256] in, For the first transmission time, First transmission time The measurement error value, This is the first carrier phase measurement. For the first carrier phase measurement The measurement error value, This represents the integer ambiguity corresponding to the first carrier phase measurement.

[0257] Based on the first transmission time The integer ambiguity corresponding to the first carrier phase measurement can be determined. Make an estimate:

[0258] in, Indicates rounding down. This represents the integer ambiguity corresponding to the estimated first carrier phase measurement.

[0259] Then, based on the estimated integer ambiguity and the first carrier phase measurement Perform the first distance estimation to obtain the estimated first distance.

[0260] Optionally, if the excitation signal includes sub-excitation signals at multiple frequency points, the first communication device can specify the first transmission time corresponding to each of the K frequency points. Perform a weighted summation to obtain The first carrier phase measurement quantity corresponding to each of the K frequency points Perform a weighted summation to obtain Then, by combining the examples from Equation (9) to Equation (12) above, the first distance is obtained.

[0261] Optionally, if the first measurement information includes first distance information, the first measurement information may further include first distance confidence information, which is used to indicate the confidence level of the first distance.

[0262] The confidence level of the first distance indicates the interval in which the first distance lies. The confidence level of the first distance can be obtained by measuring the first distance multiple times. For details on each measurement process, please refer to the relevant descriptions in S51 to S56.

[0263] For example, if a total of 10 measurement processes are performed, resulting in 10 first distances, and these 10 first distances are all distributed around 500 meters, with the maximum value not exceeding 510 meters and the minimum value not less than 490 meters, then the confidence level of the first distance can be determined as 500 meters ± 10 meters.

[0264] S58, the first communication device sends the first measurement information to the first functional network element.

[0265] After the first communication device acquires the first measurement information, it sends the first measurement information to the first functional network element. Correspondingly, the first functional network element receives the first measurement information sent by the first communication device. The first measurement information is used to locate the first Internet of Things device.

[0266] S59, the first functional network element determines the location of the first Internet of Things device based on the first measurement information and the location of the first communication device.

[0267] Based on the first measurement information, the first functional network element can determine the first distance between the first IoT device and the first communication device.

[0268] For example, the first measurement information includes first distance information, and the first functional network element can determine the first distance based on the first distance information.

[0269] For example, the first measurement information includes first transmission time information. Based on the first transmission time information, the first functional network element can determine the first transmission time of the first signal from the first IoT device to the first communication device. Then, the product obtained by multiplying the first transmission time by the speed of signal transmission (i.e., the speed of light) can be used as the first distance.

[0270] For example, the first measurement information includes first transmission time information and first carrier phase information. The first functional network element can determine the first transmission time of the first signal from the first IoT device to the first communication device based on the first transmission time information, and can determine the first carrier phase measurement quantity corresponding to the first signal based on the first carrier phase information. Then, the first distance can be determined based on the first transmission time and the first carrier phase measurement quantity. For the specific process, please refer to the relevant introduction in 1.4 of the above embodiment, which will not be repeated here.

[0271] If the first measurement information includes the first angle information, the first functional network element can determine the first arrival angle of the first signal from the first IoT device to the first communication device based on the first angle information.

[0272] In one possible implementation, the first functional network element determines a first distance based on first measurement information, and then determines the location of the first IoT device based on the first distance and the location of the first communication device.

[0273] In one possible implementation, the first functional network element determines a first distance and a first angle of arrival based on first measurement information, and then determines the location of the first IoT device based on the first distance, the first angle of arrival, and the location of the first communication device.

[0274] The following describes the implementation schemes for locating the first IoT device when the excitation signal is a single-frequency excitation signal, and the implementation schemes for locating the first IoT device when the excitation signal includes sub-excitation signals of multiple frequencies, using the process illustrated in Figure 5.

[0275] Example 1: The first communication device and the second communication device have completed clock synchronization. The excitation signal is a single-frequency excitation signal, denoted as s, and the frequency of the excitation signal s is f. The first signal obtained by the first IoT device after modulating the single-frequency excitation signal s is denoted as s'.

[0276] First, the second communication device sends a location request to the first functional network element to request location of the first IoT device. Upon receiving the location request, the first functional network element sends excitation signal configuration information to both the first and second communication devices to configure an excitation signal s with frequency f.

[0277] The second communication device sends an excitation signal s to the first IoT device at frequency point f according to the excitation signal configuration information. The first IoT device modulates the received excitation signal s to obtain a first signal s', and backscatters or reflects the first signal s' back to the first communication device.

[0278] The first communication device measures the first signal s' based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device. And / or, the first carrier phase measurement quantity corresponding to the first signal If the first communication device has a multi-antenna array, the first communication device can also obtain the first angle of arrival of the first signal from the first IoT device to the first communication device.

[0279] Optionally, the first communication device sends first measurement information to the first functional network element. The first measurement information includes at least one of first transmission time information, first carrier phase information, first angle information, first time confidence information, first carrier phase position confidence information, and first angle confidence information. Based on the first measurement information, the first functional network element can obtain the first transmission time. First carrier phase measurement One or more of the first arrival angles.

[0280] Optionally, the first communication device is based on the first transmission time. And / or, first carrier phase measurement A first distance is calculated between the first IoT device and the first communication device. Then, the first communication device sends first measurement information to the first functional network element. The first measurement signal includes at least one of the following: first distance information, first angle information, first distance confidence information, and first angle confidence information. Based on the first measurement information, the first functional network element can obtain one or more of the first distance and the first angle of arrival.

[0281] For example, if the first communication device measures the first signal s' to obtain the first transmission time Then the first transmission time can be The product of the speed of light and the speed of light is determined as the first distance.

[0282] For example, if the first communication device measures the first signal s' to obtain the first transmission time and the first carrier phase measurement Then it can be based on the first transmission time Perform integer ambiguity estimation corresponding to the first carrier phase measurement, and then combine it with the first carrier phase measurement. The first distance is obtained. This process can be seen in the examples of equations (9) to (12) above, and will not be repeated here.

[0283] Then, the first functional network element receives the first measurement information and determines the location of the first IoT device based on the first measurement information and the location of the first communication device.

[0284] There are two scenarios in the above process:

[0285] In the first scenario, due to the limited coverage of the first IoT device, only a single first communication device can receive the first signal sent by the first IoT device. Therefore, the first functional network element can only receive the first measurement information sent by this single first communication device, and the first distance can be determined based on this first measurement information. If the first measurement information sent by the first communication device includes first angle information, the first functional network element can combine the location of the first communication device, the first distance, and the first angle of arrival indicated by the first angle information to determine the location of the first IoT device. If the first measurement information sent by the first communication device does not include first angle information, the first functional network element cannot locate the first IoT device. In this case, the first functional network element can send a location response message to the second communication device, indicating that it is currently unable to locate the first IoT device.

[0286] In the second scenario, the first IoT device can simultaneously cover multiple first communication devices. In this case, the first functional network element can obtain the first distance between the first IoT device and each of the first communication devices based on the first measurement information sent by each of the multiple first communication devices, and then determine the location of the first IoT device based on the first distance between the first IoT device and each of the first communication devices. If the first measurement information includes first angle information, the first functional network element can also determine the first angle of arrival of the first signal from the first IoT device to each of the first communication devices. Furthermore, the first functional network element determines the location of the first IoT device based on the first distance between the first IoT device and each of the first communication devices, and the first angle of arrival of the first signal from the first IoT device to each of the first communication devices.

[0287] For any first communication device, if the first measurement information sent by the first communication device includes first distance information, then the first functional network element can obtain the first distance between the first IoT device and the first communication device based on the first distance information; if the first measurement information sent by the first communication device includes first transmission time information and / or first carrier phase information, then the first functional network element determines the first distance between the first IoT device and the first communication device based on the first transmission time indicated by the first transmission time information and / or the first carrier phase measurement indicated by the first carrier phase information. For the specific implementation process, please refer to the implementation scheme of the first communication device determining the first distance based on the first transmission time and / or the first carrier phase measurement in Example 1, which will not be repeated here.

[0288] After the first functional network element determines the first distance between the first IoT device and each of the first communication devices, a first communication device j can be selected from among the multiple first communication devices. The first distance between the first IoT device and the first communication device j is denoted as . The first distance between the first IoT device and other first communication devices i is denoted as . Can and Perform a difference operation to obtain the corresponding and The difference is:

[0289] Where B represents the number of multiple first communication devices, and B is a positive integer. It means and The difference is the single differential distance value from the first IoT device to each of the first communication devices.

[0290] Then, the first functional network element is based on The location of the first IoT device is determined by at least one of the first angle of arrival and the confidence level of the first angle of arrival. The method for determining the location of the first IoT device based on the above information can refer to the implementation shown in Figure 4 of the above embodiments, or it can be obtained by processing the above information using methods such as the least squares algorithm or the Chan algorithm (a positioning algorithm with analytical expression solutions based on TDOA technology).

[0291] If the first measurement information only includes the first carrier phase information, the first functional network element can estimate the location of the first IoT device based on the first carrier phase information reported by multiple first communication devices, combined with the maximum likelihood method.

[0292] In summary, the solution of this embodiment addresses a scenario where the first and second communication devices are clock-synchronized and the excitation signal is a single-frequency excitation signal. The first communication device sends first measurement information to the first functional network element, which then determines a first distance and / or a first angle of arrival based on the first measurement information. Further, the first communication device can acquire a first transmission time and / or a first carrier phase measurement, and then calculate the first distance based on the first transmission time and / or the first carrier phase measurement by estimating integer ambiguity, and report this to the first functional network element. Alternatively, the first communication device can report the first transmission time and / or the first carrier phase measurement, and the first functional network element can calculate the first distance based on the first transmission time and / or the first carrier phase measurement by estimating integer ambiguity. Finally, the first functional network element, based on the first distance and / or the first angle of arrival, combined with the location of the first communication device, achieves high-precision positioning of the first IoT device.

[0293] Example 2: The first and second communication devices have completed clock synchronization. The excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. KK represents the total number of frequency points transmitting the excitation signal, and K is a positive integer. The first signal includes sub-excitation signals from the first IoT device at multiple frequency points. The signals obtained by each modulation are denoted as

[0294] First, the second communication device sends a location request to the first functional network element to request location tracking of the first IoT device. Upon receiving the location request, the first functional network element sends excitation signal configuration information to both the first and second communication devices to configure sub-excitation signals for multiple frequency points. Optionally, the first functional network element also sends indication information to the second communication device to indicate a frequency hopping pattern, which in turn instructs the second communication device to send each sub-excitation signal. At any given moment, the second communication device can simultaneously send multiple frequency sub-excitation signals to the first IoT device. It is also possible to send sub-excitation signals of multiple frequencies to the first IoT device at different times.

[0295] The second communication device configures itself according to the excitation signal configuration information at frequency points f1, f2, ..., f K Send sub-excitation signals at multiple frequencies to the first IoT device respectively The first IoT device receives sub-excitation signals at multiple frequency points. Modulation is performed to obtain a first signal, the first signal including Then, the first IoT device will It is backscattered or reflected back to the first communication device.

[0296] The first communication device configures information based on the excitation signal. Measurements were performed to obtain the first transmission time (including) for each of the multiple frequency points. ), and / or, the first carrier phase measurement quantities corresponding to each of the multiple frequency points (including ).

[0297] If the first communication device has a multi-antenna array, the first communication device can also obtain the first angle of arrival of the first signal from the first IoT device to the first communication device (including the first angle of arrival corresponding to each of the multiple frequency points).

[0298] Optionally, the first communication device sends first measurement information to the first functional network element. The first measurement information includes at least one of first transmission time information, first carrier phase information, first angle information, first time confidence information, first carrier phase position confidence information, and first angle confidence information. Based on the first measurement information, the first functional network element can obtain the first transmission time corresponding to each of multiple frequency points. The first carrier phase measurement quantities corresponding to multiple frequency points One or more of the first angles of arrival corresponding to each of the multiple frequency points.

[0299] Optionally, the first communication device calculates a first distance between the first IoT device and the first communication device based on the first transmission time corresponding to each of multiple frequency points and / or the first carrier phase measurement corresponding to each of the multiple frequency points. Then, the first communication device sends first measurement information to the first functional network element. The first measurement signal includes at least one of first distance information, first angle information, first distance confidence information, and first angle confidence information. Based on the first measurement information, the first functional network element can obtain one or more of the first distance and the first angle of arrival.

[0300] For example, if the first communication device responds to the first signal Measurements were performed to obtain the first transmission time. Then you can A weighted average is calculated to obtain the weighted average of the first transmission time. Then, the product of the weighted average of the first transmission time and the speed of light is determined as the first distance.

[0301] For example, the integer ambiguity corresponding to the first carrier phase measurement can be calculated based on the first transmission time corresponding to each of multiple frequency points, or the integer ambiguity corresponding to the first carrier phase measurement can be calculated based on the first carrier phase measurement corresponding to each of multiple frequency points, and then the first distance can be calculated based on the integer ambiguity and the first carrier phase measurement.

[0302] The method of calculating the integer ambiguity of the first carrier phase measurement based on the first transmission time corresponding to multiple frequency points can be, for example, by... The weighted average obtained by performing a weighted average is used as Then, by combining the above equation (11), the integer ambiguity corresponding to the first carrier phase measurement is obtained.

[0303] The method for calculating the integer ambiguity corresponding to the first carrier phase measurement based on the first carrier phase measurement corresponding to multiple frequency points can be based on the Chinese Remainder Theorem algorithm to estimate the integer ambiguity corresponding to each frequency point. Optionally, if a first transmission time exists... Can be based on the first transmission time calculate This reduces the initial search range and decreases the search space.

[0304] Then, the first functional network element receives the first measurement information and determines the location of the first IoT device based on the first measurement information and the location of the first communication device.

[0305] There are two scenarios in the above process:

[0306] In the first scenario, due to the limited coverage of the first IoT device, only a single first communication device can receive the first signal sent by the first IoT device. Therefore, the first functional network element can only receive the first measurement information sent by this single first communication device, and the first distance can be determined based on this first measurement information. If the first measurement information sent by the first communication device includes first angle information, the first functional network element can combine the location of the first communication device, the first distance, and the first angle of arrival indicated by the first angle information to determine the location of the first IoT device. If the first measurement information sent by the first communication device does not include first angle information, the first functional network element cannot locate the first IoT device. In this case, the first functional network element can send a location response message to the second communication device, indicating that it is currently unable to locate the first IoT device.

[0307] In the second scenario, the first IoT device can simultaneously cover multiple first communication devices. In this case, the first functional network element can obtain the first distance between the first IoT device and each of the first communication devices based on the first measurement information sent by each of the multiple first communication devices, and then determine the location of the first IoT device based on the first distance between the first IoT device and each of the first communication devices. If the first measurement information includes first angle information, the first functional network element can also determine the first angle of arrival of the first signal from the first IoT device to each of the first communication devices. Furthermore, the first functional network element determines the location of the first IoT device based on the first distance between the first IoT device and each of the first communication devices, and the first angle of arrival of the first signal from the first IoT device to each of the first communication devices.

[0308] For any first communication device, if the first measurement information sent by the first communication device includes first distance information, the first functional network element can obtain the first distance between the first IoT device and the first communication device based on the first distance information. If the first measurement information sent by the first communication device includes first transmission time information and / or first carrier phase information, the first functional network element determines the first distance between the first IoT device and the first communication device based on the first transmission time indicated by the first transmission time information and / or the first carrier phase measurement indicated by the first carrier phase information. For the specific implementation process, please refer to the implementation scheme of the first communication device determining the first distance based on the first transmission time and / or the first carrier phase measurement in Example 2, which will not be repeated here.

[0309] After the first functional network element determines the first distance between the first IoT device and each of the first communication devices, a first communication device j can be selected from among the multiple first communication devices. The first distance between the first IoT device and the first communication device j is denoted as . The first distance between the first IoT device and other first communication devices i is denoted as . Can and Perform a difference operation to obtain the corresponding and The difference is explained in Equation (13) above.

[0310] Then, the first functional network element is based on The location of the first IoT device is determined by at least one of the first angle of arrival and the confidence level of the first angle of arrival. The method for determining the location of the first IoT device based on the above information can refer to the implementation shown in Figure 4 of the above embodiments, or it can be based on the least squares algorithm, Chan algorithm, etc., to process the above information to obtain the location of the first IoT device.

[0311] If the first measurement information only includes the first carrier phase information, the first functional network element can estimate the location of the first IoT device based on the first carrier phase information reported by multiple first communication devices, combined with the maximum likelihood method.

[0312] In summary, the solution of this disclosure embodiment, targeting a scenario where the clocks of the first and second communication devices are synchronized and the excitation signal includes sub-excitation signals of multiple frequency points, involves the first communication device sending first measurement information to a first functional network element. The first functional network element then determines the first distance and / or first angle of arrival corresponding to each of the multiple frequency points based on the first measurement information. Further, the first communication device can acquire the first transmission time and / or first carrier phase measurement corresponding to each of the multiple frequency points, and then calculate the first distance by estimating integer ambiguity based on the first transmission time and / or first carrier phase measurement corresponding to each of the multiple frequency points, and report this to the first functional network element. Alternatively, the first communication device can report the first transmission time and / or first carrier phase measurement corresponding to each of the multiple frequency points, and the first functional network element can calculate the first distance by estimating integer ambiguity based on the first transmission time and / or first carrier phase measurement corresponding to each of the multiple frequency points. Finally, the first functional network element achieves high-precision positioning of the first IoT device based on the first distance and / or first angle of arrival, combined with the location of the first communication device.

[0313] In the above embodiments, a scheme for locating the first IoT device when the first communication device and the second communication device have achieved high-precision clock synchronization is introduced. In some cases, the clocks of the first communication device and the second communication device may be out of sync. Therefore, it is necessary to introduce a second IoT device with a known location to eliminate the impact of clock asynchrony. The following describes a scheme for locating the first IoT device when the clocks of the first communication device and the second communication device are out of sync, in conjunction with the accompanying drawings.

[0314] First, we will introduce the application scenarios when a second IoT device is introduced.

[0315] Figure 7 is a schematic diagram of an applicable application scenario provided by an embodiment of this disclosure. As shown in Figure 7, it includes an LMF network element 11, a first communication device 12, an A-IoT device 13, a second communication device 14, and an A-IoT device 15.

[0316] The interaction between LMF network element 11, first communication device 12, A-IoT device 13 and second communication device 14 can be seen in the description in Figure 1, and will not be repeated here.

[0317] In the example of Figure 7, A-IoT device 15 is a reference A-IoT device introduced to eliminate errors caused by clock asynchrony. A-IoT device 15 does not have the ability to generate signals independently. It needs to receive external excitation signals (signal S1 in Figure 7) and modulate the excitation signals to obtain modulated signals (signal S3 in Figure 7), and then transmit the modulated signals by backscattering or reflection.

[0318] The second communication device 14 sends signal S1 to the A-IoT device 15. After receiving signal S1, the A-IoT device 15 modulates signal S1 to obtain signal S3, and sends signal S3 to the first communication device 12. Then, the first communication device 12 obtains the corresponding measurement information based on signal S3, and reports the measurement information of signal S3 to the LMF network element 11. The LMF network element 11 determines the location of the A-IoT device 13 based on the measurement information of signal S2, the measurement information of signal S3, the location of the A-IoT device 15, and the location of the first communication device 12.

[0319] The following describes the solution of the present disclosure embodiment in conjunction with Figure 8, using the application scenario illustrated in Figure 7 as an example.

[0320] Figure 8 is a signaling diagram of the positioning method provided in this embodiment of the present disclosure. As shown in Figure 8, it includes:

[0321] S801, the second communication device sends a location request to the first functional network element.

[0322] When the first IoT device has a location requirement, the second communication device sends a location request to the first functional network element. The location request is used to request the location of the first IoT device, and the first functional network element receives the location request accordingly.

[0323] S802, the first functional network element sends excitation signal configuration information to the first communication device and the second communication device based on the positioning request. The excitation signal configuration information is used to configure the excitation signal.

[0324] The excitation signal is a signal sent by the second communication device to the first communication device. The excitation signal configuration information can be used to indicate one or more of the following information: amplitude, phase, frequency, wavelength, etc.

[0325] Optionally, the first functional network element determines the second IoT device based on the location of the second communication device, wherein the excitation signal is a signal sent by the second communication device to the second IoT device. The second IoT device needs to be able to receive the excitation signal sent by the second communication device, i.e., the second IoT device needs to be within the signal coverage area of ​​the second communication device. Further, the first communication device needs to be within the signal coverage area of ​​the second IoT device, and the second IoT device can send signals to the first communication device via backscattering or reflection. The first functional network element can arbitrarily select one IoT device from those that meet the above conditions as the second IoT device, or it can select the second IoT device based on the distance between the IoT device and the first communication device, or based on power-related parameters of the signal received by the first communication device from the IoT device, etc.

[0326] The location of the second IoT device is known, and the second IoT device does not have the ability to generate signals independently. It needs to receive excitation signals and modulate the excitation signals in order to transmit the modulated signals through backscattering or reflection.

[0327] Optionally, the excitation signal configuration information includes first time information and / or second time information. The first time information is used to indicate the first moment when the second communication device sends the excitation signal to the first IoT device, and the second time information is used to indicate the second moment when the second communication device sends the excitation signal to the second IoT device.

[0328] Optionally, the time difference between the first and second moments is less than or equal to N time units, where N is a positive number. The value of N can be, for example, {1, 2, 4, 6, 8, 12, 16}. The time unit represents a time unit, which can include, for example, nanoseconds, milliseconds, seconds, time slots, etc.

[0329] If the excitation signal includes sub-excitation signals of multiple frequency points, then the first moment includes the first moment when the second communication device sends the sub-excitation signals of multiple frequency points to the first IoT device, and the second moment includes the second moment when the second communication device sends the sub-excitation signals of multiple frequency points to the second IoT device. In this case, the time difference between the earliest moment and the latest moment in the first moment and the second moment corresponding to the sub-excitation signals of multiple frequency points is less than or equal to N time units.

[0330] By limiting the time interval between the first moment and the second moment to within N time units, the first moment and the second moment are relatively close, and the clock error of the first moment and the clock error of the second moment are relatively close. The clock error elimination effect of the second measurement information of the second IoT device is better, thereby enabling accurate positioning of the first IoT device.

[0331] S803, the second communication device sends an excitation signal to the first IoT device at the first moment.

[0332] After receiving the excitation signal configuration information, the second communication device can obtain the first time information and then send the excitation signal to the first IoT device at the first moment indicated by the first time information.

[0333] If the excitation signal includes sub-excitation signals at multiple frequency points, then the first moment includes the first moment when the second communication device sends the sub-excitation signals at multiple frequency points to the first IoT device. For any sub-excitation signal at any frequency point, the second communication device sends the excitation signal to the first IoT device at the first moment corresponding to the sub-excitation signal at that frequency point.

[0334] S804, the first IoT device modulates the excitation signal to obtain the first signal.

[0335] S805, the first IoT device sends a first signal to the first communication device.

[0336] S806, the first communication device measures the first signal based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device, and / or the first carrier phase measurement quantity corresponding to the first signal.

[0337] S807, the first communication device acquires first measurement information based on the first transmission time and / or the first carrier phase measurement.

[0338] S808, the first communication device sends the first measurement information to the first functional network element.

[0339] The implementation process of S804 to S808 can be found in the implementation process of S54 to S58 in the above embodiments, and will not be repeated here.

[0340] S809, the second communication device sends an excitation signal to the second IoT device at the second moment.

[0341] After receiving the excitation signal configuration information, the second communication device can obtain the second time information, and then send the excitation signal to the second IoT device at the second time indicated by the second time information.

[0342] If the excitation signal includes sub-excitation signals at multiple frequency points, then the second moment includes the second moment when the second communication device sends the sub-excitation signals at multiple frequency points to the second IoT device. For any sub-excitation signal at any frequency point, the second communication device sends the excitation signal to the second IoT device at the second moment corresponding to the sub-excitation signal at that frequency point.

[0343] S810, the second IoT device modulates the excitation signal to obtain a second signal.

[0344] The process by which the second IoT device modulates the excitation signal to obtain the second signal is similar to the process by which the first IoT device modulates the excitation signal to obtain the first signal in S54. For details, please refer to the relevant description in S54, which will not be repeated here.

[0345] S811, the second IoT device sends a second signal to the first communication device.

[0346] After receiving the second signal, the second IoT device can send the second signal to the first communication device through backscattering or reflection, and the first communication device will receive the second signal accordingly.

[0347] S812, the first communication device measures the second signal based on the excitation signal configuration information to obtain the second transmission time of the second signal from the second IoT device to the first communication device, and / or the second carrier phase measurement quantity corresponding to the second signal.

[0348] The implementation scheme for the first communication device to obtain the second transmission time and the second carrier phase measurement is similar to the implementation scheme for the first communication device to obtain the first transmission time and the first carrier phase measurement. For details, please refer to the relevant description in S56, which will not be repeated here.

[0349] S813, the first communication device acquires second measurement information based on the second transmission time and / or the second carrier phase measurement.

[0350] Optionally, the second measurement information includes at least one of the following 2.1 to 2.7:

[0351] 2.1 Second transmission time information, used to indicate the second transmission time of the second signal from the second IoT device to the first communication device.

[0352] After the first communication device determines the second transmission time, it can send the second transmission time information to the first functional network element. The second transmission time information is carried in the second measurement information. After receiving the second transmission time information, the first functional network element can determine the second transmission time.

[0353] If the excitation signal is a single-frequency excitation signal, then for any first communication device, the first communication device can obtain the second transmission time of the second signal from the second IoT device u to the first communication device i based on the single-frequency excitation signal.

[0354] If the excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. K Let K be the total number of transmission frequencies of the excitation signal, and K is a positive integer. Then, for any given first communication device, based on the sub-excitation signals at multiple frequencies, the first communication device can obtain the second transmission time of the second signal from the second IoT device to the first communication device. This second transmission time includes the second transmission times corresponding to each of the K frequency points, denoted as follows:

[0355] Optionally, if the second measurement information includes second transmission time information, the second measurement information may further include second time confidence information, which is used to indicate the confidence level of the second transmission time.

[0356] The confidence level for the second transmission time indicates the interval in which the second transmission time falls.

[0357] The confidence level of the second transmission time can be obtained by measuring the second transmission time multiple times. Each measurement process can be found in the descriptions of S809 to S813. Specifically, the second communication device sends an excitation signal to the second IoT device multiple times. The second IoT device then modulates the excitation signal multiple times to obtain a corresponding second signal, which it then sends back to the first communication device multiple times. The first communication device processes the second signal to obtain the second transmission time. Multiple second transmission times can be obtained through these multiple measurements, and the confidence level of the second transmission time can be obtained by combining these multiple second transmission times.

[0358] For example, if a total of 10 measurement processes are performed, resulting in 10 second transmission times, and these 10 second transmission times are all distributed around 12s, with a maximum value not exceeding 13s and a minimum value not less than 11s, then the confidence level of the second transmission time can be determined to be 12s ± 1s.

[0359] Optionally, if the excitation signal includes sub-excitation signals at multiple frequency points, the second time confidence information is used to indicate the confidence of the second transmission time corresponding to each frequency point.

[0360] 2.2 Second carrier phase information, used to indicate the second carrier phase measurement quantity corresponding to the second signal.

[0361] After the first communication device determines the second carrier phase measurement, it can send the second carrier phase information to the first functional network element. The second carrier phase information is carried in the second measurement information. After the first functional network element receives the second carrier phase information, it can determine the second carrier phase measurement.

[0362] If the excitation signal is a single-frequency excitation signal, then for any given first communication device, the first communication device can obtain the second carrier phase measurement corresponding to the second signal based on the single-frequency excitation signal.

[0363] If the excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. K Let K be the total number of transmission frequencies of the excitation signal, and K is a positive integer. Then, for any given first communication device, based on the sub-excitation signals at multiple frequencies, the first communication device can obtain the second carrier phase measurement corresponding to the second signal. This second carrier phase measurement includes the second carrier phase measurements corresponding to each of the K frequency points, denoted as follows:

[0364] Optionally, if the second measurement information includes second carrier phase information, the second measurement information may further include second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement.

[0365] The confidence level of the second carrier phase measurement indicates the interval in which the second carrier phase measurement falls. The confidence level of the second carrier phase measurement can be obtained by measuring the second carrier phase measurement multiple times. For details of each measurement process, please refer to the relevant descriptions in S809 to S813.

[0366] For example, if a total of 10 measurement processes are performed, resulting in 10 second carrier phase measurements, and these 10 second carrier phase measurements are all distributed around 20 degrees, with a maximum value not exceeding 22 degrees and a minimum value not less than 18 degrees, then the confidence level of the first carrier phase measurement can be determined to be 20 degrees ± 2 degrees.

[0367] Optionally, if the excitation signal includes sub-excitation signals at multiple frequency points, the second carrier phase position confidence information is used to indicate the confidence level of the second carrier phase measurement corresponding to each frequency point.

[0368] 2.3 Second angle information, used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device.

[0369] If the first communication device has a multi-antenna array, when the first communication device receives the second signal, it can obtain the second angle of arrival of the second signal from the second IoT device to the first communication device. The second angle of arrival may include, for example, the AOA and / or ZOA of the second signal from the second IoT device to the first communication device.

[0370] After the first communication device determines the second angle of arrival, it can send the second angle information to the first functional network element. The second angle information is carried in the second measurement information. After receiving the second angle information, the first functional network element can determine the second angle of arrival.

[0371] If the excitation signal is a single-frequency excitation signal, then for any first communication device, the first communication device can obtain the second arrival angle of the second signal from the second IoT device to the first communication device based on the single-frequency excitation signal.

[0372] If the excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. K K is the total number of transmission frequencies of the excitation signal, and K is a positive integer. For any first communication device, the first communication device can obtain the second arrival angle of the second signal from the second IoT device to the first communication device based on the sub-excitation signals of multiple frequencies, wherein the second arrival angle includes the second arrival angles corresponding to each of the K frequencies.

[0373] Optionally, if the second measurement information includes second angle information, the second measurement information may further include second angle confidence information, which is used to indicate the confidence level of the second angle of arrival.

[0374] The confidence level for the second angle of arrival indicates the interval in which the second angle of arrival lies. The confidence level for the second angle of arrival can be obtained by measuring the second angle of arrival multiple times. For details on each measurement process, please refer to the relevant descriptions in S809 to S813.

[0375] For example, if a total of 10 measurement processes are performed, resulting in 10 second angles of arrival, and these 10 second angles of arrival are all distributed around 85 degrees, with a maximum value not exceeding 87 degrees and a minimum value not less than 83 degrees, then the confidence level of the first angle of arrival can be determined to be 85 degrees ± 2 degrees.

[0376] Optionally, if the excitation signal includes sub-excitation signals at multiple frequencies, the second angle confidence information is used to indicate the confidence of the second angle of arrival corresponding to each frequency.

[0377] 2.4 Second distance information, used to indicate the second distance between the second IoT device and the first communication device.

[0378] After the first communication device obtains the second transmission time and / or the second carrier phase measurement, the second distance can be obtained based on the second transmission time and / or the second carrier phase measurement.

[0379] For example, after determining the second transmission time, the first communication device multiplies the second transmission time by the speed of signal transmission (i.e., the speed of light) and uses the product as the second distance.

[0380] For example, after determining the second transmission time and the second carrier phase measurement, the first communication device calculates the product of the second transmission time and the signal transmission speed, and rounds down the quotient of this product and the wavelength of the second signal to obtain the integer ambiguity corresponding to the second carrier phase measurement. Then, the sum of the second carrier phase measurement and the integer ambiguity corresponding to the second carrier phase measurement is multiplied by the wavelength of the second signal to obtain the second distance.

[0381] The method for calculating the second distance is similar to the method for calculating the first distance in 1.4. For details, please refer to the relevant introductions of equations (9) to (12) above. It will not be repeated here.

[0382] Optionally, if the second measurement information includes second distance information, the second measurement information may further include second distance confidence information, which is used to indicate the confidence level of the second distance.

[0383] The confidence level of the second distance indicates the interval in which the second distance lies. The confidence level of the second distance can be obtained by measuring the second distance multiple times. For details on each measurement process, please refer to the relevant descriptions in S809 to S813.

[0384] For example, if a total of 10 measurement processes are performed, resulting in 10 second distances, and these 10 second distances are all distributed around 400 meters, with the maximum value not exceeding 410 meters and the minimum value not less than 390 meters, then the confidence level of the second distance can be determined to be 400 meters ± 10 meters.

[0385] 2.5 Differential time information, used to indicate the difference in duration between the first transmission time and the second transmission time.

[0386] If the clocks of the first and second communication devices are not synchronized, let the speed of light be c. The first transmission time is the actual transmission distance the first signal travels from the first IoT device to the first communication device. satisfy:

[0387] First transmission time The measurement error value, δt i δt represents the clock offset of the first communication device (in seconds), and δt represents the clock offset of the second communication device (in seconds).

[0388] set up Let the second transmission time be the actual transmission distance the second signal travels from the second IoT device to the first communication device. satisfy:

[0389] For the second transmission time The measurement error value, δt i δt represents the clock offset of the first communication device (in seconds), and δt represents the clock offset of the second communication device (in seconds).

[0390] Based on equations (14) and (15), the difference in duration between the first transmission time and the second transmission time can be obtained. for:

[0391] in, The actual transmission distance that the first signal travels from the first IoT device to the first communication device. The actual transmission distance that the second signal travels from the second IoT device to the first communication device;

[0392] 2.6 Differential carrier phase information, used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement.

[0393] If the clocks of the first and second communication devices are not synchronized, let the wavelengths of the first and second signals be λ, and the speed of light be c. Let the first carrier phase measurement be the actual transmission distance the first signal travels from the first IoT device to the first communication device. satisfy:

[0394] in, The integer ambiguity corresponding to the first carrier phase measurement. For the first carrier phase measurement The measurement error value, δt i δt represents the clock offset of the first communication device (in seconds), and δt represents the clock offset of the second communication device (in seconds).

[0395] set up Given the actual transmission distance the second signal travels from the second IoT device to the first communication device, the first carrier phase measurement... satisfy:

[0396] in, The integer ambiguity corresponding to the second carrier phase measurement. The measurement error value of the second carrier phase measurement, δt i δt represents the clock offset of the first communication device (in seconds), and δt represents the clock offset of the second communication device (in seconds).

[0397] Based on equations (17) and (18), the differential phase between the first carrier phase measurement and the second carrier phase measurement can be obtained. for:

[0398] in,

[0399] 2.7 Differential distance information, used to indicate the differential distance between the first distance and the second distance.

[0400] The first communication device can calculate the first distance based on the first transmission time and / or the first carrier phase measurement. The calculation method can be found in the relevant description in 1.4 of the above embodiment. Since the clocks of the first communication device and the second communication device are not synchronized, the estimated first distance includes the clock deviation. The first distance can be expressed in the form of the following formula (20):

[0401] For the estimated first distance, The actual first distance, c is the speed of light, δt i δt represents the clock offset of the first communication device (in seconds), and δt represents the clock offset of the second communication device (in seconds).

[0402] The second distance can be estimated in the same way as the first distance. Since the clocks of the first and second communication devices are out of sync, the estimated second distance includes the clock offset, and can be expressed as in the form of equation (21):

[0403] For the estimated second distance, The actual second distance, c is the speed of light, δt i δt represents the clock offset of the first communication device (in seconds), and δt represents the clock offset of the second communication device (in seconds).

[0404] Then we have:

[0405] This is the difference between the first distance and the second distance.

[0406] S814, the first communication device sends the second measurement information to the first functional network element.

[0407] After the first communication device acquires the second measurement information, it sends the second measurement information to the first functional network element. Correspondingly, the first functional network element receives the second measurement information sent by the first communication device.

[0408] S815, the first functional network element determines the location of the first IoT device based on the first measurement information, the location of the first communication device, the second measurement information, and the location of the second IoT device.

[0409] Based on the first and second measurement information, the first functional network element can obtain the differential distance between the first and second distances, which eliminates clock errors. Then, based on the differential distance between the first and second distances, and the locations of the first communication device and the second IoT device, the location of the first IoT device is determined.

[0410] Based on first measurement information, the first functional network element can determine a first distance between a first IoT device and a first communication device, where the first distance is subject to clock deviation. Based on second measurement information, the first functional network element can determine a second distance between a second IoT device and the first communication device, where the second distance is also subject to clock deviation. Then, the first functional network element calculates the differential distance between the first and second distances. Alternatively, the first communication device calculates the differential distance between the first and second distances and reports it to the first functional network element.

[0411] The following describes the implementation schemes for locating the first IoT device when the excitation signal is a single-frequency excitation signal, and the implementation schemes for locating the first IoT device when the excitation signal includes sub-excitation signals of multiple frequencies, using the process illustrated in Figure 8 as an example.

[0412] Example 3: The clocks of the first and second communication devices are not synchronized. The excitation signal is a single-frequency excitation signal, denoted as s, and the frequency of the excitation signal s is f. The first signal obtained by the first IoT device after modulating the single-frequency excitation signal s is denoted as s', and the second signal obtained by the second IoT device after modulating the single-frequency excitation signal s is denoted as s'.

[0413] The first communication device measures the first signal s' based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device. And / or, the first carrier phase measurement quantity corresponding to the first signal Among them, the first transmission time Satisfying equation (14) above, the first carrier phase measurement quantity The above equation (17) is satisfied. If the first communication device has a multi-antenna array, the first communication device can also obtain the first angle of arrival of the first signal from the first IoT device to the first communication device.

[0414] The first communication device measures the second signal s” based on the excitation signal configuration information to obtain the second transmission time of the second signal from the second IoT device to the first communication device. And / or, the second carrier phase measurement quantity corresponding to the second signal Among them, the second transmission time Satisfying equation (15) above, the second carrier phase measurement quantity The above equation (18) is satisfied. If the first communication device has a multi-antenna array, the first communication device can also obtain the second angle of arrival of the second signal from the second IoT device to the first communication device.

[0415] The first functional network element determines the location of the first IoT device based on the first measurement information, the location of the first communication device, the second measurement information, and the location of the second IoT device.

[0416] There are two scenarios in the above process:

[0417] In the first scenario, due to the limited coverage of the first IoT device, only a single first communication device can receive the first signal sent by the first IoT device and the second signal sent by the second IoT device. Therefore, the first functional network element can only receive the first and second measurement information sent by the single first communication device. Based on the first and second measurement information, a first distance can be determined. If the first measurement information sent by the first communication device includes first angle information and the second measurement information includes second angle information, the first functional network element can combine the location of the first communication device, the first distance, and the first angle of arrival indicated by the first angle information, and the second distance and the second angle of arrival indicated by the second angle information to determine the location of the first IoT device. If the first measurement information sent by the first communication device does not include first angle information, but the second measurement information includes second angle information, the first functional network element cannot locate the first IoT device. In this case, the first functional network element can send a location response message to the second communication device, indicating that it is currently unable to locate the first IoT device.

[0418] In the second scenario, the first IoT device and the second IoT device can simultaneously cover multiple first communication devices. In this case, the first functional network element can determine the location of the first IoT device based on the first measurement information and the second measurement information sent by each of the multiple first communication devices, as well as the location of the second IoT device and the location of the first communication device.

[0419] Specifically, after determining the differential distance corresponding to each first communication device based on the above method, a first communication device j can be selected from among the multiple first communication devices, and the differential distance corresponding to the first communication device j is denoted as . The differential distance corresponding to the other first communication device i is denoted as . Can and Perform a difference operation to obtain the corresponding and The difference is:

[0420] Where B represents the number of multiple first communication devices, and B is a positive integer. It means and The difference is the double-difference distance value between the first distance from the first IoT device to each first communication device and the second distance from the second IoT device to each first communication device.

[0421] Since the location of the second IoT device is known, and the locations of each of the first communication devices are also known, the second distance between the second IoT device and each of the first communication devices can be obtained based on the location of the second IoT device, and thus the differential distance that eliminates clock errors can be obtained.

[0422] This process can be understood in conjunction with Figure 9.

[0423] Figure 9 is a schematic diagram of the clock error elimination by dual differential processing provided in the embodiment of this disclosure. As shown in Figure 9, the position of the first IoT device is point P, the position of the second IoT device is point Q, and the first communication device includes device A and device B, wherein the position of device A is point M and the position of device B is point M.

[0424] Let the actual distance between the first IoT device and device A be . The first distance between the first IoT device and device A, as actually estimated, is Then we have:

[0425] This indicates the distance measurement error caused by the clock skew of the first IoT device. This indicates the distance measurement error caused by the clock deviation of device A.

[0426] Let the actual distance between the first IoT device and device B be . The first distance between the first IoT device and device B, as actually estimated, is Then we have:

[0427] This indicates the distance measurement error caused by the clock skew of the first IoT device. This indicates the distance measurement error caused by the clock deviation of device B.

[0428] Let the actual distance between the second IoT device and device A be . The actual estimated second distance between the second IoT device and device A is Then we have:

[0429] This indicates the distance measurement error caused by the clock skew of the second IoT device. This indicates the distance measurement error caused by the clock deviation of device A.

[0430] Let the actual distance between the second IoT device and device B be . The actual estimated second distance between the first IoT device and device B is Then we have:

[0431] This indicates the distance measurement error caused by the clock skew of the second IoT device. This indicates the distance measurement error caused by the clock deviation of device B.

[0432] Based on equations (24) to (27) above, it can be seen that, for device A, the first distance The distance to the second is The difference between for:

[0433] Based on equations (24) to (27) above, it can be seen that, for device B, the first distance The distance to the second is The difference between for:

[0434] Then, and Subtraction yields:

[0435] Since the locations of device A, device B, and the second IoT device are all known, we can obtain the following based on their locations: and Combination This will eliminate clock errors.

[0436] Then, the first functional network element is based on The location of the first IoT device is determined by at least one of the first angle of arrival and the confidence level of the first angle of arrival. The method for determining the location of the first IoT device based on the above information can refer to the implementation shown in Figure 4 of the above embodiments, or it can be based on the least squares algorithm, Chan algorithm, etc., to process the above information to obtain the location of the first IoT device.

[0437] If the first measurement information includes only the first carrier phase information and the second measurement information includes only the second carrier phase information, the first functional network element can estimate the location of the first IoT device based on the first carrier phase information and the second carrier phase information reported by multiple first communication devices, combined with the maximum likelihood method.

[0438] In summary, the solution of this disclosure embodiment, for scenarios where the clocks of the first communication device and the second communication device are synchronized and the excitation signal is a single-frequency excitation signal, allows the first communication device to acquire the first transmission time and / or the first carrier phase measurement, and then calculate the first distance based on the first transmission time and / or the first carrier phase measurement by estimating integer ambiguity, and report it to the first functional network element. Alternatively, the first communication device can report the first transmission time and / or the first carrier phase measurement, and the first functional network element can calculate the first distance based on the first transmission time and / or the first carrier phase measurement by estimating integer ambiguity. By introducing a second IoT device to eliminate errors caused by clock asynchrony, high-precision positioning of the first IoT device can be achieved.

[0439] Example 4: The clocks of the first and second communication devices are not synchronized, and the excitation signal includes sub-excitation signals at multiple frequency points, denoted as... The frequencies of the multiple sub-excitation signals are f1, f2, ..., f1 in sequence. K K represents the total number of frequency points transmitting the excitation signal, and K is a positive integer. The first signal includes sub-excitation signals from the first IoT device at multiple frequency points. The signals obtained by each modulation are denoted as The second signal includes sub-excitation signals from the second IoT device at multiple frequency points. The signals obtained by each modulation are denoted as

[0440] First, the second communication device sends a location request to the first functional network element to request location tracking of the first IoT device. Upon receiving the location request, the first functional network element sends excitation signal configuration information to both the first and second communication devices to configure sub-excitation signals for multiple frequency points. Optionally, the first functional network element also sends indication information to the second communication device to indicate the frequency hopping pattern, and the frequency modulation pattern is used to indicate the second communication device to send each sub-excitation signal. At any given moment, the second communication device can simultaneously send multiple frequency sub-excitation signals to the first IoT device. It is also possible to send sub-excitation signals of multiple frequencies to the first IoT device at different times.

[0441] The second communication device configures itself according to the excitation signal configuration information at frequency points f1, f2, ..., f K Send sub-excitation signals at multiple frequencies to the first IoT device and the second IoT device respectively. The first IoT device receives sub-excitation signals at multiple frequency points. Modulation is performed to obtain a first signal, the first signal including Then, the first IoT device will Backscattering or reflection to the first communication device. The second IoT device receives sub-excitation signals at multiple frequency points. Modulation is performed to obtain a second signal, the second signal including Then, the second IoT device will It is backscattered or reflected back to the first communication device.

[0442] The first communication device configures information based on the excitation signal. Measurements were performed to obtain the first transmission time (including) for each of the multiple frequency points. ), and / or, the first carrier phase measurement quantities corresponding to each of the multiple frequency points (including ).

[0443] If the first communication device has a multi-antenna array, the first communication device can also obtain the first angle of arrival of the first signal from the first IoT device to the first communication device (including the first angle of arrival corresponding to each of the multiple frequency points).

[0444] The first communication device configures information based on the excitation signal. Measurements were performed to obtain the second transmission time corresponding to each of the multiple frequency points (including...). ), and / or, the second carrier phase measurements corresponding to each of the multiple frequency points (including ).

[0445] If the first communication device has a multi-antenna array, the first communication device can also obtain the second angle of arrival of the second signal from the second IoT device to the first communication device (including the second angle of arrival corresponding to each of the multiple frequency points).

[0446] The first functional network element determines the location of the first IoT device based on the first measurement information, the location of the first communication device, the second measurement information, and the location of the second IoT device.

[0447] There are two scenarios in the above process:

[0448] In the first scenario, due to the limited coverage of the first IoT device, only a single first communication device can receive the first signal sent by the first IoT device and the second signal sent by the second IoT device. Therefore, the first functional network element can only receive the first and second measurement information sent by the single first communication device. Based on the first and second measurement information, a first distance can be determined. If the first measurement information sent by the first communication device includes first angle information and the second measurement information includes second angle information, the first functional network element can combine the location of the first communication device, the first distance, and the first angle of arrival indicated by the first angle information, and the second distance and the second angle of arrival indicated by the second angle information to determine the location of the first IoT device. If the first measurement information sent by the first communication device does not include first angle information, but the second measurement information includes second angle information, the first functional network element cannot locate the first IoT device. In this case, the first functional network element can send a location response message to the second communication device, indicating that it is currently unable to locate the first IoT device.

[0449] In the second scenario, the first IoT device and the second IoT device can simultaneously cover multiple first communication devices. In this case, the first functional network element can determine the location of the first IoT device based on the first measurement information and the second measurement information sent by each of the multiple first communication devices, as well as the location of the second IoT device and the location of the first communication device.

[0450] For any frequency among multiple frequency points, the location corresponding to that frequency point can be determined based on the first measurement information, the second measurement information, the location of the second IoT device, and the location of the first communication device. The specific implementation process can be found in the relevant description in Example 2, and will not be repeated here. Then, the locations corresponding to multiple frequency points are weighted to obtain the location of the first IoT device.

[0451] In summary, the solution of this disclosure embodiment addresses the scenario where the clocks of the first communication device and the second communication device are out of sync and the excitation signal includes sub-excitation signals of multiple frequency points. The first communication device can acquire the first transmission time and / or the first carrier phase measurement corresponding to each of the multiple frequency points. Then, based on the first transmission time and / or the first carrier phase measurement corresponding to each of the multiple frequency points, it calculates the first distance by estimating integer ambiguity and reports it to the first functional network element. Alternatively, the first communication device can report the first transmission time and / or the first carrier phase measurement corresponding to each of the multiple frequency points, and the first functional network element can calculate the first distance by estimating integer ambiguity based on the first transmission time and / or the first carrier phase measurement corresponding to each of the multiple frequency points. The second IoT device is introduced to eliminate the error caused by clock asynchrony, thereby achieving high-precision positioning of the first IoT device.

[0452] Figure 10 is a schematic diagram of the positioning device provided in an embodiment of this disclosure. As shown in Figure 10, it includes a memory 1020, a transceiver 1000, and a processor 1010, wherein:

[0453] The memory 1020 is used to store computer programs; the transceiver 1000 is used to send and receive data under the control of the processor 1010; the processor 1010 is used to read the computer program in the memory 1020 and perform the following operations:

[0454] Receive first measurement information sent by the first communication device, wherein the first measurement information is measurement information of the first signal, and the first signal is a signal obtained by the first Internet of Things device modulating the excitation signal;

[0455] The location of the first IoT device is determined based on the first measurement information and the location of the first communication device.

[0456] In some embodiments, the first measurement information includes at least one of the following:

[0457] First transmission time information is used to indicate the first transmission time of the first signal from the first IoT device to the first communication device;

[0458] The first carrier phase information is used to indicate the first carrier phase measurement quantity corresponding to the first signal;

[0459] First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device;

[0460] First distance information is used to indicate the first distance between the first IoT device and the first communication device.

[0461] In some embodiments, the first measurement information satisfies at least one of the following:

[0462] When the first measurement information includes first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time;

[0463] When the first measurement information includes first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement.

[0464] When the first measurement information includes first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival.

[0465] When the first measurement information includes first distance information, the first measurement information also includes first distance confidence information, which is used to indicate the confidence level of the first distance.

[0466] In some embodiments, determining the location of the first IoT device based on first measurement information and the location of the first communication device includes:

[0467] The device receives second measurement information sent by the first communication device. The second measurement information is measurement information of a second signal, which is a signal obtained by the second Internet of Things device modulating an excitation signal.

[0468] The location of the first IoT device is determined based on the first measurement information, the location of the first communication device, the second measurement information, and the location of the second IoT device.

[0469] In some embodiments, the second measurement information includes at least one of the following:

[0470] The second transmission time information is used to indicate the second transmission time of the second signal from the second IoT device to the first communication device;

[0471] The second carrier phase information is used to indicate the second carrier phase measurement quantity corresponding to the second signal;

[0472] The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device;

[0473] The second distance information is used to indicate the second distance between the second IoT device and the first communication device;

[0474] Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time;

[0475] Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement;

[0476] Differential distance information is used to indicate the difference between the first distance and the second distance.

[0477] In some embodiments, the second measurement information satisfies at least one of the following:

[0478] When the second measurement information includes second transmission time information, the second measurement information also includes second time confidence information, which is used to indicate the confidence level of the second transmission time;

[0479] When the second measurement information includes second carrier phase information, the second measurement information also includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement.

[0480] When the second measurement information includes second angle information, the second measurement information also includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival;

[0481] When the second measurement information includes second distance information, the second measurement information also includes second distance confidence information, which is used to indicate the confidence level of the second distance.

[0482] In some embodiments, the processor is also configured to perform the following operations:

[0483] Receive a location request sent by a second communication device;

[0484] Based on the location request, excitation signal configuration information is sent to the first communication device and the second communication device. The excitation signal configuration information is used to configure the excitation signal, which is the signal sent by the second communication device to the first IoT device.

[0485] In some embodiments, the excitation signal includes multiple frequency sub-excitation signals, and the first signal includes a signal obtained by the first Internet of Things device modulating each of the multiple frequency sub-excitation signals.

[0486] In some embodiments, the processor is also configured to perform the following operations:

[0487] The second IoT device is determined based on the location of the second communication device;

[0488] The excitation signal is the signal sent by the second communication device to the second IoT device.

[0489] In some embodiments, the excitation signal configuration information includes:

[0490] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0491] And / or,

[0492] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0493] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0494] In Figure 10, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1010 and memory represented by memory 1020. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1000 may be multiple elements, including a transmitter and a receiver, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. Processor 1010 is responsible for managing the bus architecture and general processing, and memory 1020 may store data used by processor 1010 during operation.

[0495] The processor 1010 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0496] The processor executes any of the methods provided in the embodiments of this disclosure by invoking a computer program stored in memory, according to the obtained executable instructions. The processor and memory may also be physically separated.

[0497] It should be noted that the positioning device provided in this embodiment can implement all the method steps implemented by the method embodiment with the first functional network element as the execution subject, and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0498] Figure 11 is a second structural schematic diagram of the positioning device provided in an embodiment of this disclosure. As shown in Figure 11, it includes a memory 1120, a transceiver 1100, and a processor 1110, wherein:

[0499] Memory 1120 is used to store computer programs; transceiver 1100 is used to send and receive data under the control of processor 1110; processor 1110 is used to read the computer program in memory 1120 and perform the following operations:

[0500] Receive a first signal sent by a first IoT device, wherein the first signal is a signal obtained by the first IoT device modulating an excitation signal;

[0501] Acquire the first measurement information of the first signal;

[0502] Send first measurement information to the first functional network element. The first measurement information is used to locate the first Internet of Things device.

[0503] In some embodiments, acquiring first measurement information of the first signal includes:

[0504] The first signal is measured based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device, and / or the first carrier phase measurement quantity corresponding to the first signal;

[0505] First measurement information is obtained based on the first transmission time and / or the first carrier phase measurement.

[0506] In some embodiments, the first measurement information includes at least one of the following:

[0507] First transmission time information, used to indicate the first transmission time;

[0508] First carrier phase information, used to indicate the first carrier phase measurement;

[0509] First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device;

[0510] First distance information is used to indicate the first distance between the first IoT device and the first communication device.

[0511] In some embodiments, the first measurement information satisfies at least one of the following:

[0512] When the first measurement information includes first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time;

[0513] When the first measurement information includes first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement.

[0514] When the first measurement information includes first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival.

[0515] When the first measurement information includes first distance information, the first measurement information also includes first distance confidence information, which is used to indicate the confidence level of the first distance.

[0516] In some embodiments, the processor is also configured to perform the following operations:

[0517] Receive a second signal sent by a second IoT device, wherein the second signal is a signal obtained by the second IoT device modulating an excitation signal;

[0518] Acquire the second measurement information of the second signal;

[0519] Send second measurement information to the first functional network element. The first and second measurement information are used to locate the first Internet of Things device.

[0520] In some embodiments, acquiring second measurement information of the second signal includes:

[0521] The second signal is measured based on the excitation signal configuration information to obtain the second transmission time of the second signal from the second IoT device to the first communication device, and / or the second carrier phase measurement quantity corresponding to the second signal;

[0522] Second measurement information is obtained based on the second transmission time and / or the second carrier phase measurement.

[0523] In some embodiments, the second measurement information includes at least one of the following:

[0524] The second transmission time information is used to indicate the second transmission time;

[0525] Second carrier phase information is used to indicate the second carrier phase measurement;

[0526] The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device;

[0527] The second distance information is used to indicate the second distance between the second IoT device and the first communication device;

[0528] Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time;

[0529] Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement;

[0530] Differential distance information is used to indicate the difference between the first distance and the second distance.

[0531] In some embodiments, the second measurement information satisfies at least one of the following:

[0532] When the second measurement information includes second transmission time information, the second measurement information also includes second time confidence information, which is used to indicate the confidence level of the second transmission time;

[0533] When the second measurement information includes second carrier phase information, the second measurement information also includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement.

[0534] When the second measurement information includes second angle information, the second measurement information also includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival;

[0535] When the second measurement information includes second distance information, the second measurement information also includes second distance confidence information, which is used to indicate the confidence level of the second distance.

[0536] In some embodiments, the processor is also configured to perform the following operations:

[0537] The device receives excitation signal configuration information sent by the first functional network element. The excitation signal configuration information is used to configure the excitation signal, which is a signal sent by the second communication device to the first IoT device.

[0538] In some embodiments, the excitation signal includes multiple frequency sub-excitation signals, and the first signal includes a signal obtained by the first Internet of Things device modulating each of the multiple frequency sub-excitation signals.

[0539] In some embodiments, the excitation signal is a signal sent by the second communication device to the second Internet of Things device.

[0540] In some embodiments, the excitation signal configuration information includes:

[0541] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0542] And / or,

[0543] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0544] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0545] In Figure 11, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1110 and memory represented by memory 1120. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 1100 may be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. Processor 1110 is responsible for managing the bus architecture and general processing, and memory 1120 may store data used by processor 1110 during operation.

[0546] The processor 1110 can be a CPU, ASIC, FPGA or CPLD, and the processor can also adopt a multi-core architecture.

[0547] The processor executes any of the methods provided in the embodiments of this disclosure by invoking a computer program stored in memory, according to the obtained executable instructions. The processor and memory may also be physically separated.

[0548] It should be noted that the positioning device provided in this embodiment can implement all the method steps implemented by the method embodiment with the first communication device as the execution subject, and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0549] Figure 12 is a schematic diagram of the third structure of the positioning device provided in this embodiment of the present disclosure. As shown in Figure 12, it includes a memory 1220, a transceiver 1200, and a processor 1210, wherein:

[0550] The memory 1220 is used to store computer programs; the transceiver 1200 is used to send and receive data under the control of the processor 1210; the processor 1210 is used to read the computer program in the memory 1220 and perform the following operations:

[0551] Send a location request to the first functional network element;

[0552] Receive excitation signal configuration information sent by the first functional network element; the excitation signal configuration information is used to configure the excitation signal.

[0553] Send an excitation signal to the first IoT device.

[0554] In some embodiments, the processor is also configured to perform the following operations:

[0555] Based on the excitation signal configuration information, an excitation signal is sent to the second IoT device.

[0556] In some embodiments, the excitation signal configuration information includes:

[0557] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0558] And / or,

[0559] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0560] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0561] In Figure 12, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1210 and memory represented by memory 1220. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1200 may be multiple elements, including a transmitter and a receiver, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. Processor 1210 is responsible for managing the bus architecture and general processing, and memory 1220 may store data used by processor 1210 during operation.

[0562] The processor 1210 can be a CPU, ASIC, FPGA or CPLD, and the processor can also adopt a multi-core architecture.

[0563] The processor executes any of the methods provided in the embodiments of this disclosure by invoking a computer program stored in memory, according to the obtained executable instructions. The processor and memory may also be physically separated.

[0564] It should be noted that the positioning device provided in this embodiment can implement all the method steps implemented by the method embodiment in which the execution subject is a second communication device, and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0565] Figure 13 is a schematic diagram of the positioning device provided in an embodiment of this disclosure. As shown in Figure 13, the positioning device 130 includes:

[0566] The first receiving module 131 is used to receive first measurement information sent by the first communication device. The first measurement information is measurement information of a first signal, and the first signal is a signal obtained by the first Internet of Things device modulating an excitation signal.

[0567] The determination module 132 is used to determine the location of the first Internet of Things device based on the first measurement information and the location of the first communication device.

[0568] In some embodiments, the first measurement information includes at least one of the following:

[0569] First transmission time information is used to indicate the first transmission time of the first signal from the first IoT device to the first communication device;

[0570] The first carrier phase information is used to indicate the first carrier phase measurement quantity corresponding to the first signal;

[0571] First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device;

[0572] First distance information is used to indicate the first distance between the first IoT device and the first communication device.

[0573] In some embodiments, the first measurement information satisfies at least one of the following:

[0574] When the first measurement information includes first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time;

[0575] When the first measurement information includes first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement.

[0576] When the first measurement information includes first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival.

[0577] When the first measurement information includes first distance information, the first measurement information also includes first distance confidence information, which is used to indicate the confidence level of the first distance.

[0578] In some embodiments, the determining module 132 is specifically used for:

[0579] The device receives second measurement information sent by the first communication device. The second measurement information is measurement information of a second signal, which is a signal obtained by the second Internet of Things device modulating an excitation signal.

[0580] The location of the first IoT device is determined based on the first measurement information, the location of the first communication device, the second measurement information, and the location of the second IoT device.

[0581] In some embodiments, the second measurement information includes at least one of the following:

[0582] The second transmission time information is used to indicate the second transmission time of the second signal from the second IoT device to the first communication device;

[0583] The second carrier phase information is used to indicate the second carrier phase measurement quantity corresponding to the second signal;

[0584] The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device;

[0585] The second distance information is used to indicate the second distance between the second IoT device and the first communication device;

[0586] Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time;

[0587] Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement;

[0588] Differential distance information is used to indicate the difference between the first distance and the second distance.

[0589] In some embodiments, the second measurement information satisfies at least one of the following:

[0590] When the second measurement information includes second transmission time information, the second measurement information also includes second time confidence information, which is used to indicate the confidence level of the second transmission time;

[0591] When the second measurement information includes second carrier phase information, the second measurement information also includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement.

[0592] When the second measurement information includes second angle information, the second measurement information also includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival;

[0593] When the second measurement information includes second distance information, the second measurement information also includes second distance confidence information, which is used to indicate the confidence level of the second distance.

[0594] In some embodiments, the first receiving module 131 is further configured to:

[0595] Receive a location request sent by a second communication device;

[0596] Based on the location request, excitation signal configuration information is sent to the first communication device and the second communication device. The excitation signal configuration information is used to configure the excitation signal, which is the signal sent by the second communication device to the first IoT device.

[0597] In some embodiments, the excitation signal includes multiple frequency sub-excitation signals, and the first signal includes a signal obtained by the first Internet of Things device modulating each of the multiple frequency sub-excitation signals.

[0598] In some embodiments, the determining module 132 is further configured to:

[0599] The second IoT device is determined based on the location of the second communication device;

[0600] The excitation signal is the signal sent by the second communication device to the second IoT device.

[0601] In some embodiments, the excitation signal configuration information includes:

[0602] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0603] And / or,

[0604] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0605] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0606] It should be noted that the positioning device 130 provided in this disclosure can implement all the method steps implemented by the first functional network element in the above method embodiment, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0607] Figure 14 is a schematic diagram of the structure of the positioning device provided in this embodiment. As shown in Figure 14, the positioning device 140 includes:

[0608] The second receiving module 141 is used to receive a first signal sent by the first IoT device, wherein the first signal is a signal obtained by the first IoT device modulating an excitation signal.

[0609] The acquisition module 142 is used to acquire the first measurement information of the first signal;

[0610] The first sending module 143 is used to send first measurement information to the first functional network element, and the first measurement information is used to locate the first Internet of Things device.

[0611] In some embodiments, the acquisition module 142 is specifically used for:

[0612] The first signal is measured based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device, and / or the first carrier phase measurement quantity corresponding to the first signal;

[0613] First measurement information is obtained based on the first transmission time and / or the first carrier phase measurement.

[0614] In some embodiments, the first measurement information includes at least one of the following:

[0615] First transmission time information, used to indicate the first transmission time;

[0616] First carrier phase information, used to indicate the first carrier phase measurement;

[0617] First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device;

[0618] First distance information is used to indicate the first distance between the first IoT device and the first communication device.

[0619] In some embodiments, the first measurement information satisfies at least one of the following:

[0620] When the first measurement information includes first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time;

[0621] When the first measurement information includes first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement.

[0622] When the first measurement information includes first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival.

[0623] When the first measurement information includes first distance information, the first measurement information also includes first distance confidence information, which is used to indicate the confidence level of the first distance.

[0624] In some embodiments, the acquisition module 142 is further configured to:

[0625] Receive a second signal sent by a second IoT device, wherein the second signal is a signal obtained by the second IoT device modulating an excitation signal;

[0626] Acquire the second measurement information of the second signal;

[0627] Send second measurement information to the first functional network element. The first and second measurement information are used to locate the first Internet of Things device.

[0628] In some embodiments, the acquisition module 142 is further configured to:

[0629] The second signal is measured based on the excitation signal configuration information to obtain the second transmission time of the second signal from the second IoT device to the first communication device, and / or the second carrier phase measurement quantity corresponding to the second signal;

[0630] Second measurement information is obtained based on the second transmission time and / or the second carrier phase measurement.

[0631] In some embodiments, the second measurement information includes at least one of the following:

[0632] The second transmission time information is used to indicate the second transmission time;

[0633] Second carrier phase information is used to indicate the second carrier phase measurement;

[0634] The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device;

[0635] The second distance information is used to indicate the second distance between the second IoT device and the first communication device;

[0636] Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time;

[0637] Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement;

[0638] Differential distance information is used to indicate the difference between the first distance and the second distance.

[0639] In some embodiments, the second measurement information satisfies at least one of the following:

[0640] When the second measurement information includes second transmission time information, the second measurement information also includes second time confidence information, which is used to indicate the confidence level of the second transmission time;

[0641] When the second measurement information includes second carrier phase information, the second measurement information also includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement.

[0642] When the second measurement information includes second angle information, the second measurement information also includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival;

[0643] When the second measurement information includes second distance information, the second measurement information also includes second distance confidence information, which is used to indicate the confidence level of the second distance.

[0644] In some embodiments, the second receiving module 141 is further configured to:

[0645] The device receives excitation signal configuration information sent by the first functional network element. The excitation signal configuration information is used to configure the excitation signal, which is a signal sent by the second communication device to the first IoT device.

[0646] In some embodiments, the excitation signal includes multiple frequency sub-excitation signals, and the first signal includes a signal obtained by the first Internet of Things device modulating each of the multiple frequency sub-excitation signals.

[0647] In some embodiments, the excitation signal is a signal sent by the second communication device to the second Internet of Things device.

[0648] In some embodiments, the excitation signal configuration information includes:

[0649] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0650] And / or,

[0651] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0652] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0653] It should be noted that the positioning device 140 provided in this disclosure can implement all the method steps implemented by the first communication device in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0654] Figure 15 is a schematic diagram of the structure of the positioning device provided in an embodiment of this disclosure. As shown in Figure 15, the positioning device 150 includes:

[0655] The second sending module 151 is used to send a location request to the first functional network element;

[0656] The third receiving module 152 is used to receive the excitation signal configuration information sent by the first functional network element. The excitation signal configuration information is used to configure the excitation signal.

[0657] The third transmitting module 153 is used to send an excitation signal to the first IoT device.

[0658] In some embodiments, the third sending module 153 is further configured to:

[0659] Based on the excitation signal configuration information, an excitation signal is sent to the second IoT device.

[0660] In some embodiments, the excitation signal configuration information includes:

[0661] First-time information is used to indicate the first moment when the second communication device sends an excitation signal to the first IoT device;

[0662] And / or,

[0663] The second timing information is used to indicate the second moment when the second communication device sends an excitation signal to the second IoT device.

[0664] In some embodiments, the time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

[0665] It should be noted that the positioning device 150 provided in this disclosure can implement all the method steps implemented by the second communication device in the above method embodiment and can achieve the same technical effect. Here, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail.

[0666] It should be noted that the division of units in the embodiments of this disclosure is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0667] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0668] This disclosure also provides a non-transitory readable storage medium storing a computer program that causes a processor to execute all the method steps described in the above method embodiments.

[0669] Non-transiently readable storage media can be any available medium or data storage device that the processor can access, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0670] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements any of the methods described in the above embodiments.

[0671] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0672] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0673] These processor-executable instructions may also be stored in a processor-readable memory that can instruct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0674] These processor-executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0675] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A positioning method applied to a first functional network element, the method comprising: Receive first measurement information sent by the first communication device, wherein the first measurement information is measurement information of a first signal, and the first signal is a signal obtained by the first Internet of Things device modulating an excitation signal; Based on the first measurement information and the location of the first communication device, the location of the first IoT device is determined.

2. The method according to claim 1, wherein, The first measurement information includes at least one of the following: First transmission time information is used to indicate the first transmission time of the first signal from the first IoT device to the first communication device; The first carrier phase information is used to indicate the first carrier phase measurement quantity corresponding to the first signal; First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device; First distance information is used to indicate the first distance between the first IoT device and the first communication device.

3. The method according to claim 2, wherein, The first measurement information satisfies at least one of the following: When the first measurement information includes the first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time; When the first measurement information includes the first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement. When the first measurement information includes the first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival. If the first measurement information includes the first distance information, the first measurement information further includes first distance confidence information, which is used to indicate the confidence level of the first distance.

4. The method according to claim 2 or 3, wherein, Determining the location of the first IoT device based on the first measurement information and the location of the first communication device includes: The device receives second measurement information sent by the first communication device, wherein the second measurement information is measurement information of a second signal, and the second signal is a signal obtained by the second Internet of Things device modulating the excitation signal; The location of the first IoT device is determined based on the first measurement information, the location of the first communication device, the second measurement information, and the location of the second IoT device.

5. The method according to claim 4, wherein, The second measurement information includes at least one of the following: The second transmission time information is used to indicate the second transmission time of the second signal from the second IoT device to the first communication device; The second carrier phase information is used to indicate the second carrier phase measurement quantity corresponding to the second signal; The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device; The second distance information is used to indicate the second distance between the second IoT device and the first communication device; Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time; Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement; Differential distance information is used to indicate the difference between the first distance and the second distance.

6. The method according to claim 5, wherein, The second measurement information satisfies at least one of the following: When the second measurement information includes the second transmission time information, the second measurement information further includes second time confidence information, which is used to indicate the confidence level of the second transmission time; When the second measurement information includes the second carrier phase information, the second measurement information further includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement. When the second measurement information includes the second angle information, the second measurement information further includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival; When the second measurement information includes the second distance information, the second measurement information further includes second distance confidence information, which is used to indicate the confidence level of the second distance.

7. The method according to any one of claims 1-6, wherein, The method further includes: Receive a location request sent by a second communication device; Based on the positioning request, excitation signal configuration information is sent to the first communication device and the second communication device. The excitation signal configuration information is used to configure the excitation signal, which is a signal sent by the second communication device to the first IoT device.

8. The method according to claim 7, wherein, The excitation signal includes multiple frequency sub-excitation signals, and the first signal includes the signal obtained by the first IoT device modulating each of the multiple frequency sub-excitation signals.

9. The method according to claim 7, wherein, The method further includes: The second IoT device is determined based on the location of the second communication device; The excitation signal is a signal sent by the second communication device to the second IoT device.

10. The method according to claim 9, wherein, The excitation signal configuration information includes: First-time information is used to indicate the first moment when the second communication device sends the excitation signal to the first IoT device; And / or, The second timing information is used to indicate the second moment when the second communication device sends the excitation signal to the second IoT device.

11. The method according to claim 10, wherein, The time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

12. A positioning method applied to a first communication device, the method comprising: Receive a first signal sent by a first Internet of Things (IoT) device, wherein the first signal is a signal obtained by the first IoT device modulating an excitation signal; Obtain the first measurement information of the first signal; The first measurement information is sent to the first functional network element, and the first measurement information is used to locate the first IoT device.

13. The method according to claim 12, wherein, The acquisition of the first measurement information of the first signal includes: The first signal is measured based on the excitation signal configuration information to obtain the first transmission time of the first signal from the first IoT device to the first communication device, and / or the first carrier phase measurement quantity corresponding to the first signal; The first measurement information is obtained based on the first transmission time and / or the first carrier phase measurement.

14. The method according to claim 13, wherein, The first measurement information includes at least one of the following: First transmission time information, used to indicate the first transmission time; First carrier phase information is used to indicate the first carrier phase measurement; First angle information is used to indicate the first angle of arrival of the first signal from the first IoT device to the first communication device; First distance information is used to indicate the first distance between the first IoT device and the first communication device.

15. The method according to claim 14, wherein, The first measurement information satisfies at least one of the following: When the first measurement information includes the first transmission time information, the first measurement information further includes first time confidence information, which is used to indicate the confidence level of the first transmission time; When the first measurement information includes the first carrier phase information, the first measurement information further includes first carrier phase position confidence information, which is used to indicate the confidence level of the first carrier phase measurement. When the first measurement information includes the first angle information, the first measurement information further includes first angle confidence information, which is used to indicate the confidence level of the first angle of arrival. If the first measurement information includes the first distance information, the first measurement information further includes first distance confidence information, which is used to indicate the confidence level of the first distance.

16. The method according to claim 14 or 15, wherein, The method further includes: Receive a second signal sent by a second IoT device, wherein the second signal is a signal obtained by the second IoT device modulating the excitation signal; Acquire the second measurement information of the second signal; The second measurement information is sent to the first functional network element, and the first measurement information and the second measurement information are used to locate the first IoT device.

17. The method according to claim 16, wherein, The second measurement information for acquiring the second signal includes: The second signal is measured based on the excitation signal configuration information to obtain the second transmission time of the second signal from the second IoT device to the first communication device, and / or the second carrier phase measurement quantity corresponding to the second signal; The second measurement information is obtained based on the second transmission time and / or the second carrier phase measurement.

18. The method according to claim 17, wherein, The second measurement information includes at least one of the following: The second transmission time information is used to indicate the second transmission time; The second carrier phase information is used to indicate the second carrier phase measurement. The second angle information is used to indicate the second angle of arrival of the second signal from the second IoT device to the first communication device; The second distance information is used to indicate the second distance between the second IoT device and the first communication device; Differential time information is used to indicate the difference in duration between the first transmission time and the second transmission time; Differential carrier phase information is used to indicate the differential phase between the first carrier phase measurement and the second carrier phase measurement; Differential distance information is used to indicate the difference between the first distance and the second distance.

19. The method according to claim 18, wherein, The second measurement information satisfies at least one of the following: When the second measurement information includes the second transmission time information, the second measurement information further includes second time confidence information, which is used to indicate the confidence level of the second transmission time; When the second measurement information includes the second carrier phase information, the second measurement information further includes second carrier phase position confidence information, which is used to indicate the confidence level of the second carrier phase measurement. When the second measurement information includes the second angle information, the second measurement information further includes second angle confidence information, which is used to indicate the confidence level of the second angle of arrival; When the second measurement information includes the second distance information, the second measurement information further includes second distance confidence information, which is used to indicate the confidence level of the second distance.

20. The method according to any one of claims 13-19, wherein, The method further includes: The device receives the excitation signal configuration information sent by the first functional network element. The excitation signal configuration information is used to configure the excitation signal, which is a signal sent by the second communication device to the first IoT device.

21. The method according to claim 20, wherein, The excitation signal includes multiple frequency sub-excitation signals, and the first signal includes the signal obtained by the first IoT device modulating each of the multiple frequency sub-excitation signals.

22. The method according to claim 20, wherein, The excitation signal is a signal sent by the second communication device to the second Internet of Things device.

23. The method according to claim 22, wherein, The excitation signal configuration information includes: First-time information is used to indicate the first moment when the second communication device sends the excitation signal to the first IoT device; And / or, The second timing information is used to indicate the second moment when the second communication device sends the excitation signal to the second IoT device.

24. The method according to claim 23, wherein, The time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

25. A positioning method applied to a second communication device, the method comprising: Send a location request to the first functional network element; Receive excitation signal configuration information sent by the first functional network element, wherein the excitation signal configuration information is used to configure the excitation signal; The excitation signal is sent to the first IoT device.

26. The method of claim 25, wherein, The method further includes: Based on the excitation signal configuration information, the excitation signal is sent to the second IoT device.

27. The method according to claim 26, wherein, The excitation signal configuration information includes: First-time information is used to indicate the first moment when the second communication device sends the excitation signal to the first IoT device; And / or, The second timing information is used to indicate the second moment when the second communication device sends the excitation signal to the second IoT device.

28. The method according to claim 27, wherein, The time difference between the first time point and the second time point is less than or equal to N time units, where N is a positive number.

29. A positioning device applied to a first functional network element, the device comprising: The first receiving module is configured to receive first measurement information sent by the first communication device, wherein the first measurement information is measurement information of a first signal, and the first signal is a signal obtained by the first Internet of Things device modulating an excitation signal; The determination module is used to determine the location of the first IoT device based on the first measurement information and the location of the first communication device.

30. A positioning device applied to a first communication device, the device comprising: The second receiving module is used to receive a first signal sent by the first IoT device, wherein the first signal is a signal obtained by the first IoT device modulating an excitation signal; The acquisition module is used to acquire the first measurement information of the first signal; The first transmitting module is used to transmit the first measurement information to the first functional network element, and the first measurement information is used to locate the first IoT device.

31. A positioning device applied to a second communication device, the device comprising: The second sending module is used to send a location request to the first functional network element; The third receiving module is used to receive the excitation signal configuration information sent by the first functional network element, wherein the excitation signal configuration information is used to configure the excitation signal; The third transmitting module is used to send the excitation signal to the first IoT device.

32. A positioning device, comprising: Memory, transceiver, and processor, The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program in the memory and execute the method according to any one of claims 1-11.

33. A positioning device, comprising: Memory, transceiver, and processor, The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program in the memory and execute the method according to any one of claims 12-24.

34. A positioning device, comprising: Memory, transceiver, and processor, The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program in the memory and execute the method according to any one of claims 25-28.

35. A non-transient readable storage medium storing a computer program for causing a processor to perform the method of any one of claims 1 to 11, or for causing a processor to perform the method of any one of claims 12 to 24, or for causing a processor to perform the method of any one of claims 25 to 28.

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