Positioning method and apparatus, and communication device

Abstract

Provided in the present disclosure are a positioning method and apparatus, and a communication device. The method comprises: a signal receiving device measuring a positioning signal reflected by a device to be positioned, so as to obtain an accumulated carrier phase measurement quantity of the positioning signal; and reporting the accumulated carrier phase measurement quantity to a first device.

Description

Positioning methods, devices and communication equipment

[0001] This disclosure claims priority to Chinese Patent Application No. 202411207897.5, filed with the Chinese Patent Office on August 30, 2024, entitled "Positioning Method, Apparatus and Communication Equipment", 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 communication equipment. Background Technology

[0003] The Internet of Things (IoT) has garnered significant attention in the field of wireless communication, requiring new technologies to support devices without batteries or energy storage capabilities, or devices with energy storage capabilities that do not require manual replacement or charging. Commonly implemented technologies utilize barcodes or Radio Frequency Identification (RFID) for low-complexity tag identification. However, these technologies have limited reading range, cannot effectively measure distance and locate devices, and suffer from severe interference in high-density deployment scenarios due to the lack of interference management solutions, resulting in capacity limitations.

[0004] Related technologies define various user equipment (UE) positioning methods that measure the self-positioning reference signal (PRS) of the wireless communication system. These methods are characterized by positioning based on the wireless communication system's own PRS, allowing operation in environments where external network reference signals cannot be received. However, in current cellular networks, the carrier phase in the backscattering system is easily affected by initial phase errors and hardware errors in the reflection equipment, leading to inaccurate positioning results. Summary of the Invention

[0005] The purpose of this disclosure is to provide a positioning method, apparatus, and communication device that solves the problem of inaccurate device positioning in cellular networks in related technologies.

[0006] Embodiments of this disclosure provide a positioning method applied to a signal receiving device, the method comprising:

[0007] The signal receiving device measures the positioning signal reflected by the positioning device to obtain the cumulative carrier phase measurement of the positioning signal;

[0008] The accumulated carrier phase measurement is reported to the first device.

[0009] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0010] In some embodiments, the method further includes:

[0011] Receive the first configuration information sent by the first device;

[0012] The measurement of the positioning signal reflected by the device to be positioned includes:

[0013] The positioning signal reflected by the device to be positioned is measured based on the first configuration information.

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

[0015] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0016] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0017] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0018] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0019] The preamble of the device to be located.

[0020] In some embodiments, the method further includes:

[0021] Send relevant information about the accumulated carrier phase measurement to the first device;

[0022] The relevant information includes at least one of the following:

[0023] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0024] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0025] The identifier of the reporting period for the accumulated carrier phase measurement;

[0026] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0027] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0028] Identification of the signal receiving antenna;

[0029] Identification of the signal transmitting antenna;

[0030] Identification of signal transmitting equipment;

[0031] Identification of signal receiving equipment;

[0032] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0033] Quality indication information of accumulated carrier phase measurements;

[0034] Weekly jump information;

[0035] The time identifier corresponding to the cumulative carrier phase measurement.

[0036] In some embodiments, reporting the accumulated carrier phase measurement to the first device includes one of the following:

[0037] Independently report the accumulated carrier phase measurements;

[0038] The cumulative carrier phase measurement is reported in conjunction with the second information, which includes at least one of the following: the arrival time of the positioning signal, the time difference between the reception and transmission of the positioning signal, the received power of the positioning signal, the departure angle of the positioning signal, and the arrival angle of the positioning signal.

[0039] In some embodiments, reporting the accumulated carrier phase measurement to the first device includes one of the following:

[0040] The accumulated carrier phase measurement is periodically reported according to a preset period.

[0041] The accumulated carrier phase measurement and the corresponding time identifier are reported non-periodically.

[0042] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0043] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0044] Embodiments of this disclosure provide a positioning method applied to a first device, the method comprising:

[0045] The first device receives the accumulated carrier phase measurement sent by the signal receiving device; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned;

[0046] The device to be located is located based on the accumulated carrier phase measurement.

[0047] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0048] In some embodiments, the method further includes:

[0049] Send first configuration information to at least one of the signal transmitting device, the signal receiving device, and the device to be located.

[0050] In some embodiments, the method further includes:

[0051] The first configuration information is generated based on the first information and the positioning mode;

[0052] The first information includes: the number of devices to be located and the identifier of the devices to be located;

[0053] The positioning modes include: single-frequency positioning mode or multi-frequency positioning mode.

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

[0055] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0056] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0057] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0058] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0059] The preamble of the device to be located.

[0060] In some embodiments, the method further includes:

[0061] The information related to the accumulated carrier phase measurement sent by the receiving signal receiving device;

[0062] The relevant information includes at least one of the following:

[0063] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0064] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0065] The identifier of the reporting period for the accumulated carrier phase measurement;

[0066] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0067] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0068] Identification of the signal receiving antenna;

[0069] Identification of the signal transmitting antenna;

[0070] Identification of signal transmitting equipment;

[0071] Identification of signal receiving equipment;

[0072] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0073] Cumulative phase quality indication information;

[0074] Weekly jump information;

[0075] The timestamp identifier corresponding to the cumulative carrier phase measurement.

[0076] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0077] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0078] Embodiments of this disclosure provide a communication device applied to a signal receiving device, including: a memory, a transceiver, and a processor.

[0079] A memory for storing computer programs; a transceiver for receiving and sending data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0080] The positioning signal reflected by the positioning device is measured to obtain the cumulative carrier phase measurement of the positioning signal;

[0081] The accumulated carrier phase measurement is reported to the first device.

[0082] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0083] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0084] Receive the first configuration information sent by the first device;

[0085] The measurement of the positioning signal reflected by the device to be positioned includes:

[0086] The positioning signal reflected by the device to be positioned is measured based on the first configuration information.

[0087] In some embodiments, the first configuration information includes at least one of the following:

[0088] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0089] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0090] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0091] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0092] The preamble of the device to be located.

[0093] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0094] Send relevant information about the accumulated carrier phase measurement to the first device;

[0095] The relevant information includes at least one of the following:

[0096] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0097] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0098] The identifier of the reporting period for the accumulated carrier phase measurement;

[0099] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0100] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0101] Identification of the signal receiving antenna;

[0102] Identification of the signal transmitting antenna;

[0103] Identification of signal transmitting equipment;

[0104] Identification of signal receiving equipment;

[0105] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0106] Quality indication information of accumulated carrier phase measurements;

[0107] Weekly jump information;

[0108] The time identifier corresponding to the cumulative carrier phase measurement.

[0109] In some embodiments, the processor is configured to read a computer program from the memory and perform one of the following operations:

[0110] Independently report the accumulated carrier phase measurements;

[0111] The cumulative carrier phase measurement is reported in conjunction with the second information, which includes at least one of the following: the arrival time of the positioning signal, the time difference between the reception and transmission of the positioning signal, the received power of the positioning signal, the departure angle of the positioning signal, and the arrival angle of the positioning signal.

[0112] In some embodiments, the processor is configured to read a computer program from the memory and perform one of the following operations:

[0113] The accumulated carrier phase measurement is periodically reported according to a preset period.

[0114] The accumulated carrier phase measurement and the corresponding time identifier are reported non-periodically.

[0115] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0116] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0117] Embodiments of this disclosure provide a communication device, applied to a first device, including a memory, a transceiver, and a processor:

[0118] A memory for storing computer programs; a transceiver for receiving and sending data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0119] The signal receiving device receives the accumulated carrier phase measurement; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned.

[0120] The device to be located is located based on the accumulated carrier phase measurement.

[0121] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0122] In some embodiments, first configuration information is sent to at least one of a signal transmitting device, a signal receiving device, and a device to be located.

[0123] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0124] The first configuration information is generated based on the first information and the positioning mode;

[0125] The first information includes: the number of devices to be located and the identifier of the devices to be located;

[0126] The positioning modes include: single-frequency positioning mode or multi-frequency positioning mode.

[0127] In some embodiments, the first configuration information includes at least one of the following:

[0128] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0129] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0130] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0131] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0132] The preamble of the device to be located.

[0133] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0134] The information related to the accumulated carrier phase measurement sent by the receiving signal receiving device;

[0135] The relevant information includes at least one of the following:

[0136] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0137] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0138] The identifier of the reporting period for the accumulated carrier phase measurement;

[0139] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0140] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0141] Identification of the signal receiving antenna;

[0142] Identification of the signal transmitting antenna;

[0143] Identification of signal transmitting equipment;

[0144] Identification of signal receiving equipment;

[0145] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0146] Cumulative phase quality indication information;

[0147] Weekly jump information;

[0148] The time identifier corresponding to the cumulative carrier phase measurement.

[0149] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0150] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0151] Embodiments of this disclosure provide a positioning device applied to a signal receiving device, comprising:

[0152] The measurement module is used to measure the positioning signal reflected by the positioning device to obtain the cumulative carrier phase measurement of the positioning signal;

[0153] The first transmitting module is used to report the accumulated carrier phase measurement to the first device.

[0154] Embodiments of this disclosure provide a positioning device applied to a first device, comprising:

[0155] The first receiving module is used to receive the accumulated carrier phase measurement sent by the signal receiving device; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned;

[0156] The positioning module is used to locate the device to be located based on the accumulated carrier phase measurement.

[0157] Embodiments of this disclosure provide a processor-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the positioning method described above.

[0158] The beneficial effects of the above-mentioned technical solution disclosed herein are:

[0159] In embodiments of this disclosure, a signal receiving device measures a positioning signal to obtain a cumulative carrier phase measurement, and reports the cumulative carrier phase measurement to a first device. The positioning signal is the signal transmitted by the signal transmitting device, reflected by the device to be positioned, and arrives at the signal receiving device. By measuring this positioning signal, a cumulative carrier phase measurement is obtained throughout the signal transmission process, enabling the first device to perform positioning based on this cumulative carrier phase measurement and obtain a more accurate positioning result. Attached Figure Description

[0160] Figure 1 shows a flowchart of one of the positioning methods according to an embodiment of the present disclosure;

[0161] Figure 2 shows one of the schematic diagrams of backscattered signal transmission;

[0162] Figure 3 shows one of the structural schematic diagrams of the modulation frame according to an embodiment of the present disclosure;

[0163] Figure 4 shows a second schematic diagram of the structure of the modulation frame according to an embodiment of the present disclosure;

[0164] Figure 5 shows a schematic diagram of periodic transmission of a single-frequency signal according to an embodiment of the present disclosure;

[0165] Figure 6 shows one of the schematic diagrams of periodic transmission of multi-frequency signals according to an embodiment of the present disclosure;

[0166] Figure 7 shows the second schematic diagram of backscattered signal transmission;

[0167] Figure 8 shows a second schematic diagram of the periodic transmission of multi-frequency signals according to an embodiment of this disclosure;

[0168] Figure 9 shows a second schematic flowchart of the positioning method according to an embodiment of the present disclosure;

[0169] Figure 10 shows a schematic diagram of the structure of a positioning device according to an embodiment of the present disclosure;

[0170] Figure 11 shows a second schematic diagram of the positioning device according to an embodiment of the present disclosure;

[0171] Figure 12 shows a schematic diagram of the structure of a communication device according to an embodiment of the present disclosure;

[0172] Figure 13 shows a second schematic diagram of the structure of a communication device according to an embodiment of this disclosure. Detailed Implementation

[0173] To make the technical problems, solutions, and advantages of this disclosure clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments. In the following description, specific details such as particular configurations and components are provided merely to aid in a comprehensive understanding of the embodiments of this disclosure. Therefore, those skilled in the art should understand that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Furthermore, for clarity and brevity, descriptions of known functions and structures have been omitted.

[0174] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a particular feature, structure, or characteristic relating to an embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0175] In the various embodiments of this disclosure, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0176] 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.

[0177] In this disclosure, the term "multiple" refers to two or more, and other quantifiers are similar.

[0178] 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.

[0179] Embodiments of this disclosure provide a positioning method, apparatus, and communication device to solve the problem of inaccurate device positioning in cellular networks in related technologies.

[0180] 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.

[0181] As shown in Figure 1, an embodiment of this disclosure provides a positioning method applied to a signal receiving device, specifically including the following steps:

[0182] Step 101: The signal receiving device measures the positioning signal reflected by the positioning device to be positioned, and obtains the cumulative carrier phase measurement of the positioning signal;

[0183] Step 102: Report the accumulated carrier phase measurement to the first device.

[0184] In this embodiment, the signal transmitting device sends a positioning signal (or excitation signal, carrier signal). The positioning device modulates the positioning signal sent by the signal transmitting device and reflects it. The signal receiving device receives the reflected positioning signal and performs measurement, as shown in Figure 2. In this embodiment, the signal transmitting device refers to the device that transmits the positioning signal, and the signal receiving device refers to the device that receives the positioning signal. Both the signal transmitting device and the signal receiving device may have multiple antenna arrays. The signal transmitting device and the signal receiving device may be the same device or different devices. The signal transmitting device can be a base station or a terminal, and the signal receiving device can be a base station or a terminal.

[0185] The device to be located does not have carrier generation capability itself, and needs to modulate the transmission information onto an external signal and transmit it through the antenna of a backscattering device. The external signal is usually the carrier signal generated by the signal transmitting device.

[0186] The first device can be a network element with location management capabilities, used to provide different positioning services to users. For example, the first device can be a Location Management Function (LMF) or other undefined network elements with the same function. The first device can control and manage signal transmitting devices, devices to be located, signal receiving devices, and other related devices, as well as receive and process measurement quantities. The positioning signal can be a Positioning Reference Signal (PRS), representing all reference signals that can be used to measure carrier phase. For example, the positioning signal may include a PRS that can be used for New Radio (NR) downlink time difference of arrival (DL-TDOA) / uplink time difference of arrival (UL-TDOA) positioning, a Channel State Information Reference Signal (CIS-RS), a Sounding Reference Signal (SRS), or other reference signals that are not currently defined and are used for IoT positioning. This disclosure does not limit the scope of the reference signal.

[0187] The signal receiving device measures the positioning signal reflected by the device to be positioned, obtains the cumulative carrier phase measurement, and reports the cumulative carrier phase measurement to the first device. In some embodiments, the signal receiving device measures the positioning signal transmitted by the signal transmitting device, modulated by the device to be positioned, and modulated by the signal receiving device. Therefore, the cumulative carrier phase measurement can also be understood as a measurement obtained by measuring the signal throughout the entire signal transmission process. For example, the cumulative carrier phase measurement can be defined as the cumulative carrier phase of the signal transmitted by the signal transmitting device after being modulated by the backscattering device (i.e., after being modulated by the backscattering device of the device to be positioned) and arriving at the signal receiving device. The first device can locate the device to be positioned based on the cumulative carrier phase measurement.

[0188] In some embodiments, in this disclosure, the signal transmitting device, the signal receiving device, and the device to be located can all be Internet of Things (Ambient-IoT, A-IoT) devices, that is, the signal transmitting device can be an A-IoT transmitting device, the signal receiving device can be an A-IoT receiving device, and the device to be located can be an A-IoT reflecting device.

[0189] In embodiments of this disclosure, a signal receiving device measures a positioning signal to obtain a cumulative carrier phase measurement, and reports the cumulative carrier phase measurement to a first device. The positioning signal is the signal transmitted by the signal transmitting device that arrives at the signal receiving device after being reflected by the device to be positioned. By measuring this positioning signal, a cumulative carrier phase measurement is obtained throughout the signal transmission process, enabling the first device to perform positioning based on this cumulative carrier phase measurement and obtain a more accurate positioning result.

[0190] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0191] In this embodiment, the cumulative carrier phase measurement can be the cumulative carrier phase measurement of one or more modulation symbols corresponding to the positioning signal. For example, after the signal receiving device receives the positioning signal reflected by the device to be positioned, it can modulate or process the positioning signal to obtain a discrete signal containing one or more modulation symbols (or modulation frames). The cumulative carrier phase measurement can be obtained by extracting the phase of the discrete signal containing one or more modulation symbols (or modulation frames).

[0192] In some embodiments, the accumulated carrier phase measurement can be the accumulation of carrier phase measurements obtained from a reference modulation symbol to the current symbol. The reference modulation symbol can serve as the starting modulation symbol corresponding to the accumulated carrier phase measurement. The signal receiving device can start measuring from the reference modulation symbol until it obtains the carrier phase measurement of the Ath modulation symbol. The signal receiving device then reports the accumulated carrier phase measurement from the reference modulation symbol to the Ath modulation symbol. For example, the signal receiving device reports the accumulated carrier phase measurement every two modulation symbols. Assuming the reference modulation symbol is denoted as symbol 1, the signal receiving device starts measuring from symbol 1. When it obtains the carrier phase measurement of symbol 3, it reports the accumulated carrier phase measurement of symbols 1 to 3 to the first device. When it obtains the carrier phase measurement of symbol 5, it reports the accumulated carrier phase measurement of symbols 1 to 5 to the first device (for cases where the reference modulation symbol remains unchanged). In some embodiments, the method further includes:

[0193] Receive first configuration information sent by the first device; the first configuration information may be used to indicate relevant information for the transmission of positioning signals and / or modulation information;

[0194] The measurement of the positioning signal reflected by the device to be positioned includes:

[0195] The positioning signal reflected by the device to be positioned is measured based on the first configuration information.

[0196] In some embodiments, the first configuration information includes at least one of the following:

[0197] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles; the transmission time information of the positioning signal can be used to indicate the time when the signal transmitting device transmits the positioning signal, such as one or more of the timestamp identifier (ID), modulation frame ID, modulation symbol ID, etc.

[0198] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles; the transmission frequency information of the positioning signal can be used to indicate the frequency at which the signal transmitting device transmits the positioning signal.

[0199] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located; the time modulation information can be used to indicate the time information of the signal modulation signal of the signal receiving device.

[0200] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located; the frequency modulation information can be used to indicate the frequency information of the modulation signal of the signal receiving device.

[0201] The preamble of the device to be located.

[0202] In some embodiments, the signal receiving device notifies the first device of the number of S devices to be located within the current time period and the identifiers (IDs) of the devices to be located. In some embodiments, the signal receiving device may determine the number of devices to be located and their corresponding IDs within the current time period through a polling handshake and then notify the first device of this information. Alternatively, the first device may obtain the number of S devices to be located and their identifiers (IDs) within the current time period through inventory scanning.

[0203] The first device can determine the transmission timing (modulation time of different devices to be located) and frequency sequence (modulation frequency of different devices to be located) within the current time period based on the number of devices to be located, the identification of the devices to be located, and the single-frequency or multi-frequency tracking mode, and notify the signal transmitting device, the devices to be located, and the signal receiving device of the modulation information (preamble, time modulation information, and frequency modulation information of different devices to be located).

[0204] For example, the first device can generate the location signal transmission frequency and transmission time information of the signal transmitting device within this time period based on the number of devices to be located and the identifiers of the devices to be located. For example, if S=3, the first device determines the location signal transmission frequency information as {fc1=2GHz}, and the transmission time information as: timestamp ID / modulation frame ID / modulation symbol ID. For example, the identifier of the starting modulation symbol (e.g., the starting modulation symbol, which can also be understood as the reference modulation symbol) is G, repeating 3*100 cycles. It should be noted that in addition to periodic transmission, the location signal can also be configured for non-periodic transmission, that is, the sensing server instructs the signal transmitting device on the specific transmission time of different preambles, such as indicating the modulation frame or modulation symbol ID of different preambles.

[0205] The first device can also generate modulation information for the devices to be located based on the number of devices to be located and their identifiers. This includes time modulation information {ID1, ID1, ID1, ID2, ID2, ID2, ID3, ID3, ID3} repeated for 100 cycles, and frequency modulation information {Δf1 = -0.5 GHz, Δf2 = 0 GHz, Δf3 = 0.5 GHz} repeated for 3*100 cycles. The first device sends at least one of the following to the signal transmitting device, signal receiving device, and the devices to be located: the transmission frequency information, transmission time information, time modulation information, frequency modulation information, and preamble information for the three devices to be located. The preamble information can be, for example, preambles PRS1, PRS2, and PRS3, and can use pseudo-random (Gold) sequences, ZC sequences, etc., that have good autocorrelation and cross-correlation properties.

[0206] In some embodiments, after receiving the first configuration information, the signal transmitting device may transmit an excitation signal (i.e., a positioning signal) according to the transmission frequency information and / or transmission time information therein. The signal transmitting device may also send the first configuration information to the device to be located; for example, the first device may not send the first configuration information to the device to be located, but the signal transmitting device may send the first configuration information to the device to be located.

[0207] In some embodiments, the device to be located receives first configuration information sent by a signal transmitting device and / or a first device. After receiving the positioning signal sent by the signal transmitting device, the device to be located modulates the positioning signal according to the time modulation information and / or frequency modulation information indicated by the first configuration information, and backscatters the modulated positioning signal containing preamble and data information to the signal receiving device. In some embodiments, the device to be located may also send modulation information (preamble, time modulation information, and frequency modulation information of each device to be located) to the signal receiving device.

[0208] The signal receiving device receives the first configuration information and can also receive modulation information sent by the device to be located. It modulates and measures the positioning signal to obtain the cumulative carrier phase measurement. The obtained cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​are reported to the first device.

[0209] In some embodiments, measuring the positioning signal reflected by the device to be positioned based on the first configuration information to obtain a carrier phase measurement of the positioning signal includes:

[0210] The positioning signal reflected by the positioning device is down-converted to obtain the first signal;

[0211] The first signal is subjected to analog-to-digital converter (ADC) processing to obtain a second signal containing one or more modulation symbols;

[0212] Remove the baseband signal of the signal transmitting device contained in the second signal to obtain a third signal, the third signal containing one or more modulation symbols;

[0213] Extract the phase of each modulation symbol of the third signal;

[0214] The accumulated carrier phase measurement is determined based on the phase difference between two adjacent modulation symbols.

[0215] In some embodiments, the method further includes: sending relevant information about the accumulated carrier phase measurement to the first device;

[0216] The relevant information includes at least one of the following:

[0217] 1) The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement, such as the reference modulation symbol number, index, etc.;

[0218] 2) The identifier ID of the device to be located corresponding to the accumulated carrier phase measurement, such as the device number, index, etc.;

[0219] 3) The identifier ID of the reporting period of the cumulative carrier phase measurement, for example, each reporting period has a corresponding index, and the signal receiving device can also report the index of the period when reporting the cumulative carrier phase measurement;

[0220] 4) The identifier ID of the modulation symbol corresponding to the cumulative carrier phase measurement. The cumulative carrier phase measurement can be the accumulation of carrier phase measurements of multiple modulation symbols. When reporting the cumulative carrier phase measurement, the signal receiving device can also report the number or index of the modulation symbol corresponding to the cumulative carrier phase measurement.

[0221] 5) The identifier ID of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0222] 6) The identification ID of the signal receiving antenna, such as the identifier of the physical antenna or antenna port used to receive the signal. This identifier can be a number or an index.

[0223] 7) Identifier ID of the signal transmitting antenna; such as the identifier of the physical antenna or antenna port used to transmit the signal, which can be a number or index;

[0224] 8) The identifier ID of the signal transmitting device, for example: it could be the terminal's number or index;

[0225] 9) The identifier ID of the signal receiving device, for example, it could be the base station number or index;

[0226] 10) The multipath identifier ID to which the accumulated carrier phase measurement belongs (for multi-carrier systems), for example, could be the channel number;

[0227] 11) Quality indication information of the accumulated carrier phase measurement; used to indicate the quality of the accumulated carrier phase measurement, such as the error variance.

[0228] 12) Cycle slip information; used to indicate whether a cycle slip has occurred. Whether a cycle slip has occurred can be determined based on whether the difference between two adjacent cumulative carrier phase measurements (before or after compensation) is greater than a preset value. The preset value is, for example, half a cycle (0.5 cycles). For example, if two adjacent cumulative carrier phase measurements are 0.9 and 0.7 respectively, i.e., 0.9→0.7, the difference between the two cumulative carrier phase measurements is calculated and compensated (+1): 0.7+1-0.9=0.8>0.5cycle, then a cycle slip is considered to have occurred. For another example, if two adjacent cumulative carrier phase measurements are 0.9 and 0.1 respectively, i.e., 0.9→0.1, the difference between the two cumulative carrier phase measurements is calculated and compensated (+1): 0.1+1-0.9=0.2<0.5cycle, then no cycle slip is considered to have occurred.

[0229] 13) The time identifier corresponding to the accumulated carrier phase measurement. This time identifier may be one or more of the following: timestamp ID, modulation frame ID, modulation symbol ID, etc.

[0230] In this embodiment, in addition to reporting the accumulated carrier phase measurement to the first device, the signal receiving device can also report one or more of the aforementioned related information of the accumulated carrier phase measurement to the first device. The accumulated carrier phase measurement and the related information can be reported simultaneously or independently. The first device, by receiving the accumulated carrier phase measurement, the related information of the accumulated carrier phase measurement, and other measurement values, can locate and track the location information of the device to be located.

[0231] In some embodiments, reporting the accumulated carrier phase measurement to the first device includes one of the following:

[0232] Independently report the accumulated carrier phase measurements;

[0233] The cumulative carrier phase measurement is reported in conjunction with the second information, which includes at least one of the following: the arrival time of the positioning signal, the time difference between the reception and transmission of the positioning signal, the received power of the positioning signal, the departure angle of the positioning signal, and the arrival angle of the positioning signal.

[0234] In this embodiment, the signal receiving device can report the cumulative carrier phase measurement separately, such as independently reporting the cumulative carrier phase measurement and its related information, or it can report the cumulative carrier phase measurement and other measurement values ​​(i.e., the second information) together. The other measurement values ​​include arrival time, transmit / receive time difference, received signal power, departure / arrival angle, and other measurement values.

[0235] In some embodiments, reporting the accumulated carrier phase measurement to the first device includes one of the following:

[0236] The accumulated carrier phase measurement is periodically reported according to a preset period.

[0237] The accumulated carrier phase measurement and the corresponding timestamp identifier are reported non-periodically.

[0238] In this embodiment, the signal receiving device can periodically report the accumulated carrier phase measurement. The preset period can be predefined or pre-configured by the first device. For example, the signal receiving device reports the accumulated carrier phase measurement at equal intervals according to the predefined period or the instruction received from the first device. The instruction from the first device can also include period-related parameters, such as period interval and number of periods. The signal receiving device can also report the accumulated carrier phase measurement non-periodically, for example, by reporting the accumulated carrier phase measurement at non-equal intervals. In this case, the time identifier of each accumulated carrier phase measurement needs to be reported, such as one or more of the following: timestamp ID, modulation frame ID, modulation symbol ID, etc.

[0239] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal; wherein the multi-carrier signal is generated by a signal transmitting device or by the device to be positioned through modulation.

[0240] In this embodiment, the positioning signal may include a single-carrier signal (also known as a single-frequency signal) and / or a multi-carrier signal (also known as a multi-frequency signal). The multi-carrier signal may be generated by a signal transmitting device or generated by the device to be positioned through modulation.

[0241] The positioning methods of this disclosure are illustrated below with examples of whether the positioning signal is a single-carrier signal or a multi-carrier signal.

[0242] Example 1: Taking a single-carrier system as an example.

[0243] 1. Signal transmitting equipment (such as A-IOT transmitting equipment) generates excitation signals (or positioning signals, carrier signals).

[0244] For a single-carrier system, the transmitted signal of the first device can be represented as:

[0245] Among them, A in It is the amplitude of the continuous wave (CW) signal, φ in (t0) represents the initial phase deviation of the signal transmitting device, t represents the time variable, t0 is the signal transmission time, and f c For carrier frequency.

[0246] For a single-path channel, the signal arriving at the device to be located (e.g., an A-IOT reflector) can be represented as:

[0247] Where h1 is the attenuation caused by the first channel segment (i.e., the channel between the signal transmitting device and the device to be located), τ1 is the time delay from the transmitting antenna of the signal transmitting device to the receiving antenna of the device to be located via wireless transmission, and w1(t) is the noise of the device to be located.

[0248] 2. The device to be located (e.g., an A-IOT reflector) modulates and transmits signals.

[0249] The positioning signal modulated by the device to be positioned can be represented as:

[0250] In the above formula, the length of a modulation frame is N, which includes the preamble and data information. The preamble occupies a length of N. P The length N of the data information D N = N P +ND B out [n] represents the information of the modulated frame at the nth symbol, T represents the duration of a symbol, the modulated frame ID is represented by m, and the modulated frame length is NT. φ scatter This refers to the non-ideal phase rotation caused by the transmitting circuit in A-IoT devices.

[0251] For example, the structure of the modulation frame is shown in Figures 3 and 4. Each signal has a transmission length of 135 modulation symbols. The preamble is used for detection and measurement, and the data information includes configuration information, identification information, interaction information, and verification information. For instance, the first 6 modulation symbols are the preamble; the last 129 modulation symbols are the data information, used for device identification and data transmission. scatter The non-ideal phase rotation caused by the transmitting circuit in A-IoT devices is omitted here for simplicity; the same treatment of noise is omitted here.

[0252] 3. The signal receiving device (e.g., A-IOT receiving device) receives the signal reflected by the device to be located and performs signal measurement.

[0253] 3.1 The signal reflected to the signal receiving device after passing through the second channel (i.e., the channel between the device to be located and the signal receiving device) is represented as follows:

[0254] Where h2 is the attenuation caused by the second channel segment, τ2(t) is the time delay of the signal at the nth sampling point from the transmitting antenna of the device to be located to the receiving antenna of the signal receiving device via wireless transmission, and w2(t) is the discretized noise of the signal receiving device.

[0255] 3.2 The signal receiving device down-converts the received signal r(t). Ignoring errors caused by the local crystal oscillator, the down-converted signal is expressed by the following formula:

[0256] After ADC processing, the discrete signal of the nth sampling point of the mth modulation frame can be obtained, which can be expressed by the following formula:

[0257] In the above formula, in single-base mode, the signal receiving device and the signal transmitting device are the same device, and the time delay of the two channels is the same; in dual-base mode, the signal receiving device and the signal transmitting device are different devices, and the time delay of the two channels is different.

[0258] 3.3 Remove the baseband signal A from the known signal transmitting device. in B out [n], and the processed received signal z can be obtained. B [n] and carrier phase φ[n], where N PThe phase difference between each sampling point can be ignored, so the phase measurement accuracy can be improved by taking the average value. For ease of understanding, the following formula is explained using the phase of the first sampling point of the m-th frame as an example. φ[n]=angle(z B [n])=mod(-2πf c (τ1[n]+τ2[n])+φ in (t0)+φ scatter ,2π)+φ w [n]

[0259] As can be seen from the above formula, the carrier phase error is affected by the initial phase error (φ) of the signal transmitting device and the signal receiving device. in (t0) and the non-ideal phase (φ) caused by the transmitting circuit of the device to be located. scatter The impact needs to be considered, and the handling methods need to be taken into account. (The first N...) P Under the assumption that the phases of the sampling points are similar, a representative phase value can be selected for each modulation frame. Here, we assume that the first N values ​​are taken. P The average phase value of each sampling point is denoted by φ[m].

[0260] The definition of the cumulative carrier phase measurement is given below. Since the time delay change within a modulation frame is very small and can be ignored, it can be represented by the modulation frame number m: φ[m-1]=mod(-2πf c (τ1[m-1]+τ2[m-1])+φ in (t0)+φ scatter ,2π)+φ w [m-1] φ[m]=mod(-2πf c (τ1[m]+τ2[m])+φ in (t0)+φ scatter ,2π)+φ w [m]

[0261] Wherein, φ[m] and φ[m-1] are the carrier phase measurements of the m-th and m-1-th modulation symbols, respectively, and the interval between them is N sampling points, which is 1 modulation symbol.

[0262] Subtracting the two formulas above, we get: Δφ[m]=φ[m]-φ[m-1] =-2πf c (τ1[m]+τ2[m]-τ1[m-1]-τ2[m-1])+φ w [m]-φ w [m-1]

[0263] As can be seen from the formula, by using time difference, the initial phase error of the signal transmitting and receiving devices and the non-ideal phase influence caused by the transmitting circuit of the device to be located are eliminated, leaving only the phase change caused by the change of the sum of the two time delays (i.e., τ1[m-1]+τ2[m-1] and τ1[m]+τ2[m]).

[0264] By accumulating m modulation symbols, the accumulated carrier phase measurement can be obtained as follows:

[0265] Where m represents the m-th modulation symbol, m starts from 2, and Ξφ[1] = φ[1]. Here, φ[m] is the phase of a modulation frame (symbol), Δφ[m] represents the phase difference between the m and m-1 modulation frames, and Ξφ[m] represents the accumulated phase obtained after accumulating through m modulation frames. In addition, the first modulation symbol (or the starting modulation symbol) is also called the reference modulation symbol, indicating that the accumulated carrier phase starts to accumulate from the first modulation symbol (reference modulation symbol), and the modulation symbol ID also needs to be reported together.

[0266] It should be noted that the cumulative carrier phase measurement of the embodiments of this disclosure is also applicable to single differential (differential between devices to be located, or differential between signal receiving devices) and double differential (differential between devices to be located + differential between signal receiving devices) carrier phase measurements.

[0267] 3.4 The signal receiving device reports the cumulative carrier phase measurement corresponding to one or more devices to be located to the first device (e.g., LMF).

[0268] For example, as shown in Figure 5, y out (t) represents the pilot signal of each label in Figure 5. Each label periodically affects y. in (t) is modulated, with a signal bandwidth of B MHz and a pilot length of N. P The data length is N D The total length of the signal is N = N P +N D Converting it to time gives Seconds, therefore, for the method of rotating S tags, the pilot transmission period for each tag is To ensure that phase tracking does not experience overcycle due to interruptions, assuming the tag's movement speed is V meters per second and the carrier wavelength is λ meters, it is necessary to guarantee that the distance change caused by the tag during the signal interruption time is less than one wavelength.

[0269] In this embodiment, at the physical layer, the execution steps of the signal transmitting device, the device to be located, the signal receiving device, and the first device are as follows:

[0270] Taking three devices to be located as an example, in a single-carrier system, the steps performed by the signal transmitting device include:

[0271] Step 11: Determine the number of 3 devices to be located within this time period and their IDs ID1, ID2 and ID3 by polling handshake, and notify the first device of this information;

[0272] Step 12: Receive the configuration information from the first device and send the configuration information to the device to be located;

[0273] Step 13: According to the transmission frequency information {fc = 2GHz} indicated in the configuration information, the transmission time information is: starting from the timestamp ID or modulation frame ID or modulation symbol ID G, repeating for 100 cycles. The timing of transmitting the positioning signal is shown in Figure 5, where each tag occupies 100 cycles.

[0274] The steps performed by the device to be located include:

[0275] Step 21: Receive configuration information from the signal transmitting device and / or the first device, which may include frequency modulation information and time modulation information;

[0276] Step 22: Receive the excitation signal sent by the signal transmitting device, and perform modulation according to the time modulation information {ID1, ID2, ID3} repeated for 100 cycles and the frequency modulation information {Δf1=0GHz, Δf2=0GHz, Δf3=0GHz} repeated for 100 cycles. Then, backscatter the modulated signal containing the preamble and data information to the signal receiving device.

[0277] The steps performed by the signal receiving device include:

[0278] Step 31: Receive the configuration information of the excitation signal sent by the first device and the modulation information of the reflected signal of the device to be located (preamble and time information of each device to be located).

[0279] Step 32: Process the received signal according to the signal configuration information provided by the first device to obtain the accumulated carrier phase measurement, related information of the accumulated carrier phase measurement, and other measurement values. Δφ[m]=φ[m]-φ[m-1]

[0280] Where m represents the m-th modulation symbol, Ξφ p1 =φ[1], each tag can obtain 100 consecutive cumulative carrier phase measurements. In each modulation frame, any one of the phases obtained from the preamble can be selected, or the average of the phases obtained from all preamble pairs can be used.

[0281] As shown in Figure 5, y out (t) represents the pilot signal of each label in Figure 5. Each label periodically affects y. in (t) is modulated, with a signal bandwidth of B MHz and a pilot length of N. P The data length is N D The total length of the signal is N = N P +N D Converting it to time gives Seconds, therefore, for the method of rotating S tags, the pilot transmission period for each tag is To ensure that phase tracking does not experience overcycle due to interruptions, assuming the tag's movement speed is V meters per second and the carrier wavelength is λ meters, it is necessary to guarantee that the distance change caused by the tag during the signal interruption time is less than one wavelength.

[0282] A-IoT device moving at 5 m / s has a motion variation of 3 * 135 / 4e6 * 5 = 5.0625 * 1e-4 meters within its transmission cycle interval, which is much smaller than the wavelength of 0.15 meters corresponding to a 2 GHz carrier frequency. Therefore, under ideal conditions, cycle slip will not occur. Furthermore, if we consider the crystal oscillator frequency offset, typically 50 PPM, since each reflection from the device to be located is processed independently, this frequency offset will not accumulate. We only need to consider the phase deviation of the frequency offset within one modulation frame, which is 50 * 1e-6 * 135 / 4e6 cycles, and this is almost negligible.

[0283] Step 33: Report the obtained cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​to the first device.

[0284] The execution steps of the first device include:

[0285] Step 41: Receive the number of 3 devices to be located within the T1 time period and their corresponding identifiers ID1, ID2, and ID3 from the signal transmitting device;

[0286] Step 42: Based on the multi-frequency tracking mode, generate the transmission frequency information {fc = 2GHz} of the signal transmitting device, and the transmission time information is: starting from the timestamp ID / modulation frame ID / modulation symbol ID G, repeating for 300 cycles, and generate the modulation information of the device to be located, such as the time modulation information {ID1, ID2, ID3} repeated for 100 cycles, and the frequency modulation information {Δf1 = 0GHz, Δf2 = 0GHz, Δf3 = 0GHz} repeated for 100 cycles;

[0287] Step 43: The transmission frequency information, transmission time information, time modulation information, frequency modulation information, and preamble information for the three devices to be located (such as preambles PRS1, PRS2, and PRS3 for the three devices to be located) are communicated to the signal transmitting device, the device to be located, and the signal receiving device. The excitation signal is a single-frequency signal, and the preamble uses a Gold sequence with good autocorrelation and cross-correlation properties.

[0288] Step 44: Receive the cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​of the three devices to be located reported by the two signal receiving devices.

[0289] Step 45: Based on the cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​reported by the two signal receiving devices, the location information of the final target device is located and tracked by combining the cumulative carrier phase measurement information of 100 cycles, the arrival time, and the time difference of transmission and reception measurements with the Extended Kalman Filter (EKF) algorithm.

[0290] Example 2: Taking a multi-carrier system as an example, the multi-carrier signal is generated by the signal transmitting device.

[0291] 1. Signal transmitting equipment (such as A-IOT transmitting equipment) generates excitation signals (or positioning signals, carrier signals).

[0292] For a single-carrier system, the transmitted signal of the signal transmitting device can be represented as:

[0293] Among them, A in It is the amplitude of the CW signal, φ in (t0) represents the initial phase deviation of the signal transmitting device, t represents the time variable, t0 is the signal transmission time, and f c_p Let p be the frequency of the p-th carrier.

[0294] For a single-path channel, the signal arriving at the device to be located (e.g., an A-IOT reflector) can be represented as:

[0295] Where h1 is the attenuation caused by the first channel segment (i.e., the channel between the signal transmitting device and the device to be located), τ1 is the time delay from the transmitting antenna of the signal transmitting device to the receiving antenna of the device to be located via wireless transmission, and w1(t) is the noise of the device to be located.

[0296] 2. The device to be located (e.g., an A-IOT reflector) modulates and transmits signals.

[0297] The positioning signal modulated by the device to be positioned can be represented as:

[0298] In the above formula, the length of a modulation frame is N, which includes the preamble and data information. The preamble occupies a length of N. P The length N of the data information D N = N P +N D B out [n] represents the information of the modulated frame at the nth symbol, T represents the duration of a symbol, the modulated frame ID is represented by m, and the modulated frame length is NT. φ scatter This refers to the non-ideal phase rotation caused by the transmitting circuit in A-IoT devices.

[0299] For example, the structure of the modulation frame is shown in Figures 3 and 4. Each signal has a transmission length of 135 modulation symbols. The preamble is used for detection and measurement, and the data information includes configuration information, identification information, interaction information, and verification information. For instance, the first 6 modulation symbols are the preamble; the last 129 modulation symbols are the data information, used for device identification and data transmission. scatter The non-ideal phase rotation caused by the transmitting circuit in A-IoT devices is omitted here for simplicity; the same treatment of noise is omitted here.

[0300] 3. The signal receiving device (e.g., A-IOT receiving device) receives the signal reflected by the device to be located and performs signal measurement.

[0301] 3.1 The signal reflected to the signal receiving device after passing through the second channel (i.e., the channel between the device to be located and the signal receiving device) is represented as follows:

[0302] Where h2 is the attenuation caused by the second channel segment, τ2(t) is the time delay of the signal at the nth sampling point from the transmitting antenna of the device to be located to the receiving antenna of the signal receiving device via wireless transmission, and w2(t) is the discretized noise of the signal receiving device.

[0303] 3.2 The signal receiving device down-converts the received signal r(t). Ignoring errors caused by the local crystal oscillator, the down-converted signal is expressed by the following formula:

[0304] After ADC processing, the discrete signal of the nth sampling point of the mth modulation frame can be obtained, which can be expressed by the following formula:

[0305] In the above formula, in single-base mode, the signal receiving device and the signal transmitting device are the same device, and the time delay of the two channels is the same; in dual-base mode, the signal receiving device and the signal transmitting device are different devices, and the time delay of the two channels is different.

[0306] 3.3 Remove the baseband signal A from the known signal transmitting device. in B out [n], and the processed received signal z can be obtained. B [n] and carrier phase φ[n], where N P The phase difference between each sampling point can be ignored, so the phase measurement accuracy can be improved by taking the average value. For ease of understanding, the following formula is explained using the phase of the first sampling point of the m-th frame as an example. φ B_p [n] = angle(z) B_p [n])=mod(-2πf c (τ1[n]+τ2[n])+φ in (t0)+φ scatter ,2π)+φ w [n]

[0307] As can be seen from the above formula, the carrier phase error is affected by the initial phase error (φ) of the signal transmitting device and the signal receiving device. in (t0) and the non-ideal phase (φ) caused by the transmitting circuit of the device to be located. scatter The impact needs to be considered, and the handling methods need to be taken into account. (The first N...) P Under the assumption that the phases of the sampling points are similar, a representative phase value can be selected for each modulation frame. Here, we assume that the first N values ​​are taken. P The average phase value of each sampling point is denoted by φ[m].

[0308] The definition of the cumulative carrier phase measurement is given below. Since the time delay change within a modulation frame is very small and can be ignored, it can be represented by the modulation frame number m: [m-1]=mod(-2πf c (τ1[m-1]+τ2[m-1])+φ in (t0)+φ scatter ,2π)+φ w [m-1] φ[m]=mod(-2πf c (τ1[m]+τ2[m])+φ in (t0)+φ scatter ,2π)+φ w [m]

[0309] Where φ[m] and φ[m-1] are the carrier phase measurements of the m-th and m-1-th modulation symbols, respectively, and the interval between them is N sampling points, i.e., 1 modulation symbol.

[0310] Subtracting the two formulas above, we get:

[0311] Δφ[m]=φ[m]-φ[m-1]

[0312] =-2πf c (τ1[m]+τ2[m]-τ1[m-1]-τ2[m-1])+φ w [m]-φ w [m-1]

[0313] As can be seen from the formula, by using time difference, the initial phase error of the signal transmitting and receiving devices and the non-ideal phase influence caused by the transmitting circuit of the device to be located are eliminated, leaving only the phase change caused by the change of the sum of the two time delays (i.e., τ1[m-1]+τ2[m-1] and τ1[m]+τ2[m]).

[0314] By accumulating m modulation symbols, the accumulated carrier phase measurement can be obtained as follows:

[0315] Where m represents the m-th modulation symbol, m starts from 2, and Ξφ[1]=φ[1].

[0316] It should be noted that the cumulative carrier phase measurement of the embodiments of this disclosure is also applicable to single differential (differential between devices to be located, or differential between signal receiving devices) and double differential (differential between devices to be located + differential between signal receiving devices) carrier phase measurements.

[0317] 3.4 The signal receiving device reports the cumulative carrier phase measurement caused by multiple devices to be located to the first device (e.g., LMF).

[0318] For example, as shown in Figure 6, y out (t) represents the pilot signals of each tag in Figure 6, where each tag transmits signals y at P different frequencies at P time points. in (t) is modulated, and the signal sampling rate is B MHz, with a pilot length of N. P The data length is N D The total length of the signal is N = N P +N D Converting it to time gives Seconds, therefore, for each tag, its pilot transmission period is... To ensure that phase tracking does not experience overcycle due to interruptions, assuming the tag's movement speed is V meters per second and the carrier wavelength is λ meters, it is necessary to guarantee that the distance change caused by the tag during the signal interruption time is less than one wavelength.

[0319] In this embodiment, at the physical layer, the execution steps of the signal transmitting device, the device to be located, the signal receiving device, and the first device are as follows:

[0320] Taking three devices to be located as an example, in a multi-carrier system, the steps performed by the signal transmitting device include:

[0321] Step 11: Determine the number of 3 devices to be located within this time period and their IDs ID1, ID2 and ID3 by polling handshake, and notify the first device of this information;

[0322] Step 12: Receive the configuration information from the first device and send the configuration information to the device to be located;

[0323] Step 13: According to the transmission frequency information {fc1 = 1.5GHz, fc2 = 2GHz, fc3 = 2.5GHz} indicated in the configuration information, the transmission time information is: starting from the timestamp ID / modulation frame ID / modulation symbol ID G, repeating for 100 cycles (Note: different frequencies can also use different start times (such as G1\G2\G3) and different cycle configurations. The cycle-related configurations can include: number of cycles, cycle interval, and cycle length). Transmit the multi-frequency excitation signal. The timing sequence for transmitting the positioning signal is shown in Figure 6, where each tag occupies 100 cycles.

[0324] The steps performed by the device to be located include:

[0325] Step 21: Receive configuration information from the signal transmitting device and / or the first device, which may include frequency modulation information and time modulation information;

[0326] Step 22: Receive the excitation signal sent by the signal transmitting device, and perform modulation according to the time modulation information {ID1, ID1, ID1, ID2, ID2, ID2, ID3, ID3, ID3} repeated for 100 cycles and the frequency modulation information {Δf1=0GHz, Δf2=0GHz, Δf3=0GHz} repeated for 3*100 cycles. Then, backscatter the modulated signal containing the preamble and data information to the signal receiving device.

[0327] The steps performed by the signal receiving device include:

[0328] Step 31: Receive the configuration information of the excitation signal sent by the first device and the modulation information of the reflected signal of the device to be located (preamble and time information of each device to be located).

[0329] Step 32: Process the received signal according to the signal configuration information provided by the first device to obtain the accumulated carrier phase measurement, related information of the accumulated carrier phase measurement, and other measurement values. Δφ[m]=φ[m]-φ[m-1]

[0330] Where m represents the m-th modulation symbol, Ξφ p1 =φ[1], each tag can obtain 100 consecutive cumulative carrier phase measurements. In each modulation frame, any one of the phases obtained from the preamble can be selected, or the average of the phases obtained from all preamble pairs can be used.

[0331] As shown in Figure 6, y out (t) represents the pilot signal of each label in Figure 6. Each label periodically affects y. in (t) is modulated, with a signal bandwidth of 4MHz, a pilot length of 6, a data length of 129, and a total signal length of N = N P +N D =135, which is converted to time as follows: Seconds, therefore, for 3 tags being transmitted in rotation, with each tag continuously transmitting at 3 different frequencies, the pilot transmission period for each tag is... To ensure that phase tracking does not experience overcycle due to interruptions, assuming a tag speed of 5 m / s and a carrier wavelength of 0.15 m, it is necessary to guarantee that the distance change caused by the tag during the signal interruption time is less than one wavelength.

[0332] A-IoT device moving at 5 m / s has a travel distance of 3*3*135 / 4e6*5 = 15.0625*1e-4 meters within its transmission cycle interval, which is much smaller than the wavelength of 0.15 meters corresponding to a 2 GHz carrier frequency. Therefore, under ideal conditions, cycle slip will not occur. Furthermore, if we consider the crystal oscillator frequency offset, typically 50 PPM, since each reflection from the device to be located is processed independently, this frequency offset will not accumulate. We only need to consider the phase deviation of the frequency offset within one modulation frame, which is 3*50*1e-6*135 / 4e6 cycles, and is therefore almost negligible.

[0333] Step 33: Report the obtained cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​to the first device.

[0334] The execution steps of the first device include:

[0335] Step 41: Receive the number of 3 devices to be located within the T1 time period and their corresponding identifiers ID1, ID2, and ID3 from the signal transmitting device;

[0336] Step 42: Based on the multi-frequency tracking mode, generate the transmission frequency information of the signal transmitting device {fc1 = 1.5GHz, fc2 = 2GHz, fc3 = 2.5GHz}, and the transmission time information is: starting from the timestamp ID\modulation frame ID or modulation symbol ID G, repeating for 100 cycles, and generating the modulation information of the device to be located, such as time modulation information {ID1, ID2, ID3} repeated for 300 cycles, and frequency modulation information {Δf1 = 0GHz, Δf2 = 0GHz, Δf3 = 0GHz} repeated for 3*100 cycles;

[0337] Step 43: The transmission frequency information, transmission time information, time modulation information, frequency modulation information, and preamble information for the three devices to be located (such as preambles PRS1, PRS2, and PRS3 for the three devices to be located) are communicated to the signal transmitting device, the device to be located, and the signal receiving device. The excitation signal is a single-frequency signal, and the preamble uses a Gold sequence with good autocorrelation and cross-correlation properties.

[0338] Step 44: Receive the cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​of the three devices to be located reported by the two signal receiving devices.

[0339] Step 45: Based on the cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​reported by the two signal receiving devices, the EKF algorithm is used to combine the related information of the cumulative carrier phase measurement over 100 cycles with the arrival time and transmit / receive time difference measurements to locate and track the final location information of the device to be located.

[0340] Example 3: Taking a multi-carrier system as an example, the multi-carrier signal is generated by modulation of the device to be located.

[0341] 1. Signal transmitting equipment (such as A-IOT transmitting equipment) generates excitation signals (or positioning signals, carrier signals).

[0342] For a single-carrier system, the transmitted signal of the signal transmitting device can be represented as:

[0343] Among them, A in It is the amplitude of the continuous wave (CW) signal, φ in (t0) represents the initial phase deviation of the signal transmitting device, t represents the time variable, t0 is the signal transmission time, and f c For carrier frequency.

[0344] For a single-path channel, the signal arriving at the device to be located (e.g., an A-IOT reflector) can be represented as:

[0345] Where h1 is the attenuation caused by the first channel segment (i.e., the channel between the signal transmitting device and the device to be located), τ1 is the time delay from the transmitting antenna of the signal transmitting device to the receiving antenna of the device to be located via wireless transmission, and w1(t) is the noise of the device to be located.

[0346] 2. The device to be located (e.g., an A-IOT reflector) modulates and transmits signals.

[0347] The CW signal that the device to be located will receive, i.e., y in (t) The frequency is converted to P frequencies using a time-division multiplexing method, with each frequency spaced Δf apart from the CW carrier frequency. p Simultaneously, the modulation frame is also carried on this frequency. The signal modulated by the reflection device (i.e., the device to be located) can be represented as:

[0348] In the above formula, the length of a modulation frame is N, which includes the preamble and data information. The preamble occupies a length of N. P The length N of the data information D N = N P +N D B out [n] represents the information of the modulated frame at the nth symbol, T represents the duration of a symbol, the modulated frame ID is represented by m, and the modulated frame length is NT. φ scatter This refers to the non-ideal phase rotation caused by the transmitting circuit in A-IoT devices.

[0349] For example, the structure of the modulation frame is shown in Figures 3 and 4. Each signal has a transmission length of 135 modulation symbols. The preamble is used for detection and measurement, and the data information includes configuration information, identification information, interaction information, and verification information. For instance, the first 6 modulation symbols are the preamble; the last 129 modulation symbols are the data information, used for device identification and data transmission. scatter The non-ideal phase rotation caused by the transmitting circuit in A-IoT devices is omitted here for simplicity; the same treatment of noise is omitted here.

[0350] 3. The signal receiving device (e.g., A-IOT receiving device) receives the signal reflected by the device to be located and performs signal measurement.

[0351] 3.1 The signal reflected to the signal receiving device after passing through the second channel (i.e., the channel between the device to be located and the signal receiving device) is represented as follows:

[0352] 3.2 The signal receiving equipment down-converts the received signal r(t), that is:

[0353] Without considering the errors introduced by the local crystal oscillator, the down-converted signal can be expressed by the following formula:

[0354] After ADC processing, the discrete signal of the nth sampling point of the mth modulation frame can be obtained, which can be expressed by the following formula:

[0355] In the above formula, in single-base mode, the signal receiving device and the signal transmitting device are the same device, and the time delay of the two channels is the same; in dual-base mode, the signal receiving device and the signal transmitting device are different devices, and the time delay of the two channels is different.

[0356] 3.3 Remove the baseband signal A from the known signal transmitting device. in B out [n], and the processed received signal z can be obtained. B [n] and carrier phase φ[n], where N P The phase difference between each sampling point can be ignored, so the phase measurement accuracy can be improved by taking the average value. For ease of understanding, the following formula is explained using the phase of the first sampling point of the m-th frame as an example. φ B_p [n] = angle(z) B_p [n]) = mod(-2πf c (τ1[n]+τ2[n])-2πΔf p τ2[n]+φ in (t0)+φ scatter ,2π)+φ w [n]

[0357] As can be seen from the above formula, the carrier phase error is affected by the initial phase error (φ) of the signal transmitting device and the signal receiving device. in (t0) and the non-ideal phase (φ) caused by the transmitting circuit of the device to be located. scatter The impact needs to be considered, and the handling methods need to be taken into account. (The first N...) P Under the assumption that the phases of the sampling points are similar, a representative phase value can be selected for each modulation frame. Here, we assume that the first N values ​​are taken. P The average phase value of each sampling point is denoted by φ[m].

[0358] It is important to note that during frequency hopping, τ1[n] and -2πf c Multiplication, τ i2 [n] and -2π(f)c +Δf p Therefore, by multiplying τ1[n] by the difference between different signal receiving devices, τ1[n] can be compared with -2πf. c The multiplicative parts are eliminated, leaving only -2π(f) c +Δf p )*(τ i2 [n]-τ j2 [n]), while hardware error φ in (t0)+φ scatter This can be eliminated through time difference. The first time delay from a device to signal receiving device i to signal receiving device j is the same, denoted by τ1[n]. The second time delay from a device to signal receiving device i to signal receiving device j is different, denoted by τ1[n]. i2 [m] and τ j2 [m] indicates, as shown in Figure 7, that the cumulative phase measurement value at this time is the accumulation of the cumulative carrier phase of signal receiving device i and signal receiving device j at different times, that is, differential Doppler accumulation, which can be used for subsequent EKF algorithm tracking.

[0359] The definition of the cumulative carrier phase measurement is given below. Since the time delay change within a modulation frame is very small and can be ignored, it can be represented by the modulation frame number m: φ i [m] = mod(-2πf) c τ1[m]-2π(f c +Δf p )τ i2 [m]+φ in (t0)+φ scatter ,2π)+φ w [m] φ j [m] = mod(-2πf) c τ1[m]-2π(f c +Δf p )τ j2 [m]+φ in (t0)+φ scatter ,2π)+φ w [m] φ i [m-1] = mod(-2πf) c τ1[m-1]-2π(f c +Δf p )τ i2 [m-1]+φ in (t0)+φ scatter ,2π) +φ w [m-1] φ j [m-1] = mod(-2πf) c τ1[m-1]-2π(fc +Δf p )τ j2 [m-1]+φ in (t0)+φ scatter ,2π) +φ w [m-1]

[0360] Where φ[m] and φ[n] are the carrier phase measurements of the m-th and n-th modulation symbols, respectively, and the interval between them is S*N sampling points, i.e., 1 modulation symbol.

[0361] Subtracting the values ​​from the above formulas yields the cumulative carrier phase measurement as follows: Δφ ij [m]=φ ij [m]-φ ij [m-1]+C =-2πf c (τ i2 [m]-τ j2 [m]-(τ i2 [m-1]-τ j2 [m-1]))+φ ij-w [m]-φ ij-w [m-1]

[0362] As can be seen from the formula, by using time difference, the initial phase error of the signal transmitting and receiving devices and the non-ideal phase influence caused by the transmitting circuit of the device to be located are eliminated, leaving only the phase change caused by the change of the sum of the two time delays.

[0363] By accumulating m modulation symbols, the accumulated carrier phase measurement can be obtained as follows:

[0364] Where m represents the m-th modulation symbol, m starts from 2, Ξφ ij [1]=φ ij [1].

[0365] It should be noted that the cumulative carrier phase measurement of the embodiments of this disclosure is also applicable to single differential (differential between devices to be located, or differential between signal receiving devices) and double differential (differential between devices to be located + differential between signal receiving devices) carrier phase measurements.

[0366] 3.4 The signal receiving device reports the cumulative carrier phase measurement caused by one or more devices to be located to the first device (e.g., LMF).

[0367] For example, as shown in Figure 7, y out (t) represents the pilot signal of each label in the figure, where each label transmits the CW signal y at P time points. in(t) The frequency is converted to P frequencies and modulated. The signal sampling rate is B MHz and the pilot length is N. P The data length is N D The total length of the signal is N = N P +N D Converting it to time gives Seconds, therefore, for each tag, its pilot transmission period is... To ensure that phase tracking does not experience overcycle due to interruptions, assuming the tag's movement speed is V meters per second and the carrier wavelength is λ meters, it is necessary to guarantee that the distance change caused by the tag during the signal interruption time is less than one wavelength.

[0368] In this embodiment, at the physical layer, the execution steps of the signal transmitting device, the device to be located, the signal receiving device, and the first device are as follows:

[0369] Taking three devices to be located as an example, in a multi-carrier system, the steps performed by the signal transmitting device include:

[0370] Step 11: Determine the number of 3 devices to be located within this time period and their IDs ID1, ID2 and ID3 by polling handshake, and notify the first device of this information;

[0371] Step 12: Receive the configuration information from the first device and send the configuration information to the device to be located;

[0372] Step 13: Repeat 3*100 cycles according to the configuration information {fc1=2GHz} to send a single-frequency excitation signal.

[0373] The steps performed by the device to be located include:

[0374] Step 21: Receive configuration information from the signal transmitting device and / or the first device, which may include frequency modulation information and time modulation information;

[0375] Step 22: Receive the excitation signal sent by the signal transmitting device, repeat the time modulation information {ID1, ID1, ID1, ID2, ID2, ID2, ID3, ID3, ID3} for 100 cycles, and repeat the frequency modulation information {Δf1 = -0.5GHz, Δf2 = 0GHz, Δf3 = 0.5GHz} for 3*100 cycles, perform modulation, and backscatter the modulated signal containing the preamble and data information to the signal receiving device.

[0376] The modulation timing is shown in Figure 8, where each tag occupies 100 cycles:

[0377] The steps performed by the signal receiving device include:

[0378] Step 31: Receive the configuration information of the excitation signal sent by the first device and the modulation information of the reflected signal of the device to be located (preamble and time information of each device to be located).

[0379] Step 32: Process the received signal according to the signal configuration information provided by the first device to obtain the accumulated carrier phase measurement, related information of the accumulated carrier phase measurement, and other measurement values. Δφ ij [m]=φ ij [m]-φ ij [m-1]

[0380] Where m represents the m-th modulation symbol, Ξφ p1 =φ[1], each tag can obtain 100 consecutive cumulative carrier phase measurements. In each modulation frame, any one of the phases obtained from the preamble can be selected, or the average of the phases obtained from all preamble pairs can be used.

[0381] As shown in Figure 8, where y out (t) represents the pilot signal of each label in Figure 8. Each label periodically affects y. in (t) is modulated, with a signal bandwidth of 4MHz, a pilot length of 6, a data length of 129, and a total signal length of N = N P +N D =135, which is converted to time as follows: Seconds, therefore, for 3 tags being transmitted in rotation, with each tag continuously transmitting at 3 different frequencies, the pilot transmission period for each tag is... To ensure that phase tracking does not experience overcycle due to interruptions, assuming a tag speed of 5 m / s and a carrier wavelength of 0.15 m, it is necessary to guarantee that the distance change caused by the tag during the signal interruption time is less than one wavelength.

[0382] A-IoT device moving at 5 m / s has a travel distance of 3*3*135 / 4e6*5 = 15.0625*1e-4 meters within its transmission cycle interval, which is much smaller than the wavelength of 0.15 meters corresponding to a 2 GHz carrier frequency. Therefore, under ideal conditions, cycle slip will not occur. Furthermore, if we consider the crystal oscillator frequency offset, typically 50 PPM, since each reflection from the second device is processed independently, this frequency offset will not accumulate. We only need to consider the phase deviation of the frequency offset within one modulation frame, which is 3*50*1e-6*135 / 4e6 cycles, and is therefore negligible.

[0383] Step 33: Report the obtained cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​to the first device.

[0384] The execution steps of the first device include:

[0385] Step 41: Receive the number of 3 devices to be located within the T1 time period and their corresponding identifiers ID1, ID2, and ID3 from the signal transmitting device;

[0386] Step 42: Based on the multi-frequency tracking mode, generate the transmission frequency information {fc1 = 2GHz} of the signal transmitting device, and the transmission time information is: starting from the timestamp ID\modulation frame ID or modulation symbol ID G, repeating for 3*100 cycles, and generate the modulation information of the device to be located, such as time modulation information {ID1, ID1, ID1, ID2, ID2, ID2, ID3, ID3, ID3} repeated for 100 cycles, and frequency modulation information {Δf1 = -0.5GHz, Δf2 = 0GHz, Δf3 = 0.5GHz} repeated for 3*100 cycles;

[0387] Step 43: The transmission frequency information, transmission time information, time modulation information, frequency modulation information, and preamble information for the three devices to be located (such as preambles PRS1, PRS2, and PRS3 for the three devices to be located) are communicated to the signal transmitting device, the device to be located, and the signal receiving device. The excitation signal is a single-frequency signal, and the preamble uses a Gold sequence with good autocorrelation and cross-correlation properties.

[0388] Step 44: Receive the cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​of the three devices to be located reported by the two signal receiving devices.

[0389] Step 45: Based on the cumulative carrier phase measurement, related information of the cumulative carrier phase measurement, and other measurement values ​​reported by the two signal receiving devices, the EKF algorithm is used to combine the relevant information of the cumulative carrier phase measurement with the arrival time and transmit / receive time difference measurements to locate and track the final location information of the device to be located.

[0390] This disclosure proposes a scheme for continuous backscattering positioning and tracking based on a wireless cellular network. It details the measurement and reporting process of accumulated carrier phase, effectively eliminating initial phase errors and hardware errors in the reflecting device. A method for indicating information such as signal transmission frequency, modulation information, and measurement time by a first device with positioning capabilities is designed, enabling coordination between different devices for phase tracking and positioning.

[0391] In embodiments of this disclosure, a signal receiving device measures a positioning signal to obtain a cumulative carrier phase measurement, and reports the cumulative carrier phase measurement to a first device. The positioning signal is the signal transmitted by the signal transmitting device, reflected by the device to be positioned, and arrives at the signal receiving device. By measuring this positioning signal, a cumulative carrier phase measurement is obtained throughout the signal transmission process, enabling the first device to perform positioning based on this cumulative carrier phase measurement and obtain a more accurate positioning result.

[0392] As shown in Figure 9, this embodiment of the present disclosure also provides a positioning method applied to a first device, including:

[0393] Step 901: The first device receives the accumulated carrier phase measurement sent by the signal receiving device; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned.

[0394] Step 902: Locate the device to be located based on the accumulated carrier phase measurement.

[0395] In this embodiment, the signal transmitting device sends a positioning signal (or excitation signal, carrier signal), the positioning device modulates the positioning signal sent by the signal transmitting device and reflects it, and the signal receiving device receives the reflected positioning signal and performs measurement. The signal transmitting device and the signal receiving device may be the same device or different devices.

[0396] The first device can be a network element with location management capabilities, used to provide different positioning services to users. For example, the first device can be a Location Management Function (LMF) or other undefined network elements with the same function. The first device can control and manage signal transmitting devices, devices to be located, and signal receiving devices, as well as receive and process measurements.

[0397] The positioning signal can be the positioning reference signal PRS, which represents all reference signals that can be used to measure the carrier phase.

[0398] The signal receiving device measures the positioning signal reflected by the device to be positioned, obtains the cumulative carrier phase measurement, and reports the cumulative carrier phase measurement to the first device. The first device can then locate the device to be positioned based on the cumulative carrier phase measurement.

[0399] In some embodiments, in this disclosure, the signal transmitting device, the signal receiving device, and the device to be located can all be Internet of Things (Ambient-IoT, A-IoT) devices, that is, the signal transmitting device can be an A-IoT transmitting device, the signal receiving device can be an A-IoT receiving device, and the device to be located can be an A-IoT reflecting device.

[0400] In embodiments of this disclosure, a signal receiving device measures a positioning signal to obtain a cumulative carrier phase measurement, and reports the cumulative carrier phase measurement to a first device. The positioning signal is the signal transmitted by the signal transmitting device, reflected by the device to be positioned, and arrives at the signal receiving device. By measuring this positioning signal, a cumulative carrier phase measurement is obtained throughout the signal transmission process, enabling the first device to perform positioning based on this cumulative carrier phase measurement and obtain a more accurate positioning result.

[0401] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0402] In this embodiment, the cumulative carrier phase measurement can be the cumulative carrier phase measurement of one or more modulation symbols corresponding to the positioning signal. For example, after the signal receiving device receives the positioning signal reflected by the device to be positioned, it can modulate or process the positioning signal to obtain a discrete signal containing one or more modulation symbols (or modulation frames). The cumulative carrier phase measurement can be obtained by extracting the phase of the discrete signal containing one or more modulation symbols (or modulation frames).

[0403] In some embodiments, the cumulative carrier phase measurement can be the accumulation of carrier phase measurements obtained from a reference modulation symbol to the current symbol. The reference modulation symbol can be used as the starting modulation symbol corresponding to the cumulative carrier phase measurement. The signal receiving device can start measuring from the reference modulation symbol until it obtains the carrier phase measurement of the Ath modulation symbol. The signal receiving device reports the cumulative carrier phase measurement from the reference modulation symbol to the Ath modulation symbol.

[0404] In some embodiments, the method further includes:

[0405] Send first configuration information to at least one of the signal transmitting device, the signal receiving device, and the device to be located; the first configuration information may be used to indicate the transmission-related information and / or modulation information of the positioning signal.

[0406] In some embodiments, the method further includes:

[0407] The first configuration information is generated based on the first information and the positioning mode;

[0408] The first information includes: the number of devices to be located and the identifier of the devices to be located;

[0409] The positioning modes include: single-frequency positioning mode or multi-frequency positioning mode.

[0410] In this embodiment, the first information may represent or indicate the number of devices to be located and the identifiers of the devices to be located, and the positioning mode may be a single-frequency positioning mode or a multi-frequency positioning mode. For example, the first device may generate the first configuration information based on the number of devices to be located, the identifiers of the devices to be located, and the positioning mode.

[0411] In some embodiments, the first configuration information includes at least one of the following:

[0412] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0413] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0414] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0415] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0416] The preamble of the device to be located.

[0417] In some embodiments, the signal receiving device notifies the first device of the number of S devices to be located within the current time period and the identifiers (IDs) of the devices to be located. In some embodiments, the signal receiving device may determine the number of devices to be located and their corresponding IDs within the current time period through a polling handshake and then notify the first device of this information. Alternatively, the first device may obtain the number of S devices to be located and their identifiers (IDs) within the current time period through inventory scanning.

[0418] The first device can determine the transmission timing (modulation time of different devices to be located) and frequency sequence (modulation frequency of different devices to be located) within the current time period based on the number of devices to be located, the identification of the devices to be located, and the single-frequency or multi-frequency tracking mode, and notify the signal transmitting device, the devices to be located, and the signal receiving device of the modulation information (preamble, time modulation information, and frequency modulation information of different devices to be located).

[0419] In some embodiments, the method further includes:

[0420] The information related to the accumulated carrier phase measurement sent by the receiving signal receiving device;

[0421] The relevant information includes at least one of the following:

[0422] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0423] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0424] The identifier of the reporting period for the accumulated carrier phase measurement;

[0425] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0426] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0427] Identification of the signal receiving antenna;

[0428] Identification of the signal transmitting antenna;

[0429] Identification of signal transmitting equipment;

[0430] Identification of signal receiving equipment;

[0431] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0432] Quality indication information of accumulated carrier phase measurements;

[0433] Weekly jump information;

[0434] The timestamp identifier corresponding to the accumulated carrier phase measurement. This timestamp identifier may be, for example, one or more of the following: timestamp ID, modulation frame ID, modulation symbol ID, etc.

[0435] In this embodiment, in addition to reporting the accumulated carrier phase measurement to the first device, the signal receiving device may also report one or more of the aforementioned related information of the accumulated carrier phase measurement to the first device. The accumulated carrier phase measurement and the related information may be reported simultaneously or independently. The first device, by receiving the accumulated carrier phase measurement, the related information of the accumulated carrier phase measurement, and other measurement values, can locate and track the location information of the device to be located.

[0436] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal; wherein the multi-carrier signal is generated by a signal transmitting device or by the device to be positioned through modulation.

[0437] In this embodiment, the positioning signal may include a single-carrier signal (also known as a single-frequency signal) and / or a multi-carrier signal (also known as a multi-frequency signal). The multi-carrier signal may be generated by a signal transmitting device or generated by the device to be positioned through modulation.

[0438] In embodiments of this disclosure, a signal receiving device measures a positioning signal to obtain a cumulative carrier phase measurement, and reports the cumulative carrier phase measurement to a first device. The positioning signal is the signal transmitted by the signal transmitting device, reflected by the device to be positioned, and arrives at the signal receiving device. By measuring this positioning signal, a cumulative carrier phase measurement is obtained throughout the signal transmission process, enabling the first device to perform positioning based on this cumulative carrier phase measurement and obtain a more accurate positioning result.

[0439] The above embodiments describe the positioning method of this disclosure. The following embodiments will further describe the corresponding devices in conjunction with the accompanying drawings.

[0440] Specifically, as shown in FIG10, this embodiment of the present disclosure provides a positioning device 1000, applied to a signal receiving device, comprising:

[0441] The measurement module 1010 is used to measure the positioning signal reflected by the positioning device to obtain the cumulative carrier phase measurement of the positioning signal.

[0442] The first transmitting module 1020 is used to report the accumulated carrier phase measurement to the first device.

[0443] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0444] In some embodiments, the apparatus further includes:

[0445] The second receiving module is used to receive the first configuration information sent by the first device;

[0446] The measurement module is specifically used to measure the positioning signal reflected by the device to be positioned based on the first configuration information.

[0447] In some embodiments, the first configuration information includes at least one of the following:

[0448] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0449] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0450] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0451] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0452] The preamble of the device to be located.

[0453] In some embodiments, the apparatus further includes:

[0454] The second transmitting module is used to transmit relevant information about the accumulated carrier phase measurement to the first device;

[0455] The relevant information includes at least one of the following:

[0456] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0457] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0458] The identifier of the reporting period for the accumulated carrier phase measurement;

[0459] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0460] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0461] Identification of the signal receiving antenna;

[0462] Identification of the signal transmitting antenna;

[0463] Identification of signal transmitting equipment;

[0464] Identification of signal receiving equipment;

[0465] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0466] Quality indication information of accumulated carrier phase measurements;

[0467] Weekly jump information;

[0468] The time identifier corresponding to the cumulative carrier phase measurement.

[0469] In some embodiments, reporting the accumulated carrier phase measurement to the first device includes one of the following:

[0470] Independently report the accumulated carrier phase measurements;

[0471] The cumulative carrier phase measurement is reported in conjunction with the second information, which includes at least one of the following: the arrival time of the positioning signal, the time difference between the reception and transmission of the positioning signal, the received power of the positioning signal, the departure angle of the positioning signal, and the arrival angle of the positioning signal.

[0472] In some embodiments, reporting the accumulated carrier phase measurement to the first device includes one of the following:

[0473] The accumulated carrier phase measurement is periodically reported according to a preset period.

[0474] The accumulated carrier phase measurement and the corresponding time identifier are reported non-periodically.

[0475] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0476] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0477] It should be noted that the apparatus provided in this embodiment can implement all the method steps implemented in the method embodiment applied to the signal receiving 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.

[0478] Specifically, as shown in FIG11, this embodiment of the present disclosure provides a positioning device 1100, applied to a first device, comprising:

[0479] The first receiving module 1110 is used to receive the accumulated carrier phase measurement sent by the signal receiving device; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned;

[0480] The positioning module 1120 is used to locate the device to be located based on the accumulated carrier phase measurement.

[0481] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0482] In some embodiments, the apparatus further includes:

[0483] The third sending module is used to send first configuration information to at least one of the signal sending device, the signal receiving device, and the device to be located.

[0484] In some embodiments, the apparatus further includes:

[0485] The information generation module is used to generate the first configuration information based on the first information and the positioning mode;

[0486] The first information includes: the number of devices to be located and the identifier of the devices to be located;

[0487] The positioning modes include: single-frequency positioning mode or multi-frequency positioning mode.

[0488] In some embodiments, the first configuration information includes at least one of the following:

[0489] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0490] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0491] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0492] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0493] The preamble of the device to be located.

[0494] In some embodiments, the apparatus further includes:

[0495] The third receiving module is used to receive information related to the accumulated carrier phase measurement sent by the signal receiving device;

[0496] The relevant information includes at least one of the following:

[0497] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0498] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0499] The identifier of the reporting period for the accumulated carrier phase measurement;

[0500] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0501] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0502] Identification of the signal receiving antenna;

[0503] Identification of the signal transmitting antenna;

[0504] Identification of signal transmitting equipment;

[0505] Identification of signal receiving equipment;

[0506] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0507] Quality indication information of accumulated carrier phase measurements;

[0508] Weekly jump information;

[0509] The time identifier corresponding to the cumulative carrier phase measurement.

[0510] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0511] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0512] It should be noted that the apparatus provided in this embodiment can implement all the method steps implemented in the method embodiment applied to the first 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.

[0513] 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.

[0514] 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 related technologies, 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 described in 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.

[0515] As shown in Figure 12, an embodiment of this disclosure also provides a communication device, which can be a signal receiving device, a terminal, or a base station. Taking a terminal as an example, the device includes: a memory 1220, a transceiver 1200, and a processor 1210. The memory 1220 stores computer programs; the transceiver 1200 receives and transmits data under the control of the processor 1210; and the processor 1210 reads the computer program from the memory and performs the following operations:

[0516] The positioning signal reflected by the positioning device is measured to obtain the cumulative carrier phase measurement of the positioning signal;

[0517] The accumulated carrier phase measurement is reported to the first device.

[0518] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0519] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0520] Receive the first configuration information sent by the first device;

[0521] The measurement of the positioning signal reflected by the device to be positioned includes:

[0522] The positioning signal reflected by the device to be positioned is measured based on the first configuration information.

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

[0524] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0525] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0526] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0527] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0528] The preamble of the device to be located.

[0529] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0530] Send relevant information about the accumulated carrier phase measurement to the first device;

[0531] The relevant information includes at least one of the following:

[0532] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0533] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0534] The identifier of the reporting period for the accumulated carrier phase measurement;

[0535] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0536] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0537] Identification of the signal receiving antenna;

[0538] Identification of the signal transmitting antenna;

[0539] Identification of signal transmitting equipment;

[0540] Identification of signal receiving equipment;

[0541] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0542] Quality indication information of accumulated carrier phase measurements;

[0543] Weekly jump information;

[0544] The time identifier corresponding to the cumulative carrier phase measurement.

[0545] In some embodiments, the processor is configured to read a computer program from the memory and perform one of the following operations:

[0546] Independently report the accumulated carrier phase measurements;

[0547] The cumulative carrier phase measurement is reported in conjunction with the second information, which includes at least one of the following: the arrival time of the positioning signal, the time difference between the reception and transmission of the positioning signal, the received power of the positioning signal, the departure angle of the positioning signal, and the arrival angle of the positioning signal.

[0548] In some embodiments, the processor is configured to read a computer program from the memory and perform one of the following operations:

[0549] The accumulated carrier phase measurement is periodically reported according to a preset period.

[0550] The accumulated carrier phase measurement and the corresponding time identifier are reported non-periodically.

[0551] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0552] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0553] 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 components, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, etc. For different user equipment, the user interface 1230 may also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0554] The processor 1210 is responsible for managing the bus architecture and general processing, and the memory 1220 can store the data used by the processor 1210 when performing operations.

[0555] Optionally, the processor 1210 may 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), and the processor may also adopt a multi-core architecture.

[0556] The processor executes any of the methods described 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.

[0557] It should be noted that the device provided in this embodiment can implement all the method steps implemented in the method embodiment applied to the signal receiving 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.

[0558] As shown in Figure 13, an embodiment of this disclosure also provides a communication device, which may be a first device, including: a memory 1320, a transceiver 1300, and a processor 1310; wherein, the memory 1320 is used to store computer programs; the transceiver 1300 is used to receive and send data under the control of the processor 1310; and the processor 1310 is used to read the computer program in the memory and perform the following operations:

[0559] The signal receiving device receives the accumulated carrier phase measurement; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned.

[0560] The device to be located is located based on the accumulated carrier phase measurement.

[0561] In some embodiments, the cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

[0562] In some embodiments, first configuration information is sent to at least one of a signal transmitting device, a signal receiving device, and a device to be located.

[0563] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0564] The first configuration information is generated based on the first information and the positioning mode;

[0565] The first information includes: the number of devices to be located and the identifier of the devices to be located;

[0566] The positioning modes include: single-frequency positioning mode or multi-frequency positioning mode.

[0567] In some embodiments, the first configuration information includes at least one of the following:

[0568] The transmission time information of the positioning signal is used to indicate the transmission time of different preambles;

[0569] The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles;

[0570] Time modulation information is used to indicate the signal modulation time corresponding to the device to be located;

[0571] Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located;

[0572] The preamble of the device to be located.

[0573] In some embodiments, the processor is configured to read a computer program from the memory and perform the following operations:

[0574] The information related to the accumulated carrier phase measurement sent by the receiving signal receiving device;

[0575] The relevant information includes at least one of the following:

[0576] The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement;

[0577] The identifier of the device to be located corresponding to the cumulative carrier phase measurement;

[0578] The identifier of the reporting period for the accumulated carrier phase measurement;

[0579] The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement;

[0580] The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement;

[0581] Identification of the signal receiving antenna;

[0582] Identification of the signal transmitting antenna;

[0583] Identification of signal transmitting equipment;

[0584] Identification of signal receiving equipment;

[0585] The multipath identifier to which the accumulated carrier phase measurement belongs;

[0586] Quality indication information of accumulated carrier phase measurements;

[0587] Weekly jump information;

[0588] The time identifier corresponding to the cumulative carrier phase measurement.

[0589] In some embodiments, the positioning signal includes: a single-carrier signal and / or a multi-carrier signal;

[0590] The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

[0591] In Figure 13, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1310 and memory represented by memory 1320. 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 1300 may be multiple elements, including transmitters and transceivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. The processor is responsible for managing the bus architecture and general processing. Processor 1310 is responsible for managing the bus architecture and general processing, and memory 1320 may store data used by processor 1310 during operation.

[0592] The processor 1310 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.

[0593] It should be noted that the device provided in this embodiment can implement all the method steps implemented in the method embodiment applied to the first 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.

[0594] In addition, specific embodiments of this disclosure also provide a processor-readable storage medium storing a program for causing the processor to execute the aforementioned positioning method, achieving the same technical effect. To avoid repetition, this will not be elaborated further here. The readable storage medium can be any available medium or data storage device accessible to the processor, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (e.g., compact discs (CDs), digital video discs (DVDs), Blu-ray discs (BD), high-definition versatile discs (HVD), etc.), and semiconductor storage (e.g., ROMs, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile memory (NAND flash), solid-state drives (SSDs), etc.).

[0595] It should be noted that the technical solutions provided in this disclosure are applicable to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5th Generation (5G) New Radio (NR) systems and their evolutionary communication systems, and 6th Generation (6G) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as an Evolved Packet Core (EPC) or a 5G Core Network (5GC).

[0596] 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 5G or 6G systems, the terminal device may be called User Equipment (UE). Wireless terminal devices can be USB storage devices, other personal computer memory devices, and dongles. They can also 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, they can be portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) telephones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), personal computers, tablets, and Machine-type Communication (MTC) terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile devices, remote stations, access points, remote terminals, access terminals, user terminals, user agents, user devices, and wireless access devices and routers / modems that meet the limitations of this definition, but are not limited to these in the embodiments of this disclosure.

[0597] The network-side equipment involved in this disclosure can 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-side equipment can 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-side equipment can also coordinate the attribute management of the air interface. For example, the network-side equipment involved in this disclosure can be 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, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in this disclosure. In some network architectures, network-side devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0598] Network devices and terminal devices can each use one or more antennas to perform Multiple-Input Multiple-Output (MIMO) transmission. MIMO transmission can be single-user MIMO or multi-user MIMO. Depending on the shape and number of antenna combinations, MIMO transmission can be two-dimensional MIMO (2D-MIMO), three-dimensional MIMO (3D-MIMO), full-dimensional MIMO (FD-MIMO), or massive-scale MIMO (MMIMO), or it can be diversity transmission, pre-coded transmission, or beamforming transmission, etc.

[0599] 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.

[0600] 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 blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0601] 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 blocks of a block diagram.

[0602] These processor-executable instructions may 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 blocks of a block diagram.

[0603] Furthermore, it should be noted that in the apparatus and method of this disclosure, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of this disclosure. Moreover, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of this disclosure can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof, which can be achieved by those skilled in the art using their basic programming skills after reading the description of this disclosure.

[0604] It should be noted that the above division of modules is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a module can be a separate processing element, or it can be integrated into a chip in the aforementioned device. Alternatively, it can be stored as program code in the memory of the aforementioned device, and its function can be called and executed by a processing element of the device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element mentioned here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0605] For example, each module, unit, subunit, or submodule can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together to implement a system-on-a-chip (SOC).

[0606] The terms “first,” “second,” etc., used in this disclosure and in the claims are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this disclosure described herein may be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. Additionally, the use of “and / or” in the specification and claims indicates at least one of the connected objects, such as A and / or B and / or C, indicating seven possibilities: A alone, B alone, C alone, and both A and B, both B and C, both A and C, and A, B, and C. Similarly, the use of “at least one of A and B” in this specification and claims should be understood as “A alone, B alone, or both A and B.”

[0607] 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 signal receiving device, the method comprising: The signal receiving device measures the positioning signal reflected by the positioning device to obtain the cumulative carrier phase measurement of the positioning signal; The accumulated carrier phase measurement is reported to the first device.

2. The method according to claim 1, wherein, The cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

3. The method according to claim 1, further comprising: Receive the first configuration information sent by the first device; The measurement of the positioning signal reflected by the device to be positioned includes: The positioning signal reflected by the device to be positioned is measured based on the first configuration information.

4. The method according to claim 3, wherein, The first configuration information includes at least one of the following: The transmission time information of the positioning signal is used to indicate the transmission time of different preambles; The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles; the time modulation information is used to indicate the signal modulation time corresponding to the device to be located. Frequency modulation information, used to indicate the signal modulation frequency corresponding to the device to be located; preamble of the device to be located.

5. The method according to claim 1, further comprising: Send relevant information about the accumulated carrier phase measurement to the first device; The relevant information includes at least one of the following: The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the device to be located corresponding to the cumulative carrier phase measurement; The identifier of the reporting period for the accumulated carrier phase measurement; The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement; Identification of the signal receiving antenna; Identification of the signal transmitting antenna; Identification of signal transmitting equipment; Identification of signal receiving equipment; The multipath identifier to which the accumulated carrier phase measurement belongs; Quality indication information of accumulated carrier phase measurements; Weekly jump information; The time identifier corresponding to the cumulative carrier phase measurement.

6. The method according to claim 1, wherein, The reporting of the accumulated carrier phase measurement to the first device includes one of the following: Independently report the accumulated carrier phase measurements; The cumulative carrier phase measurement is reported in conjunction with the second information, which includes at least one of the following: the arrival time of the positioning signal, the time difference between the reception and transmission of the positioning signal, the received power of the positioning signal, the departure angle of the positioning signal, and the arrival angle of the positioning signal.

7. The method according to claim 1, wherein, The reporting of the accumulated carrier phase measurement to the first device includes one of the following: The accumulated carrier phase measurement is periodically reported according to a preset period. The accumulated carrier phase measurement and the corresponding time identifier are reported non-periodically.

8. The method according to any one of claims 1 to 4, wherein, The positioning signal includes: a single-carrier signal and / or a multi-carrier signal; The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

9. A positioning method applied to a first device, the method comprising: The first device receives the accumulated carrier phase measurement sent by the signal receiving device; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned; The device to be located is located based on the accumulated carrier phase measurement.

10. The method according to claim 9, wherein, The cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

11. The method according to claim 9, further comprising: Send first configuration information to at least one of the signal transmitting device, the signal receiving device, and the device to be located.

12. The method according to claim 11, further comprising: The first configuration information is generated based on the first information and the positioning mode; The first information includes: the number of devices to be located and the identifier of the devices to be located; The positioning modes include: single-frequency positioning mode or multi-frequency positioning mode.

13. The method according to claim 11 or 12, wherein, The first configuration information includes at least one of the following: The transmission time information of the positioning signal is used to indicate the transmission time of different preambles; The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles; Time modulation information is used to indicate the signal modulation time corresponding to the device to be located; Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located; The preamble of the device to be located.

14. The method according to claim 9, further comprising: The information related to the accumulated carrier phase measurement sent by the receiving signal receiving device; The relevant information includes at least one of the following: The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the device to be located corresponding to the cumulative carrier phase measurement; The identifier of the reporting period for the accumulated carrier phase measurement; The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement; Identification of the signal receiving antenna; Identification of the signal transmitting antenna; Identification of signal transmitting equipment; Identification of signal receiving equipment; The multipath identifier to which the accumulated carrier phase measurement belongs; Quality indication information of accumulated carrier phase measurements; Weekly jump information; The time identifier corresponding to the cumulative carrier phase measurement.

15. The method according to any one of claims 9-10 and 13, wherein, The positioning signal includes: a single-carrier signal and / or a multi-carrier signal; The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

16. A communication device, applied to a signal receiving device, comprising: Memory, transceiver, processor: Memory, used to store computer programs; A transceiver, used to receive and send data under the control of the processor; Processor, configured to read the computer program in the memory and perform the following operations: The positioning signal reflected by the positioning device is measured to obtain the cumulative carrier phase measurement of the positioning signal; The accumulated carrier phase measurement is reported to the first device.

17. The device according to claim 16, wherein, The cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

18. The device according to claim 16, wherein, The processor is used to read the computer program in the memory and perform the following operations: Receive the first configuration information sent by the first device; The measurement of the positioning signal reflected by the device to be positioned includes: The positioning signal reflected by the device to be positioned is measured based on the first configuration information.

19. The device according to claim 18, wherein, The first configuration information includes at least one of the following: The transmission time information of the positioning signal is used to indicate the transmission time of different preambles; The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles; Time modulation information is used to indicate the signal modulation time corresponding to the device to be located; Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located; The preamble of the device to be located.

20. The device according to claim 16, wherein, The processor is used to read the computer program in the memory and perform the following operations: Send relevant information about the accumulated carrier phase measurement to the first device; The relevant information includes at least one of the following: The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the device to be located corresponding to the cumulative carrier phase measurement; The identifier of the reporting period for the accumulated carrier phase measurement; The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement; Identification of the signal receiving antenna; Identification of the signal transmitting antenna; Identification of signal transmitting equipment; Identification of signal receiving equipment; The multipath identifier to which the accumulated carrier phase measurement belongs; Quality indication information of accumulated carrier phase measurements; Weekly jump information; The time identifier corresponding to the cumulative carrier phase measurement.

21. The device according to claim 16, wherein, The processor is configured to read a computer program from the memory and perform one of the following operations: Independently report the accumulated carrier phase measurements; The cumulative carrier phase measurement is reported in conjunction with the second information, which includes at least one of the following: the arrival time of the positioning signal, the time difference between the reception and transmission of the positioning signal, the received power of the positioning signal, the departure angle of the positioning signal, and the arrival angle of the positioning signal.

22. The device according to claim 16, wherein, The processor is configured to read a computer program from the memory and perform one of the following operations: The accumulated carrier phase measurement is periodically reported according to a preset period. The accumulated carrier phase measurement and the corresponding time identifier are reported non-periodically.

23. The device according to any one of claims 16 to 19, wherein, The positioning signal includes: a single-carrier signal and / or a multi-carrier signal; The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

24. A communication device, applied to a first device, comprising: Memory, transceiver, processor: Memory, used to store computer programs; A transceiver, used to receive and send data under the control of the processor; Processor, configured to read the computer program in the memory and perform the following operations: The signal receiving device receives the accumulated carrier phase measurement; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned. The device to be located is located based on the accumulated carrier phase measurement.

25. The device according to claim 24, wherein, The cumulative carrier phase measurement is the cumulative carrier phase measurement of the modulation symbol corresponding to the positioning signal.

26. The device according to claim 24, wherein, Send first configuration information to at least one of the signal transmitting device, the signal receiving device, and the device to be located.

27. The device according to claim 26, wherein, The processor is used to read the computer program in the memory and perform the following operations: The first configuration information is generated based on the first information and the positioning mode; The first information includes: the number of devices to be located and the identifier of the devices to be located; The positioning modes include: single-frequency positioning mode or multi-frequency positioning mode.

28. The device according to claim 26 or 27, wherein, The first configuration information includes at least one of the following: The transmission time information of the positioning signal is used to indicate the transmission time of different preambles; The transmission frequency information of the positioning signal is used to indicate the transmission frequency of different preambles; Time modulation information is used to indicate the signal modulation time corresponding to the device to be located; Frequency modulation information is used to indicate the signal modulation frequency corresponding to the device to be located; The preamble of the device to be located.

29. The device according to claim 24, wherein, The processor is used to read the computer program in the memory and perform the following operations: The information related to the accumulated carrier phase measurement sent by the receiving signal receiving device; The relevant information includes at least one of the following: The identifier of the reference modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the device to be located corresponding to the cumulative carrier phase measurement; The identifier of the reporting period for the accumulated carrier phase measurement; The identifier of the modulation symbol corresponding to the accumulated carrier phase measurement; The identifier of the carrier frequency corresponding to the accumulated carrier phase measurement; Identification of the signal receiving antenna; Identification of the signal transmitting antenna; Identification of signal transmitting equipment; Identification of signal receiving equipment; The multipath identifier to which the accumulated carrier phase measurement belongs; Quality indication information of accumulated carrier phase measurements; Weekly jump information; The time identifier corresponding to the cumulative carrier phase measurement.

30. The device according to any one of claims 24-25 and 28, wherein, The positioning signal includes: a single-carrier signal and / or a multi-carrier signal; The multi-carrier signal is generated by a signal transmitting device or by the device to be located through modulation.

31. A positioning device, applied to a signal receiving device, the device comprising: The measurement module is used to measure the positioning signal reflected by the positioning device to obtain the cumulative carrier phase measurement of the positioning signal; The first transmitting module is used to report the accumulated carrier phase measurement to the first device.

32. A positioning device applied to a first device, the device comprising: The first receiving module is used to receive the accumulated carrier phase measurement sent by the signal receiving device; the accumulated carrier phase measurement is obtained by the signal receiving device measuring the positioning signal reflected by the positioning device to be positioned; The positioning module is used to locate the device to be located based on the accumulated carrier phase measurement.

33. A processor-readable storage medium storing a program for causing the processor to perform the method of any one of claims 1 to 8, or the method of any one of claims 9 to 15.

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