Position measurement method and apparatus, and device

Abstract

The present application relates to the technical field of communications, and discloses a position measurement method and apparatus, and a device. The position measurement method of the embodiments of the present application comprises: a first device measures a measurement signal, to obtain first measurement information for calculating position information of a measurement object, the first measurement information comprising measurement information associated with angle of departure information, or the angle of departure information, wherein the angle of departure information comprises at least one of the following: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; and difference information between the angle of departure of the target path of the measurement signal and the angle of departure of the reference path of the measurement signal, the target path being a signal path of the measurement signal associated with the measurement object.

Description

Position measurement method, apparatus and device

[0001] Cross Reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202411374474.2, filed on September 29, 2024, the contents of which are incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application belongs to the technical field of communication, and specifically relates to a position measurement method, apparatus and device. BACKGROUND

[0004] In many scenarios, it is necessary to obtain the position information of a target, that is, to locate the target (for example, a vehicle, an obstacle, a pedestrian, etc.). In some related technologies, a device can only use a sensor or a global navigation satellite system (GNSS) to obtain the related information of the position, resulting in poor positioning performance of the device. SUMMARY

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

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

[0007] A first device measures a measurement signal to obtain first measurement information used to calculate position information of a measurement target, the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information.

[0008] The angle of departure information comprises at least one of:

[0009] an angle of departure of a target path of the measurement signal;

[0010] an angle of departure of a reference path of the measurement signal;

[0011] an angle difference between the target path of the measurement signal and the reference path of the measurement signal;

[0012] The target path is a signal path in the measurement signal associated with the measurement target.

[0013] In a second aspect, a position measurement method is provided, comprising:

[0014] A second device sends a measurement signal to a first device;

[0015] The second device receives first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, and the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information.

[0016] The angle of departure information comprises at least one of:

[0017] an angle of departure of a target path of the measurement signal;

[0018] an angle of departure of a reference path of the measurement signal;

[0019] an angle difference between the target path of the measurement signal and the reference path of the measurement signal;

[0020] The target path is a signal path of the measurement signal associated with the measurement target.

[0021] In a third aspect, a position measurement method is provided, comprising:

[0022] The third device receives first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, and the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information.

[0023] The angle of departure information comprises at least one of:

[0024] an angle of departure of a target path of the measurement signal;

[0025] an angle of departure of a reference path of the measurement signal;

[0026] an angle difference between the target path of the measurement signal and the reference path of the measurement signal;

[0027] The target path is a signal path of the measurement signal associated with the measurement target.

[0028] In a fourth aspect, a position measurement apparatus is provided, comprising:

[0029] A processing module is configured to measure a measurement signal to obtain first measurement information used to calculate position information of a measurement target, and the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information.

[0030] The angle of departure information comprises at least one of:

[0031] an angle of departure of a target path of the measurement signal;

[0032] an angle of departure of a reference path of the measurement signal;

[0033] an angle-of-departure difference between the target path of the measurement signal and a reference path of the measurement signal;

[0034] The target path is a signal path in the measurement signal associated with the measurement target.

[0035] In a fifth aspect, a position measurement apparatus is provided, comprising:

[0036] a sending module configured to send a measurement signal to a first device;

[0037] a receiving module configured to receive first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, the first measurement information comprising: measurement information associated with angle-of-departure information, or angle-of-departure information.

[0038] The angle-of-departure information comprises at least one of:

[0039] an angle of departure of a target path of the measurement signal;

[0040] an angle of departure of a reference path of the measurement signal;

[0041] an angle-of-departure difference between the target path of the measurement signal and a reference path of the measurement signal;

[0042] The target path is a signal path in the measurement signal associated with the measurement target.

[0043] In a sixth aspect, a position measurement apparatus is provided, comprising:

[0044] a receiving module configured to receive first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, the first measurement information comprising: measurement information associated with angle-of-departure information, or angle-of-departure information.

[0045] The angle-of-departure information comprises at least one of:

[0046] an angle of departure of a target path of the measurement signal;

[0047] an angle of departure of a reference path of the measurement signal;

[0048] an angle-of-departure difference between the target path of the measurement signal and a reference path of the measurement signal;

[0049] The target path is a signal path in the measurement signal associated with the measurement target.

[0050] In a seventh aspect, a position measurement apparatus is provided, the apparatus being configured to perform the steps of the position measurement method of the first device as provided in the embodiments of the present application.

[0051] In an eighth aspect, a position measurement apparatus is provided, which is configured to perform the steps of the position measurement method of the second device as provided in the embodiments herein.

[0052] In a ninth aspect, a position measurement apparatus is provided, which is configured to perform the steps of the position measurement method of the second device as provided in the embodiments herein.

[0053] In a tenth aspect, a device is provided, which comprises a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions, when executed by the processor, implement the steps of the position measurement method of the first device as provided in the embodiments herein.

[0054] In an eleventh aspect, a device is provided, which comprises a processor and a communication interface, wherein the processor is configured to measure a measurement signal to obtain first measurement information used for calculating position information of a measurement target, the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information; wherein the angle of departure information comprises at least one of: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; an angle difference information between the target path of the measurement signal and the reference path of the measurement signal; the target path being a signal path of the measurement signal associated with the measurement target.

[0055] In a twelfth aspect, a device is provided, which comprises a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions, when executed by the processor, implement the steps of the position measurement method of the second device as provided in the embodiments herein.

[0056] In a thirteenth aspect, a device is provided, which comprises a processor and a communication interface, wherein the communication interface is configured to: obtain a measurement signal for sending to a first device; receive first measurement information sent by the first device, the first measurement information being used for calculating position information of a measurement target, the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information; wherein the angle of departure information comprises at least one of: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; an angle difference information between the target path of the measurement signal and the reference path of the measurement signal; the target path being a signal path of the measurement signal associated with the measurement target.

[0057] In a fourteenth aspect, a device is provided, which comprises a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions, when executed by the processor, implement the steps of the position measurement method of the third device as provided in the embodiments herein.

[0058] In a fifteenth aspect, a device is provided, including a processor and a communication interface, wherein the communication interface is configured to receive first measurement information transmitted by a first device, the first measurement information being used to calculate position information of a measurement target, the first measurement information including: measurement information associated with angle of departure information, or angle of departure information; wherein the angle of departure information includes at least one of: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; an angle difference between the target path of the measurement signal and the reference path of the measurement signal; the target path being a path of the measurement signal associated with the measurement target.

[0059] In a sixteenth aspect, a readable storage medium is provided, the readable storage medium storing a program or instructions, the program or instructions being executed by a processor to implement steps of a position measurement method of a first device, or steps of a position measurement method of a second device, or steps of a position measurement method of a third device, as provided in embodiments of the present application.

[0060] In a seventeenth aspect, a wireless communication system is provided, including: a first device, and at least one of a second device and a third device, the first device being configured to implement steps of a position measurement method of a first device, the second device being configured to implement steps of a position measurement method of a second device, and the third device being configured to implement steps of a position measurement method of a second device, as provided in embodiments of the present application.

[0061] In an eighteenth aspect, a chip is provided, including a processor and a communication interface, the communication interface being coupled to the processor, and the processor being configured to run a program or instructions to implement a position measurement method of a first device, or a position measurement method of a second device, or a position measurement method of a third device, as provided in embodiments of the present application.

[0062] In a fourteenth aspect, a computer program / program product is provided, the computer program / program product being stored in a storage medium, and the computer program / program product being executed by at least one processor to implement steps of a position measurement method of a first device, or steps of a position measurement method of a second device, or steps of a position measurement method of a third device, as provided in embodiments of the present application.

[0063] In the embodiment of the present application, the first device measures the measurement signal to obtain first measurement information used for calculating the position information of the measurement target, and the first measurement information comprises: measurement information associated with the angle of departure information, or the angle of departure information; wherein the angle of departure information comprises at least one of the following: the angle of departure of the target path of the measurement signal; the angle of departure of the reference path of the measurement signal; the angle of departure difference information between the target path of the measurement signal and the reference path of the measurement signal; the target path is the signal path of the measurement signal associated with the measurement target. Since the first measurement information is used for calculating the position information of the measurement target, the angle of departure information associated measurement information or the angle of departure information can be obtained to improve the positioning performance of the device. BRIEF DESCRIPTION OF DRAWINGS

[0064] FIG. 1 is a schematic diagram of a system according to an embodiment of the present application;

[0065] FIG. 2 is a schematic diagram of a sensing measurement scenario according to an embodiment of the present application;

[0066] FIG. 3 is a schematic diagram of another sensing measurement scenario according to an embodiment of the present application;

[0067] FIG. 4 is a flowchart of a position measurement method according to an embodiment of the present application;

[0068] FIG. 5a and FIG. 5b are schematic diagrams of two coordinate systems according to an embodiment of the present application;

[0069] FIG. 6 is a schematic diagram of signal transmission according to an embodiment of the present application;

[0070] FIG. 7a and FIG. 7b are schematic diagrams of the position relationship of a space node according to an embodiment of the present application;

[0071] FIG. 8a and FIG. 8b are schematic diagrams of the position relationship of another space node according to an embodiment of the present application;

[0072] FIG. 9 is a flowchart of another position measurement method according to an embodiment of the present application;

[0073] FIG. 10 is a flowchart of another position measurement method according to an embodiment of the present application;

[0074] FIG. 11 is a schematic diagram of a position measurement method according to an embodiment of the present application;

[0075] FIG. 12 is a schematic diagram of another position measurement method according to an embodiment of the present application;

[0076] FIG. 13 is a schematic diagram of a signal path according to an embodiment of the present application;

[0077] FIG. 14 is a schematic diagram of another signal path according to an embodiment of the present application;

[0078] FIG. 15 is a structural diagram of a position measurement device according to an embodiment of the present application;

[0079] FIG. 16 is a structural diagram of another position measurement device according to an embodiment of the present application;

[0080] FIG. 17 is a structural diagram of another position measurement device according to an embodiment of the present application;

[0081] FIG. 18 is a structural diagram of a communication device according to an embodiment of the present application;

[0082] FIG. 19 is a structural diagram of a device according to an embodiment of the present application;

[0083] FIG. 20 is a structural diagram of another device according to an embodiment of the present application;

[0084] FIG. 21 is a structural diagram of another device according to an embodiment of the present application. DETAILED DESCRIPTION

[0085] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0086] The terms "first", "second", and the like in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "or" in the present application means at least one of the connected objects. For example, the protection scope of "A or B" at least covers three schemes, namely, scheme one: including A and not including B; scheme two: including B and not including A; scheme three: including A and B. In addition, the terms "A and / or B", "at least one of A and B", "at least one of A or B" also at least cover the above three schemes, respectively. The character " / " generally represents that the objects before and after are in an "or" relationship.

[0087] The term "indication" in this application can be either a direct indication (or explicit indication) or an indirect indication (or implicit indication). The direct indication can be understood as that the sender explicitly informs the receiver of specific information, operations to be performed or requested results, etc. in the sent indication. The indirect indication can be understood as that the receiver determines the corresponding information according to the indication sent by the sender, or judges and determines the operations to be performed or requested results, etc. according to the judgment result.

[0088] It is worth noting that the techniques described in the embodiments of the present application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems.

[0089] The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described techniques can be used in the above-mentioned systems and radio technologies, as well as other systems and radio technologies. The following description describes a New Radio (NR) system for example purposes, and NR terminology is used in most of the following description, but these techniques can also be applied to systems other than NR systems, such as 6th Generation (6G) communication systems. th

[0090] FIG. 1 shows a block diagram of a wireless communication system to which the embodiments of the present application can be applied. The wireless communication system includes a terminal 11 and a network side device 12.

[0091] ​The terminal 11 can be a terminal-side device such as a mobile phone, a Tablet Personal Computer, a Laptop Computer, a notebook computer, a Personal Digital Assistant (PDA), a palmtop computer, a netbook, an Ultra-mobile Personal Computer (UMPC), a Mobile Internet Device (MID), an Augmented Reality (AR) device, a Virtual Reality (VR) device, a robot, a wearable device, a flight vehicle, a Vehicle User Equipment (VUE), a shipboard device, a Pedestrian User Equipment (PUE), a smart home (a home device with a wireless communication function, such as a refrigerator, a television, a washing machine, or furniture), a game console, a Personal Computer (PC), a kiosk, or a self-service machine. The wearable device includes a smart watch, a smart bracelet, a smart earphone, smart glasses, smart jewelry (a smart bracelet, a smart necklace, a smart ring, a smart necklace, a smart anklet, a smart necklace, and the like), a smart wristband, smart clothing, and the like. The vehicle-mounted device can also be referred to as a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, or a vehicle-mounted unit. It should be noted that the specific type of the terminal 11 is not limited in the embodiments of the present application.

[0092] The network side device 12 can include an access network device or a core network device, wherein the access network device can also be referred to as a radio access network (RAN) device, a radio access network function, a radio access network unit, or a satellite. The access network device can include a base station, a wireless local area network (WLAN) access point (AP), or a wireless fidelity (WiFi) node, etc. Among them, the base station can be referred to as a node B (NB), an evolved node B (eNB), a next generation node B (gNB), a new radio node B (NR Node B), an access point, a relay base station (RBS), a serving base station (SBS), a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home node B (HNB), a home evolved node B, a transmit / receive point (TRP), or some other suitable term in the art, as long as the same technical effect is achieved. The base station is not limited to a specific technical term, and it should be noted that in the embodiments of the present application, only the base station in the NR system is taken as an example for introduction, and the specific type of the base station is not limited.

[0093] The core network device can also be referred to as a core network node, a core network function, or a core network network element, etc., which includes but is not limited to at least one of the following: a mobility management entity (MME), an access and mobility management function (AMF), a session management function (SMF), a user plane function (UPF), a policy control function (PCF), a policy and charging rules function (PCRF), an edge application server discovery function (EASDF), a unified data management (UDM), a unified data repository (UDR), a home subscriber server (HSS), a centralized network configuration (CNC), a network repository function (NRF), a network exposure function (NEF), a local NEF (L-NEF), a binding support function (BSF), an application function (AF), a location management function (LMF), a gateway mobile location center (GMLC), a network data analytics function (NWDAF), etc. It should be noted that only the core network device in the NR system is taken as an example for introduction in the embodiments of the present application, and the specific type of the core network device is not limited. If the name of the core network device mentioned in the embodiments of the present application changes in the subsequent protocol version (for example, 6G), it is also within the protection scope of the present application.

[0094] Optionally, the core network device can be implemented by one or more function modules in one device, or can be implemented by multiple devices together, and the embodiments of the present application do not make a specific limitation hereon. It can be understood that the above function modules can be network elements in a hardware device, can be software function modules running on a special hardware, or can be virtualized function modules instantiated on a platform (for example, a cloud platform).

[0095] In some embodiments, in addition to the communication capability, the network side device and the terminal can also have a sensing capability. The sensing capability, i.e., one or more devices having the sensing capability, can sense the position, distance, speed, etc. of a target object through the transmission and reception of wireless signals, or detect, track, identify, image, etc. the target object, event or environment, etc. Some sensing functions and application scenarios are shown in Table 1:

[0096] Table 1

[0097] It should be noted that the sensing categories shown in Table 1 above are only an example, and the categories of sensing measurement are not limited in the embodiments of the present application.

[0098] In addition, the embodiments of the present application can be applied to a communication-sensing integrated scenario. The communication-sensing integration refers to the integration of communication and sensing functions through spectrum sharing and hardware sharing in the same system. The system can sense the position, distance, speed, etc. while transmitting information, and detect, track, identify, etc. the target device or event. The communication system and the sensing system complement each other to improve the overall performance and bring better service experience.

[0099] For example, the integration of communication and radar is a typical communication-sensing integrated (communication-sensing fusion) application, and the integration of communication and radar system can bring many advantages, such as cost saving, size reduction, power consumption reduction, spectrum efficiency improvement, mutual interference reduction, etc., thereby improving the overall system performance.

[0100] In the embodiments of the present application, according to the differences between the sensing signal transmission node and the reception node, there can be, but are not limited to, six kinds of sensing links shown in FIG. 2. It should be noted that each sensing link in FIG. 2 is exemplified by one transmission node and one reception node. In actual systems, different sensing links can be selected according to different sensing requirements, and the transmission node and the reception node of each sensing link can be one or more, and the actual sensing system can include multiple different sensing links. In addition, the sensing targets in FIG. 2 are taken as examples of people and vehicles, and it is assumed that neither people nor vehicles carry or install signal receiving / transmitting devices. The sensing targets in actual scenarios will be more diverse.

[0101] Sensing link 1: Base station self-emission self-reception sensing. In this mode, the base station transmits a sensing signal and obtains a sensing result by receiving the echo of the sensing signal.

[0102] Sensing link 2: Inter-base station air interface sensing. In this mode, base station 2 receives the sensing signal transmitted by base station 1 and obtains a sensing result.

[0103] Sensing link 3: Uplink air interface sensing. In this mode, the base station receives the sensing signal transmitted by the terminal and obtains a sensing result.

[0104] Sensing link 4: Downlink air interface sensing. In this mode, the terminal receives the sensing signal transmitted by the base station and obtains a sensing result.

[0105] Sensing link 5: Terminal self-emission self-reception sensing. In this mode, the terminal transmits a sensing signal and obtains a sensing result by receiving the echo of the sensing signal.

[0106] Sensing link 6: Inter-terminal sidelink sensing. For example, terminal 2 receives the sensing signal transmitted by terminal 1 and obtains a sensing result, or terminal 1 receives the sensing signal transmitted by terminal 2 and obtains a sensing result.

[0107] Radar can be divided into single-base radar and double / multi-base radar according to whether the transmitter and receiver are separated. Double-base radar generally requires the transmitting and receiving antennas to be far apart, comparable to the radar range.

[0108] Among them, the external radiation source radar is a special case of double-base radar, which uses related electromagnetic wave detection theory and signal processing technology to obtain non-cooperative electromagnetic signals transmitted by a third party (such as a communication base station), and realizes detection, positioning, tracking and identification of targets. The external radiation source radar is also called passive radar, double / multi-base passive radar, passive radar, non-cooperative illumination source radar or non-cooperative passive detection system.

[0109] Double-base radar sensing result calculation generally needs to be based on reference channel (direct path) signal and monitoring channel (reflected path) signal. A typical double-base radar architecture diagram is shown in FIG. 3, where the left side represents a two-dimensional space and the right side represents a three-dimensional space. Among them, R T is the distance from the signal transmitting end (Tx) to the target, R R is the distance from the signal receiving end (Rx) to the target, L is the baseline distance, and β is the double-base angle. The target (i.e. Target in the figure) is the measurement target.

[0110] In some embodiments, the signaling transmission between the wireless access network device and the terminal, between different terminals is through the Radio Resource Control (RRC) signaling or the Medium Access Control Control Element (MAC CE) or Layer 1 signaling or other newly defined sensing signaling; the signaling transmission between the sensing network function and the terminal can be through the Non-Access-Stratum (NAS) signaling (forwarded through the AMF) or through the RRC signaling or the MAC CE or the Layer 1 signaling or other newly defined sensing signaling; the interaction between the sensing network function and the base station can be forwarded to the wireless access network through the N2 interface by the AMF; or the core network sensing network function is sent to the UPF, and the UPF is sent to the wireless access network through the N3 interface; or sent to the wireless access network (such as the base station) through a newly defined interface; the signaling transmission between the wireless access network devices can be through the Xn interface.

[0111] In some embodiments, the sensing network function can also be called a sensing network element or a sensing management function (Sensing MF), which can be on the RAN side or the core network side, refers to a network node in the core network or RAN responsible for at least one of sensing request processing, sensing resource scheduling, sensing information interaction, sensing data processing, etc., which can be based on the upgrade of AMF or LMF in the mobile communication network, or other network nodes or newly defined network nodes. Specifically, the function characteristics of the sensing network function / sensing network element can include at least one of the following:

[0112] Interact with the wireless signal sending device or the wireless signal measuring device (including the target terminal or the serving base station of the target terminal or the base station associated with the target area) to obtain the target sensing result or the value of the sensing measurement quantity (uplink measurement quantity or downlink measurement quantity) sent by the wireless signal measuring device, wherein the target information includes sensing processing request, sensing capability, sensing auxiliary data, sensing measurement quantity type, sensing resource configuration information, etc., and the wireless signal can also be called a sensing signal;

[0113] The sensing method used is determined according to the type of sensing service, the sensing service consumer information, the required Quality of Service (QoS) requirement information, the sensing capability of the wireless signal sending device, the sensing capability of the wireless signal measuring device, etc. The sensing method can include: wireless access network device A sends to wireless access network device B, or wireless access network device sends to terminal, or wireless access network device A sends and receives by itself, or terminal sends to wireless access network device, or terminal sends and receives by itself, or terminal A sends to terminal B, etc.

[0114] determining a sensing device to serve the sensing service according to the type of the sensing service, information of a consumer of the sensing service, required sensing QoS requirement information, sensing capability of a wireless signal transmitting device, sensing capability of a wireless signal measuring device, and other factors, wherein the sensing device includes the wireless signal transmitting device or the wireless signal measuring device;

[0115] managing overall coordination and scheduling of resources required for the sensing service, such as corresponding configuration of sensing resources of a wireless access network device or a terminal;

[0116] performing data processing on values of sensing measurement quantities, or performing calculation to obtain sensing results. Further, the sensing results are verified, and sensing accuracy is estimated.

[0117] In order to better understand the technical solutions provided by the embodiments of the present application, the definition of the information element (IE) related to measurement in the embodiments of the present application can be as follows:

[0118] The position measurement method, device and equipment provided by the embodiments of the present application will be described in detail in combination with the drawings and some embodiments and application scenarios.

[0119] Please refer to FIG. 4, which is a flowchart of a position measurement method provided by an embodiment of the present application, as shown in FIG. 4, including the following steps:

[0120] Step 401: A first device measures a measurement signal to obtain first measurement information used for calculating position information of a measurement target, wherein the first measurement information includes: measurement information associated with angle of departure information, or angle of departure information.

[0121] The angle of departure information includes at least one of the following:

[0122] an angle of departure of a target path of the measurement signal;

[0123] an angle of departure of a reference path of the measurement signal;

[0124] an angle difference between the target path of the measurement signal and the reference path of the measurement signal;

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

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

[0127] The measurement target is a target that needs to be measured, for example, a target in a perception measurement or a position measurement process, which can be a target object such as a vehicle or an obstacle, or a pedestrian. In some embodiments, when the measurement target is a passive target, the embodiments of the present application can measure the position information of the passive target.

[0128] In the embodiments of the present application, the measurement can be perception, that is, obtaining the position of the measurement target through perception, such as measuring the position information of a passive target through perception.

[0129] The measurement signal can be a special signal for a perception service, or a communication signal such as a reference signal or a synchronization signal.

[0130] The special signal for the perception service can be a perception signal generated based on a Chirp or a Frequency Modulated Continuous Wave (FMCW) signal, or a perception signal generated based on a Pseudo-Random (PN) sequence or a ZC sequence.

[0131] The reference signal can be a Demodulation Reference Signal (DMRS), a Channel State Information Reference Signal (CSI-RS), a Sounding Reference Signal (SRS), or a Positioning Reference Signal (PRS).

[0132] The synchronization signal can be a Primary Synchronization Signal (PSS) or a Secondary Synchronization Signal (SSS).

[0133] The signal carrying communication data can be a Physical Downlink Shared Channel (PDSCH), a Physical Uplink Shared Channel (PUSCH), a Physical Downlink Control Channel (PDCCH), or a Physical Uplink Control Channel (PUCCH).

[0134] The first device measuring the measurement signal can be the first device measuring the measurement signal sent by the second device to the first device to obtain the first measurement information for calculating the position information of the measurement target.

[0135] The measurement information associated with the departure angle information can be information used to calculate the departure angle information, such as phase information, amplitude information, spectrum information, etc.

[0136] The departure angle information can be calculated by the second device or the third device when the first measurement information includes the measurement information associated with the departure angle information.

[0137] The departure angle can be AoD or ZoD, or the departure angle can also be the value of the trigonometric function in the sin or cos form corresponding to the departure angle.

[0138] The departure angle difference information between the target path of the measurement signal and the reference path of the measurement signal can be the angle difference information between the departure angle of the target path of the measurement signal and the departure angle of the reference path of the measurement signal.

[0139] The signal path associated with the measurement target in the measurement signal can be a signal path affected by the measurement target or a signal path passing through the measurement target, or a signal path associated with the part of the measurement signal reflected by the measurement target during propagation.

[0140] The reference path can be a pre-specified or protocol-agreed signal path, for example, the reference path includes at least one of the following:

[0141] LOS path, first-arrival path, signal path reflected by known target.

[0142] In some embodiments, the LOS path can be a first-arrival path, for example, when the LOS condition is satisfied between the signal transceiver devices, i.e., the LOS path is the first-arrival path.

[0143] In some embodiments, the signal path reflected by the known target can be a signal path reflected by a reconfigurable intelligent surface (RIS), backscatter, or other known passive target, etc.

[0144] The first measurement information for calculating the position information of the measurement target can be understood as being able to calculate the position information of the measurement target based on the first measurement information. In the embodiments of the present application, the first device, the second device, or the third device can calculate the position information of the measurement target based on the first measurement information.

[0145] In some embodiments, the second device can send a measurement signal to the first device, the first device receives the measurement signal and measures the first measurement information, the first device reports the first measurement information to the second device or the third device, and the second device or the third device calculates the position information of the measurement target. Alternatively, the first device calculates the position information of the measurement target based on the first measurement information and reports it to the third device. The first device and the second device can be a terminal or a network device (such as a base station or a TRP). Specifically, the second device can be a base station, and the first device can be a terminal. Alternatively, the second device can be a terminal, and the first device can be a base station. Alternatively, the first device and the second device can both be base stations. Alternatively, the first device and the second device can both be terminals. The third device can be a core network perception network function or a perception network element, or other core network network functions or network elements, or other base stations or terminals. In some embodiments, the third device and the second device can also refer to the same device.

[0146] In the embodiments of the present application, the above-described angle of departure information includes the above-described at least one item. It can be understood that the position information of the measurement target can be calculated based on the at least one item, that is, the position information of the measurement target can be calculated based on any one or a combination of the above-described multiple items. Specifically, the position information of the measurement target can be found based on a preconfigured mapping relationship between each item and the position information of the measurement target, or the position information of the measurement target can be calculated based on a preconfigured formula, and the variable of the formula is the above-described one or more items. For example, the position information of the measurement target can be calculated based on the angle of departure of the target range, such as a preconfigured calculation formula, the variable of the calculation formula includes the angle of departure of the target range, or the position information of the measurement target is found based on a preconfigured mapping relationship between the angle of departure of the target range and the position information of the measurement target. For another example, the position information of the measurement target can be calculated based on the angle of departure of the reference range, such as a preconfigured calculation formula, the variable of the calculation formula includes the angle of departure of the reference range, or the position information of the measurement target is found based on a preconfigured mapping relationship between the angle of departure of the reference range and the position information of the measurement target. For another example, the position information of the measurement target can be calculated based on the angle difference information between the target range and the reference range, such as a preconfigured calculation formula, the variable of the calculation formula includes the above-described angle difference information, or the position information of the measurement target is found based on a preconfigured mapping relationship between the above-described angle difference information and the position information of the measurement target.

[0147] It should be noted that the present application does not limit the specific way of calculating the position information of the measurement target, and the above-described calculation method is only an example.

[0148] In the embodiments of the present application, since the first measurement information is used to calculate the position information of the measurement target, the measurement information associated with the angle of departure information or the angle of departure information can be used to obtain the position information, so that the position information is not required to be obtained by the sensor or the GNSS, and thus the positioning performance of the device is improved. Specifically, the passive measurement target can be positioned based on the angle of departure information, so as to improve the positioning performance of the passive measurement target.

[0149] In some embodiments, each of the first measurement information described above can include one or more information, for example, the angle of departure of the target radial can include one or more AOD or ZOD. For example, if the distance between the antennas of the first device is too large, angle measurement ambiguity occurs, and multiple angle measurement results are obtained and reported. Specifically, multiple AODs are calculated based on the distance between the antennas of the first device. For example, if the distance between the antennas of the first device is dλ and the wavelength is λ, then the target radial may obtain multiple angles according to the value of d, wherein:

[0150] k is an integer.

[0151] Similarly, this case also applies to the angle of departure of the reference radial and the angle difference between the target radial and the reference radial, which will not be described herein.

[0152] In this way, multiple measurement information can be obtained to better calculate the position information of the measurement target. For example, the position information with higher accuracy or reliability can be selected from the multiple measurement information to avoid measurement ambiguity and improve the accuracy or reliability of positioning.

[0153] As an optional embodiment, the angle of departure includes at least one of the following:

[0154] AOD based on a local coordinate system (LCS);

[0155] ZOD based on a local coordinate system (LCS);

[0156] AOD based on a global coordinate system (GCS);

[0157] ZOD based on a global coordinate system (GCS).

[0158] The AOD based on the local coordinate system described above can be understood as the AOD in the local coordinate system or the AOD relative to the local coordinate system. The ZOD based on the local coordinate system described above can be understood as the ZOD in the local coordinate system or the ZOD relative to the local coordinate system.

[0159] The local coordinate system can be a reference coordinate system defined based on the BS antenna array, for example, the normal direction of the BS antenna array is the x' axis, the horizontal direction of the BS antenna array is the y' axis, and the vertical direction of the BS antenna array is the z' axis, for example, the local coordinate system shown in FIG. 5a.

[0160] The AOD based on the global coordinate system can be understood as AOD in the global coordinate system or AOD relative to the global coordinate system. The ZOD based on the global coordinate system can be understood as ZOD in the global coordinate system or ZOD relative to the global coordinate system.

[0161] The global coordinate system can be an east-north-sky reference coordinate system, for example, the global coordinate system shown in FIG. 5b.

[0162] In the embodiments of the present application, the conversion relationship between the local coordinate system and the global coordinate system is that the angle of departure information based on the local coordinate system can be used to calculate the angle of departure information based on the global coordinate system, and the angle of departure information based on the global coordinate system can be used to calculate the angle of departure information based on the local coordinate system, for example, as shown in FIG. 5b, the conversion relationship information between the local coordinate system and the global coordinate system includes: the rotation angle α of the local coordinate system around the z axis, the rotation angle β of the local coordinate system around the y axis, and the rotation angle γ of the local coordinate system around the x axis.

[0163] In this embodiment, the angle of departure information in the global or local coordinate system can be provided, which can be suitable for more position information calculation scenarios to improve the compatibility of positioning.

[0164] As an optional embodiment, the measurement information associated with the angle of departure information includes at least one of the following:

[0165] Phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[0166] Phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[0167] Amplitude information of a signal path associated with at least one port of the measurement signal;

[0168] Amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[0169] Spectrum information associated with at least one port of the measurement signal;

[0170] Spectrum information associated with at least one signal resource of the measurement signal;

[0171] Precoding information associated with at least one port of the measurement signal;

[0172] precoding information associated with at least one signal resource of the measurement signal;

[0173] port identification of the measurement signal;

[0174] at least one signal resource identification of the measurement signal.

[0175] The associated signal path includes at least one of the target path and the reference path. In some embodiments, if the location information of the transceiver device of the measurement signal is known, the associated signal path can only include the target path.

[0176] The measurement information associated with the angle of departure information includes at least one of the following: the angle of departure information can be calculated based on any one or any combination of the at least one; the angle of departure information can be calculated based on the correspondence between the at least one and the angle of departure; for example, a mapping relationship or a calculation formula between the at least one and the angle of departure can be pre-configured to obtain the angle of departure information, such as pre-defining a mapping relationship between the amplitude, phase, phase difference of each port and the angle of departure, or pre-defining a mapping relationship between the amplitude, phase, phase difference of multiple resources and the angle of departure, such as pre-defining a mapping relationship between multiple precoding information and the angle of departure, or pre-defining a mapping relationship between multiple signal resources and the angle of departure, etc. It should be noted that the calculation method of the angle of departure information is not limited in the embodiments of the present application.

[0177] The phase information or phase difference information of the signal path associated with at least one port of the measurement signal can include:

[0178] The phase difference information of the signal path associated with at least one port of the measurement signal; or

[0179] The phase difference information of the signal path associated with at least one port of the measurement signal, wherein the phase difference information can be the phase difference information relative to the reference path or the reference phase.

[0180] The phase information or phase difference information of the signal path associated with at least one signal resource of the measurement signal can include:

[0181] The phase information of the signal path associated with at least one signal resource of the measurement signal; or

[0182] The phase difference information of the signal path associated with at least one signal resource of the measurement signal, wherein the phase difference information can be the phase difference information relative to the reference path or the reference phase.

[0183] The spectrum information can include at least one of the time delay spectrum, the distance spectrum, the Doppler spectrum, the velocity spectrum, and the angle spectrum, or can include joint spectrum information of at least two of the time delay / distance and the Doppler / velocity, such as the time delay-Doppler spectrum.

[0184] In some embodiments, the above-mentioned spectrum information can refer to a complex result, for example, a time-delay-Doppler spectrum refers to a time-delay, a Doppler index and a corresponding complex value (amplitude value and phase value) of a sampling point in a 2-dimensional spectrum; in addition, the above-mentioned spectrum information can be complete spectrum information calculated according to channel information, or a subset of the complete spectrum information, for example, a spectrum information subset corresponding to a specific time-delay or Doppler range in a time-delay-Doppler spectrum.

[0185] In some embodiments, the angle spectrum information can be a corresponding complex value (amplitude value and phase value) at each time-delay dimension and different angles (or angle-related DFT vectors); or a corresponding complex value (amplitude value and phase value) at each time-delay-Doppler dimension and different angles (or angle-related DFT vectors); or a corresponding complex value (amplitude value and phase value) at different angles (or angle-related DFT vectors) under a wideband or narrowband (one or more narrowbands) channel.

[0186] The above-mentioned precoding information can be a precoding matrix indicator (PMI),

[0187] In some embodiments, the above-mentioned precoding information includes precoding information associated with a signal path, wherein the precoding information associated with the signal path refers to an index identifier of a precoding vector of a most matched signal path (such as a signal path with maximum signal path power, or a signal path with highest SNR / SINR (i.e. a ratio of signal path power to noise or interference power)) obtained by the first device traversing all or part of the precoding matrix, the signal path includes a target path and a reference path, and if the device calculating the angle of departure or measuring the position information of the target is known to the position information of the transceiver device, the signal path can only include the target path.

[0188] In some embodiments, the precoding information further includes oversampling information, that is, when the first device traverses to search for a precoding vector that maximizes the signal path power, in addition to generating a precoding vector using a default oversampling factor, a further refined oversampling factor can be used to generate a precoding vector, so as to obtain a more optimal precoding vector search result, so as to obtain more accurate angle of departure information, specifically, the oversampling information includes an identifier of whether to perform further oversampling, an actually used oversampling factor, and a multiplication factor relative to a default oversampling factor (which can be indicated to the first device by a network side device).

[0189] In some embodiments, different ports or signal resources use different precoding vectors, i.e. different transmit beams, for example as shown in FIG. 6, where resource #0 (or port #0) is the signal resource (or port) with the largest target path power, and resource #1 (or port #1) is the signal resource (or port) with the largest reference path power.

[0190] The port identifier can be a port index.

[0191] In some embodiments, the port identifier includes a port identifier associated with a signal path, where the port identifier associated with a signal path refers to the identifier of the port with the largest signal path power, and the signal path includes a target path and a reference path, and the signal path can include only the target path if the device computing the angle of departure or measuring the location information of the target is aware of the location information of the transceiving device.

[0192] The signal resource identifier can be a resource identifier.

[0193] In some embodiments, the signal resource identifier includes a signal resource identifier associated with a signal path, where the port identifier associated with a signal path refers to the identifier of the signal resource with the largest signal path power, and the signal path includes a target path and a reference path, and the signal path can include only the target path if the device computing the angle of departure or measuring the location information of the target is aware of the location information of the transceiving device.

[0194] In the above embodiments, multiple types of measurement information can be used to compute the angle of departure information, to improve the flexibility of the measurement.

[0195] In some embodiments, different ports or signal resources are transmitted through different physical antennas, and the second device transmits the measurement signal through N (N is an integer greater than 1) antennas, where the measurement signal is a signal that has not been precoded by the transmitting end, and the specific implementation can be as follows:

[0196] The N signal resources each are a single-port signal resource, and different signal resources are associated with different physical antennas. Different resource identifiers (resource IDs) are associated with different physical antenna indexes, and the associated physical antenna information (such as the physical antenna index or the location coordinates) is carried in the signal configuration information, or a default mapping rule is followed, for example, the resource IDs in ascending order are one-to-one corresponding to the physical antenna indexes in ascending order, or the resource IDs in ascending order are associated with the antennas at different positions of the antenna array.

[0197] The signal resource comprises N ports, and different ports are associated with different physical antennas. Different port indexes can be associated with different physical antenna indexes, or follow a default mapping rule, for example, a port index in ascending order is one-to-one corresponding to a physical antenna index in ascending order, or a port index in ascending order is associated with an antenna in a different position of an antenna array.

[0198] The signal resource comprises M (an integer greater than 1) signal resources, each of which is a signal resource with N i ports, and N0+N1+N2+…N M-1 = N, and different ports of different signal resources are associated with different physical antennas. Different resource IDs and different port indexes can be associated with different physical antenna indexes, or follow a default mapping rule, for example, N0 ports of resource #0 are corresponding to a specific N0 physical antennas, which can be a specific index or an antenna in a specific position of an antenna array.

[0199] If the second device uses a dual-polarized antenna for transmission and follows a default mapping rule, different resources or ports can be first mapped to different antennas corresponding to polarization 1, and then mapped to different antennas corresponding to polarization 2; or different resources are only mapped to polarization 1 or polarization 2.

[0200] As an optional implementation, the first measurement information further comprises at least one of the following:

[0201] precision information associated with the angle of departure information;

[0202] a difference in propagation time between a target path of the measurement signal and a reference path of the measurement signal;

[0203] a difference in propagation distance between a target path of the measurement signal and a reference path of the measurement signal;

[0204] propagation time, relative time of arrival (RTOA), or propagation distance information of the target path;

[0205] propagation time, relative time of arrival, or propagation distance information of the reference path;

[0206] a number of detected measurement targets;

[0207] association information of the measurement information associated with the angle of departure information.

[0208] The precision information associated with the angle of departure information can refer to precision information of the angle of departure or angle of departure difference information.

[0209] The propagation delay difference can also be understood as a time difference of arrival (TDOA).

[0210] The propagation delay can be a propagation time, a time of flight (ToF), an absolute time of arrival, or an absolute delay, etc.

[0211] The relative time of arrival can represent a time of arrival relative to a certain specific time point.

[0212] The number of detected measurement targets can be the number of detected target ranges.

[0213] In the case of detecting multiple measurement targets, i.e., there are multiple target ranges, the measurement information about the target range can be multiple.

[0214] The association information of the measurement information associated with the angle of departure information can be auxiliary information of the measurement information associated with the angle of departure information, and the association information of the measurement information associated with the angle of departure information can include at least one of the following:

[0215] Timestamp information, accuracy information of the measurement information associated with the angle of departure information, device information of the first device, propagation mode indication information;

[0216] The propagation mode indication information is used to indicate the signal propagation mode between the sending device and the receiving device of the measurement signal.

[0217] The accuracy information can include at least one of the following: time delay accuracy information, distance accuracy information, angle accuracy information, and position accuracy information.

[0218] The signal propagation mode between the sending device and the receiving device can be LOS or NLOS, or can be probability information of LOS or NLOS.

[0219] The device information of the first device can be position information of the first device, such as Cartesian coordinates (x Rx ,y Rx ,z Rx ) relative to a certain known reference point, or can be motion information of the first device, such as whether the first device is stationary, the first device motion speed, or the first device motion direction, etc.

[0220] In the above embodiments, since the first measurement information further includes the at least one, more useful information can be referred to when calculating the position information of the measurement target, so that the reliability of the calculated position information of the measurement target is higher.

[0221] In some embodiments, the method further comprises:

[0222] The first device receives first indication information sent by the second device or the third device;

[0223] The first indication information is used to indicate at least one of the following:

[0224] Obtaining the first measurement information;

[0225] Reporting the first measurement information.

[0226] In this embodiment, the first measurement information can be obtained based on the first indication information, so that the first measurement information is obtained on demand, thereby avoiding the situation that the first measurement information is not used due to the absence of indication, and the power consumption of the first device is saved. Since the auxiliary information required for obtaining the first measurement information or the indication of the obtaining method of the first measurement information is also provided, the obtained first measurement information is more accurate.

[0227] In some embodiments, the first indication information can also not be transmitted, for example, the first measurement information is obtained at a specific time or place by default or by pre-configuration.

[0228] In some embodiments, the first indication information comprises at least one of the following:

[0229] Configuration information of the measurement signal;

[0230] First auxiliary information for calculating the measurement information associated with the angle of departure information;

[0231] Second auxiliary information for calculating the angle of departure information;

[0232] Measurement configuration information;

[0233] Reporting configuration information;

[0234] Measurement requirement information.

[0235] The configuration information of the measurement signal can be a type of measurement signal, such as a dedicated sensing signal, a reference signal, a synchronization signal, or a signal carrying communication data.

[0236] The configuration information of the measurement signal can enable the first device to perform more reliable measurement, thereby improving the measurement performance.

[0237] In some embodiments, the configuration information of the measurement signal comprises at least one of the following:

[0238] Port information of the measurement signal, and related information of the measurement signal.

[0239] The port information can include at least one of:

[0240] The total number of ports, the number of ports in a first dimension (e.g., vertical dimension), the number of ports in a second dimension (e.g., horizontal dimension), wherein the number of ports in the first dimension or the second dimension can refer to the number of ports in the same polarization direction.

[0241] The related information of the measurement signal can include the type of the measurement signal, resource, and the like. For details, refer to the corresponding description of the embodiments below.

[0242] The first auxiliary information for calculating the measurement information associated with the angle of departure information is information for assisting in calculating the measurement information associated with the angle of departure information, reducing the complexity of calculating the measurement information associated with the angle of departure information, and saving the calculation overhead.

[0243] In some embodiments, the first auxiliary information can include at least one of:

[0244] The angle of departure measurement range information;

[0245] The codebook range information.

[0246] The angle of departure measurement range information can be a specific azimuth angle range or zenith angle range, for example, the azimuth angle range relative to the local coordinate system of the sending device is 30°-90° (i.e., the minimum angle and maximum angle values are indicated), or the starting angle of departure and the angle of departure offset, for example, the starting azimuth angle is 30°, and the maximum azimuth angle offset is 60°. In some embodiments, the angle of departure measurement range information can be an expected angle measurement range, such as the AOD range of the LOS path, the AOD range of the target path, and the like.

[0247] The angle of departure measurement range information can reduce the complexity of calculating the measurement information associated with the angle of departure information and save the calculation overhead.

[0248] The codebook range information can be information of a given codebook subset, such as an index indication of multiple codebooks, or a starting codebook index and a codebook index offset indication, or a codebook range represented by a starting codebook index and a terminal codebook index. In some embodiments, the codebook range information can be a codebook subset, so that when the first device searches for the best precoding vector, only the precoding vectors corresponding to the codebooks in the codebook subset are traversed, reducing the search complexity of the first device; the codebook range information can also indicate an invalid codebook subset, so that when the first device searches for the best precoding vector, the precoding vectors corresponding to the codebooks in the invalid codebook subset are not traversed.

[0249] The codebook range information can reduce the complexity of calculating the measurement information associated with the angle of departure information, and save the calculation overhead.

[0250] The second auxiliary information is used to assist in calculating the angle of departure information, so as to reduce the complexity of calculating the angle of departure information and save the calculation overhead.

[0251] In some embodiments, the second auxiliary information includes at least one of the following:

[0252] Antenna configuration information of a second device that transmits the measurement signal;

[0253] Mapping relationship between a port and a physical antenna;

[0254] Mapping relationship between a signal resource and a physical antenna;

[0255] Precoding information associated with at least one port;

[0256] Precoding information associated with at least one signal resource;

[0257] Angle of departure information associated with at least one port;

[0258] Angle of departure information associated with at least one signal resource;

[0259] Beam pattern information associated with at least one port;

[0260] Beam pattern information associated with at least one signal resource.

[0261] The antenna configuration information can include at least one of the following:

[0262] Number of antennas in the horizontal dimension;

[0263] Number of antennas in the vertical dimension;

[0264] Antenna spacing in the horizontal dimension;

[0265] Antenna spacing in the vertical dimension;

[0266] Position information of an antenna array element in the antenna array, such as the position coordinates of the antenna array element in the LCS, which is suitable for non-uniform or irregular antenna arrays;

[0267] Polarization information;

[0268] Conversion relationship information between the local coordinate system and the global coordinate system of the antenna array.

[0269] It should be noted that the second auxiliary information includes at least one of the above, which can be understood as any one or a combination of multiple items can assist in calculating the departure angle information, for example: the above-mentioned antenna configuration information of the second device sending the measurement signal, the mapping relationship between the port and the physical antenna, and the mapping relationship between the signal resource and the physical antenna can be used in the scenario where the measurement signal is a signal without pre-coding, and for example: in the case where the above-mentioned antenna configuration information of the second device sending the measurement signal and the mapping relationship between the port and the physical antenna are default (not specifically indicated), the first device can perform departure angle calculation according to the default second device antenna configuration information or the mapping relationship between the port or the signal resource and the physical antenna, such as the first device default second device antenna spacing is half wavelength, when the actual second device antenna configuration information or the mapping relationship between the port or the signal resource and the physical antenna is inconsistent with the default configuration, the third device or the second device notifies the first device of the actual configuration information.

[0270] The above-mentioned associated pre-coding information, associated departure angle information, and associated beam pattern information can be used in the scenario where the measurement signal is a pre-coded signal.

[0271] It should be noted that the present application does not limit the calculation of the above-mentioned departure angle information based on the above-mentioned second auxiliary information in the embodiments of the present application, for example: the departure angle information can be calculated directly based on the measurement information associated with the departure angle information, and the calculation of the departure angle information based on the above-mentioned second auxiliary information is more simple.

[0272] The above-mentioned measurement configuration information can configure measurement resources, measurement quantities, and other measurement-related configurations.

[0273] In some embodiments, the measurement configuration information includes at least one of the following:

[0274] The signal resource indication information of the measurement signal and the indication information of the measurement quantity;

[0275] The measurement quantity includes at least one of the following:

[0276] The angle measurement quantity;

[0277] The time delay measurement quantity;

[0278] The distance measurement quantity;

[0279] The Doppler measurement quantity;

[0280] The speed measurement quantity;

[0281] The position measurement quantity.

[0282] The above-mentioned angle measurement quantity can include at least one of the following:

[0283] AOD (DL-AOD if the second device is a base station), ZOD (DL-ZOD if the second device is a base station), angle of departure difference, AOD of target path, AOD of LOS path, ZOD of target path, ZOD of LOS path, angle of departure difference of bistatic planar target path and LOS path.

[0284] The time delay measurement quantity can include at least one of the following: time difference of arrival, time of arrival, relative time of arrival.

[0285] The distance measurement quantity can include at least one of the following: propagation distance, propagation distance difference.

[0286] The position measurement quantity is a position coordinate of the measurement target, and can include a coordinate in a local coordinate system and / or a coordinate in a global coordinate system.

[0287] The measurement configuration information can enable the first device to perform more accurate measurement, so as to reduce measurement overhead.

[0288] In some embodiments, the measurement quantity is associated with a measurement requirement (such as a perception requirement), and the second device or the third device sends the first device the perception requirement information (measurement target positioning requirement information), and the first device determines the corresponding measurement quantity based on the measurement target positioning requirement information, that is, the measurement configuration information can not be sent.

[0289] The reporting configuration information is used to configure how the first device reports the measurement information, that is, the criteria for reporting the measurement information, and can include at least one of the following:

[0290] Reported time-frequency domain resource configuration;

[0291] Reporting period, which can be a coherent processing time of perception as a reporting period, and the measurement result is reported, wherein the coherent processing time refers to a time corresponding to each calculation of the perception measurement result, for example: the first device or the second device performs two-dimensional fast Fourier transform (fast Fourier transform, FFT) operation to obtain the signal length corresponding to the time delay-Doppler diagram, and one coherent processing time can include multiple time slots or symbols);

[0292] Triggering condition for reporting, which can be a pre-set event, including but not limited to at least one of the following:

[0293] Event of entering a specific area (such as a cell);

[0294] Event of reaching a specific time;

[0295] Event of a certain type of measurement signal reaching a certain threshold;

[0296] An event that the device moves more than some predefined (straight-line) distance from a previous position;

[0297] An event that the device orientation changes more than some predefined angle, the device orientation can be the orientation of some component of the device, or the orientation of the screen or the orientation of the antenna, etc.

[0298] An event that the motion speed of the device exceeds some predefined speed threshold;

[0299] An event that the environmental information (such as temperature, humidity, or illumination intensity) measured by the device sensor changes more than a certain range.

[0300] The above reporting configuration information can be used to report only under certain conditions to save reporting overhead.

[0301] The above measurement requirement information is used to indicate the requirement information corresponding to the above measurement behavior, and specifically includes measurement target positioning requirement, three-dimensional positioning requirement, or two-dimensional positioning requirement.

[0302] In some embodiments, the measurement requirement information can be perception requirement information, and the perception requirement information is described below in the corresponding description of the embodiments.

[0303] The above measurement requirement information can be used to measure on demand to save measurement overhead.

[0304] It should be noted that in the embodiments of the present application, the at least one indicated by the above first indication information can also be protocol agreed or pre-configured, that is, it can not be configured in the above first indication information.

[0305] As an optional implementation, the method further includes:

[0306] The first device calculates the position information of the measurement target based on the first measurement information.

[0307] In this implementation, the position information of the measurement target can be directly calculated by the first device, so as to improve the positioning performance of the first device.

[0308] In some embodiments, the first device can also send the above measurement information to the third device, and the third device calculates the position information of the measurement target.

[0309] In some embodiments, the first device calculates the position information of the measurement target based on the first measurement information includes:

[0310] The first device calculates the position information of the measurement target according to the distance between the measurement target and the device sending the measurement signal, and the angle of departure information.

[0311] The position information of the measurement target can be calculated based on the distance between the measurement target and the transmitting device of the measurement signal, as well as the departure angle information. This can be achieved by first calculating the relative position coordinates of the measurement target with respect to the receiving device of the measurement signal based on the distance between the measurement target and the transmitting device of the measurement signal, as well as the departure angle information, and then calculating the position information of the measurement target based on the relative position coordinates and the position coordinates of the receiving device of the measurement signal.

[0312] For example, in a 3D positioning scenario, position information can be calculated in the following two ways:

[0313] Method 1: Based on the angle AoD of the target diameter in the global coordinate system T ZoD T R T Calculate the relative position coordinates (x, y) of the target and the signal transmitting device in the global coordinate system. Target-Tx ,y Target-Tx ,z Target-Tx ), where AoD T ZoD represents the departure azimuth angle of the target path. T R represents the zenith angle of the target path. T x represents the distance between the target being measured and the device transmitting the measurement signal. Target-Tx =R T ·sin(ZoD T )·cos(AoD T ), y Target-Tx =R T ·sin(ZoD T )·sin(AoD T ), z Target-Tx =R T ·cos(ZoD T );

[0314] Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x, y) of the measurement target in the global coordinate system are calculated. Target ,y Target ,z Target )=(x Target-Tx ,y Target-Tx ,z Target-Tx )+(x Tx ,y Tx ,z Tx ).

[0315] Method 2: Based on the target reflection radius angle AoD′ in the local coordinate system T ZoD′ T R TThe position coordinates (x' Target-Tx ,y' Target-Tx ,z' Target-Tx ) of the measurement target in the local coordinate system are calculated, wherein AoD' T represents the azimuth of the target range, ZoD' T represents the zenith angle of the target range, x' Target-Tx =R T ·sin(ZoD' T )·cos(AoD' T ), y' Target-Tx =R T ·sin(ZoD' T )·sin(AoD' T ), and z' Target = Tx =R T ·cos(ZoD' T ).

[0316] Further, according to the conversion relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x Target-Tx ,y Target-Tx ,z Target-Tx ) of the measurement target and the signal sending device in the global coordinate system are obtained, and further, according to the relative position coordinates of the signal receiving device in the global coordinate system and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x Target ,y Target ,z Target ) of the measurement target in the global coordinate system are calculated.

[0317] In some embodiments, instead of the position coordinates of the measurement target in the global coordinate system, the position information of the measurement target relative to the sending device is required to be obtained, which can be the position coordinates of the measurement target in the local coordinate system with the sending device as the reference, or the position information can be the distance R T of the measurement target relative to the sending device, and the angles AoD' T and ZoD' T relative to the sending device.

[0318] The spatial position relationship between the measurement target and the signal transceiver in the bistatic sensing mode is shown in FIGS. 7a and 7b.

[0319] wherein the x-axis, the y-axis, and the z-axis are the global coordinate system (GCS) coordinate axes, and the x'-axis, the y'-axis, and the z'-axis are the local coordinate system (LCS) coordinate axes.

[0320] wherein AoD' TAoD' is the AoD of the target range in the local coordinate system, that is, the angle of the projection of the direction vector from the signal transmitting device to the measurement target in the x'O'y' plane in the local coordinate system relative to the x' axis, and ZoD' is the ZoD of the target range in the local coordinate system, that is, the angle of the direction vector from the signal transmitting device to the measurement target relative to the z' axis. T AoD' is the AoD of the target range in the local coordinate system, that is, the angle of the projection of the direction vector from the signal transmitting device to the measurement target in the x'O'y' plane in the local coordinate system relative to the x' axis, and ZoD' is the ZoD of the target range in the local coordinate system, that is, the angle of the direction vector from the signal transmitting device to the measurement target relative to the z' axis. L and ZoD' L AoD is the AoD of the target range in the global coordinate system, that is, the angle of the projection of the direction vector from the signal transmitting device to the measurement target in the xOy plane in the global coordinate system relative to the x axis, and ZoD is the ZoD of the target range in the global coordinate system, that is, the angle of the direction vector from the signal transmitting device to the measurement target relative to the z axis. T AoD is the AoD of the target range in the global coordinate system, that is, the angle of the projection of the direction vector from the signal transmitting device to the measurement target in the xOy plane in the global coordinate system relative to the x axis, and ZoD is the ZoD of the target range in the global coordinate system, that is, the angle of the direction vector from the signal transmitting device to the measurement target relative to the z axis. T AoD is the AoD of the target range in the global coordinate system, that is, the angle of the projection of the direction vector from the signal transmitting device to the measurement target in the xOy plane in the global coordinate system relative to the x axis, and ZoD is the ZoD of the target range in the global coordinate system, that is, the angle of the direction vector from the signal transmitting device to the measurement target relative to the z axis. L AoD is the AoD of the target range in the global coordinate system, that is, the angle of the projection of the direction vector from the signal transmitting device to the measurement target in the xOy plane in the global coordinate system relative to the x axis, and ZoD is the ZoD of the target range in the global coordinate system, that is, the angle of the direction vector from the signal transmitting device to the measurement target relative to the z axis. L The definitions of AoD and ZoD are similar and will not be repeated.

[0321] wherein θ T is the wave departure angle between the LOS range and the target range (that is, the angle between the line connecting the signal transmitting device and the signal receiving device and the line connecting the signal transmitting device and the measurement target, which can also be understood as the angle between the direction vector from the signal transmitting device to the signal receiving device and the direction vector from the signal transmitting device to the measurement target), which is embodied on the plane determined by the signal transmitting device, the signal receiving device and the measurement target, which can also be referred to as a bistatic plane.

[0322] In a two-dimensional target positioning scenario, the spatial position relationship between the measurement target and the signal receiving device in the bistatic sensing mode is shown in FIGS. 8a and 8b, wherein the coordinate system and angle information are similar to those in the three-dimensional target positioning scenario and will not be repeated.

[0323] wherein θ T is the wave departure angle between the reference range and the target range (that is, the angle between the line connecting the signal transmitting device and the signal receiving device and the line connecting the signal transmitting device and the measurement target), which is embodied on the plane determined by the signal transmitting device, the signal receiving device and the measurement target, and for the case where the measurement target and the signal receiving device are located on the same horizontal plane, the angle is embodied on the xOy plane in the global coordinate system, and at this time, the xOy plane is the bistatic plane.

[0324] It should be noted that in the embodiments of the present application, the calculation manner of calculating the position information of the measurement target according to the above distance and angle information is not limited, for example, in some embodiments, the position information of the measurement target can also be directly found according to the pre-configured mapping relationship between the above distance, angle information and position information.

[0325] The calculation of the position information of the measurement target according to the distance and the angle of departure information can improve the reliability of the position information.

[0326] It should be noted that the embodiments of the present application also do not limit the calculation of the position information of the measurement target according to the distance between the measurement target and the sending device of the measurement signal and the angle of departure information. For example, in some embodiments, the position information of the measurement target can be directly calculated according to the wave departure angle or the arrival azimuth angle difference, the propagation time delay difference or the propagation distance difference between the target path and the reference path, such as finding out the position information of the measurement target based on the pre-configured wave departure angle or the arrival azimuth angle difference, the propagation time delay difference or the propagation distance difference and the mapping relationship of the position information of the measurement target. Alternatively, in some embodiments, the position of the measurement target can not be a specific position coordinate, such as the above-mentioned position information can be the distance between the measurement target and the receiving device of the measurement signal, or the angle of the measurement target relative to the receiving device.

[0327] In some embodiments, the method further comprises:

[0328] The first device calculates the distance between the measurement target and the sending device of the measurement signal according to the wave departure angle of the reference path and the target path.

[0329] The wave departure angle is calculated according to the angle of departure information.

[0330] The calculation of the distance between the measurement target and the sending device of the measurement signal according to the wave departure angle of the reference path and the target path can be the calculation of the distance between the measurement target and the sending device of the measurement signal according to the cosine value of the wave departure angle of the reference path and the target path.

[0331] The wave departure angle can be understood as the angle between the direction vector from the sending device of the measurement signal to the receiving device of the measurement signal and the direction vector from the sending device of the measurement signal to the measurement target.

[0332] The wave departure angle or the cosine value of the wave departure angle can be calculated by the first device based on the first measurement information, for example, the wave departure angle can be calculated as follows:

[0333] Method one, calculating the wave departure angle θ of the LOS path and the target path according to the angle of departure information of the reference path and the target path T = cos -1 (sin(ZoD T )sin(ZoD L )cos(AoD T -AoD T )+cos(ZoDT )cos(ZoD L ) or according to the departure angle information of the reference path and the target path, the cosine value cos(θ T ) = sin(ZoD T ) sin(ZoD L ) cos(AoD L -AoD T ) + cos(ZoD T ) cos(ZoD L ).

[0334] The second way is to calculate the wave departure angle θ T = |ZoD' L -ZoD' T | according to the departure angle information of the reference path and the target path, which can be calculated in the local coordinate system; if the measurement target and the signal transceiver device are located on the same horizontal plane, the wave departure angle θ T = |AoD L -AoD T | mod 180° can also be calculated according to the departure angle information of the reference path and the target path, which is calculated in the global coordinate system.

[0335] Wherein, ZoD T represents the ZoD of the target path in the global coordinate system, ZoD L represents the ZoD of the reference path in the global coordinate system, AoD L represents the AoD of the reference path in the global coordinate system, AoD T represents the AoD of the target path in the global coordinate system, ZoD' L represents the ZoD of the reference path in the local coordinate system, ZoD' T represents the ZoD of the target path in the local coordinate system.

[0336] In some embodiments, the wave departure angle or the cosine value of the wave departure angle can also be directly included in the first measurement information.

[0337] The above calculating the distance between the measurement target and the signal transceiver device according to the wave departure angle of the reference path and the target path can include:

[0338] The first device calculates the distance between the measurement target and the device sending the measurement signal according to the wave departure angle, the time delay or propagation distance information of the reference path, and the difference information between the target path and the reference path, the difference information including at least one of the following: the difference in propagation time delay between the target path and the reference path; the difference in propagation distance between the target path and the reference path; or

[0339] The first device calculates the distance between the measurement target and the device sending the measurement signal according to the wave departure angle and the time delay or propagation distance information of the target path.

[0340] For example, the distance between the measurement target and the device sending the measurement signal can be calculated by the following formula:

[0341] Wherein, R T +R R = ΔL + L = c · (Δτ + τ L ), wherein L represents the propagation distance of the reference path, i.e. the distance between the device sending the measurement signal and the receiving device, Δτ + τ L represents the propagation time delay of the target path, Δτ represents the difference in propagation time delay between the target path and the reference path, τ L represents the propagation time delay of the reference path, θ T represents the wave departure angle between the target path and the reference path.

[0342] In some embodiments, the distance between the measurement target and the device sending the measurement signal is not limited to be calculated according to the wave departure angle between the reference path and the target path, for example, the distance is directly included in the above measurement information, so that the distance between the measurement target and the device sending the measurement signal does not need to be calculated, and for example, the distance can be obtained based on the pre-configured mapping relationship of the departure angle of the target path, the departure angle of the reference path and the distance.

[0343] It should be noted that the embodiments of the present application do not limit the specific calculation of the above parameters, and the specific calculation can be based on the spatial position relationship between the parameters.

[0344] The following will be illustrated by taking the calculation of the position information of the measurement target in the three-dimensional positioning and two-dimensional positioning scenarios respectively:

[0345] Wherein, the calculation process of the position information of the measurement target in the three-dimensional space in the bistatic sensing mode is as follows:

[0346] The first device or the third device performing the calculation of the position information of the measurement target obtains one or more of the following information:

[0347] AoD of the target pathT AoD of the target path T AoD of the reference path L ZoD of the reference path L Time delay difference Δτ between the target path and the reference path (or the difference ΔL = c·Δτ between the propagation distances of the target path and the reference path, c represents the speed of light), absolute time delay τ of the reference path L (or the distance L = c·τ between the signal transmitting device and the signal receiving device L , i.e. the propagation distance of the LOS path).

[0348] AoD of the target path L ZoD of the target path L τ of the reference path L may be the LOS path related information obtained by measuring the signal, or be calculated according to the signal transmitting device position information (x Tx , y Tx , z Tx ), the signal receiving device position information (x Rx , y Rx , z Rx ), for example:

[0349] AoD of the target path L = atan2 (y Rx -y Tx , x Rx -x Tx ), atan2 represents the four quadrant inverse tangent function value;

[0350] acos represents the inverse cosine function value.

[0351] AoD of the target path T ZoD of the target path T AoD of the reference path L ZoD of the reference path L are angle information in the global coordinate system or angle information in the local coordinate system; wherein, if the obtained angle information is angle information in the local coordinate system, i.e. AoD′ of the target path T ZoD′ of the target path T AoD′ of the reference path L ZoD′ of the reference path L , the global coordinate system angle information can be calculated according to the local coordinate system and the global coordinate system conversion relationship information.

[0352] According to the departure angle information of the reference path and the target path, the wave elimination angle θ T between the reference path and the target path is calculated -1 = cos (sin(ZoDT sin(ZoD) L )cos(AoD L -AoD T )+cos(ZoD T )cos(ZoD L The wave-off angle can also be understood as the angle between the direction vector from the signal transmitting device to the signal receiving device and the direction vector from the signal transmitting device to the measurement target. Alternatively, it can be the cosine value of the wave-off angle, cos(θ). T ) = sin(ZoD T sin(ZoD) L )cos(AoD L -AoD T )+cos(ZoD T )cos(ZoD L ).

[0353] Calculate the distance between the target and the signal transmitting device. Where R T +R R =ΔL+L=c·(Δτ+τ) L ), where Δτ+τ L The absolute time delay of the target path can also be understood as the signal propagation delay associated with the target reflection path.

[0354] The position information of the target is calculated based on the distance between the target and the signal transmitting device and the angle information of the target diameter.

[0355] For example: based on the target reflection radius angle AoD in the global coordinate system T ZoD T R T Calculate the relative position coordinates (x, y) of the target and the signal transmitting device in the global coordinate system. Target-Tx ,y Target-Tx ,z Target-Tx ), where x Target-Tx =R T ·sin(ZoD T )·cos(AoD T ), y Target-Tx =R T ·sin(ZoD T )·sin(AoD T ), z Target-Tx =R T ·cos(ZoD t Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x, y, y) of the measurement target in the global coordinate system are calculated.Target ,y Target ,z Target )=(x Target-Tx ,y Target-Tx ,z Target-Tx )+(x Tx ,y Tx ,z Tx ).

[0356] For example: based on the target reflection radius angle AoD′ in the local coordinate system T ZoD′ T R T Calculate the position coordinates (x′) of the target in the local coordinate system. Target-Tx ,y′ Target-Tx ,z′ Target-Tx ), where x′ Target-Tx =R T ·sin(ZoD′ T )·cos(AoD′ T ), y′ Target-Tx =RT·sin(ZoD′) T )·sin(AoD′ Y ), z′ Target-Tx =RT·cos(ZoD′) T Furthermore, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the measurement target and the signal transmitting device in the global coordinate system are obtained. Target-Tx ,y Target-Tx ,z Target-Tx Then, based on the relative position coordinates with the signal receiving device in the global coordinate system, and the position coordinates of the signal receiving device in the global coordinate system, the position coordinates (x, y, y) of the measurement target in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0357] The calculation process for the position information of the measurement target in two-dimensional space under bistatic sensing mode is as follows:

[0358] In some sensing scenarios, only two-dimensional positioning is required. For example, when the transceiver and the target are on the same or approximately on the same horizontal plane, or when the signal transmitting device only supports a linear antenna array, calculating the target's position based on a single-dimensional angle and time delay can only yield two-dimensional position coordinates. The difference between acquiring the target's position information in two-dimensional space and acquiring the target's position information in two-dimensional space lies in:

[0359] ZoD of the target path in the global coordinate system T ZoD reference path LIn the case that the measurement target and the signal transceiver device are located in the same horizontal plane, the AoD can be set as 90° by default, i.e., no measurement is needed.

[0360] AoD of the target path T AoD of the reference path L is the angle information in the global coordinate system. If the obtained angle information is the angle information in the local coordinate system, for example, ZoD' of the target path T ZoD' of the reference path L (for the case that the transmitting end supports a linear array, the LCS takes the linear array axis direction as the z' axis, and the ZoD angle information in the local coordinate system is measured. In the case that the measurement target and the signal transceiver device are located in the same horizontal plane, the AoD in the local coordinate system can be set as 0° by default, or no measurement is needed), the global coordinate system angle information can be calculated according to the conversion relationship information between the local coordinate system and the global coordinate system.

[0361] According to the departure angle information of the LOS path and the target path, the wave-departure included angle θ between the LOS path and the target path is calculated T = |ZoD' L -ZoD' T | (calculated in the local coordinate system); optionally, if the measurement target and the signal transceiver device are located in the same horizontal plane, θ can also be T = |AoD L -AoD T | mod 180° (calculated in the global coordinate system).

[0362] The position information of the measurement target only contains the xOy plane coordinate information, does not contain the z-axis coordinate information, or only contains the latitude and longitude information, does not contain the height information.

[0363] As an optional implementation, the method further includes:

[0364] The first device sends the first measurement information to at least one of the second device and the third device; or

[0365] The first device sends the position information of the measurement target to the second device or the third device, wherein the position information of the measurement target is calculated based on the first measurement information.

[0366] The first device sends the first measurement information to at least one of the second device and the third device can include at least one of the following:

[0367] The first device sends the first measurement information to the second device;

[0368] The first device sends the first measurement information to the third device;

[0369] The first device sends the first measurement information to the second device and the third device.

[0370] The first device sends the first measurement information to the second device and the third device.

[0371] The first device sends the first measurement information to the second device and the third device.

[0372] The first device sends the first measurement information to the second device and the third device.

[0373] The first device sends the first measurement information to the second device and the third device.

[0374] The first device sends the first measurement information to the second device and the third device.

[0375] In the embodiments of the present application, through the above-mentioned various embodiments, the embodiments of the present application can realize target positioning in the bistatic sensing mode based on the departure angle, including the calculation method of the passive sensing target position information corresponding to different scenes, and the calculation method and message interaction process of various intermediate measurement results involved. In the case that the antenna configuration of the receiving device is not ideal and accurate angle of arrival measurement cannot be obtained, the target position information can be obtained through the measurement of the departure angle, thereby ensuring the passive target positioning performance.

[0376] In the embodiments of the present application, the first device measures the measurement signal to obtain first measurement information used for calculating the position information of the measurement target, and the first measurement information includes: measurement information associated with departure angle information, or departure angle information; wherein the departure angle information includes at least one of: a departure angle of a target path of the measurement signal; a departure angle of a reference path of the measurement signal; a departure angle difference information between the target path of the measurement signal and the reference path of the measurement signal; and the target path is a signal path in the measurement signal associated with the measurement target. Since the first measurement information is used for calculating the position information of the measurement target, the measurement information associated with the departure angle information or the departure angle information can be used to obtain the position information, so as to improve the positioning performance of the device.

[0377] Please refer to FIG. 9, which is a flow chart of another position measurement method provided by the embodiments of the present application. As shown in FIG. 9, the method includes the following steps:

[0378] Step 901: The second device sends a measurement signal to the first device.

[0379] Step 902: The second device receives first measurement information sent by the first device, and the first measurement information is used for calculating the position information of the measurement target, and the first measurement information includes: measurement information associated with departure angle information, or departure angle information.

[0380] The departure angle information includes at least one of:

[0381] The departure angle of a target path of the measurement signal;

[0382] The departure angle of a reference path of the measurement signal;

[0383] The departure angle difference information between the target path of the measurement signal and the reference path of the measurement signal;

[0384] The target path is a signal path in the measurement signal associated with the measurement target.

[0385] Optionally, the reference path includes at least one of:

[0386] Line of sight (LOS) path, first arrival path, and signal path reflected by a known target.

[0387] Optionally, the departure angle comprises at least one of:

[0388] a departure azimuth based on a local coordinate system;

[0389] a departure zenith based on a local coordinate system;

[0390] a departure azimuth based on a global coordinate system;

[0391] a departure zenith based on a global coordinate system.

[0392] Optionally, the measurement information associated with the departure angle information comprises at least one of:

[0393] phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[0394] phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[0395] amplitude information of a signal path associated with at least one port of the measurement signal;

[0396] amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[0397] spectrum information associated with at least one port of the measurement signal;

[0398] spectrum information associated with at least one signal resource of the measurement signal;

[0399] precoding information associated with at least one port of the measurement signal;

[0400] precoding information associated with at least one signal resource of the measurement signal;

[0401] a port identity of the measurement signal;

[0402] at least one signal resource identity of the measurement signal.

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

[0404] accuracy information associated with the departure angle information;

[0405] a propagation time difference between a target path of the measurement signal and a reference path of the measurement signal;

[0406] a propagation distance difference between a target path of the measurement signal and a reference path of the measurement signal;

[0407] propagation time or propagation distance information of the target path.

[0408] a propagation time delay or a propagation distance of the reference radius;

[0409] a number of detected measurement targets;

[0410] association information of measurement information associated with the angle of departure information.

[0411] Optionally, the association information of measurement information associated with the angle of departure information comprises at least one of:

[0412] timestamp information, accuracy information of the measurement information associated with the angle of departure information, device information of the first device, propagation mode indication information;

[0413] The propagation mode indication information is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal.

[0414] Optionally, the method further comprises at least one of:

[0415] The second device receives first indication information sent by a third device;

[0416] The second device sends the first indication information to the first device;

[0417] The first indication information is used to indicate at least one of:

[0418] obtaining the first measurement information;

[0419] reporting the first measurement information.

[0420] Optionally, the first indication information comprises at least one of:

[0421] configuration information of the measurement signal;

[0422] first auxiliary information used to calculate the measurement information associated with the angle of departure information;

[0423] second auxiliary information used to calculate the angle of departure information;

[0424] measurement configuration information;

[0425] reporting configuration information;

[0426] measurement requirement information.

[0427] Optionally, the configuration information of the measurement signal comprises at least one of:

[0428] port information of the measurement signal, related information of the measurement signal.

[0429] Optionally, the first assistance information comprises at least one of the following:

[0430] Departure angle measurement range information;

[0431] Codebook range information.

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

[0433] Antenna configuration information of the second device sending the measurement signal;

[0434] Mapping relationship between ports and physical antennas;

[0435] Mapping relationship between signal resources and physical antennas;

[0436] Precoding information associated with at least one port;

[0437] Precoding information associated with at least one signal resource;

[0438] Departure angle information associated with at least one port;

[0439] Departure angle information associated with at least one signal resource;

[0440] Beam pattern information associated with at least one port;

[0441] Beam pattern information associated with at least one signal resource.

[0442] Optionally, the measurement configuration information comprises at least one of the following:

[0443] Signal resource indication information of the measurement signal, and indication information of a measurement quantity;

[0444] The measurement quantity comprises at least one of the following:

[0445] Angle measurement quantity;

[0446] Time delay measurement quantity;

[0447] Distance measurement quantity;

[0448] Doppler measurement quantity;

[0449] Speed measurement quantity;

[0450] Position measurement quantity.

[0451] Optionally, the method further comprises:

[0452] In a case where the first measurement information comprises departure angle information associated measurement information, the second device obtains second measurement information based on the first measurement information, the second measurement information comprising the departure angle information; or,

[0453] The second device calculates position information of the measurement target based on the first measurement information.

[0454] Optionally, the second measurement information further comprises:

[0455] precision information associated with the angle of departure information.

[0456] Optionally, the method further comprises:

[0457] The second device sends the second measurement information to a third device; or

[0458] The second device sends the position information of the measurement target to a third device.

[0459] It should be noted that the embodiment is as a corresponding second device in the embodiment shown in FIG. 4, and the specific implementation can refer to the related description of the embodiment shown in FIG. 4. To avoid repeated description, the embodiment will not be described again.

[0460] Please refer to FIG. 10, which is a flow chart of another position measurement method provided by the embodiment of the application. As shown in FIG. 10, the method comprises the following steps:

[0461] Step 1001, the third device receives the first measurement information sent by the first device, the first measurement information being used for calculating position information of a measurement target, and the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information.

[0462] The angle of departure information comprises at least one of the following:

[0463] the angle of departure of a target path of the measurement signal;

[0464] the angle of departure of a reference path of the measurement signal;

[0465] the angle difference information between the target path of the measurement signal and the reference path of the measurement signal;

[0466] The target path is a signal path in the measurement signal associated with the measurement target.

[0467] Optionally, the reference path comprises at least one of the following:

[0468] a line of sight (LOS) path, a first-arrival path, and a signal path reflected by a known target.

[0469] Optionally, the angle of departure comprises at least one of the following:

[0470] an azimuth angle of departure based on a local coordinate system;

[0471] an exit azimuth angle based on a global coordinate system;

[0472] an exit azimuth angle based on a global coordinate system;

[0473] an exit zenith angle based on a global coordinate system.

[0474] Optionally, the measurement information associated with the exit angle information comprises at least one of:

[0475] phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[0476] phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[0477] amplitude information of a signal path associated with at least one port of the measurement signal;

[0478] amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[0479] spectrum information associated with at least one port of the measurement signal;

[0480] spectrum information associated with at least one signal resource of the measurement signal;

[0481] precoding information associated with at least one port of the measurement signal;

[0482] precoding information associated with at least one signal resource of the measurement signal;

[0483] a port identity of the measurement signal;

[0484] at least one signal resource identity of the measurement signal.

[0485] Optionally, the first measurement information further comprises at least one of:

[0486] precision information associated with the exit angle information;

[0487] a propagation time difference between a target path of the measurement signal and a reference path of the measurement signal;

[0488] a propagation distance difference between a target path of the measurement signal and a reference path of the measurement signal;

[0489] propagation time or propagation distance information of the target path;

[0490] propagation time or propagation distance information of the reference path;

[0491] a number of detected measurement targets;

[0492] correlation information of the measurement information associated with the angle-of-departure information.

[0493] Optionally, the correlation information of the measurement information associated with the angle-of-departure information comprises at least one of:

[0494] timestamp information, precision information of the measurement information associated with the angle-of-departure information, device information of the first device, propagation mode indication information.

[0495] The propagation mode indication information is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal.

[0496] Optionally, the method further comprises:

[0497] The third device sends first indication information to at least one of the first device and the second device.

[0498] The first indication information is used to indicate at least one of:

[0499] obtaining the first measurement information;

[0500] reporting the first measurement information.

[0501] Optionally, the first indication information comprises at least one of:

[0502] configuration information of the measurement signal;

[0503] first auxiliary information used to calculate the measurement information associated with the angle-of-departure information;

[0504] second auxiliary information used to calculate the angle-of-departure information;

[0505] measurement configuration information;

[0506] reporting configuration information;

[0507] measurement requirement information.

[0508] Optionally, the configuration information of the measurement signal comprises at least one of:

[0509] port information of the measurement signal, related information of the measurement signal.

[0510] Optionally, the first auxiliary information comprises at least one of:

[0511] angle-of-departure measurement range information;

[0512] codebook range information.

[0513] Optionally, the second auxiliary information comprises at least one of:

[0514] antenna configuration information of a second device sending the measurement signal;

[0515] mapping relationship between a port and a physical antenna;

[0516] mapping relationship between a signal resource and a physical antenna;

[0517] precoding information associated with at least one port;

[0518] precoding information associated with at least one signal resource;

[0519] departure angle information associated with at least one port;

[0520] departure angle information associated with at least one signal resource;

[0521] beam pattern information associated with at least one port;

[0522] beam pattern information associated with at least one signal resource.

[0523] Optionally, the measurement configuration information comprises at least one of:

[0524] signal resource indication information of the measurement signal, and indication information of a measurement quantity;

[0525] wherein the measurement quantity comprises at least one of:

[0526] an angle measurement quantity;

[0527] a time delay measurement quantity;

[0528] a distance measurement quantity;

[0529] a Doppler measurement quantity;

[0530] a speed measurement quantity;

[0531] a position measurement quantity.

[0532] Optionally, the method further comprises:

[0533] the third device calculates position information of the measurement target based on the first measurement information.

[0534] Optionally, the third device calculates position information of the measurement target based on the first measurement information comprises:

[0535] in a case where the first measurement information comprises departure angle information associated measurement information, the third device calculates position information of the measurement target based on the first measurement information and the second measurement information;

[0536] The second measurement information is received by the third device from the second device, and the second measurement information comprises the angle of departure information.

[0537] It should be noted that the embodiment is as the implementation of the third device corresponding to the embodiment shown in FIG. 4, and the specific implementation can refer to the related description of the embodiment shown in FIG. 4. To avoid repeated description, the embodiment will not be described again.

[0538] The method provided in the embodiment of the present application is exemplified by taking measurement as perception as an example through multiple embodiments:

[0539] Embodiment one:

[0540] In the embodiment, the second device is a network side device (such as a BS) that sends a measurement signal, and the second device (terminal) measures and reports the measurement information associated with the angle of departure. The second device or the third device (such as a sensing network function) calculates the angle of departure and the target position information (i.e., the position information of the measurement target).

[0541] The embodiment describes the process of the first device measuring and feeding back the measurement information associated with the angle of departure to the BS or the sensing network function, and the second device or the third device calculating the position information. In the embodiment, the first device side lacks the antenna configuration information of the second device, and therefore cannot calculate the downlink angle of departure. The specific process is shown in FIG. 11, and includes the following steps:

[0542] Step 1: The third device (sensing network function (SensingMF)) acquires a sensing requirement. The sensing requirement contains a target positioning requirement. The source of the sensing requirement can be any of the following:

[0543] The sensing requirement comes from an external application. In this case, the AF sends the sensing requirement to the NEF, and then to the AMF. The AMF selects the SensingMF and sends the sensing requirement to the SensingMF. Alternatively, the AF directly sends the sensing requirement to the SensingMF.

[0544] The sensing requirement can also come from a base station and / or a UE. In this case, the base station and / or the UE sends to the AMF. The AMF selects the SensingMF and sends the sensing requirement to the SensingMF. Alternatively, the base station and / or the UE directly sends the sensing requirement to the SensingMF.

[0545] The sensing requirement can also come from a core network element. The core network element sends the sensing requirement to the AMF. The AMF selects the SensingMF and sends the sensing requirement to the SensingMF. Alternatively, the core network element directly sends the sensing requirement to the SensingMF.

[0546] It should be noted that the way of forwarding the sensing requirement through the AMF can be but not limited to the following scenarios: multiple sensing network elements are deployed in the network, and the AMF needs to select a suitable sensing network element from multiple sensing network elements according to the location of the sensing object, the sensing service type or the sensing QoS requirement information, etc. The way of not forwarding the sensing requirement through the AMF can be but not limited to the following scenarios: one or less SF is deployed in the network.

[0547] If the third device is a base station or a terminal, the third device can obtain the sensing requirement in the following way: receiving the sensing requirement information sent by the sensing network function. In particular, the third device and the second device are the same device, and the second device obtains the sensing requirement information.

[0548] Step 2: The third device sends the first indication information to the second device (BS) or the first device (UE), or the second device sends the first indication information to the first device, for indicating the first device to obtain the measurement information, and / or, to report the measurement information. The first indication information includes at least one of the following:

[0549] Configuration information of the measurement signal;

[0550] First auxiliary information for calculating the measurement information associated with the angle of departure information;

[0551] Measurement configuration information;

[0552] Reporting configuration information;

[0553] Measurement requirement information.

[0554] The configuration information of the measurement signal includes at least one of the following:

[0555] Port information, including at least one of the following: total port number, first dimension (e.g. vertical dimension) port number, and second dimension (e.g. horizontal dimension) port number, wherein the first dimension or the second dimension port number can refer to the number of ports in the same polarization direction;

[0556] And at least one of the configuration information described in the following embodiments.

[0557] The first auxiliary information for calculating the measurement information associated with the angle of departure information includes at least one of the following:

[0558] Angle of departure measurement range information, such as LOS path AOD measurement range, target path AOD measurement range, etc.

[0559] The codebook range information, for example, codebook subset information, when the first device searches for the optimal precoding vector, only traverses the precoding vectors corresponding to the codebooks in the codebook subset, reducing the search complexity of the first device; or it can indicate an invalid codebook subset, when the first device searches for the optimal precoding vector, does not traverse the precoding vectors corresponding to the codebooks in the invalid codebook subset.

[0560] The measurement configuration information includes at least one of the following:

[0561] The signal resource indication information and the measurement quantity indication information of the reporting configuration and measurement.

[0562] The signal resource indication information of the measurement can measure the signal identifier.

[0563] The measurement quantity indication information includes at least one of the following:

[0564] The angle measurement quantity includes at least one of the following: angle of departure (AOD, in this scheme, the second device is a base station, then DL-AOD), ZOD (in this scheme, the second device is a base station, then DL-ZOD), angle difference (target path AOD, LOS path AOD, target path ZOD, LOS path ZOD, bistatic plane target path and LOS path angle difference), in this embodiment, the UE cannot directly measure the angle of departure, and the angle measurement quantity can also be a signal path phase or other measurement information associated with the angle of departure;

[0565] The time delay measurement quantity includes at least one of the following: time difference of arrival, time of arrival, absolute time of arrival (propagation delay);

[0566] The distance measurement quantity includes at least one of the following: propagation distance, propagation distance difference.

[0567] The measurement quantity can also be associated with the perception requirement, and the third device or the first device sends the second device the perception requirement information (target positioning requirement information), and the second device determines the corresponding measurement quantity based on the target positioning requirement information.

[0568] The reporting configuration, that is, the criteria for the first device to report the measurement data, includes at least one of the following:

[0569] The time-frequency domain resource configuration of the reporting;

[0570] The reporting period can be a coherent processing time of perception (the coherent processing time is the time corresponding to the calculation of the perception measurement result each time, for example, the time length of the time delay-doppler spectrum obtained by the receiving end performing two-dimensional FFT operation, and one coherent processing time can include multiple time slots / symbols), and the measurement result is reported;

[0571] The trigger condition for reporting can be a pre-set event, including but not limited to:

[0572] An event of entering a specific area (e.g. a cell);

[0573] An event of reaching a specific time;

[0574] An event of a certain type of measurement signal reaching a certain threshold;

[0575] An event of the device moving more than a certain pre-defined (straight-line) distance from a previous position;

[0576] An event of the device changing direction by more than a certain pre-defined angle;

[0577] An event of the device moving at a speed exceeding a certain pre-defined speed threshold;

[0578] An event of the device sensor measuring environmental information (e.g. temperature / humidity / illumination intensity) changing by more than a certain range.

[0579] The measurement requirement information can be perception requirement information, the perception requirement information can be associated with the measurement quantity and the perception requirement, the third device or the first device sends the second device the perception requirement information (target positioning requirement information), and the second device determines the corresponding measurement quantity based on the target positioning requirement information; or, the second device determines the accuracy requirement, the time delay requirement, or the signal configuration information related to the measurement result based on the perception requirement information; or, the second device determines the signal processing method based on the perception requirement information, such as whether to perform static clutter cancellation, target path detection method, etc.

[0580] It should be noted that each item in the above first indication information can be sent in the same signaling, or can be sent in different signaling.

[0581] Step 3, the second device sends a measurement signal to the first device, the measurement signal being a signal without pre-coding or a signal with pre-coding, and the second device sends the measurement signal through the common N physical antennas.

[0582] Step 4, the first device performs a measurement process according to the first indication information, i.e. receives the measurement signal sent by the second device and measures to obtain first measurement information, the first measurement information including at least one of the following:

[0583] Measurement information associated with the angle of departure, including at least one of the following: phase information or phase difference information of a signal path associated with at least one port or signal resource; amplitude information of a signal path associated with at least one port or signal resource; spectrum information associated with at least one port or signal resource; pre-coding information associated with at least one port or signal resource; port identifier; signal resource identifier;

[0584] The time difference of arrival Δτ of the target path and the LOS path (or the first path or the reference path reflected by the known target);

[0585] The distance difference ΔL of the target path and the LOS path (or the first path or the reference path reflected by the known target);

[0586] The absolute time of arrival (propagation delay) of the target path, i.e., Δτ+τ L ;

[0587] The propagation distance R of the target path T +R R = ΔL+L = c·(Δτ+τ L );

[0588] The number of detected targets, or the number of target paths; wherein, if there are multiple detected targets, or multiple target paths, the measurement results associated with the target paths in a) to e) can be multiple.

[0589] The association information associated with the measurement information, including at least one of the following: timestamp information; precision information, including time delay precision information or distance precision information; LOS / NLOS indication: whether the first device and the second device are LOS or NLOS (which can be LOS / NLOS probability information); device information, including at least one of the following: first device position information, such as Cartesian coordinates (x Rx ,y Rx ,z Rx ) relative to a certain known reference point, first device motion information including whether the device is stationary, first device motion speed, and first device motion direction.

[0590] Among them, in the case where the first device needs to be able to obtain the transceiving distance information or the transceiving device position information, the absolute time of arrival of the target path and the propagation distance of the target path are included, otherwise the two items are not included in the first measurement information.

[0591] Step 5, reporting the measurement information.

[0592] Among them, the reporting of the measurement information can be divided into the following cases:

[0593] Case 1: The third device calculates the angle of departure and the target position information: the first device sends the first measurement information to the third device, and the second device sends the second measurement information to the third device, wherein the second measurement information can also be obtained by the third device in advance and stored locally, and the second measurement information includes at least one of the following:

[0594] Second device position information;

[0595] Antenna configuration information of the second device.

[0596] Case two, the second device calculates the angle of departure, and the third device calculates the target location information: the first device sends at least part of the first measurement information (at least including the measurement information associated with the angle of departure) to the second device, and the first device sends at least part of the first measurement information (at least including the measurement information other than the measurement information associated with the angle of departure) to the third device, the second device calculates the second measurement information according to the measurement information associated with the angle of departure in the first measurement information and the antenna configuration information of the second device, and sends the second measurement information to the third device, the second measurement information includes at least one of the following:

[0597] Target range AOD (including global coordinate system angle AoD T , or local coordinate system angle AoD' T ) ;

[0598] Target range ZOD (including global coordinate system angle ZoD T , or local coordinate system angle ZoD' T ) ;

[0599] The difference between the angle of departure of the target range and the LOS range on the bistatic plane θ T ;

[0600] The cosine value of the difference between the angle of departure of the target range and the LOS range on the bistatic plane cos(θ T ) ;

[0601] LOS range AOD (including global coordinate system angle AoD L , or local coordinate system angle AoD' L ) ;

[0602] LOS range ZOD (including global coordinate system angle ZoD L , or local coordinate system angle ZoD' L ) ;

[0603] The accuracy information associated with the angle.

[0604] Case three, the second device calculates the angle of departure and the target location information, and the second device can also calculate the target location information according to the first measurement information sent by the first device, the antenna configuration information of the second device and the location information of the second device, that is, the second measurement information is the target location information at this time.

[0605] Step 6, the third device calculates the target location information according to the first measurement information and the second measurement information, or further calculates the target trajectory information, etc.

[0606] Among them, the target location information includes at least one of the following:

[0607] Global coordinate system relative to a certain reference point Cartesian coordinate, i.e. x, y, z value, also including x, y, z unit (mm, cm, dm, m, etc.), for example, the coordinates of the target relative to the signal sending device in the global coordinate system (x Target-Tx ,y Target-Ta ,z Target-Tx ), or the coordinates of the target relative to the coordinate system origin (a certain known reference position) in the global coordinate system (x Target ,y Target ,z Target );

[0608] Local coordinate system relative to a certain reference point Cartesian coordinate, i.e. x, y, z value, also including x, y, z unit (mm, cm, dm, m, etc.), for example, the coordinates of the target relative to the coordinate system origin (a certain known reference position) in the second device local coordinate system (x′ Target ,y′ Target ,z′ Target );

[0609] The longitude, latitude and height information of the target, including absolute longitude, latitude and height information, or relative longitude, latitude and height information relative to a certain reference point;

[0610] The distance and angle information of the target relative to a certain reference point, for example, the distance from the target to the sending device, and the angle information of the target relative to the sending device.

[0611] Embodiment two:

[0612] In this embodiment, the second device (such as BS) sends the measurement signal and the antenna configuration information of the second device, and the first device measures and calculates the angle of departure and the target position information (i.e. the position information of the measurement target).

[0613] This embodiment describes the process of the first device receiving the measurement signal and the antenna configuration information of the second device, calculating the angle of departure and calculating the target position information, and the specific process can refer to FIG. 12, which includes the following steps:

[0614] Step 1: The third device (sensing network function (SensingMF)) acquires sensing demand, which is the same as embodiment one.

[0615] Step 2: The third device sends first indication information to the second device (BS) or the first device (UE), or the second device sends the first indication information to the first device, which is used to instruct the first device to acquire measurement data and / or report measurement data, and the first indication information includes at least one of the following:

[0616] The configuration information of the measurement signal;

[0617] second assistance information for calculating the angle-of-departure information;

[0618] measurement configuration information;

[0619] reporting configuration information;

[0620] measurement requirement information.

[0621] The measurement signal configuration information is the same as in Embodiment 1.

[0622] The second assistance information for calculating the angle-of-departure information includes at least one of the following:

[0623] i. second device (transmitting device) antenna configuration information;

[0624] ii. mapping relationship between port or signal resource and physical antenna;

[0625] iii. precoding information associated with different ports or signal resources, including used precoding vector, oversampling factor;

[0626] iv. angle-of-departure information associated with different ports or signal resources, such as the boresight direction of the adopted transmitting beam;

[0627] v. beam pattern information associated with different ports or signal resources;

[0628] vi. angle-of-departure measurement range information, such as LOS AOD range, target AOD range, etc.

[0629] Among them, i~ii are used in the scenario where the measurement signal is a signal without precoding, and among i or ii, the default (not specifically indicated) can also be used, at this time the first device performs angle-of-departure calculation according to the default second device antenna configuration information or the mapping relationship between the port or signal resource and the physical antenna, for example, the first device defaults the second device antenna spacing to half wavelength, when the actual second device antenna configuration information or the mapping relationship between the port or signal resource and the physical antenna is inconsistent with the default configuration, the third device or the second device notifies the first device of the actual configuration information.

[0630] Among them, iii~v are used in the scenario where the measurement signal is a precoded signal.

[0631] The above measurement configuration information includes at least one of the following:

[0632] signal resource indication information of the measurement, such as measurement signal identification

[0633] The measurement quantity indication information includes at least one of the following: an angle measurement quantity, including at least one of the following: an angle of departure AOD (in the present scheme, the second device is a base station, then DL-AOD), a ZOD (in the present scheme, the second device is a base station, then DL-ZOD), an angle of departure difference; (target path AOD, LOS path AOD, target path ZOD, LOS path ZOD, and a difference between the angle of departure of the bistatic plane target path and the LOS path); a time delay measurement quantity, including at least one of the following: a time difference of arrival, a time of arrival; a distance measurement quantity, including at least one of the following: a propagation distance, a propagation distance difference; and a position measurement quantity, i.e., the position coordinates of the target, including coordinates in a local coordinate system and coordinates in a global coordinate system.

[0634] The reporting configuration is the same as in Embodiment One.

[0635] The above perception requirement information is the same as in Embodiment One.

[0636] It should be noted that each item in the first indication information can be sent in the same signaling or in different signaling.

[0637] Step 3: The second device sends a measurement signal to the first device, the measurement signal being a signal that has not been precoded or a signal that has been precoded, and the second device sends the measurement signal through the common N physical antennas.

[0638] Step 4: The first device performs a measurement process according to the first indication information, i.e., receives the measurement signal sent by the second device and measures to obtain first measurement information, the first measurement information including at least one of the following:

[0639] a target path AOD (including a global coordinate system angle AoD T , or a local coordinate system angle AoD' T );

[0640] a target path ZOD (including a global coordinate system angle ZoD T , or a local coordinate system angle ZoD' T );

[0641] a difference between the angle of departure of the target path and the LOS path on the bistatic plane θ T ;

[0642] a cosine value of the difference between the angle of departure of the target path and the LOS path on the bistatic plane cos(θ T );

[0643] a LOS path AOD (including a global coordinate system angle AoD L , or a local coordinate system angle AoD' L );

[0644] LOS path ZOD (including global coordinate system angle ZoD L , or local coordinate system angle ZoD' L );

[0645] Angle-related accuracy information;

[0646] Target path and LOS path (or first path or reference path reflected by known target) time difference Δτ;

[0647] Target path and LOS path (or first path or reference path reflected by known target) propagation distance difference ΔL;

[0648] Absolute arrival time (propagation delay) of target path, i.e. Δτ+τ L ;

[0649] Propagation distance R T of target path +R R = ΔL+L = c·(Δτ+τ L );

[0650] Target position information, wherein the first device can obtain the local coordinate system and global coordinate system relationship of the sending device, and the position information can be the global coordinate system position information, otherwise the position information is the local coordinate system position information.

[0651] Number of detected targets, or number of target paths; wherein if there are multiple detected targets, or multiple target paths, the above measurement results associated with the target path can be multiple.

[0652] Auxiliary information associated with the measurement information, including at least one of the following: timestamp information; accuracy information, including time delay accuracy information or distance accuracy information or angle accuracy information or position accuracy information; LOS / NLOS indication: whether the first device and the second device are LOS or NLOS (which can be LOS / NLOS probability information); device information, including at least one of the following: first device position information, such as Cartesian coordinates (x Rx ,y Rx ,z Rx ) relative to a certain known reference point, first device motion information including whether the device is stationary, first device motion speed, and first device motion direction.

[0653] Wherein, in the case where the first device needs to obtain the transceiving distance information or the transceiving device position information, the target position information of the absolute arrival time of the target path and the propagation distance of the target path can be included, otherwise the three items are not included in the first measurement information.

[0654] Step 4, measurement information reporting, the first device sends the first measurement information to the third device.

[0655] Optionally, if the first measurement information sent by the first device to the third device does not contain target position information, the third device calculates the target position information according to the first measurement information, and the target position information is defined in the same manner as in the first embodiment, or further calculates target trajectory information, etc.

[0656] Embodiment three:

[0657] This embodiment mainly describes the definition of target path and LOS path.

[0658] The signal receiving device performs channel estimation based on the transmitted measurement signal X(k) and the corresponding received signal Y(k) of the measurement signal to obtain channel response information H(k)=Y(k) / X(k), where k=0, 1, 2, …, K-1 represents the resource unit index. After the terminal obtains the channel response H(k), it is transformed into the first domain, and the target path and the LOS path are determined in the first domain. The target path or the LOS path can also refer to a specific sample point in the first domain. In general cases (satisfying the LOS condition between the signal receiving device and the signal transmitting device), the LOS path can be considered as the first-arriving path, and the target path refers to the part of the path associated with the reflection of the sensing target in the signal propagation. In the process of transforming the channel response H(k) into the first domain after the terminal obtains the channel response H(k), the target path is also determined in the first domain after specific preprocessing (such as clutter elimination, smoothing filtering, etc.) of the channel data in the first domain.

[0659] The first domain includes one of the following:

[0660] Time delay domain;

[0661] Doppler domain;

[0662] Azimuth angle domain;

[0663] Elevation angle domain (zenith angle domain);

[0664] At least two joint domains among the time delay domain, the Doppler domain, the azimuth angle domain, and the elevation angle domain. For example, time delay-Doppler domain, time delay-Doppler-angle domain, etc.

[0665] For example, H(f) is a channel response, where f = 0, 1, 2, …, N-1 represents a frequency domain sample point (e.g., a subcarrier index), which can be transformed into a time delay domain (the first domain) by inverse Fourier transform of H(f); for another example, H(f, t) is a channel response, where f = 0, 1, 2, …, N-1 represents a frequency domain sample point (e.g., a subcarrier index), and t = 0, 1, 2, …, M-1 represents a time domain sample point (e.g., an OFDM symbol index), which can be transformed into a time delay-Doppler domain (the first domain) by inverse Fourier transform along the frequency domain and Fourier transform along the time domain; for another example, H(f, t, s) is a channel response, where f = 0, 1, 2, …, N-1 represents a frequency domain sample point (e.g., a subcarrier index), t = 0, 1, 2, …, M-1 represents a time domain sample point (e.g., an OFDM symbol index), and s = 0, 1, 2, …, P-1 represents a space domain sample point (an antenna index or a port index), which can be transformed into a time delay-Doppler-angle domain (the first domain) by inverse Fourier transform along the frequency domain, Fourier transform along the time domain, and Fourier transform along the antenna domain.

[0666] The target path refers to a part of the associated path that has passed through the reflection of a perceived target in signal propagation, and the specific determination method can be according to the path in the channel information of the first domain that meets the first condition, and the first condition includes at least one of the following:

[0667] The amplitude or power of the path exceeds a preset threshold or is within a preset interval range; for example, the preset threshold is y times of a noise threshold, or the preset threshold is a constant false alarm rate (CFAR) detection threshold; optionally, the path that meets the amplitude or power exceeding the preset threshold or being within the preset interval range can be further screened, for example, a clustering process is performed, at least one path that has passed through the reflection of the same target is selected as a target path, or a plurality of paths belonging to the same target are combined, for example, weighted combination, to obtain a target path;

[0668] The amplitude or power of the path is greater than the amplitude or power of other paths within a specific interval range of the first domain, that is, a peak value or a relative peak value in the first domain is searched as a target path, or described as X (X≥1) paths with the largest amplitude or power within the specific interval range of the first domain;

[0669] The Doppler of the path exceeds a preset threshold or is within a preset interval range;

[0670] The time delay of the path exceeds a preset threshold or is within a preset interval range;

[0671] The angle of the path exceeds a preset threshold or is within a preset interval range;

[0672] The difference between the amplitude or power of the path and the first-arrived path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter / other known passive target, etc.)) exceeds a preset threshold or is within a preset interval range;

[0673] The Doppler difference between the path and the first-arrived path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is within a preset interval range;

[0674] The time delay difference between the path and the first-arrived path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is within a preset interval range;

[0675] The angle difference between the path and the first-arrived path (e.g., LOS path) or reference path (e.g., signal path reflected by a known target (e.g., RIS / Backscatter device / other known passive target, etc.)) exceeds a preset threshold or is within a preset interval range;

[0676] The amplitude or power or phase of the path meets a specific modulation rule, which is the modulation rule of the Tag / backscatter device or RIS, i.e., the path associated with the sensing target can be the path modulated and reflected by the Tag / backscatter device or RIS;

[0677] It should be noted that the above first condition can also be based on the results of a period of time statistics; for example, the proportion of the above indicators (e.g., Doppler of the path, time delay of the path, etc.) exceeding the preset threshold or being within the preset interval range reaches a preset proportion within a preset time window, or the number of the above indicators (e.g., Doppler of the path, time delay of the path, etc.) exceeding the preset threshold or being within the preset interval range reaches a preset number within a preset time window;

[0678] The preset threshold or set interval range is sent by other devices to the receiving device, and is determined by the other devices according to the sensing prior information or sensing requirement. Alternatively, the preset threshold or set interval range is determined by the receiving device according to the sensing prior information or sensing requirement.

[0679] The sensing prior information or sensing requirement includes the following information:

[0680] a perception service or a perception service type, which can be, for example, detection of whether a target exists, positioning, trajectory tracking, speed detection, distance detection, angle detection, acceleration detection, material analysis, component analysis, shape detection, category classification, radar cross section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading, gait recognition, expression recognition, face recognition, respiration monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / air pressure monitoring, air quality monitoring, weather condition monitoring, environment reconstruction, topography, building / vegetation distribution detection, people flow or vehicle flow detection, crowd density or vehicle density detection, etc.; the perception service type can be classification of a plurality of different perception services according to certain characteristics, for example, classification into detection type perception services (for example, including intrusion detection, fall detection), parameter estimation type perception services (distance, angle, speed calculation), recognition type perception services (action recognition, identity recognition), etc., and can also be classification according to a range of perception (short distance perception, medium distance perception, long distance perception), classification according to a degree of precision of perception (coarse-grained perception, fine-grained perception, etc.), classification according to power consumption / energy consumption, classification according to resource occupation, etc. If the perception service is respiration monitoring, the corresponding normal respiration frequency can be determined according to the gender and age of a person (for example, male: 13-21 times / minute, female: 15-20 times / minute; adult: 12-20 times / minute, child: about 30-40 times / minute), which can be used as perception prior information, and for example, the corresponding service in the perception requirement is highway scene target detection, and the target speed should be in the range of 60-150 km / h, which can be used as perception prior information;

[0681] a perception target area: refers to a position area of a perception object or a position area that needs to be imaged or reconstructed; for example, a preset interval range of a time delay of a perception target correlation radius is determined according to an approximate position / distance of a perception object;

[0682] a perception object type: classification of a perception object according to possible motion characteristics of the perception object, and each perception object type includes information such as a motion speed range, a motion acceleration range, and a typical RCS range of a typical perception object;

[0683] a number of perception targets; for example, the number of perception targets can be obtained as a kind of perception prior information from a camera perception result.

[0684] perception QoS: a performance index for perception of a perception target area or a perception object, including at least one of the following:

[0685] Sensing resolution (further divided into: ranging resolution, angle resolution, velocity resolution, imaging resolution, etc.);

[0686] Sensing accuracy (further divided into: ranging accuracy, angle accuracy, velocity accuracy, positioning accuracy, etc.);

[0687] Sensing range (further divided into: ranging range, velocity range, angle range, imaging range, etc.);

[0688] Sensing latency (the time interval from sending a sensing signal to obtaining a sensing result, or the time interval from initiating a sensing requirement to obtaining a sensing result);

[0689] Sensing update rate (the time interval between two adjacent sensing executions and obtaining a sensing result);

[0690] Detection probability (the probability of being correctly detected in the presence of a sensing object);

[0691] False alarm probability (the probability of falsely detecting a sensing target in the absence of a sensing object);

[0692] Maximum number of targets that can be sensed.

[0693] Taking time delay domain target range selection as an example, as shown in FIG. 13, according to the first condition 1, the ranges whose amplitudes exceed the preset threshold are determined to be satisfied, and the ranges 0, 1 and 2 are obtained through clustering processing and further screening;

[0694] Alternatively, the multiple ranges belonging to the same target after clustering can be merged, for example, weighted merging to obtain the target range;

[0695] Alternatively, according to the first condition 2, local peak value detection is performed to obtain the target ranges 0, 1, 2 and 3, that is, the range with the largest amplitude or power compared with X (X≥1) adjacent ranges is found as the target range; optionally, before the local peak value detection, the channel data in the time delay domain is preprocessed through smoothing filtering or clutter elimination.

[0696] Alternatively, taking time delay-Doppler domain target range selection as an example, as shown in FIG. 14, according to the first condition, local peak value detection is performed to obtain the target ranges 0 and 1.

[0697] Embodiment four:

[0698] This embodiment mainly describes the definition of signal configuration information.

[0699] The signal configuration information includes at least one of the following:

[0700] Signal resource identifier (ID) for distinguishing different signal resource configurations;

[0701] Signal usage, indicating that the signal is a signal for communication (such as channel measurement, channel estimation, synchronization, bearing data information, etc.), a signal for sensing, or a signal for both communication and sensing. Specifically, it can also be a signal for which sensing service, or a signal for which type of sensing service.

[0702] Waveform, such as Orthogonal frequency division multiplex (OFDM), Single-carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signal, etc.

[0703] Subcarrier spacing, for example, the subcarrier spacing of an OFDM system is 30KHz.

[0704] Guard interval, which is the time interval between the end of signal transmission and the time when the latest echo signal of the signal is received; this parameter is proportional to the maximum sensing distance; for example, it can be calculated by c / (2R max ), R max is the maximum sensing distance (belongs to sensing requirement information), for example, for a self-released and self-received sensing signal, R max represents the maximum distance from the sensing signal transceiver point to the signal transmission point; in some cases, the OFDM signal cyclic prefix (CP) can play the role of minimum guard interval; c is the speed of light.

[0705] Starting frequency domain position, that is, starting frequency point, which can also be starting RE, RB index;

[0706] Starting time domain position, that is, starting time point, which can also be starting symbol index, slot index, frame index;

[0707] Termination frequency domain position, that is, termination frequency point, which can be represented by termination RE, RB index;

[0708] Termination time domain position, that is, termination time point, which can be represented by termination RE, RB index;

[0709] Frequency domain resource length, that is, frequency domain bandwidth, which is inversely proportional to distance resolution, the frequency domain bandwidth B of each measurement signal is greater than or equal to c / (2ΔR), where c is the speed of light and ΔR is the distance resolution;

[0710] Time domain resource length, also called burst duration, inversely proportional to Doppler resolution.

[0711] Frequency domain resource interval, indicates the interval between adjacent signal frequency domain resource units, can be expressed in RE number or RB number, or can be expressed in density value Density, for example Density = 1 indicates that one RE in each RB is used to carry signals. The frequency domain resource interval is inversely proportional to the maximum unambiguous range / delay, wherein for the OFDM system when the subcarriers adopt continuous mapping, the frequency domain interval is equal to the subcarrier interval;

[0712] Time domain resource interval, the time interval between two adjacent signal resource units, the time domain resource interval is associated with the maximum unambiguous Doppler shift or the maximum unambiguous velocity.

[0713] Time domain resource characteristics, periodic transmission, semi-persistent transmission, aperiodic transmission.

[0714] Time domain burst resource interval or time domain burst transmission period, associated with the refresh frequency of the sensing result.

[0715] Signal power, for example, from -20 dBm to 23 dBm, taking a value every 2 dBm.

[0716] Sequence information, including sequence type information (ZC sequence, PN sequence, etc.), sequence generation method, sequence length, etc.

[0717] Signal direction, angle information or beam information of signal transmission.

[0718] Quasi co-location (QCL) relationship, for example, the sensing signal includes multiple resources, each resource is QCL with a Synchronization Signal Block (SSB), the QCL includes type A, type B, type C or type D.

[0719] Cyclic prefix (CP) information, including CP type, CP length, etc., wherein the CP type can be normal cyclic prefix (NCP), extended cyclic prefix (ECP), or a newly designed sensing measurement dedicated CP, etc.

[0720] The embodiment of the present application provides a target positioning method in a bistatic sensing mode based on a departure angle, including a calculation method of passive sensing target position information corresponding to different scenes, and a calculation method and a message interaction process of various intermediate measurement results, so that the target position information can be obtained through measurement of the departure angle and the passive target positioning performance is ensured in the case that an accurate angle of arrival measurement cannot be obtained due to an ideal antenna configuration of a receiving device.

[0721] The position measurement method provided in the embodiment of the present application can be executed by a position measurement device. The position measurement method executed by the position measurement device is taken as an example in the embodiment of the present application, and the position measurement device provided in the embodiment of the present application is described.

[0722] The position measurement device provided in the embodiment of the present application can be a communication device or a component in the communication device, for example, a chip. The communication device can be a terminal, a network side device or a server, etc. For example, the terminal can include but is not limited to the types of the terminal 11 listed above, the network side device can include but is not limited to the types of the network side device 12 listed above, and the embodiment of the present application is not limited specifically.

[0723] The position measurement device or the position measurement device can include a receiving module, a sending module and a processing module. The receiving module, the sending module and the processing module can be implemented by software or by hardware. When implemented by hardware, the processing module can be implemented by a processor. For example, the processor can include a general processor, a special purpose processor, etc., for example, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), an artificial intelligent (AI) processor, a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a network processor (NP), a field programmable gate array (FPGA) or other programmable logic devices, a gate circuit, a transistor, a discrete hardware component, etc. The receiving module and the sending module can be implemented by a communication interface. The communication interface can include one or more of a transceiver, a pin, a circuit, a bus, a radio frequency unit, etc.

[0724] Specifically, referring to FIG. 15, when the position measurement apparatus is a terminal or a component in the terminal, or the position measurement apparatus is a network side device or a component in the network side device, the position measurement apparatus 1500 includes:

[0725] a processing module 1501, configured to measure a measurement signal to obtain first measurement information used for calculating position information of a measurement target, the first measurement information including: measurement information associated with angle of departure information, or the angle of departure information;

[0726] The angle of departure information includes at least one of the following:

[0727] an angle of departure of a target path of the measurement signal;

[0728] an angle of departure of a reference path of the measurement signal;

[0729] an angle of departure difference between the target path of the measurement signal and the reference path of the measurement signal;

[0730] The target path is a signal path in the measurement signal associated with the measurement target.

[0731] Optionally, the reference path includes at least one of the following:

[0732] a line of sight (LOS) path, a first arrival path, or a signal path reflected by a known target.

[0733] Optionally, the angle of departure includes at least one of the following:

[0734] an azimuth angle of departure based on a local coordinate system;

[0735] a zenith angle of departure based on a local coordinate system;

[0736] an azimuth angle of departure based on a global coordinate system;

[0737] a zenith angle of departure based on a global coordinate system.

[0738] Optionally, the measurement information associated with the angle of departure information includes at least one of the following:

[0739] phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[0740] phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[0741] amplitude information of a signal path associated with at least one port of the measurement signal;

[0742] amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[0743] spectrum information associated with at least one port of the measurement signal;

[0744] spectrum information associated with at least one signal resource of the measurement signal;

[0745] precoding information associated with at least one port of the measurement signal;

[0746] precoding information associated with at least one signal resource of the measurement signal;

[0747] a port identifier of the measurement signal;

[0748] at least one signal resource identifier of the measurement signal.

[0749] Optionally, the first measurement information further comprises at least one of:

[0750] precision information associated with the angle of departure information;

[0751] a difference between a propagation time delay of a target path of the measurement signal and a reference path of the measurement signal;

[0752] a difference between a propagation distance of a target path of the measurement signal and a reference path of the measurement signal;

[0753] propagation time delay, relative time of arrival or propagation distance information of the target path;

[0754] propagation time delay, relative time of arrival or propagation distance information of the reference path;

[0755] a number of detected measurement targets;

[0756] association information of the measurement information associated with the angle of departure information.

[0757] Optionally, the association information of the measurement information associated with the angle of departure information comprises at least one of:

[0758] timestamp information, precision information of the measurement information associated with the angle of departure information, device information of the first device, propagation mode indication information;

[0759] The propagation mode indication information is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal.

[0760] Optionally, the apparatus further comprises:

[0761] a receiving module, configured to receive first indication information sent by a second device or a third device;

[0762] The first indication information is used to indicate at least one of:

[0763] obtaining the first measurement information;

[0764] reporting the first measurement information.

[0765] Optionally, the first indication information comprises at least one of:

[0766] configuration information of the measurement signal;

[0767] first auxiliary information for calculating measurement information associated with the angle-of-departure information;

[0768] second auxiliary information for calculating the angle-of-departure information;

[0769] measurement configuration information;

[0770] reporting configuration information;

[0771] measurement requirement information.

[0772] Optionally, the configuration information of the measurement signal comprises at least one of:

[0773] port information of the measurement signal, and correlation information of the measurement signal.

[0774] Optionally, the first auxiliary information comprises at least one of:

[0775] angle-of-departure measurement range information;

[0776] codebook range information.

[0777] Optionally, the second auxiliary information comprises at least one of:

[0778] antenna configuration information of a second device sending the measurement signal;

[0779] mapping relationship between a port and a physical antenna;

[0780] mapping relationship between a signal resource and a physical antenna;

[0781] precoding information associated with at least one port;

[0782] precoding information associated with at least one signal resource;

[0783] angle-of-departure information associated with at least one port;

[0784] angle-of-departure information associated with at least one signal resource;

[0785] beam pattern information associated with at least one port;

[0786] beam pattern information associated with at least one signal resource.

[0787] Optionally, the measurement configuration information comprises at least one of the following:

[0788] signal resource indication information of the measurement signal, and indication information of a measurement quantity;

[0789] The measurement quantity comprises at least one of the following:

[0790] an angle measurement quantity;

[0791] a time delay measurement quantity;

[0792] a distance measurement quantity;

[0793] a Doppler measurement quantity;

[0794] a speed measurement quantity;

[0795] a position measurement quantity.

[0796] Optionally, the processor 1501 is further configured to calculate position information of the measurement target based on the first measurement information.

[0797] Optionally, the processor 1501 calculates the position information of the measurement target according to a distance between the measurement target and a sending device of the measurement signal and the AOA information.

[0798] Optionally, the processor 1501 is further configured to calculate the distance between the measurement target and the sending device of the measurement signal according to a wave-decoupling angle between the reference path and the target path.

[0799] The wave-decoupling angle is calculated according to the AOA information.

[0800] Optionally, the apparatus further comprises a sending module, configured to:

[0801] send the first measurement information to at least one of the second device and the third device; or

[0802] send the position information of the measurement target to the second device or the third device, wherein the position information of the measurement target is calculated based on the first measurement information.

[0803] The above position measurement apparatus can improve the positioning performance of a device.

[0804] The position measurement apparatus provided by the embodiments of the present application can implement each process implemented by the method embodiment of FIG. 4 and achieve the same technical effects. To avoid repetition, details are not described herein.

[0805] Referring to FIG. 16, when the position measurement device is a terminal or a component in the terminal, or the position measurement device is a network side device or a component in the network side device, the position measurement device 1600 includes:

[0806] The sending module 1601 is configured to send a measurement signal to a first device.

[0807] The receiving module 1602 is configured to receive first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, and the first measurement information including: measurement information associated with angle of departure information, or angle of departure information.

[0808] The angle of departure information includes at least one of the following:

[0809] An angle of departure of a target path of the measurement signal.

[0810] An angle of departure of a reference path of the measurement signal.

[0811] An angle difference between the target path of the measurement signal and the reference path of the measurement signal.

[0812] The target path is a signal path in the measurement signal associated with the measurement target.

[0813] Optionally, the reference path includes at least one of the following:

[0814] A line of sight (LOS) path, a first arrival path, or a signal path reflected by a known target.

[0815] Optionally, the angle of departure includes at least one of the following:

[0816] An azimuth angle of departure based on a local coordinate system.

[0817] A zenith angle of departure based on a local coordinate system.

[0818] An azimuth angle of departure based on a global coordinate system.

[0819] A zenith angle of departure based on a global coordinate system.

[0820] Optionally, the measurement information associated with the angle of departure information includes at least one of the following:

[0821] Phase information or phase difference information of a signal path associated with at least one port of the measurement signal.

[0822] Phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal.

[0823] Amplitude information of a signal path associated with at least one port of the measurement signal.

[0824] amplitude information of at least one signal resource associated signal path of the measurement signal;

[0825] spectrum information of at least one port associated of the measurement signal;

[0826] spectrum information of at least one signal resource associated of the measurement signal;

[0827] precoding information of at least one port associated of the measurement signal;

[0828] precoding information of at least one signal resource associated of the measurement signal;

[0829] port identification of the measurement signal;

[0830] at least one signal resource identification of the measurement signal.

[0831] Optionally, the first measurement information further comprises at least one of:

[0832] precision information associated with the angle of departure information;

[0833] propagation time difference between a target path of the measurement signal and a reference path of the measurement signal;

[0834] propagation distance difference between a target path of the measurement signal and a reference path of the measurement signal;

[0835] propagation time or propagation distance information of the target path;

[0836] propagation time or propagation distance information of the reference path;

[0837] number of detected measurement targets;

[0838] association information of the measurement information associated with the angle of departure information.

[0839] Optionally, the association information of the measurement information associated with the angle of departure information comprises at least one of:

[0840] timestamp information, precision information of the measurement information associated with the angle of departure information, device information of the first device, propagation mode indication information;

[0841] The propagation mode indication information is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal.

[0842] Optionally, the receiving module 1602 is further used for receiving, by the second device, first indication information sent by a third device.

[0843] Optionally, the sending module 1601 is further used for sending first indication information to the first device.

[0844] Optionally, the first indication information is used for indicating at least one of the following:

[0845] acquiring the first measurement information;

[0846] reporting the first measurement information.

[0847] Optionally, the first indication information comprises at least one of the following:

[0848] configuration information of the measurement signal;

[0849] first auxiliary information used for calculating measurement information associated with the angle of departure information;

[0850] second auxiliary information used for calculating the angle of departure information;

[0851] measurement configuration information;

[0852] reporting configuration information;

[0853] measurement requirement information.

[0854] Optionally, the configuration information of the measurement signal comprises at least one of the following:

[0855] port information of the measurement signal, and related information of the measurement signal.

[0856] Optionally, the first auxiliary information comprises at least one of the following:

[0857] angle of departure measurement range information;

[0858] codebook range information.

[0859] Optionally, the second auxiliary information comprises at least one of the following:

[0860] antenna configuration information of a second device sending the measurement signal;

[0861] mapping relationship between a port and a physical antenna;

[0862] mapping relationship between a signal resource and a physical antenna;

[0863] precoding information associated with at least one port;

[0864] precoding information associated with at least one signal resource;

[0865] angle of departure information associated with at least one port;

[0866] angle of departure information associated with at least one signal resource;

[0867] at least one port associated beam pattern information;

[0868] at least one signal resource associated beam pattern information.

[0869] Optionally, the measurement configuration information comprises at least one of:

[0870] signal resource indication information of the measurement signal, indication information of the measurement quantity;

[0871] wherein the measurement quantity comprises at least one of:

[0872] an angle measurement quantity;

[0873] a time delay measurement quantity;

[0874] a distance measurement quantity;

[0875] a Doppler measurement quantity;

[0876] a speed measurement quantity;

[0877] a position measurement quantity.

[0878] Optionally, the apparatus further comprises:

[0879] a processing module, configured to acquire second measurement information based on the first measurement information in a case where the first measurement information comprises measurement information associated with the angle of departure information, the second measurement information comprising the angle of departure information; or,

[0880] the second device calculates position information of the measurement target based on the first measurement information.

[0881] Optionally, the second measurement information further comprises:

[0882] precision information associated with the angle of departure information.

[0883] Optionally, the sending module 1601 is further configured to:

[0884] send the second measurement information to a third device; or

[0885] send position information of the measurement target to a third device.

[0886] The above position measurement apparatus can improve the positioning performance of the device.

[0887] The position measurement apparatus provided by the embodiments of the present application can implement each process implemented by the method embodiment of FIG. 9 and achieve the same technical effects. To avoid repetition, details are not described herein.

[0888] Referring to FIG. 17, when the position measurement apparatus is a terminal or a component in the terminal, or the position measurement apparatus is a network side device or a component in the network side device, the position measurement apparatus 1700 includes:

[0889] a receiving module 1701, configured to receive, by a third device, first measurement information sent by a first device, the first measurement information being used to calculate position information of a measurement target, and the first measurement information including: measurement information associated with angle of departure information, or angle of departure information.

[0890] The angle of departure information includes at least one of the following:

[0891] an angle of departure of a target path of the measurement signal;

[0892] an angle of departure of a reference path of the measurement signal;

[0893] an angle difference between the target path of the measurement signal and the reference path of the measurement signal;

[0894] The target path is a signal path in the measurement signal associated with the measurement target.

[0895] Optionally, the reference path includes at least one of the following:

[0896] a line of sight (LOS) path, a first arrival path, or a signal path reflected by a known target.

[0897] Optionally, the angle of departure includes at least one of the following:

[0898] an azimuth angle of departure based on a local coordinate system;

[0899] a zenith angle of departure based on a local coordinate system;

[0900] an azimuth angle of departure based on a global coordinate system;

[0901] a zenith angle of departure based on a global coordinate system.

[0902] Optionally, the measurement information associated with the angle of departure information includes at least one of the following:

[0903] phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[0904] phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[0905] amplitude information of a signal path associated with at least one port of the measurement signal;

[0906] amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[0907] spectrum information associated with at least one port of the measurement signal;

[0908] spectrum information associated with at least one signal resource of the measurement signal;

[0909] precoding information associated with at least one port of the measurement signal;

[0910] precoding information associated with at least one signal resource of the measurement signal;

[0911] a port identity of the measurement signal;

[0912] at least one signal resource identity of the measurement signal.

[0913] Optionally, the first measurement information further comprises at least one of:

[0914] precision information associated with the angle of departure information;

[0915] a difference in propagation time between a target path of the measurement signal and a reference path of the measurement signal;

[0916] a difference in propagation distance between a target path of the measurement signal and a reference path of the measurement signal;

[0917] propagation time or propagation distance information of the target path;

[0918] propagation time or propagation distance information of the reference path;

[0919] a number of detected measurement targets;

[0920] association information of the measurement information associated with the angle of departure information.

[0921] Optionally, the association information of the measurement information associated with the angle of departure information comprises at least one of:

[0922] timestamp information, precision information of the measurement information associated with the angle of departure information, device information of the first device, propagation mode indication information;

[0923] The propagation mode indication information is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal.

[0924] Optionally, the apparatus further comprises:

[0925] a sending module, configured to send first indication information to at least one of the first device and the second device;

[0926] The first indication information is used to indicate at least one of:

[0927] obtaining the first measurement information;

[0928] reporting the first measurement information.

[0929] Optionally, the first indication information comprises at least one of:

[0930] configuration information of the measurement signal;

[0931] first auxiliary information for calculating measurement information associated with the angle-of-departure information;

[0932] second auxiliary information for calculating the angle-of-departure information;

[0933] measurement configuration information;

[0934] reporting configuration information;

[0935] measurement requirement information.

[0936] Optionally, the configuration information of the measurement signal comprises at least one of:

[0937] port information of the measurement signal, and correlation information of the measurement signal.

[0938] Optionally, the first auxiliary information comprises at least one of:

[0939] angle-of-departure measurement range information;

[0940] codebook range information.

[0941] Optionally, the second auxiliary information comprises at least one of:

[0942] antenna configuration information of a second device sending the measurement signal;

[0943] mapping relationship between a port and a physical antenna;

[0944] mapping relationship between a signal resource and a physical antenna;

[0945] precoding information associated with at least one port;

[0946] precoding information associated with at least one signal resource;

[0947] angle-of-departure information associated with at least one port;

[0948] angle-of-departure information associated with at least one signal resource;

[0949] beam pattern information associated with at least one port;

[0950] beam pattern information associated with at least one signal resource.

[0951] Optionally, the measurement configuration information comprises at least one of the following:

[0952] signal resource indication information of the measurement signal, and indication information of a measurement quantity;

[0953] The measurement quantity comprises at least one of the following:

[0954] an angle measurement quantity;

[0955] a time delay measurement quantity;

[0956] a distance measurement quantity;

[0957] a Doppler measurement quantity;

[0958] a speed measurement quantity;

[0959] a position measurement quantity.

[0960] Optionally, the apparatus further comprises:

[0961] a processing module configured to calculate position information of the measurement target based on the first measurement information.

[0962] Optionally, the processing module is configured to calculate the position information of the measurement target based on the first measurement information and second measurement information when the first measurement information comprises measurement information associated with the angle of departure information;

[0963] The second measurement information is received by the third device from the second device, and the second measurement information comprises the angle of departure information.

[0964] The position measurement apparatus can improve the positioning performance of the device.

[0965] The position measurement apparatus provided by the embodiments of the present application can implement each process implemented by the method embodiment of FIG. 10 and achieve the same technical effects. To avoid repetition, details are not described herein.

[0966] As shown in FIG. 18, the embodiment of the present application further provides a communication device 1800, comprising a processor 1801 and a memory 1802, wherein the memory 1802 stores programs or instructions executable by the processor 1801. For example, when the communication device 1800 is a first device, the programs or instructions are executed by the processor 1801 to implement each step of the above-mentioned position measurement method embodiment of the first device and achieve the same technical effects. When the communication device 1800 is a second device, the programs or instructions are executed by the processor 1801 to implement each step of the above-mentioned position measurement method embodiment of the second device and achieve the same technical effects. When the communication device 1800 is a third device, the programs or instructions are executed by the processor 1801 to implement each step of the above-mentioned position measurement method embodiment of the third device and achieve the same technical effects. To avoid repetition, details are not described herein.

[0967] The embodiment of the present application further provides a device, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to run programs or instructions to implement the steps in the method embodiment shown in FIG. 4. The device embodiment corresponds to the above-mentioned device-side method embodiment, and each implementation process and implementation manner of the above-mentioned method embodiment can be applied to the device embodiment and achieve the same technical effects. The device can be the position measurement apparatus shown in FIG. 15. Specifically, FIG. 19 is a schematic diagram of the hardware structure of a device implementing the embodiment of the present application, and the device is a first device.

[0968] The device 1900 includes, but is not limited to, at least some of a radio frequency unit 1901, a network module 1902, an audio output unit 1903, an input unit 1904, a sensor 1905, a display unit 1906, a user input unit 1907, an interface unit 1908, a memory 1909, and a processor 1910.

[0969] Those skilled in the art can understand that the device 1900 can further include a power supply (such as a battery) for supplying power to each component, and the power supply can be logically connected to the processor 1910 through a power management system, so as to realize functions such as power management, discharge management, and power consumption management through the power management system. The device structure shown in FIG. 19 does not constitute a limitation on the device, and the device can include more or fewer components than those shown, or combine certain components, or have different component arrangements, which are not described herein again.

[0970] It should be understood that in the embodiments of the present application, the input unit 1904 can include a graphics processor 19041 and a microphone 19042, and the graphics processor 19041 processes image data of a still picture or a video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1906 can include a display panel 19061, which can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The user input unit 1907 includes at least one of a touch panel 19071 and other input devices 19072. The touch panel 19071 is also called a touch screen. The touch panel 19071 can include two parts of a touch detection device and a touch controller. The other input devices 19072 can include, but are not limited to, a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a trackball, a mouse, a joystick, and the like, which will not be described here.

[0971] In the embodiments of the present application, after the radio frequency unit 1901 receives the downlink data from the network side device, it can be transmitted to the processor 1910 for processing. In addition, the radio frequency unit 1901 can send uplink data to the network side device. Generally, the radio frequency unit 1901 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

[0972] The memory 1909 can be used to store software programs or instructions and various data. The memory 1909 can mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage area can store an operating system, application programs or instructions required by at least one function (such as a sound playing function, an image playing function, etc.), etc. In addition, the memory 1909 can include a volatile memory or a non-volatile memory. The non-volatile memory can be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically EPROM (EEPROM), or a flash memory. The volatile memory can be a Random Access Memory (RAM), a Static RAM (SRAM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a Double Data Rate SDRAM (DDR SDRAM), an Enhanced SDRAM (ESDRAM), a Synch link DRAM (SLDRAM), and a Direct Rambus RAM (DRRAM). The memory 1909 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0973] The processor 1910 can include one or more processing units; optionally, the processor 1910 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and an application program, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 1910.

[0974] The embodiment is exemplified by taking the first device as a terminal.

[0975] The radio frequency unit 1901 or the processor 1910 is configured to measure the measurement signal to obtain first measurement information used for calculating position information of the measurement target, the first measurement information including: measurement information associated with the angle of departure information, or the angle of departure information.

[0976] The angle of departure information includes at least one of the following:

[0977] an angle of departure of a reference path of the measurement signal;

[0978] an angle of departure of a reference path of the measurement signal;

[0979] an angle of departure difference information between a target path of the measurement signal and a reference path of the measurement signal;

[0980] the target path is a signal path of the measurement signal associated with the measurement target.

[0981] Optionally, the reference path comprises at least one of:

[0982] a line of sight (LOS) path, a first arrival path, a path passing through a reflection of a known target.

[0983] Optionally, the angle of departure comprises at least one of:

[0984] an azimuth angle of departure based on a local coordinate system;

[0985] a zenith angle of departure based on a local coordinate system;

[0986] an azimuth angle of departure based on a global coordinate system;

[0987] a zenith angle of departure based on a global coordinate system.

[0988] Optionally, the measurement information associated with the angle of departure information comprises at least one of:

[0989] phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[0990] phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[0991] amplitude information of a signal path associated with at least one port of the measurement signal;

[0992] amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[0993] spectrum information associated with at least one port of the measurement signal;

[0994] spectrum information associated with at least one signal resource of the measurement signal;

[0995] precoding information associated with at least one port of the measurement signal;

[0996] precoding information associated with at least one signal resource of the measurement signal;

[0997] a port identity of the measurement signal.

[0998] at least one signal resource identifier of the measurement signal.

[0999] Optionally, the first measurement information further comprises at least one of:

[1000] precision information associated with the angle of departure information;

[1001] a difference in propagation time between a target path of the measurement signal and a reference path of the measurement signal;

[1002] a difference in propagation distance between a target path of the measurement signal and a reference path of the measurement signal;

[1003] propagation time, relative time of arrival or propagation distance information of the target path;

[1004] propagation time, relative time of arrival or propagation distance information of the reference path;

[1005] a number of detected measurement targets;

[1006] association information of the measurement information associated with the angle of departure information.

[1007] Optionally, the association information of the measurement information associated with the angle of departure information comprises at least one of:

[1008] timestamp information, precision information of the measurement information associated with the angle of departure information, device information of the first device, propagation mode indication information;

[1009] The propagation mode indication information is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal.

[1010] Optionally, the radio frequency unit 1901 is further configured to:

[1011] receive first indication information sent by the second device or the third device;

[1012] The first indication information is used to indicate at least one of:

[1013] obtain the first measurement information;

[1014] report the first measurement information.

[1015] Optionally, the first indication information comprises at least one of:

[1016] configuration information of the measurement signal;

[1017] first auxiliary information used to calculate the measurement information associated with the angle of departure information;

[1018] second assistance information for calculating the angle of departure information;

[1019] measurement configuration information;

[1020] reporting configuration information;

[1021] measurement requirement information.

[1022] Optionally, the configuration information of the measurement signal comprises at least one of:

[1023] port information of the measurement signal, and correlation information of the measurement signal.

[1024] Optionally, the first assistance information comprises at least one of:

[1025] angle of departure measurement range information;

[1026] codebook range information.

[1027] Optionally, the second assistance information comprises at least one of:

[1028] antenna configuration information of a second device sending the measurement signal;

[1029] mapping relationship between a port and a physical antenna;

[1030] mapping relationship between a signal resource and a physical antenna;

[1031] precoding information associated with at least one port;

[1032] precoding information associated with at least one signal resource;

[1033] angle of departure information associated with at least one port;

[1034] angle of departure information associated with at least one signal resource;

[1035] beam pattern information associated with at least one port;

[1036] beam pattern information associated with at least one signal resource.

[1037] Optionally, the measurement configuration information comprises at least one of:

[1038] signal resource indication information of the measurement signal, and indication information of a measurement quantity;

[1039] wherein the measurement quantity comprises at least one of:

[1040] angle measurement quantity;

[1041] time delay measurement quantity;

[1042] a distance measurement;

[1043] a Doppler measurement;

[1044] a speed measurement;

[1045] a position measurement.

[1046] Optionally, the processor 1910 is further configured to:

[1047] calculate position information of the measurement target based on the first measurement information.

[1048] Optionally, the calculation of the position information of the measurement target based on the first measurement information comprises:

[1049] calculate the position information of the measurement target according to the distance between the measurement target and the sending device of the measurement signal and the angle of departure information.

[1050] Optionally, the processor 1910 is further configured to:

[1051] calculate the distance between the measurement target and the sending device of the measurement signal according to the wave-departure included angle between the reference path and the target path;

[1052] wherein the wave-departure included angle is calculated according to the angle of departure information.

[1053] Optionally, the radio frequency unit 1901 is further configured to:

[1054] send the first measurement information to at least one of the second device and the third device; or

[1055] send the position information of the measurement target to the second device or the third device, wherein the position information of the measurement target is calculated based on the first measurement information.

[1056] The above device can improve the positioning performance of the device.

[1057] It can be understood that the implementation process of each implementation manner mentioned in the embodiment can refer to the related description of the position measurement method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be described here.

[1058] It should be noted that the first device is taken as a terminal for example in the embodiment, and the second device can also be a terminal in the embodiment of the application, that is, the above device can also implement each step in the method shown in FIG. 9 or FIG. 10.

[1059] The embodiment of the application further provides a device, comprising a processor and a communication interface, the communication interface and the processor are coupled, the processor is used to run programs or instructions, and the steps of the method embodiment shown in Fig. 9 are realized. The device embodiment corresponds to the device method embodiment described above, each implementation process and implementation manner of the method embodiment described above can be applied to the device embodiment, and the same technical effects can be achieved.

[1060] Specifically, the embodiment of the application further provides a device, which is a second device, and the device can be the position measurement apparatus shown in Fig. 16. As shown in Fig. 20, the device 2000 comprises an antenna 2001, a radio frequency apparatus 2002, a baseband apparatus 2003, a processor 2004 and a memory 2005. The antenna 2001 is connected with the radio frequency apparatus 2002. In the uplink direction, the radio frequency apparatus 2002 receives information through the antenna 2001, and sends the received information to the baseband apparatus 2003 for processing. In the downlink direction, the baseband apparatus 2003 processes information to be sent, and sends the information to the radio frequency apparatus 2002, and the radio frequency apparatus 2002 processes the received information and sends the information out through the antenna 2001.

[1061] The method performed by the device in the above embodiment can be realized in the baseband apparatus 2003, and the baseband apparatus 2003 comprises a baseband processor.

[1062] The baseband apparatus 2003 can comprise at least one baseband board, and a plurality of chips are arranged on the baseband board, as shown in Fig. 20, one of the chips is a baseband processor, and the baseband processor is connected with the memory 2005 through a bus interface to call programs in the memory 2005 and perform the network device operation shown in the above method embodiment.

[1063] The device can further comprise a network interface 2006, for example, a common public radio interface (CPRI).

[1064] Specifically, the device 2000 of the embodiment of the application further comprises instructions or programs stored in the memory 2005 and executable on the processor 2004, the processor 2004 calls the instructions or programs in the memory 2005 to perform the method performed by each module shown in Fig. 16, and the same technical effects are achieved, and thus repeated description is omitted.

[1065] The radio frequency apparatus 2002 is used to send a measurement signal to a first device, receive first measurement information sent by the first device, the first measurement information is used to calculate position information of a measurement target, and the first measurement information comprises measurement information associated with angle of departure information or angle of departure information.

[1066] The departure angle information comprises at least one of:

[1067] A departure angle of a target path of the measurement signal;

[1068] A departure angle of a reference path of the measurement signal;

[1069] A departure angle difference between the target path of the measurement signal and the reference path of the measurement signal;

[1070] The target path is a signal path of the measurement signal associated with the measurement target.

[1071] Optionally, the reference path comprises at least one of:

[1072] A line of sight (LOS) path, a first arrival path, a path passing through a reflection of a known target.

[1073] Optionally, the departure angle comprises at least one of:

[1074] A departure azimuth angle based on a local coordinate system;

[1075] A departure zenith angle based on a local coordinate system;

[1076] A departure azimuth angle based on a global coordinate system;

[1077] A departure zenith angle based on a global coordinate system.

[1078] Optionally, the measurement information associated with the departure angle information comprises at least one of:

[1079] Phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[1080] Phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[1081] Amplitude information of a signal path associated with at least one port of the measurement signal;

[1082] Amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[1083] Spectrum information associated with at least one port of the measurement signal;

[1084] Spectrum information associated with at least one signal resource of the measurement signal;

[1085] Precoding information associated with at least one port of the measurement signal;

[1086] Precoding information associated with at least one signal resource of the measurement signal;

[1087] a port identity of the measurement signal;

[1088] at least one signal resource identity of the measurement signal.

[1089] Optionally, the first measurement information further comprises at least one of:

[1090] precision information associated with the angle of departure information;

[1091] a difference in propagation time between a target path of the measurement signal and a reference path of the measurement signal;

[1092] a difference in propagation distance between a target path of the measurement signal and a reference path of the measurement signal;

[1093] propagation time or propagation distance information of the target path;

[1094] propagation time or propagation distance information of the reference path;

[1095] a number of detected measurement targets;

[1096] association information of the measurement information associated with the angle of departure information.

[1097] Optionally, the association information of the measurement information associated with the angle of departure information comprises at least one of:

[1098] timestamp information, precision information of the measurement information associated with the angle of departure information, device information of the first device, propagation mode indication information;

[1099] The propagation mode indication information is used to indicate a signal propagation mode between a sending device and a receiving device of the measurement signal.

[1100] Optionally, the radio frequency device 2002 is further used for at least one of:

[1101] receiving first indication information sent by a third device;

[1102] sending the first indication information to the first device;

[1103] The first indication information is used to indicate at least one of:

[1104] obtaining the first measurement information;

[1105] reporting the first measurement information.

[1106] Optionally, the first indication information comprises at least one of:

[1107] configuration information of the measurement signal;

[1108] a first assistance information used for calculating the measurement information associated with the angle of departure information;

[1109] a second assistance information used for calculating the angle of departure information;

[1110] measurement configuration information;

[1111] reporting configuration information;

[1112] measurement requirement information.

[1113] Optionally, the configuration information of the measurement signal comprises at least one of:

[1114] port information of the measurement signal, and correlation information of the measurement signal.

[1115] Optionally, the first assistance information comprises at least one of:

[1116] angle of departure measurement range information;

[1117] codebook range information.

[1118] Optionally, the second assistance information comprises at least one of:

[1119] antenna configuration information of a second device sending the measurement signal;

[1120] mapping relationship between a port and a physical antenna;

[1121] mapping relationship between a signal resource and a physical antenna;

[1122] precoding information associated with at least one port;

[1123] precoding information associated with at least one signal resource;

[1124] angle of departure information associated with at least one port;

[1125] angle of departure information associated with at least one signal resource;

[1126] beam pattern information associated with at least one port;

[1127] beam pattern information associated with at least one signal resource.

[1128] Optionally, the measurement configuration information comprises at least one of:

[1129] signal resource indication information of the measurement signal, and indication information of a measurement quantity;

[1130] wherein the measurement quantity comprises at least one of:

[1131] angle measurement quantity.

[1132] a time delay measurement;

[1133] a distance measurement;

[1134] a Doppler measurement;

[1135] a speed measurement;

[1136] a position measurement.

[1137] Optionally, the processor 2004 is further configured to:

[1138] in a case where the first measurement information comprises measurement information associated with the angle of departure information, acquire second measurement information based on the first measurement information, the second measurement information comprising the angle of departure information; or

[1139] calculate position information of the measurement target based on the first measurement information.

[1140] Optionally, the second measurement information further comprises:

[1141] accuracy information associated with the angle of departure information.

[1142] Optionally, the radio frequency device 2002 is further configured to:

[1143] send the second measurement information to a third device; or

[1144] send position information of the measurement target to the third device.

[1145] The above device can improve the positioning performance of the device.

[1146] It can be understood that the implementation process of each implementation manner mentioned in the embodiment can refer to the related description of the position measurement method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be described here.

[1147] It should be noted that the second device is taken as a network side device for example in the embodiment, and the first device or the third device can also be a network side device in the embodiment of the application, that is, the above device can also implement each step in the method shown in FIG. 4 or FIG. 10.

[1148] The embodiment of the application further provides a device, which is a third device, comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being configured to run programs or instructions to implement the steps of the method embodiment shown in FIG. 10. The device embodiment corresponds to the third device side method embodiment described above, and each implementation process and implementation manner of the above method embodiment can be applied to the device embodiment and achieve the same technical effects.

[1149] Specifically, the embodiment of the present application further provides a device, which is a third device. As shown in FIG. 21, the network side device 2100 includes a processor 2101, a network interface 2102 and a memory 2103. The network interface 2102 is, for example, a common public radio interface (CPRI).

[1150] Specifically, the network side device 2100 of the embodiment of the present application further includes instructions or programs stored in the memory 2103 and executable on the processor 2101, and the processor 2101 invokes the instructions or programs in the memory 2103 to execute the method performed by each module shown in FIG. 17 and achieve the same technical effects. To avoid repetition, details are not described herein.

[1151] In the embodiment, the third device is taken as a core network device for example.

[1152] The network interface 2102 is configured to receive first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, and the first measurement information including: measurement information associated with angle of departure information, or angle of departure information.

[1153] The angle of departure information includes at least one of the following:

[1154] An angle of departure of a target path of the measurement signal;

[1155] An angle of departure of a reference path of the measurement signal;

[1156] An angle difference between the target path of the measurement signal and the reference path of the measurement signal;

[1157] The target path is a signal path in the measurement signal associated with the measurement target.

[1158] Optionally, the reference path includes at least one of the following:

[1159] A line of sight (LOS) path, a first arrival path, or a signal path reflected by a known target.

[1160] Optionally, the angle of departure includes at least one of the following:

[1161] An azimuth angle of departure based on a local coordinate system;

[1162] A zenith angle of departure based on a local coordinate system;

[1163] An azimuth angle of departure based on a global coordinate system;

[1164] A zenith angle of departure based on a global coordinate system.

[1165] Optionally, the measurement information associated with the angle of departure information comprises at least one of:

[1166] phase information or phase difference information of a signal path associated with at least one port of the measurement signal;

[1167] phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal;

[1168] amplitude information of a signal path associated with at least one port of the measurement signal;

[1169] amplitude information of a signal path associated with at least one signal resource of the measurement signal;

[1170] spectrum information associated with at least one port of the measurement signal;

[1171] spectrum information associated with at least one signal resource of the measurement signal;

[1172] precoding information associated with at least one port of the measurement signal;

[1173] precoding information associated with at least one signal resource of the measurement signal;

[1174] port identification of the measurement signal;

[1175] at least one signal resource identification of the measurement signal.

[1176] Optionally, the first measurement information further comprises at least one of:

[1177] accuracy information associated with the angle of departure information;

[1178] propagation time difference between a target path of the measurement signal and a reference path of the measurement signal;

[1179] propagation distance difference between a target path of the measurement signal and a reference path of the measurement signal;

[1180] propagation time or propagation distance information of the target path;

[1181] propagation time or propagation distance information of the reference path;

[1182] number of detected measurement targets;

[1183] association information of the measurement information associated with the angle of departure information.

[1184] Optionally, the association information of the measurement information associated with the angle of departure information comprises at least one of:

[1185] timestamp information, precision information of measurement information associated with the angle-of-departure information, device information of the first device, propagation mode indication information;

[1186] The propagation mode indication information is used to indicate a signal propagation mode between a transmitting device and a receiving device of the measurement signal.

[1187] Optionally, the network interface 2102 is further configured to:

[1188] transmit first indication information to at least one of the first device and the second device;

[1189] The first indication information is used to indicate at least one of the following:

[1190] obtain the first measurement information;

[1191] report the first measurement information.

[1192] Optionally, the first indication information comprises at least one of the following:

[1193] configuration information of the measurement signal;

[1194] first auxiliary information used to calculate measurement information associated with the angle-of-departure information;

[1195] second auxiliary information used to calculate the angle-of-departure information;

[1196] measurement configuration information;

[1197] reporting configuration information;

[1198] measurement requirement information.

[1199] Optionally, the configuration information of the measurement signal comprises at least one of the following:

[1200] port information of the measurement signal, and correlation information of the measurement signal.

[1201] Optionally, the first auxiliary information comprises at least one of the following:

[1202] angle-of-departure measurement range information;

[1203] codebook range information.

[1204] Optionally, the second auxiliary information comprises at least one of the following:

[1205] antenna configuration information of a second device that transmits the measurement signal;

[1206] mapping relationship between a port and a physical antenna;

[1207] Mapping relationship between signal resources and physical antennas;

[1208] Precoding information associated with at least one port;

[1209] Precoding information associated with at least one signal resource;

[1210] Departure angle information associated with at least one port;

[1211] Departure angle information associated with at least one signal resource;

[1212] Beam pattern information associated with at least one port;

[1213] Beam pattern information associated with at least one signal resource.

[1214] Optionally, the measurement configuration information comprises at least one of the following:

[1215] Signal resource indication information of the measurement signal, and indication information of a measurement quantity;

[1216] The measurement quantity comprises at least one of the following:

[1217] An angle measurement quantity;

[1218] A time delay measurement quantity;

[1219] A distance measurement quantity;

[1220] A Doppler measurement quantity;

[1221] A speed measurement quantity;

[1222] A position measurement quantity.

[1223] Optionally, the processor 2101 is configured to:

[1224] Calculate position information of the measurement target based on the first measurement information.

[1225] Optionally, the calculation of the position information of the measurement target based on the first measurement information comprises:

[1226] In a case where the first measurement information comprises departure angle information associated measurement information, calculating the position information of the measurement target based on the first measurement information and second measurement information;

[1227] The second measurement information is received by the third device from the second device, and the second measurement information comprises the departure angle information.

[1228] The above device can improve the positioning performance of the device.

[1229] It can be understood that the implementation process of each implementation manner mentioned in the embodiment can refer to the related description of the position measurement method embodiment and achieve the same or corresponding technical effects. To avoid repetition, details are not described here.

[1230] The embodiment of the present application further provides a readable storage medium, which stores a program or instructions, and the program or instructions are executed by a processor to implement the processes of the above-mentioned position measurement method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[1231] The processor is the processor in the terminal in the above-mentioned embodiments. The readable storage medium includes a computer readable storage medium, such as a computer readable only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. In some examples, the readable storage medium can be a non-transitory readable storage medium.

[1232] The embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a program or instructions to implement the processes of the above-mentioned position measurement method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[1233] It should be understood that the chip mentioned in the embodiment of the present application can also be referred to as a system chip, a system chip, a chip system or a system on chip, etc.

[1234] The embodiment of the present application further provides a computer program / program product, which is stored in a storage medium and is executed by at least one processor to implement the processes of the above-mentioned position measurement method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[1235] The embodiment of the present application further provides a wireless communication system, which includes a first device, a second device and a third device, the first device can be used to execute the steps of the position measurement method of the first device provided by the embodiment of the present application, the second device can be used to execute the steps of the position measurement method of the second device provided by the embodiment of the present application, and the third device can be used to execute the steps of the position measurement method of the second device provided by the embodiment of the present application.

[1236] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or the like does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. Furthermore, it is to be understood that the methods and apparatuses of the present application can be carried out by specific hardware, by software, or by a combination of hardware and software. It is therefore, contemplated to this patent to cover any and all modifications, variations, or equivalents that fall within the scope of the present application. Accordingly, where a concept can have been illustrated in only one of the exemplary embodiments, various aspects of the concept can be modified and / or combined to produce a variety of other embodiments that are not specifically illustrated. Thus, for purposes of describing particular embodiments, reference has been made to orientations. However, it is to be understood that the teachings of this patent are not limited in their application to any one of the mentioned orientations, but are applicable to any assembly having the features currently described or hereinafter ascertained.

[1237] From the above description of the embodiments, it is apparent that the method of the above embodiments can be realized by means of a computer software product and a general hardware platform as necessary, of course, also by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disc, optical disc, etc.), and includes a plurality of instructions for making a terminal or a network side device execute the method described in each embodiment of the present application.

[1238] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are merely illustrative rather than limiting. Those skilled in the art can make many forms of embodiments under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims, and these embodiments all belong to the protection scope of the present application.

Claims

1. A method for measuring a position, comprising: measuring, by a first device, a measurement signal to obtain first measurement information used for calculating position information of a measurement target, wherein the first measurement information comprises: measurement information associated with angle of departure information, or angle of departure information; wherein the angle of departure information comprises at least one of: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; an angle difference between the target path of the measurement signal and the reference path of the measurement signal; the target path comprises at least one of:

2. The method of claim 1, wherein, a line of sight (LOS) path, a first arrival path, a path reflected by a known target. the angle of departure comprises at least one of:

3. The method of claim 1 or 2, wherein, an azimuth angle of departure based on a local coordinate system; a zenith angle of departure based on a local coordinate system; an azimuth angle of departure based on a global coordinate system; a zenith angle of departure based on a global coordinate system. the measurement information associated with the angle of departure information comprises at least one of:

4. The method of any one of claims 1 to 3, wherein, phase information or phase difference information of a signal path associated with at least one port of the measurement signal; phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal; amplitude information of a signal path associated with at least one port of the measurement signal; amplitude information of a signal path associated with at least one signal resource of the measurement signal; spectrum information associated with at least one port of the measurement signal; spectrum information associated with at least one signal resource of the measurement signal; precoding information associated with at least one port of the measurement signal; precoding information associated with at least one signal resource of the measurement signal; a port identifier of the measurement signal; at least one signal resource identifier of the measurement signal. the first measurement information further comprises at least one of:

5. The method of any one of claims 1 to 4, wherein, accuracy information associated with the angle of departure information; a propagation time difference between the target path of the measurement signal and the reference path of the measurement signal; a propagation distance difference between the target path of the measurement signal and the reference path of the measurement signal; propagation time, relative time of arrival or propagation distance information of the target path; propagation time, relative time of arrival or propagation distance information of the reference path; a number of detected measurement targets; association information of the measurement information associated with the angle of departure information. the association information of the measurement information associated with the angle of departure information comprises at least one of:

6. The method of claim 5, wherein, timestamp information, accuracy information of the measurement information associated with the angle of departure information, device information of the first device, and propagation mode indication information; wherein the propagation mode indication information is used to indicate a signal propagation mode between a transmitting device and a receiving device of the measurement signal. the method further comprises:

7. The method of any one of claims 1 to 6, wherein, receiving, by the first device, first indication information transmitted by a second device or a third device; wherein the first indication information is used to indicate at least one of: obtaining the first measurement information; reporting the first measurement information. the first indication information comprises at least one of:

8. The method of claim 7, wherein, configuration information of the measurement signal; first auxiliary information used for calculating the measurement information associated with the angle of departure information; ​ a second assistance information for calculating the angle of departure information; measurement configuration information; reporting configuration information; measurement requirement information.

9. The method of claim 8, wherein, The configuration information of the measurement signal comprises at least one of: port information of the measurement signal, and correlation information of the measurement signal.

10. The method of claim 8 or 9, wherein, The first assistance information comprises at least one of: angle of departure measurement range information; codebook range information.

11. The method of any one of claims 8-10, wherein, The second assistance information comprises at least one of: antenna configuration information of a second device sending the measurement signal; mapping relationship between a port and a physical antenna; mapping relationship between a signal resource and a physical antenna; precoding information associated with at least one port; precoding information associated with at least one signal resource; angle of departure information associated with at least one port; angle of departure information associated with at least one signal resource; beam pattern information associated with at least one port; beam pattern information associated with at least one signal resource.

12. The method of any one of claims 8-11, wherein, The measurement configuration information comprises at least one of: signal resource indication information of the measurement signal, and indication information of a measurement quantity; The measurement quantity comprises at least one of: angle measurement quantity; time delay measurement quantity; distance measurement quantity; Doppler measurement quantity; speed measurement quantity; position measurement quantity.

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

14. The method of claim 13, wherein, The first device calculates position information of the measurement target based on the first measurement information comprises: The first device calculates the position information of the measurement target according to the distance between the measurement target and the device sending the measurement signal, and the angle of departure information.

15. The method of claim 14, wherein, The method further comprises: The first device calculates the distance between the measurement target and the device sending the measurement signal according to the de-wave included angle between the reference path and the target path; The de-wave included angle is calculated according to the angle of departure information.

16. The method of any one of claims 1 to 15, wherein, The method further comprises: The first device sends the first measurement information to at least one of the second device and the third device; or The first device sends the position information of the measurement target to the second device or the third device, wherein the position information of the measurement target is calculated based on the first measurement information.

17. A position measurement method, comprising: A second device sends a measurement signal to a first device; The second device receives first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, and the first measurement information comprising: angle of departure information associated measurement information, or angle of departure information; The angle of departure information comprises at least one of: angle of departure of a target path of the measurement signal; angle of departure of a reference path of the measurement signal; angle of departure difference information between the target path of the measurement signal and the reference path of the measurement signal; The target path is a signal path in the measurement signal associated with the measurement target.

18. The method of claim 17, wherein, The angle of departure information associated measurement information comprises at least one of: phase information or phase difference information of a signal path associated with at least one port of the measurement signal; phase information or phase difference information of a signal path associated with at least one signal resource of the measurement signal; amplitude information of a signal path associated with at least one port of the measurement signal; amplitude information of a signal path associated with at least one signal resource of the measurement signal; spectrum information associated with at least one port of the measurement signal; spectrum information associated with at least one signal resource of the measurement signal; precoding information associated with at least one port of the measurement signal; precoding information associated with at least one signal resource of the measurement signal; port identification of the measurement signal; signal resource identification of the measurement signal.

19. The method of claim 17 or 18, wherein, The first measurement information further comprises at least one of: precision information associated with the angle of departure information; propagation time difference between a target path of the measurement signal and a reference path of the measurement signal; propagation distance difference between a target path of the measurement signal and a reference path of the measurement signal; propagation time or propagation distance information of the target path; propagation time or propagation distance information of the reference path; number of detected measurement targets; association information of the measurement information associated with the angle of departure information.

20. The method of any one of claims 17-19, wherein, The method further comprises at least one of: The second device receives first indication information sent by a third device; The second device sends first indication information to a first device; The first indication information is used to indicate at least one of: obtaining the first measurement information; reporting the first measurement information.

21. The method of claim 20, wherein, The first indication information comprises at least one of: configuration information of the measurement signal; first auxiliary information used to calculate the measurement information associated with the angle of departure information; second auxiliary information used to calculate the angle of departure information; measurement configuration information; reporting configuration information; measurement requirement information.

22. The method of claim 21, wherein, The second auxiliary information comprises at least one of: antenna configuration information of a second device sending the measurement signal; mapping relationship between a port and a physical antenna; mapping relationship between a signal resource and a physical antenna; precoding information associated with at least one port; precoding information associated with at least one signal resource; angle of departure information associated with at least one port; angle of departure information associated with at least one signal resource; beam pattern information associated with at least one port; beam pattern information associated with at least one signal resource.

23. The method of any one of claims 17-22, wherein, The method further comprises: In a case where the first measurement information comprises measurement information associated with the angle of departure information, the second device obtains second measurement information based on the first measurement information, the second measurement information comprising the angle of departure information; or The second device calculates position information of the measurement target based on the first measurement information.

24. The method of claim 23, wherein, The second measurement information further comprises: precision information associated with the angle of departure information.

25. The method of claim 23 or 24, wherein, The method further comprises: The second device sends the second measurement information to a third device; or The second device sends position information of the measurement target to a third device.

26. A position measurement method, comprising: A third device receives first measurement information sent by a first device, the first measurement information being used to calculate position information of a measurement target, the first measurement information comprising: measurement information associated with an angle of departure information, or, the angle of departure information; The angle of departure information comprises at least one of: an angle of departure of a target range of the measurement signal; an angle of departure of a reference range of the measurement signal; an angle of departure difference information between the target range of the measurement signal and the reference range of the measurement signal; the target range is a signal range of the measurement signal associated with the measurement target.

27. The method of claim 26, wherein, the measurement information associated with the angle of departure information comprises at least one of: phase information or phase difference information of a signal range associated with at least one port of the measurement signal; phase information or phase difference information of a signal range associated with at least one signal resource of the measurement signal; amplitude information of a signal range associated with at least one port of the measurement signal; amplitude information of a signal range associated with at least one signal resource of the measurement signal; spectrum information associated with at least one port of the measurement signal; spectrum information associated with at least one signal resource of the measurement signal; precoding information associated with at least one port of the measurement signal; precoding information associated with at least one signal resource of the measurement signal; a port identity of the measurement signal; at least one signal resource identity of the measurement signal.

28. The method of claim 26 or 27, wherein, the first measurement information further comprises at least one of: precision information associated with the angle of departure information; a propagation time difference between the target range of the measurement signal and the reference range of the measurement signal; a propagation distance difference between the target range of the measurement signal and the reference range of the measurement signal; propagation time or propagation distance information of the target range; propagation time or propagation distance information of the reference range; a number of detected measurement targets; association information of the measurement information associated with the angle of departure information.

29. The method of any one of claims 26-28, wherein, the method further comprises: the third device sending first indication information to at least one of the first device and the second device; wherein the first indication information is used to indicate at least one of: obtaining the first measurement information; reporting the first measurement information.

30. The method of claim 29, wherein, the first indication information comprises at least one of: configuration information of the measurement signal; first auxiliary information used to calculate the measurement information associated with the angle of departure information; second auxiliary information used to calculate the angle of departure information; measurement configuration information; reporting configuration information; measurement requirement information.

31. The method of claim 30, wherein, the second auxiliary information comprises at least one of: antenna configuration information of the second device sending the measurement signal; mapping relationship between a port and a physical antenna; mapping relationship between a signal resource and a physical antenna; precoding information associated with at least one port; precoding information associated with at least one signal resource; angle of departure information associated with at least one port; angle of departure information associated with at least one signal resource; beam pattern information associated with at least one port; beam pattern information associated with at least one signal resource.

32. The method of any one of claims 26 to 31, wherein, the method further comprises: the third device calculating position information of the measurement target based on the first measurement information.

33. The method of claim 32, wherein, the third device calculating position information of the measurement target based on the first measurement information comprises: in a case where the first measurement information comprises the measurement information associated with the angle of departure information, the third device calculates the position information of the measurement target based on the first measurement information and second measurement information; The second measurement information is received by the third device from a second device, and the second measurement information comprises the angle of departure information.

34. A position measurement apparatus comprising: a processing module configured to measure a measurement signal to obtain first measurement information used to calculate position information of a measurement target, the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information; wherein the angle of departure information comprises at least one of: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; an angle of departure difference between the target path of the measurement signal and a reference path of the measurement signal; the target path being a signal path of the measurement signal associated with the measurement target.

35. The apparatus of claim 34, wherein, The apparatus further comprises: a receiving module configured to receive first indication information sent by a second device or a third device; wherein the first indication information is used to indicate at least one of: obtaining the first measurement information; reporting the first measurement information.

36. The apparatus of claim 34 or 35, wherein, The processing module is further configured to calculate the position information of the measurement target based on the first measurement information.

37. A position measurement apparatus comprising: a sending module configured to send a measurement signal to a first device; a receiving module configured to receive first measurement information sent by the first device, the first measurement information being used to calculate position information of a measurement target, the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information; wherein the angle of departure information comprises at least one of: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; an angle of departure difference between the target path of the measurement signal and a reference path of the measurement signal; the target path being a signal path of the measurement signal associated with the measurement target.

38. The apparatus of claim 37, wherein, The receiving module is further configured to receive first indication information sent by a third device; The sending module is further configured to send the first indication information to the first device; wherein the first indication information is used to indicate at least one of: obtaining the first measurement information; reporting the first measurement information.

39. A position measurement apparatus comprising: a receiving module configured to receive first measurement information sent by a first device, the first measurement information being used to calculate position information of a measurement target, the first measurement information comprising: measurement information associated with angle of departure information, or angle of departure information; wherein the angle of departure information comprises at least one of: an angle of departure of a target path of the measurement signal; an angle of departure of a reference path of the measurement signal; an angle of departure difference between the target path of the measurement signal and a reference path of the measurement signal; the target path being a signal path of the measurement signal associated with the measurement target.

40. The apparatus of claim 39, wherein, The apparatus further comprises: a sending module configured to send first indication information to at least one of the first device and a second device; wherein the first indication information is used to indicate at least one of: obtaining the first measurement information; reporting the first measurement information.

41. An apparatus comprising a processor and a memory, the memory storing programs or instructions executable on the processor, the programs or instructions, when executed by the processor, implementing the steps of the position measurement method of any one of claims 1 to 16, or the programs or instructions, when executed by the processor, implementing the steps of the position measurement method of any one of claims 17 to 25, or the programs or instructions, when executed by the processor, implementing the steps of the position measurement method of any one of claims 26 to 33.

42. A readable storage medium, the readable storage medium storing programs or instructions, the programs or instructions, when executed by a processor, implementing the steps of the position measurement method of any one of claims 1 to 16, or the steps of the position measurement method of any one of claims 17 to 25, or the steps of the position measurement method of any one of claims 26 to 33.

43. A computer program product, the computer program product being stored in a storage medium, the computer program product being executed by at least one processor to implement the steps of the position measurement method of any one of claims 1 to 16, or the steps of the position measurement method of any one of claims 17 to 25, or the steps of the position measurement method of any one of claims 26 to 33.

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