Positioning method and apparatus, device, and storage medium

Abstract

The present disclosure relates to the technical field of communications, and provides a positioning method and apparatus, a device, and a storage medium. The positioning method comprises: receiving a first excitation signal transmitted by a second device, the first excitation signal being determined by the second device on the basis of a second excitation signal and first information, and the second excitation signal being a signal transmitted by a first device; transmitting second information to a third device, the second information being determined from the first excitation signal, and the second information being used by the third device to locate the second device. The accuracy of positioning is improved.

Description

Positioning methods, devices, equipment and storage media

[0001] This disclosure claims priority to Chinese Patent Application No. 202411495204.7, filed on October 24, 2024, entitled “Positioning Method, Apparatus, Device and Storage Medium”, the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] Ambient Internet of Things (A-IoT) is a new Internet of Things communication technology based on cellular networks. A-IoT can connect multiple devices, so the location of multiple devices is particularly important.

[0004] Currently, multiple devices can be identified based on barcodes, and their location can be determined based on the identification results. However, in the above methods, the barcode reading range is limited, and interference exists in scenarios with high-density device deployment, resulting in low accuracy in device location. Summary of the Invention

[0005] This disclosure provides a positioning method, apparatus, device, and storage medium to solve the technical problem of low accuracy in positioning devices in related technologies.

[0006] In a first aspect, embodiments of this disclosure provide a positioning method applied to a first device, the positioning method comprising:

[0007] Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device;

[0008] The third device sends a second message, which is determined based on the first excitation signal, and the second message is used by the third device to locate the second device.

[0009] In some embodiments, the first information includes power information and / or positioning reference signal (PRS).

[0010] In some embodiments, where the first information includes the power information, the second information includes the power information obtained by demodulating the first excitation signal.

[0011] In some embodiments, where the first information includes the PRS, the second information includes power information obtained by measuring the first excitation signal.

[0012] In some embodiments, the method further includes:

[0013] Receive configuration information for the PRS sent by the third device;

[0014] Based on the configuration information of the PRS, the PRS in the first excitation signal is determined;

[0015] The power of PRS in the first excitation signal is measured to obtain the second information.

[0016] In some embodiments, the power information includes the reference signal received power RSRP and / or the reference signal received path power RSRPP.

[0017] In some embodiments, the second information further includes indication information, which includes at least one of the following:

[0018] Location mode;

[0019] The identifier of the first device;

[0020] Location information of the first device;

[0021] The confidence level of the second piece of information.

[0022] In some embodiments, the method further includes:

[0023] Send the second excitation signal to the second device;

[0024] The second excitation signal is an excitation signal that has not been modulated by the source information. The second excitation signal is sent according to a measurement time window, which is determined according to the configuration information of the excitation signal, and the configuration information of the excitation signal is sent by the third device.

[0025] Secondly, embodiments of this disclosure provide a positioning method applied to a second device, the positioning method comprising:

[0026] Receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information;

[0027] A first excitation signal is sent to the first device or the fourth device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information.

[0028] In some embodiments, the first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

[0029] In some embodiments, sending a first excitation signal to the first device or the fourth device includes:

[0030] Determine the first information;

[0031] The first excitation signal is determined based on the first information and the second excitation signal;

[0032] Send the first excitation signal to the first device or the fourth device.

[0033] In some embodiments, where the first information includes power information, the first information is information obtained by measuring the power of the second excitation signal.

[0034] In some embodiments, the first information further includes indication information, the indication information including at least one of the following:

[0035] Location mode;

[0036] The identifier of the first device or the fourth device;

[0037] Location information of the first device or the fourth device;

[0038] The confidence level of the first piece of information.

[0039] In some embodiments, when the first information includes a PRS, the first information is information determined based on the configuration information of the PRS, or the first information is information determined based on a pre-configured PRS, wherein the configuration information of the PRS is information sent by the third device.

[0040] Thirdly, embodiments of this disclosure provide a positioning method applied to a third device, the method comprising:

[0041] Receive second information sent by the first device or the fourth device;

[0042] Based on the second information, the second device is located.

[0043] In some embodiments, the second information includes power information obtained by demodulating the first excitation signal, or the second information includes power information obtained by measuring the first excitation signal.

[0044] In some embodiments, the power information includes RSRP and / or RSRPP.

[0045] Fourthly, embodiments of this disclosure provide a positioning method applied to a fourth device, the method comprising:

[0046] Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device;

[0047] The third device sends a second message, which is determined based on the first excitation signal, and the second message is used by the third device to locate the second device.

[0048] In some embodiments, the first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

[0049] In some embodiments, when the first information includes the power information, the second information includes power information obtained by demodulating the first excitation signal; when the first information includes the PRS, the second information includes power information obtained by measuring the first excitation signal.

[0050] Fifthly, embodiments of this disclosure provide a positioning device applied to a first device, comprising a receiving module and a transmitting module, wherein:

[0051] The receiving module is used to receive a first excitation signal sent by the second device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information, and the second excitation signal is a signal sent by the first device;

[0052] The sending module is used to send second information to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

[0053] Sixthly, embodiments of this disclosure provide a positioning device applied to a second device, comprising a receiving module and a transmitting module, wherein:

[0054] The receiving module is used to receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information;

[0055] The sending module is used to send a first excitation signal to the first device or the fourth device, wherein the first excitation signal is determined based on a second excitation signal and first information.

[0056] In a seventh aspect, embodiments of this disclosure provide a positioning device applied to a third device, comprising a receiving module and a processing module, wherein:

[0057] The receiving module is used to receive second information sent by the first device or the fourth device;

[0058] The processing module is used to locate the second device based on the second information.

[0059] Eighthly, embodiments of this disclosure provide a positioning device applied to a fourth device, comprising a receiving module and a transmitting module, wherein:

[0060] The receiving module is used to receive a first excitation signal sent by the second device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information, and the second excitation signal is a signal sent by the first device;

[0061] The sending module is used to send second information to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

[0062] Ninthly, embodiments of this disclosure provide a first device, including a memory, a transceiver, and a processor:

[0063] The memory is used to store computer programs;

[0064] The transceiver is used to send and receive data under the control of the processor;

[0065] The processor is configured to read the computer program from the memory and perform the following operations:

[0066] Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device;

[0067] The second information is sent to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

[0068] In a tenth aspect, embodiments of this disclosure provide a second device, including a memory, a transceiver, and a processor:

[0069] The memory is used to store computer programs;

[0070] The transceiver is used to send and receive data under the control of the processor;

[0071] The processor is configured to read the computer program from the memory and perform the following operations:

[0072] Receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information;

[0073] A first excitation signal is sent to the first device or the fourth device, wherein the first excitation signal is determined based on the second excitation signal and the first information.

[0074] Eleventhly, embodiments of this disclosure provide a third device, including a memory, a transceiver, and a processor:

[0075] The memory is used to store computer programs;

[0076] The transceiver is used to send and receive data under the control of the processor;

[0077] The processor is configured to read the computer program from the memory and perform the following operations:

[0078] Receive second information sent by the first device or the fourth device;

[0079] Based on the second information, the second device is located.

[0080] In a twelfth aspect, embodiments of this disclosure provide a fourth device, including a memory, a transceiver, and a processor:

[0081] The memory is used to store computer programs;

[0082] The transceiver is used to send and receive data under the control of the processor;

[0083] The processor is configured to read the computer program from the memory and perform the following operations:

[0084] Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device;

[0085] The second information is sent to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

[0086] In a thirteenth aspect, this disclosure provides a processor-readable storage medium storing a computer program configured to cause a processor to perform the method described in the first aspect, or the method described in the second aspect, or the method described in the third aspect, or the method described in the fourth aspect.

[0087] This disclosure provides a positioning method, apparatus, device, and storage medium. A first device can receive a first excitation signal sent by a second device, wherein the first excitation signal can be determined by the second device based on a second excitation signal and first information. The second excitation signal is a signal sent by the first device. The first device can send second information to a third device, wherein the second information is determined based on the first excitation signal and is used by the third device to locate the second device. In the above method, since the second device can backscatter or reflect the second information, the third device can accurately locate the second device based on the second information. Furthermore, in scenarios with high-density device deployment, the second information can also be used to distinguish different second devices, thus improving the positioning accuracy of the second device.

[0088] It should be understood that the description in the foregoing summary section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0089] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0090] Figure 1A is a schematic diagram of a communication architecture provided in an embodiment of this disclosure;

[0091] Figure 1B is a schematic diagram of another communication architecture provided in an embodiment of this disclosure;

[0092] Figure 2 is a schematic diagram of an application scenario provided by an embodiment of this disclosure;

[0093] Figure 3 is a schematic diagram of another application scenario provided by the embodiments of this disclosure;

[0094] Figure 4 is a schematic diagram of a positioning method provided in an embodiment of this disclosure;

[0095] Figure 5 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0096] Figure 6 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0097] Figure 7 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0098] Figure 8 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0099] Figure 9 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0100] Figure 10 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0101] Figure 11 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0102] Figure 12 is a schematic diagram of another positioning method provided in an embodiment of this disclosure;

[0103] Figure 13 is a schematic diagram of a positioning device provided in an embodiment of this disclosure;

[0104] Figure 14 is a schematic diagram of another positioning device provided in an embodiment of this disclosure;

[0105] Figure 15 is a schematic diagram of another positioning device provided in an embodiment of this disclosure;

[0106] Figure 16 is a schematic diagram of another positioning device provided in an embodiment of this disclosure;

[0107] Figure 17 is a schematic diagram of the structure of a first device provided in an embodiment of this disclosure;

[0108] Figure 18 is a schematic diagram of the structure of a second device provided in an embodiment of this disclosure;

[0109] Figure 19 is a schematic diagram of the structure of a third device provided in an embodiment of this disclosure;

[0110] Figure 20 is a schematic diagram of the structure of a fourth device provided in an embodiment of this disclosure. Detailed Implementation

[0111] In this disclosure, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0112] In this disclosure, the term "multiple" refers to two or more, and other quantifiers are similar.

[0113] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0114] This disclosure provides a positioning method, apparatus, device, and storage medium. A third device can determine the position of the second device by using the reference signal received power (RSRP) and / or reference signal received path power (RSRPP) of the backscattered or reflected signal of the second device, thereby improving the positioning accuracy of the second device.

[0115] The method and apparatus are based on the same concept. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0116] The technical solutions provided in this disclosure can be applied to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems and their evolved communication systems, and 6G (sixth generation mobile communication technology) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as the Evolved Packet Core (EPC) or the 5G Core Network (5GC).

[0117] The terminal devices involved in the embodiments of this disclosure can be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of the terminal devices may differ in different systems; for example, in 5G or 6G systems, the terminal device may be called User Equipment (UE). Wireless terminal devices can be USB storage devices, other personal computer memory devices, and dongles. They can also communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices. For example, they can be portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) telephones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), personal computers, tablets, and Machine-type Communication (MTC) terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile devices, remote stations, access points, remote terminals, access terminals, user terminals, user agents, user devices, and wireless access devices and routers / modems that meet the limitations of this definition, but are not limited to these in the embodiments of this disclosure.

[0118] The network device involved in this disclosure can be a base station, which may include multiple cells providing services to terminals. Depending on the application, the base station may also be called an access point, or a device in the access network that communicates with wireless terminal devices through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in this disclosure can be an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in this disclosure. In some network architectures, network devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0119] The architecture of the communication system provided in this disclosure can include a single-machine sensing scenario and a multi-base sensing scenario. In the single-base sensing scenario, the device transmitting the second excitation signal (an excitation signal not modulated by source information) and the device receiving the first excitation signal (an excitation signal modulated by source information) can be the same device. In the multi-base sensing scenario, the device transmitting the second excitation signal and the device receiving the first excitation signal can be different devices.

[0120] The communication architecture of the embodiments of this disclosure will now be described with reference to Figures 1A and 1B.

[0121] Figure 1A is a schematic diagram of a communication architecture provided by an embodiment of this disclosure. Referring to Figure 1A, it includes: a first device, a second device, and a third device. The first device can communicate with both the second and third devices, and the third device can also communicate with the second device. The first device can be a terminal device or a network device, the second device can be a device to be located, and the third device can include a Location Management Function (LMF). The LMF can be a network element that provides various location services to the user, or it can be a network element that is not yet defined and performs the location management function.

[0122] The communication architecture shown in Figure 1A is a communication architecture for a single-base scenario.

[0123] Figure 1B is a schematic diagram of another communication architecture provided by an embodiment of this disclosure. Referring to Figure 1B, it includes: a first device, a second device, a third device, and a fourth device. The third device can communicate with the first device, the second device, and the fourth device, and the second device can also communicate with the first device and the fourth device. The fourth device can be a terminal device or a network device.

[0124] The communication architecture shown in Figure 1B is the communication architecture for a dual-base scenario.

[0125] It should be noted that Figures 1A and 1B are examples of the communication architecture of embodiments of this disclosure, and are not intended to limit the communication architecture of embodiments of this disclosure. In the embodiments shown in Figures 1A and 1B, the first device can be one or more, the second device can be one or more, and the fourth device can also be one or more; this disclosure does not limit the number of devices.

[0126] The application scenarios in the single-base scenario of this disclosure will be described below with reference to Figures 2 and 3.

[0127] Figure 2 is a schematic diagram of an application scenario provided by an embodiment of this disclosure. Referring to Figure 2, it includes: a vehicle, a base station, and a location management function. The base station can send a second excitation signal to the vehicle, and the vehicle can reflect a first excitation signal back to the base station. The base station can determine RSRP and / or RSRPP based on the first excitation signal and send RSRP and / or RSRPP to the location management function. The location management function can determine the vehicle's location based on RSRP and / or RSRPP and send the vehicle's location to the base station.

[0128] In the embodiment shown in Figure 2, the base station can also be a terminal device, other network devices, etc., and the location management function can also send the vehicle's location to other devices. This embodiment of the present disclosure does not limit this.

[0129] Figure 3 is a schematic diagram of another application scenario provided by an embodiment of this disclosure. Referring to Figure 3, it includes: base station 1, base station 2, a vehicle, and a location management function. Base station 1 can send a second excitation signal to the vehicle, and the vehicle can reflect a first excitation signal back to base station 2. Base station 2 can determine RSRP and / or RSRPP based on the first excitation signal and send RSRP and / or RSRPP to the location management function. The location management function can determine the vehicle's location based on RSRP and / or RSRPP and send the vehicle's location to base station 2.

[0130] In the embodiment shown in Figure 3, base station 1 and base station 2 can also be terminal devices, other network devices, etc., and the location management function can also send the vehicle's location to base station 1 and other devices. This embodiment of the present disclosure does not limit this.

[0131] Among related technologies, A-IoT is a new Internet of Things (IoT) communication technology based on cellular networks. A-IoT can be applied in various scenarios such as smart cities and smart homes. Since A-IoT can connect multiple devices, the positioning of these devices is particularly important. For example, in autonomous driving scenarios, vehicle positioning is required. Currently, low-complexity tag identification and positioning can be achieved based on barcodes or Radio Frequency Identification (RFID) technologies. However, the positioning distance of barcodes and RFID is limited, and interference exists in scenarios with high-density device deployment, resulting in low accuracy in device positioning. Network devices can be positioned based on the positioning reference signal (PRS) of the wireless communication system itself; however, in scenarios where external network signals are not received, network devices cannot accurately position themselves.

[0132] To address the technical problems in related technologies, this disclosure provides a positioning method in which a first device can send a second excitation signal that is not modulated by source information to a second device, the second device can determine first information, and determine a first excitation signal based on the first information and the first excitation signal, and send the first excitation signal to the first device, the first device can determine second information based on the first excitation signal, and send the second information to a third device, and the third device can locate the second device based on the second information.

[0133] In the above method, since the second device can modulate the first information into the second excitation signal to obtain the first excitation signal and reflect the first excitation signal back to the first device, the second device can reduce the power consumption of the device, which is a device without a battery or energy storage capacity. Furthermore, the first device can determine RSRP and / or RSRPP based on the first excitation signal, and the third device can accurately determine the location of the second device based on the RSRP and / or RSRPP sent by the first device, thereby improving the positioning accuracy of the second device.

[0134] The positioning method provided in this disclosure will be described below with reference to specific embodiments.

[0135] Figure 4 is a schematic diagram of a positioning method provided in an embodiment of this disclosure. Applied to a first device, as shown in Figure 4, the positioning method includes:

[0136] S401, Receive the first excitation signal sent by the second device.

[0137] The first device can be a terminal device or a network device, and this embodiment does not limit it.

[0138] The second device can be the device to be located. For example, if the location is being determined for a smart home device, the second device can be the smart home device; if the location is being determined for a vehicle, the second device can be the vehicle.

[0139] The first excitation signal can be determined by the second device based on the second excitation signal and the first information. The second excitation signal can be an excitation signal that is not modulated by source information. For example, the second excitation signal can be a signal sent by the first device that does not carry source information and can charge and activate the second device. Alternatively, the second excitation signal can also be an excitation signal sent by a proprietary excitation source.

[0140] In some embodiments, the second excitation signal can be any feasible excitation signal, and this disclosure does not limit it.

[0141] The first information may include power information and / or a positioning reference signal (PRS). For example, the first information may include power information, or it may include the PRS, or it may include both power information and the PRS.

[0142] The power information may include RSRP and / or RSRPP. For example, the power information may be RSRP, or it may be RSRPP, or it may include both RSRP and RSRPP.

[0143] PRS can be used for location services. For example, PRS can be used for mobile phone location services and in-vehicle navigation.

[0144] In some embodiments, the first information may further include any positioning-related signal. For example, if the first information includes a PRS or RSRP, the first information may further include a Channel State Indication Reference Signal (CSI-RS), wherein the CSI-RS can assist the PRS or RSRP in positioning and improve positioning accuracy.

[0145] S402, Send the second information to the third device.

[0146] The second information is determined based on the first excitation signal. This second information can be used by a third device to locate the second device. For example, the second information may include power information. For example, the second information may include RSRP and / or RSRPP. For example, the third device may be LMF, and the third device can locate the second device based on RSRP and / or RSRPP.

[0147] In some embodiments, when the first information includes power information, the second information includes power information obtained by demodulating the first excitation signal. For example, the first device can demodulate the first excitation information to obtain RSRP and / or RSRPP. For example, when the first information includes power information, the second device can modulate the power information onto the second excitation signal to obtain the first excitation signal, and the first device can demodulate the first excitation signal to obtain the power information in the first excitation signal.

[0148] In some embodiments, when the first information includes PRS, the second information includes power information obtained by measuring the first excitation signal. For example, the first device can measure the PRS in the first excitation information to obtain RSRP and / or RSRPP. For example, when the first information includes PRS, the second device can modulate the PRS onto the second excitation signal to obtain the first excitation signal. The first device can determine the PRS based on the first excitation signal and measure the power of the PRS to obtain power information.

[0149] In some embodiments, when the first information includes power information and PRS, the first device determines the second information based on the power information and / or PRS. For example, if the first information includes power information and PRS, the second device can modulate the power information and PRS into a second excitation signal to obtain a first excitation signal. The first device can demodulate the first excitation signal to obtain power information and determine this power information as the second information. For example, if the first information includes power information and PRS, the first excitation signal can include power information and PRS. The first device can demodulate the first excitation signal to obtain PRS, measure the PRS to obtain power information of the PRS, and determine the power information of the PRS as the second information. For example, if the first information includes power information 1 (power information obtained by the second device from measuring the second excitation signal) and PRS, then the first excitation signal may include power information 1 and PRS. The first device can demodulate the first excitation signal to obtain power information 1 and PRS, and measure the power of PRS to obtain power information 2. The first device can determine the second information based on power information 1 and power information 2 (e.g., determine the average value of power information 1 and power information 2 as the second information).

[0150] After determining the second information, the first device can send the second information to the third device. Since the second information is determined based on the first excitation signal reflected by the second device, the third device can accurately determine the position of the second device based on the second information, thereby improving the positioning accuracy of the second device.

[0151] This disclosure provides a positioning method in which a first device receives a first excitation signal sent by a second device and sends second information to a third device. Since the second information is determined based on the first excitation signal, the third device can accurately locate the second device based on the second information corresponding to the first excitation signal reflected by the second device. Furthermore, in scenarios with high-density device deployment, the second information can also be used to distinguish different second devices, improving positioning accuracy. Additionally, the second device can be a device without batteries or energy storage capabilities, reducing device power consumption.

[0152] Based on any of the above embodiments, the communication architecture includes a single-base scenario communication architecture. The positioning method of the single-base scenario communication architecture will be described below with reference to Figure 5.

[0153] Figure 5 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 5, the communication architecture is a single-base scenario communication architecture. Referring to Figure 5, the method flow includes:

[0154] S501, The first device sends a second excitation signal to the second device.

[0155] The second excitation signal is an excitation signal that has not been modulated by source information. For example, the second excitation signal does not include source information. The first device can configure the second excitation signal and send the second excitation signal to the second device.

[0156] In some embodiments, the second excitation signal can be a carrier excitation signal. For example, the second excitation signal can be a single-carrier excitation signal, which can reduce interference and improve positioning accuracy.

[0157] In some embodiments, the second excitation signal is sent according to a measurement time window, which is determined based on configuration information of the excitation signal, and the configuration information of the excitation signal is sent by a third device. For example, the first device may receive the configuration information of the excitation signal sent by the third device, determine the measurement time window according to the configuration information of the excitation signal, and send the second excitation signal to the second device within the measurement time window.

[0158] In some embodiments, the configuration information of the excitation signal can also be used to indicate a second excitation signal. For example, the configuration information of the excitation signal can indicate the signal type (e.g., sinusoidal signal and pulse signal) and signal parameters (e.g., frequency, amplitude, and phase) of the second excitation signal.

[0159] In some embodiments, the first device may send a second excitation signal according to a measurement time window. For example, a third device may configure a measurement time window, and at least one first device may send the second excitation signal to the second device within the measurement time window. For example, the first device may determine the second excitation signal based on preset configuration information, and send the second excitation signal based on the configuration information of the excitation signal sent by the third device. For example, the third device may send the configuration information of the excitation signal to at least one first device, and at least one first device may determine a measurement time window based on the configuration information of the excitation signal. At least one first device may send the second excitation signal to the second device at multiple times within the measurement time window (which may be multiple times determined at equal intervals, multiple times determined randomly, or multiple times indicated by the configuration information of the excitation signal; this embodiment of the present disclosure does not limit this).

[0160] In some embodiments, the start time of the measurement time window can be based on one or more of the subframe number, slot offset, and symbol index indication. For example, a radio frame of a communication system includes 10 subframes, numbered from 0 to 9. If the subframe number corresponding to the measurement time window is 3, then the start time of the measurement time window is located in subframe number 3. For example, a subframe may include 10 slots. If the slot offset corresponding to the measurement time window is 4, then the start time of the measurement time window is located in the 4th slot of the current subframe. For example, a slot may include 10 symbols. If the symbol index corresponding to the measurement time window is 2, then the start time of the measurement time window is located in the symbol with index 2 in the current slot. For example, if the subframe number is 3, the slot offset is 4, and the symbol index is 2, then the start time of the measurement time window is located in the 4th slot of the 3rd subframe of the radio frame, and the start time is located in the symbol with index 2 in that slot.

[0161] In some embodiments, the duration of the measurement time window can be indicated by multiple consecutive time slots and / or symbols. For example, the duration of the measurement time window can be three consecutive time slots. For example, the duration of the measurement time window can be {1, 2, 4, 6, 8, 12, 16} slots. For example, the duration of the measurement time window can be five consecutive symbols. For example, the duration of the measurement time window can be two consecutive time slots plus three consecutive symbols.

[0162] S502, the second device sends a first excitation signal to the first device.

[0163] The second device may send a first excitation signal to the first device in the following feasible manner: determine first information, determine the first excitation signal based on the first information and the second excitation signal, and send the first excitation signal to the first device.

[0164] In some embodiments, where the first information includes power information, the first information is information obtained by measuring the power of the second excitation signal. For example, after receiving the second excitation signal sent by the first device, the second device can measure the power of the second excitation signal to obtain RSRP and / or RSRPP, and determine RSRP and / or RSRPP as the first information. For example, the second device can measure the average received power of the second excitation signal to obtain RSRP and / or RSRPP.

[0165] In some embodiments, where the first information includes power information, the first information may further include indication information, wherein the indication information may include at least one of the following:

[0166] Location mode;

[0167] The identification of the first device;

[0168] Location information of the first device;

[0169] Confidence level of the first piece of information.

[0170] The positioning mode can be either a single-base mode or a multi-base mode. For example, the first information may include information indicating the positioning mode. For instance, if the information indicating the positioning mode is 0, it means the positioning mode is a single-base mode; if the information indicating the positioning mode is 1, it means the positioning mode is a multi-base mode.

[0171] In the embodiment shown in Figure 5, both the device receiving the first excitation signal and the device sending the second excitation signal are the first devices.

[0172] The confidence level of the first information is used to indicate its accuracy. For example, the confidence level of the first information can be the confidence level of measuring the power of the second excitation signal. For example, if the confidence level can be A (an integer greater than 0), then the interval of the first information is {-A, A}, with a step size of 0.1 and a unit of dBm.

[0173] In some embodiments, when the first information includes a PRS, the first information is information determined based on the configuration information of the PRS, which is information sent by the third device. For example, the second device can receive the configuration information of the PRS sent by the third device, determine the PRS based on the configuration information, and determine the first information based on the PRS. For example, the third device can pre-configure the configuration information of the PRS, which is used to indicate the configuration of the PRS (e.g., indicating the signal type and format of the PRS, the power and bandwidth of the PRS, and the transmission time information of the PRS, etc.). The third device can pre-send the configuration information of the PRS to the second device, so that after receiving the second excitation signal, the second device can determine the first information based on the configuration information of the PRS.

[0174] In some embodiments, where the first information includes a PRS, the first information is information determined based on a pre-configured PRS. For example, the second device may pre-configure the PRS in a cache based on a protocol, and this PRS cannot be changed during its lifetime. In this way, after receiving the second excitation signal, the second device can determine the pre-configured PRS as the first information without reconfiguring the PRS, thus improving the efficiency of determining the first information.

[0175] In some embodiments, the second device can modulate the first information onto the second excitation signal to obtain the first excitation signal. For example, if the first information includes RSRP and / or RSRPP and indication information, the second device can modulate RSRP and / or RSRPP and indication information onto the second excitation signal (the second excitation signal does not include source information) to obtain the first excitation signal, which includes RSRP and / or RSRPP and indication information. For example, if the first information includes PRS, the second device can modulate the PRS onto the second excitation signal to obtain the first excitation signal, which may include PRS.

[0176] After determining the first excitation signal, the second device can send the first excitation signal to the first device. For example, the first excitation signal can be a pilot signal, and if the first excitation signal includes power information, it can also include a fixed pilot signal to distinguish the power information in the first excitation signal.

[0177] In some embodiments, the second device may send a first excitation signal to the first device based on back reflection and / or scattering.

[0178] S503. The first device determines the second information based on the first excitation signal.

[0179] In some embodiments, where the first information includes power information, the second information includes power information obtained by demodulating the first excitation signal. For example, the first excitation signal may include RSRP and / or RSRPP, and indication information. The first device may demodulate the first excitation signal to obtain RSRP and / or RSRPP, and indication information. The first device may determine RSRP and / or RSRPP, and indication information, as the second information.

[0180] In some embodiments, where the first information includes PRS, the second information includes power information obtained by measuring the first excitation signal. For example, the first device may measure the PRS in the first excitation information to obtain RSRP and / or RSRPP, as well as indication information, and determine RSRP and / or RSRPP, as well as the indication information, as the second information.

[0181] In some embodiments, when the first information includes power information and PRS, the first device determines the second information based on the power information and / or PRS. For example, the first device may demodulate the power information in the first excitation signal to obtain the second information, or it may measure the power of the PRS in the first excitation signal to obtain the second information, or it may determine the second information based on the power information in the first excitation signal and the power information obtained by measuring the PRS.

[0182] In some embodiments, when the first information includes PRS, the first device needs to determine the PRS in the first excitation signal before measuring the PRS. Therefore, before the first device sends the second information to the third device, the above positioning method further includes: receiving configuration information of the PRS sent by the third device, determining the PRS in the first excitation signal according to the configuration information of the PRS, measuring the power of the PRS in the first excitation signal, and obtaining the second information, wherein the second information includes power information obtained by measuring the power of the PRS.

[0183] When the first information includes PRS, the third device can send the configuration information of PRS to the second device. The second device configures the PRS based on the configuration information of PRS. Furthermore, the third device can send the configuration information of PRS to the first device. The first device can determine the PRS to be measured based on the configuration information of PRS. In this way, the first device and the second device can synchronize the information of PRS, thereby improving the accuracy of PRS measurement.

[0184] In some embodiments, if the first information includes a PRS pre-set by the second device, the first device can determine the PRS based on any feasible implementation method (e.g., based on a PRS agreed upon in the protocol), and this disclosure does not limit this.

[0185] In some embodiments, the second information may further include indication information, which may include at least one of the following:

[0186] Location mode;

[0187] The identification of the first device;

[0188] Location information of the first device;

[0189] The confidence level of the second piece of information.

[0190] The confidence level of the second information can be used to indicate the accuracy of the second information. For example, if the first information includes power information, the confidence level of the second information can be the confidence level of measuring the power of the first excitation signal. For example, if the first information includes PRS, the confidence level of the second information can be the confidence level of measuring the power of the PRS.

[0191] S504, The first device sends the second information to the third device.

[0192] In some embodiments, since the second information includes power information and indication information of the power information, the first device can send the second information alone or in combination with other information. For example, the second information may include RSRP and / or RSRPP obtained by measuring the second excitation signal, and indication information, or RSRP and / or RSRPP obtained by measuring PRS, and indication information. Therefore, the first device can send RSRP and / or RSRPP and indication information to the third device independently, or it can send RSRP and / or RSRPP and indication information in combination with other measured values ​​(such as angle measurement information, transmit / receive time difference, carrier phase and velocity, etc.) to the third device.

[0193] In some embodiments, the first device may periodically send second information to the third device. For example, the first device may measure RSRP and / or RSRPP and indication information at equal intervals within a period specified by the third device (e.g., the third device may pre-send a period allocated to the first device), and send RSRP and / or RSRPP and indication information to the third device.

[0194] In some embodiments, the first device may send the second information to the third device non-periodically. For example, the first device may measure RSRP and / or RSRPP and indication information at equal intervals within a time period specified by the third device (e.g., the third device may send a specified time period to the first device in advance), and send RSRP and / or RSRPP and indication information to the third device.

[0195] S505. The third device locates the second device based on the second information.

[0196] In some embodiments, the third device may receive second information sent by one first device, or it may receive second information sent by multiple first devices. For example, the third device may receive a set of second information sent by one first device, or it may receive multiple sets of second information measured by one first device at different times, or it may receive second information sent by multiple first devices, wherein the second information is information determined based on a first excitation signal reflected by the same second device.

[0197] For example, first device 1 sends a second excitation signal A to second device, first device 2 sends a second excitation signal B to second device, first device 1 can receive a first excitation signal C sent by second device, first device 2 can receive a first excitation signal D sent by second device, first device 1 can determine second information E based on first excitation signal C and send second information E to third device, first device 2 can determine second information F based on first excitation signal D and send second information F to third device. In this way, third device can accurately determine the position of second device based on second information E and second information F.

[0198] In some embodiments, the third device can locate one of the second devices based on the second information corresponding to different second devices. For example, the third device can obtain the second information corresponding to second device 1 and the second information corresponding to second device 2, wherein the location of second device 2 is a known location. In this way, the third device can determine the location of second device 1 based on the location of second device 2, the second information corresponding to second device 2, and the second information corresponding to second device 1.

[0199] In some embodiments, after the third device determines the second information, it can locate the second device based on any feasible implementation method (e.g., fingerprint-based location method, etc.), which is not limited in this disclosure.

[0200] In some embodiments, after receiving multiple pieces of second information, the third device can perform weighted processing on the multiple pieces of second information based on their confidence levels, and determine the location of the second device according to the result of the weighted processing. For example, the third device can receive second information 1 and second information 2, where the confidence level of second information 1 is 0.7 and the confidence level of second information 2 is 0.3. The third device can then determine the weight of second information 1 as 0.7 and the weight of second information 2 as 0.3, and perform weighted processing on second information 1 and second information 2 based on these weights to obtain second information 3. The third device can determine the location of the second device according to second information 3. For example, the third device receives RSRP1 as power A and RSRP2 as power B, where the confidence level of RSRP1 is confidence level a and the confidence level of RSRP2 is confidence level b. The third device can perform weighted processing on power A and power B to obtain power C (RSRP3), and determine the location of the second device according to power C.

[0201] In some embodiments, the third device may also determine the weight corresponding to the second information based on the timestamp used to determine the second information. For example, the first excitation signal includes PRS. The first device measures the PRS at time A to obtain RSRP1 and measures the PRS at time B to obtain RSRP2. If time A is earlier than time B, the weight of RSRP1 is less than the weight of RSRP2. In this way, the accuracy of the weighted RSRP is higher (the proportion of new data is higher), thereby improving the accuracy of positioning.

[0202] This disclosure provides a positioning method in which a first device sends a second excitation signal to a second device, the second device sends a first excitation signal to the first device, the first device determines second information based on the first excitation signal, the first device sends the second information to a third device, and the third device locates the second device based on the second information. Thus, since the second device can modulate the first information onto the second excitation signal, the second device can be a battery-free, energy-free device, reducing the power consumption of the communication system. Furthermore, the third device can determine the location of the second device based on the second information corresponding to the first excitation signal reflected by the second device, thereby improving the positioning accuracy of the second device.

[0203] Based on the embodiment shown in Figure 5, the first information may include power information. The positioning method for the first information including power information will be described below with reference to Figure 6.

[0204] Figure 6 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 6, the first information includes power information. Referring to Figure 6, the method flow includes:

[0205] S601, Configuration information for the third device to send excitation signals to the first device.

[0206] The configuration information of the excitation signal is used to indicate the measurement time window, and the first device sends the second excitation signal according to the measurement time window.

[0207] S602. The first device sends a second excitation signal to the second device according to the configuration information of the excitation signal.

[0208] The first device can send a second excitation signal to the second device within the measurement time window indicated by the configuration information of the excitation signal.

[0209] S603, The second device measures the power of the second excitation signal to obtain RSRP and / or RSRPP, as well as indication information.

[0210] In some embodiments, when the second device measures RSRP and / or RSRPP, indication information corresponding to RSRP and / or RSRPP can also be obtained, which will not be described in detail here.

[0211] S604, the second device modulates RSRP and / or RSRPP, as well as indication information, onto the second excitation signal to obtain the first excitation signal.

[0212] S605, The second device sends a first excitation signal to the first device.

[0213] S606. The first device determines RSRP and / or RSRPP, as well as indication information, based on the first excitation signal.

[0214] In a single-carrier, single-base communication system, the first device can acquire RSRP and / or RSRPP, as well as indication information, based on the following feasible implementation methods:

[0215] For a single-carrier system, the second excitation signal transmitted by the first device can be expressed as:

[0216] Among them, A in f is the amplitude of the second excitation signal. c For carrier frequency, φ in Given the initial phase deviation, for a single-path channel, the signal of the second excitation signal arriving at the second device can be expressed as:

[0217] Where h1 is the attenuation caused by the channel, τ1 is the time delay of the second excitation signal from the transmitting antenna of the first device to the receiving antenna of the second device via wireless transmission, and w1 is the thermal noise of the second device.

[0218] The amplitude adjustment of the second device is:

[0219] φ scatter A is caused by a phase change due to the second device or a certain non-ideal phase caused by the transmitting circuit in the second device. out This is the amplitude value modulated by the second device.

[0220] The first excitation signal received by the first device can be expressed as:

[0221] w2 is the sum of the thermal noise of the first device and the noise of w1.

[0222] The local signal can be:

[0223] L represents the local signal, A LThe local signal amplitude, φ L Phase deviation caused by clock skew.

[0224] Down-conversion (channel response) can be:

[0225] The signal amplitude value returned to the first device after being scattered / reflected by the second device after reaching the first device is the first-path RSRPP measurement value of the second device in the single-base case.

[0226] If there is multipath propagation during the process of the first device reaching the second device and then returning to the first device after being scattered / reflected by the second device, then the down-converted signal can be approximated as:

[0227] Among them, h i For the channel response of the i-th multipath, The random phase caused by multipath scattering N represents the total number of multipaths.

[0228] If multipath can be distinguished, then RSRPP can be defined as:

[0229] In a single-carrier, single-base backscatter / reflection system, the measured value of RSRP can be the average amplitude of the channel response amplitude of the PRS (or second excitation signal) used for RSRP measurement, modulated by a second device. The measured value of RSRPP is the average amplitude of the i-th path of the channel response amplitude of the PRS (or second excitation signal) used for RSRP measurement, modulated by a second device.

[0230] The amplitude value of the first excitation signal modulated by the second device can indicate the distance the second excitation signal travels from the first device to the second device and back to the first device after being scattered / reflected by the second device. This amplitude value can reflect the amplitude value of the channel response received by the first device.

[0231] S607, The first device sends RSRP and / or RSRPP, as well as indication information, to the third device.

[0232] In some embodiments, the first device may send RSRP and / or RSRPP and indication information alone, or it may send RSRP and / or RSRPP and indication information in combination with other measurement values. It may also send RSRP and / or RSRPP and indication information within a time period or cycle indicated by the third device. This disclosure does not limit the scope of the embodiments.

[0233] S608, the third device determines the location of the second device based on RSRP and / or RSRPP, as well as the instruction information.

[0234] The third device can determine the location information of the second device based on the RSRP and / or RSRPP measurement values ​​and indication information received from at least one first device and the RSRP and / or RSRPP measurement values ​​and indication information of a reference device (the second device at a known location). For example, the RSRP and / or RSRPP measurement values ​​and indication information may include RSRP and / or RSRPP measurement values ​​and indication information fed back by different first devices at different times within the same measurement time window.

[0235] This disclosure provides a positioning method in which a third device sends configuration information of an excitation signal to a first device. The first device, based on the configuration information, sends a second excitation signal to a second device. The second device measures the power of the second excitation signal to obtain RSRP and / or RSRPP, and indication information. The second device modulates RSRP and / or RSRPP, and the indication information onto the second excitation signal to obtain a first excitation signal. The second device sends the first excitation signal to the first device. The first device determines RSRP and / or RSRPP, and the indication information based on the first excitation signal. The first device then sends RSRP and / or RSRPP, and the indication information to the third device. The third device determines the location of the second device based on RSRP and / or RSRPP, and the indication information. Thus, since the second device can modulate the first information onto the second excitation signal, the second device can be a battery-less, energy-storage-less device, reducing the power consumption of the communication system. Furthermore, the third device can determine the location of the second device based on the RSRP and / or RSRPP of the second excitation signal measured by the second device, thereby improving the positioning accuracy of the second device.

[0236] Based on the embodiment shown in Figure 5, the first information may include PRS. The positioning method of the first information including PRS will be described below with reference to Figures 7 and 8.

[0237] Figure 7 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 7, the first information includes the PRS determined based on the configuration information of the PRS. Referring to Figure 7, the method flow includes:

[0238] S701, Configuration information for the third device to send excitation signals to the first device.

[0239] The configuration information of the excitation signal is used to indicate the measurement time window, and the first device sends the second excitation signal according to the measurement time window.

[0240] S702, the third device sends the PRS configuration information to the first and second devices.

[0241] The configuration information of the PRS is used to determine the PRS.

[0242] It should be noted that the execution order of steps S701 and S702 is not limited in this embodiment.

[0243] S703. The first device sends a second excitation signal to the second device according to the configuration information of the excitation signal.

[0244] S704. The second device determines the PRS based on the PRS configuration information.

[0245] S705, The second device modulates the PRS onto the second excitation signal to obtain the first excitation signal.

[0246] S706, The second device sends a first excitation signal to the first device.

[0247] S707. The first device measures the power of the PRS in the first excitation signal according to the configuration information of the PRS, and obtains RSRP and / or RSRPP, as well as indication information.

[0248] S708, the first device sends RSRP and / or RSRPP, as well as indication information, to the third device.

[0249] S709. The third device determines the location of the second device based on RSRP and / or RSRPP, as well as the instruction information.

[0250] This disclosure provides a positioning method in which a third device sends configuration information of an excitation signal to a first device, and configuration information of a PRS (Pressure Signal Reflection) to both the first and second devices. The first device sends a second excitation signal to the second device based on the configuration information of the excitation signal. The second device determines the PRS based on the configuration information of the PRS, modulates the PRS onto the second excitation signal to obtain a first excitation signal, and sends the first excitation signal to the first device. The first device measures the power of the PRS in the first excitation signal according to the configuration information of the PRS, obtaining RSRP and / or RSRPP, and indication information, and sends RSRP and / or RSRPP, along with the indication information, to the third device. The third device determines the position of the second device based on RSRP and / or RSRPP, and the indication information. Thus, the third device can accurately determine the position of the second device based on the RSRP and / or RSRPP corresponding to the PRS in the first excitation signal reflected by the second device, improving the accuracy of positioning the second device.

[0251] Figure 8 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 8, the first information includes a pre-configured PRS. Referring to Figure 8, the method flow includes:

[0252] S801, Configuration information for the third device to send excitation signals to the first device.

[0253] The configuration information of the excitation signal is used to indicate the measurement time window, and the first device sends the second excitation signal according to the measurement time window.

[0254] S802. The first device sends a second excitation signal to the second device according to the configuration information of the excitation signal.

[0255] S803, the second device modulates the pre-configured PRS onto the second excitation signal to obtain the first excitation signal.

[0256] The pre-configured PRS cannot be changed during its lifecycle.

[0257] S804, the second device sends a first excitation signal to the first device.

[0258] S805, the first device measures the power of the pre-configured PRS in the first excitation signal to obtain RSRP and / or RSRPP, as well as indication information.

[0259] S806, the first device sends RSRP and / or RSRPP, as well as indication information, to the third device.

[0260] S807, the third device determines the location of the second device based on RSRP and / or RSRPP, as well as the instruction information.

[0261] This disclosure provides a positioning method in which a third device sends configuration information of an excitation signal to a first device. The first device, based on the configuration information, sends a second excitation signal to a second device. The second device modulates a pre-configured PRS onto the second excitation signal to obtain a first excitation signal, and sends the first excitation signal back to the first device. The first device measures the power of the pre-configured PRS in the first excitation signal to obtain RSRP and / or RSRPP, as well as indication information, and sends RSRP and / or RSRPP, along with the indication information, to the third device. The third device determines the position of the second device based on RSRP and / or RSRPP and the indication information. Thus, the third device can accurately determine the position of the second device based on the RSRP and / or RSRPP corresponding to the PRS in the first excitation signal reflected by the second device. Furthermore, since the PRS is pre-configured, the efficiency and accuracy of positioning the second device can be improved.

[0262] Based on any of the above embodiments, the communication architecture includes a multi-base scenario communication architecture. The positioning method of the multi-base scenario communication architecture will be described below with reference to Figure 9.

[0263] Figure 9 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 9, the communication architecture is a multi-base scenario communication architecture. Referring to Figure 9, the method flow includes:

[0264] S901, the first device sends a second excitation signal to the second device.

[0265] The second excitation signal can be a signal sent by the first device. In some embodiments, the first device can determine a measurement time window based on the configuration information of the excitation signal sent by the third device, and send the second excitation signal to the second device within the measurement time window. The second excitation signal can be determined based on the configuration information of the excitation signal, or it can be a pre-set excitation signal; this disclosure does not limit this.

[0266] It should be noted that the method for the first device to obtain the configuration information of the excitation signal and the method for the first device to send the second excitation signal can refer to the methods in the above embodiments, and will not be described again in this disclosure.

[0267] In some embodiments, the first device may also be a proprietary excitation source, and in the case where the first device is a proprietary excitation source, the first device does not need to obtain the configuration information of the excitation signal through the third device.

[0268] S902, the second device sends the first excitation signal to the fourth device.

[0269] The second device may send a first excitation signal to the fourth device in the following feasible manner: determine first information, determine the first excitation signal based on the first information and the second excitation signal, and send the first excitation signal to the fourth device.

[0270] The first piece of information includes power information and / or PRS.

[0271] In some embodiments, when the first information includes power information, the second device can measure the power of the second excitation signal to obtain the first information.

[0272] The first information may further include indication information, wherein the indication information may include at least one of the following:

[0273] Location mode;

[0274] The identification of the fourth device;

[0275] Location information of the fourth device;

[0276] Confidence level of the first piece of information.

[0277] In the embodiment shown in Figure 9, the device that sends the second excitation signal is the first device, and the device that receives the first excitation signal is the fourth device.

[0278] In some embodiments, the indication information may further include the identifier of the first device and / or the location information of the first device, so that the third device can determine the identifier and location information of the transmitting end (the first device that transmits the second excitation signal).

[0279] In some embodiments, when the first information includes PRS, the second device may receive the configuration information of the PRS sent by the third device and determine the first information based on the configuration information of the PRS.

[0280] In some embodiments, where the first information includes a PRS, the second device may determine the first information based on a pre-configured PRS.

[0281] The second device can modulate the first information onto the second excitation signal to obtain the first excitation signal.

[0282] In some embodiments, the second device may send a first excitation signal to the fourth device based on back reflection and / or scattering.

[0283] S903, the fourth device determines the second information based on the first excitation signal.

[0284] In some embodiments, where the first information includes power information, the second information includes power information obtained by the fourth device demodulating the first excitation signal.

[0285] In some embodiments, where the first information includes PRS, the second information includes power information obtained by the fourth device measuring the first excitation signal. For example, the fourth device may measure the power of the PRS in the first excitation signal to obtain the second information.

[0286] In some embodiments, when the first information includes PRS, the fourth device needs to determine the PRS of the first excitation signal before measuring the PRS. Therefore, the fourth device can determine the second information based on the first excitation signal, which can be: receiving configuration information of PRS sent by the third device, determining the PRS in the first excitation signal based on the configuration information of PRS, measuring the power of the PRS in the first excitation signal, and obtaining the second information, wherein the second information includes power information obtained by measuring the power of the PRS.

[0287] When the first information includes PRS, the third device can send the configuration information of PRS to the second device, and the second device configures the PRS based on the configuration information of PRS. Furthermore, the third device can send the configuration information of PRS to the fourth device, and the fourth device can determine the PRS to be measured based on the configuration information of PRS. In this way, the second device and the fourth device can synchronize the PRS information, thereby improving the accuracy of PRS measurement.

[0288] In some embodiments, if the first information includes a PRS pre-set by the second device, the fourth device can determine the PRS based on any feasible implementation method (e.g., based on a PRS agreed upon in the protocol), and this disclosure does not limit this.

[0289] In some embodiments, the second information may further include indication information, which may include at least one of the following:

[0290] Location mode;

[0291] The identification of the fourth device;

[0292] Location information of the fourth device;

[0293] The confidence level of the second piece of information.

[0294] In some embodiments, the indication information may further include the identifier of the first device and / or the location information of the first device, so that the third device can determine the identifier and location information of the transmitting end (the first device that transmits the second excitation signal).

[0295] S904, the fourth device sends the second information to the third device.

[0296] In some embodiments, since the second information includes power information and indication information of the power information, the fourth device can send the second information alone or in conjunction with other devices. For example, the second information may include RSRP and / or RSRPP obtained from measuring the second excitation signal, and indication information, or RSRP and / or RSRPP obtained from measuring PRS, and indication information. Therefore, the fourth device can send RSRP and / or RSRPP, and indication information to the third device independently, or it can send RSRP and / or RSRPP, and indication information to the third device in conjunction with other measured values ​​(such as angle measurement information, transmit / receive time difference, carrier phase, and velocity, etc.).

[0297] In some embodiments, the fourth device may periodically send second information to the third device. For example, the fourth device may measure RSRP and / or RSRPP and indication information at equal intervals within a period specified by the third device (e.g., the third device may pre-send a period allocated to the fourth device), and send RSRP and / or RSRPP and indication information to the third device.

[0298] In some embodiments, the fourth device may send the second information to the third device non-periodically. For example, the fourth device may measure RSRP and / or RSRPP and indication information at equal intervals within a time period specified by the third device (e.g., the third device may send a specified time period to the fourth device in advance), and send RSRP and / or RSRPP and indication information to the third device.

[0299] S905. The third device locates the second device based on the second information.

[0300] In some embodiments, the third device may receive second information sent by at least one fourth device. For example, the third device may receive a set of second information sent by a fourth device, or the third device may receive multiple sets of second information measured by a fourth device at different times, or the third device may receive second information sent by multiple fourth devices, wherein the second information is information determined based on a first excitation signal reflected by the same second device.

[0301] In some embodiments, the second information received by the third device may also be the measured values ​​and indication information of RSRP / RSRPP fed back by different fourth devices after the second device modulates, scatters / reflects, and transmits a second excitation signal sent by the same first device at the same time. For example, after the first device sends a second excitation signal to the second device, the second device can determine a first excitation signal based on the second excitation signal and then reflect the second excitation signal to multiple fourth devices. The multiple fourth devices can determine multiple pieces of second information and send multiple pieces of second information to the third device.

[0302] This disclosure provides a positioning method in which a first device sends a second excitation signal to a second device, the second device sends a first excitation signal to a fourth device, the fourth device determines second information based on the first excitation signal, the fourth device sends the second information to a third device, and the third device locates the second device based on the second information. Thus, since the second device can modulate the first information onto the second excitation signal, the second device can be a battery-free, energy-free device, reducing the power consumption of the communication system. Furthermore, the third device can determine the location of the second device based on the second information corresponding to the first excitation signal reflected by the second device, thereby improving the positioning accuracy of the second device.

[0303] Based on the embodiment shown in Figure 9, the first information may include power information. The positioning method for the first information including power information will be described below with reference to Figure 10.

[0304] Figure 10 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 10, the first information includes power information. Referring to Figure 10, the method flow includes:

[0305] S1001, Configuration information for the third device to send excitation signals to the first device.

[0306] The configuration information of the excitation signal is used to indicate the measurement time window, and the first device sends the second excitation signal according to the measurement time window.

[0307] In some embodiments, when the first device is a proprietary excitation source, the first device does not need to receive configuration information of the excitation signal sent by the third device.

[0308] S1002. The first device sends a second excitation signal to the second device according to the configuration information of the excitation signal.

[0309] The first device can send a second excitation signal to the second device within the measurement time window indicated by the configuration information of the excitation signal.

[0310] S1003, The second device measures the power of the second excitation signal to obtain RSRP and / or RSRPP, as well as indication information.

[0311] S1004. The second device modulates RSRP and / or RSRPP, as well as the indication information, onto the second excitation signal to obtain the first excitation signal.

[0312] S1005, The second device sends the first excitation signal to the fourth device.

[0313] S1006. The fourth device determines RSRP and / or RSRPP, as well as indication information, based on the first excitation signal.

[0314] In a single-carrier, single-base communication system, the fourth device can acquire RSRP and / or RSRPP, as well as indication information, based on the following feasible implementation methods:

[0315] For a single-carrier system, the second excitation signal transmitted by the first device can be expressed as:

[0316] Among them, A in f is the amplitude of the second excitation signal. c For carrier frequency, φ inGiven the initial phase deviation, for a single-path channel, the second excitation signal arriving at the second device can be expressed as:

[0317] Where h1 is the attenuation caused by the channel from the first device to the second device, τ1 is the time delay of the second excitation signal from the transmitting antenna of the first device to the receiving antenna of the second device via wireless transmission, and w1 is the thermal noise of the second device.

[0318] Amplitude modulation of scattering / reflection devices:

[0319] φ scatter A is caused by a phase abrupt change due to scattering / reflection from the second device, or by a certain non-ideal phase caused by the transmitting circuit in the second device. out This is the amplitude value modulated by the second device.

[0320] The received signal from the transmitting antenna of the first device to the receiving antenna of the fourth device consists of two parts. The first part is the signal that reaches the receiving antenna of the fourth device directly without being scattered / reflected by the second device. Where h3 is the attenuation caused by the channel between the first and fourth devices, τ3 is the time delay of the signal from the transmitting antenna of the first device to the receiving antenna of the fourth device via wireless transmission; the second part is the signal after being scattered / reflected by the second device. Thus, the total received signal can be expressed as:

[0321] The signal attenuation from the second device to the fourth device is h2. The time delay from the first device to the second device after being scattered / reflected by the second device and returning to the fourth device is τ1+τ2. w2 is the sum of the thermal noise of the first device and the noise of w1. w3 is the thermal noise of the first device.

[0322] Down-conversion (local signal: L represents the local signal, A L The local signal amplitude, φ L Phase deviation caused by clock skew. (Channel response):

[0323] The fourth device obtains the signal that, after reaching the second device, is scattered / reflected back to the fourth device by the second device after being processed by the first device, by subtracting the received signal (baseband signal):

[0324] RSRPP measurements of the first path in the multi-base case for backscattering / reflection systems:

[0325] Assuming multipath propagation exists between the second and fourth devices, the down-converted signal can be approximated as:

[0326] Among them, h i For the channel response of the i-th multipath, The random phase caused by multipath scattering N represents the total number of multipaths.

[0327] If the multipath can be distinguished, then RSRPP can be:

[0328] RSRPP i =abs(r B,i )=h1h i A in A out A L

[0329] For a given PRS length, the amplitudes of multiple sampling points can be averaged.

[0330] In a single-carrier multi-base backscatter / reflection system, the measured value of RSRP can be the average amplitude of the channel response (down-converted baseband signal) of the PRS (or second excitation signal) used for RSRP measurement, modulated by a second device. The measured value of RSRPP is the average amplitude of the i-th path of the channel response (down-converted baseband signal) of the PRS (or second excitation signal) used for RSRP measurement, modulated by a second device.

[0331] The RSRP / RSRPP of the signal modulated by the second device indicates the distance the signal travels from the first device to the second device after scattering / reflection and back to the fourth device. This distance is obtained by taking the amplitude of the down-converted direct signal received by the receiver of the fourth device (the sum of the down-converted signal modulated by the scattering / reflection end and the down-converted direct signal not modulated by the scattering / reflection end) and the mixed signal received by the receiver of the fourth device.

[0332] S1007, The fourth device sends RSRP and / or RSRPP, as well as indication information, to the third device.

[0333] In some embodiments, the fourth device may send RSRP and / or RSRPP and indication information separately, or it may send RSRP and / or RSRPP and indication information in combination with other measurement values. It may also send RSRP and / or RSRPP and indication information within a time period or cycle indicated by the third device. This disclosure does not limit the scope of the embodiments.

[0334] S1008, the third device determines the location of the second device based on RSRP and / or RSRPP, as well as the instruction information.

[0335] This disclosure provides a positioning method in which a third device sends configuration information of an excitation signal to a first device. The first device, based on the configuration information, sends a second excitation signal to a second device. The second device measures the power of the second excitation signal to obtain RSRP and / or RSRPP, and indication information. The second device modulates RSRP and / or RSRPP, and the indication information onto the second excitation signal to obtain a first excitation signal. The second device sends the first excitation signal to a fourth device. The fourth device determines RSRP and / or RSRPP, and the indication information based on the first excitation signal. The fourth device sends RSRP and / or RSRPP, and the indication information to a third device. The third device determines the position of the second device based on RSRP and / or RSRPP, and the indication information.

[0336] Based on the embodiment shown in Figure 9, the first information may include PRS. The positioning method of the first information including PRS will be described below with reference to Figures 11-12.

[0337] Figure 11 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 11, the first information includes the PRS determined based on the configuration information of the PRS. Referring to Figure 11, the method flow includes:

[0338] S1101, Configuration information for the third device to send excitation signals to the first device.

[0339] The configuration information of the excitation signal is used to indicate the measurement time window, and the first device sends the second excitation signal according to the measurement time window.

[0340] S1102, The third device sends the PRS configuration information to the fourth device and the second device.

[0341] The configuration information of the PRS is used to determine the PRS.

[0342] It should be noted that the execution order of steps S1101 and S1102 is not limited in this embodiment.

[0343] S1103. The first device sends a second excitation signal to the second device according to the configuration information of the excitation signal.

[0344] S1104. The second device determines the PRS based on the PRS configuration information.

[0345] S1105. The second device modulates the PRS onto the second excitation signal to obtain the first excitation signal.

[0346] S1106, The second device sends the first excitation signal to the fourth device.

[0347] S1107. The fourth device measures the power of the PRS in the first excitation signal according to the configuration information of the PRS, and obtains RSRP and / or RSRPP, as well as indication information.

[0348] S1108, The fourth device sends RSRP and / or RSRPP, as well as indication information, to the third device.

[0349] S1109. The third device determines the location of the second device based on RSRP and / or RSRPP, as well as the indication information.

[0350] This disclosure provides a positioning method in which a third device sends configuration information of an excitation signal to a first device, and configuration information of a pulse signal resonator (PRS) to a fourth device and a second device. The first device sends a second excitation signal to the second device based on the configuration information of the excitation signal. The second device determines the PRS based on the configuration information of the PRS, modulates the PRS onto the second excitation signal to obtain a first excitation signal, and sends the first excitation signal to the fourth device. The fourth device measures the power of the PRS in the first excitation signal based on the configuration information of the PRS, obtaining the power response ratio (RSRP) and / or RSRPP, as well as indication information, and sends the RSRP and / or RSRPP, along with the indication information, to the third device. The third device determines the position of the second device based on the RSRP and / or RSRPP corresponding to the PRS reflected by the second device, thus improving the accuracy of positioning the second device.

[0351] Figure 12 is a schematic diagram of another positioning method provided by an embodiment of this disclosure. In the embodiment shown in Figure 12, the first information includes a pre-configured PRS. Referring to Figure 12, the method flow includes:

[0352] S1201, Configuration information for the third device to send excitation signals to the first device.

[0353] The configuration information of the excitation signal is used to indicate the measurement time window, and the first device sends the second excitation signal according to the measurement time window.

[0354] S1202. The first device sends a second excitation signal to the second device according to the configuration information of the excitation signal.

[0355] S1203, The second device modulates the pre-configured PRS onto the second excitation signal to obtain the first excitation signal.

[0356] S1204, The second device sends the first excitation signal to the fourth device.

[0357] S1205, the fourth device measures the power of the pre-configured PRS in the first excitation signal to obtain RSRP and / or RSRPP, as well as indication information.

[0358] The pre-configured PRS cannot be changed during its lifecycle.

[0359] S1206, The fourth device sends RSRP and / or RSRPP, as well as indication information, to the third device.

[0360] S1207. The third device determines the location of the second device based on RSRP and / or RSRPP, as well as the instruction information.

[0361] This disclosure provides a positioning method in which a third device sends configuration information of an excitation signal to a first device. The first device, based on the configuration information, sends a second excitation signal to a second device. The second device modulates a pre-configured PRS onto the second excitation signal to obtain a first excitation signal. The second device sends the first excitation signal to a fourth device. The fourth device measures the power of the pre-configured PRS in the first excitation signal to obtain RSRP and / or RSRPP, as well as indication information. The fourth device sends RSRP and / or RSRPP, along with the indication information, to the third device. The third device determines the position of the second device based on RSRP and / or RSRPP and the indication information. Thus, the third device can accurately determine the position of the second device based on the RSRP and / or RSRPP corresponding to the PRS in the first excitation signal reflected by the second device. Furthermore, since the PRS is pre-configured, the efficiency and accuracy of positioning the second device can be improved.

[0362] Figure 13 is a schematic diagram of a positioning device provided in an embodiment of this disclosure. Referring to Figure 13, the positioning device 1300 includes a receiving module 1301 and a transmitting module 1302, wherein:

[0363] The receiving module 1301 shown is used to receive a first excitation signal sent by a second device. The first excitation signal is determined by the second device based on a second excitation signal and first information. The second excitation signal is a signal sent by the first device.

[0364] The sending module 1302 is used to send second information to the third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

[0365] In some embodiments, the first information includes power information and / or positioning reference signal (PRS).

[0366] In some embodiments, where the first information includes the power information, the second information includes the power information obtained by demodulating the first excitation signal.

[0367] In some embodiments, where the first information includes the PRS, the second information includes power information obtained by measuring the first excitation signal.

[0368] In some embodiments, the method further includes:

[0369] Receive configuration information for the PRS sent by the third device;

[0370] Based on the configuration information of the PRS, the PRS in the first excitation signal is determined;

[0371] The power of PRS in the first excitation signal is measured to obtain the second information.

[0372] In some embodiments, the power information includes the reference signal received power RSRP and / or the reference signal received path power RSRPP.

[0373] In some embodiments, the second information further includes indication information, which includes at least one of the following:

[0374] Location mode;

[0375] The identifier of the first device;

[0376] Location information of the first device;

[0377] The confidence level of the second piece of information.

[0378] In some embodiments, the sending module 1302 is further configured to:

[0379] Send the second excitation signal to the second device;

[0380] The second excitation signal is an excitation signal that has not been modulated by the source information. The second excitation signal is sent according to a measurement time window, which is determined according to the configuration information of the excitation signal, and the configuration information of the excitation signal is sent by the third device.

[0381] Figure 14 is a schematic diagram of another positioning device provided in an embodiment of this disclosure. Referring to Figure 14, the positioning device 1400 includes a receiving module 1401 and a transmitting module 1402, wherein:

[0382] The receiving module 1401 is used to receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information;

[0383] The sending module 1402 is used to send a first excitation signal to the first device or the fourth device, wherein the first excitation signal is determined based on a second excitation signal and first information.

[0384] In some embodiments, the first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

[0385] In some embodiments, the sending module 1402 is used to:

[0386] Determine the first information;

[0387] The first excitation signal is determined based on the first information and the second excitation signal;

[0388] Send the first excitation signal to the first device.

[0389] In some embodiments, where the first information includes power information, the first information is information obtained by measuring the power of the second excitation signal.

[0390] In some embodiments, the first information further includes indication information, the indication information including at least one of the following:

[0391] Location mode;

[0392] The identifier of the first device or the fourth device;

[0393] Location information of the first device or the fourth device;

[0394] The confidence level of the first piece of information.

[0395] In some embodiments, when the first information includes a PRS, the first information is information determined based on the configuration information of the PRS, or the first information is information determined based on a pre-configured PRS, wherein the configuration information of the PRS is information sent by the third device.

[0396] Figure 15 is a schematic diagram of another positioning device provided in an embodiment of this disclosure. Referring to Figure 15, the positioning device 1500 includes a receiving module 1501 and a processing module 1502, wherein:

[0397] The receiving module 1501 is used to receive second information sent by the first device or the fourth device;

[0398] The processing module 1502 is used to locate the second device based on the second information.

[0399] In some embodiments, the second information includes power information obtained by demodulating the first excitation signal, or the second information includes power information obtained by measuring the first excitation signal.

[0400] In some embodiments, the power information includes RSRP and / or RSRPP.

[0401] Figure 16 is a schematic diagram of another positioning device provided in an embodiment of this disclosure. Referring to Figure 16, the positioning device 1600 includes a receiving module 1601 and a transmitting module 1602, wherein:

[0402] The receiving module 1601 is used to receive a first excitation signal sent by the second device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information, and the second excitation signal is a signal sent by the first device;

[0403] The sending module 1602 is used to send second information to the third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

[0404] In some embodiments, the first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

[0405] In some embodiments, when the first information includes the power information, the second information includes power information obtained by demodulating the first excitation signal; when the first information includes the PRS, the second information includes power information obtained by measuring the first excitation signal.

[0406] It should be noted that the division of units in the embodiments of this disclosure is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0407] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0408] It should be noted that the apparatus provided in this disclosure can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described again here.

[0409] Figure 17 is a schematic diagram of the structure of a first device provided in an embodiment of this disclosure. Referring to Figure 17, the first device includes a memory 1710, a transceiver 1720, and a processor 1730.

[0410] The memory 1710 is used to store computer programs;

[0411] The transceiver 1720 is used to send and receive data under the control of the processor;

[0412] The processor 1730 is configured to read the computer program in the memory and perform the following operations:

[0413] Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device;

[0414] The third device sends a second message, which is determined based on the first excitation signal, and the second message is used by the third device to locate the second device.

[0415] In some embodiments, the first information includes power information and / or positioning reference signal (PRS).

[0416] In some embodiments, where the first information includes the power information, the second information includes the power information obtained by demodulating the first excitation signal.

[0417] In some embodiments, where the first information includes the PRS, the second information includes power information obtained by measuring the first excitation signal.

[0418] In some embodiments, the method further includes:

[0419] Receive configuration information for the PRS sent by the third device;

[0420] Based on the configuration information of the PRS, the PRS in the first excitation signal is determined;

[0421] The power of PRS in the first excitation signal is measured to obtain the second information.

[0422] In some embodiments, the power information includes the reference signal received power RSRP and / or the reference signal received path power RSRPP.

[0423] In some embodiments, the second information further includes indication information, which includes at least one of the following:

[0424] Location mode;

[0425] The identifier of the first device;

[0426] Location information of the first device;

[0427] The confidence level of the second piece of information.

[0428] In some embodiments, the method further includes:

[0429] Send the second excitation signal to the second device;

[0430] The second excitation signal is an excitation signal that has not been modulated by the source information. The second excitation signal is sent according to a measurement time window, which is determined according to the configuration information of the excitation signal, and the configuration information of the excitation signal is sent by the third device.

[0431] In Figure 17, the bus architecture may include any number of interconnected buses and bridges, linking various circuits of one or more processors represented by processor 1730 and memory represented by memory 1710. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 1720 may be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. Processor 1730 is responsible for managing the bus architecture and general processing, and memory 1710 may store data used by processor 1730 during operation.

[0432] In some embodiments, the processor 1730 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0433] The processor 1730 executes any of the methods described in the embodiments of this disclosure by invoking a computer program stored in the memory 1710, according to the obtained executable instructions. The processor 1730 and the memory 1710 may also be physically separated.

[0434] It should be noted that the physical device provided in this disclosure can implement all the method steps implemented by the physical device in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described again here.

[0435] Figure 18 is a schematic diagram of a second device provided in an embodiment of this disclosure. Referring to Figure 18, the second device includes a memory 1810, a transceiver 1820, and a processor 1830.

[0436] The memory 1810 is used to store computer programs;

[0437] The transceiver 1820 is used to send and receive data under the control of the processor;

[0438] The processor 1830 is configured to read the computer program in the memory and perform the following operations:

[0439] Receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information;

[0440] A first excitation signal is sent to the first device or the fourth device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information.

[0441] In some embodiments, the first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

[0442] In some embodiments, sending a first excitation signal to the first device includes:

[0443] Determine the first information;

[0444] The first excitation signal is determined based on the first information and the second excitation signal;

[0445] Send the first excitation signal to the first device.

[0446] In some embodiments, where the first information includes power information, the first information is information obtained by measuring the power of the second excitation signal.

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

[0448] Location mode;

[0449] The identifier of the first device or the fourth device;

[0450] Location information of the first device or the fourth device;

[0451] The confidence level of the first piece of information.

[0452] In some embodiments, when the first information includes a PRS, the first information is information determined based on the configuration information of the PRS, or the first information is information determined based on a pre-configured PRS, wherein the configuration information of the PRS is information sent by the third device.

[0453] Figure 19 is a schematic diagram of a third device provided in an embodiment of this disclosure. Referring to Figure 19, the third device includes a memory 1910, a transceiver 1920, and a processor 1930.

[0454] The memory 1910 is used to store computer programs;

[0455] The transceiver 1920 is used to send and receive data under the control of the processor;

[0456] The processor 1930 is configured to read the computer program in the memory and perform the following operations:

[0457] Receive second information sent by the first device or the fourth device;

[0458] Based on the second information, the second device is located.

[0459] In some embodiments, the second information includes power information obtained by demodulating the first excitation signal, or the second information includes power information obtained by measuring the first excitation signal.

[0460] In some embodiments, the second information includes power information obtained by demodulating the first excitation signal, or the second information includes power information obtained by measuring the first excitation signal.

[0461] In some embodiments, the power information includes RSRP and / or RSRPP.

[0462] Figure 20 is a schematic diagram of a fourth device provided in an embodiment of this disclosure. Referring to Figure 20, the fourth device includes a memory 2010, a transceiver 2020, and a processor 2030.

[0463] The memory 2010 is used to store computer programs;

[0464] The transceiver 2020 is used to send and receive data under the control of the processor;

[0465] The processor 2030 is configured to read the computer program in the memory and perform the following operations:

[0466] Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device;

[0467] The third device sends a second message, which is determined based on the first excitation signal, and the second message is used by the third device to locate the second device.

[0468] In some embodiments, the first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

[0469] In some embodiments, when the first information includes the power information, the second information includes power information obtained by demodulating the first excitation signal; when the first information includes the PRS, the second information includes power information obtained by measuring the first excitation signal.

[0470] It should be noted that the physical device provided in this disclosure can implement all the method steps implemented by the physical device in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described again here.

[0471] This disclosure also provides a processor-readable storage medium storing a computer program for causing a processor to perform the method described in any of the above method embodiments.

[0472] Processor-readable storage media can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0473] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the above method embodiments.

[0474] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0475] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0476] These processor-executable instructions may also be stored in a processor-readable memory that can instruct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0477] These processor-executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0478] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A positioning method, wherein, Applied to the first device, including: Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device; The third device sends a second message, which is determined based on the first excitation signal, and the second message is used by the third device to locate the second device.

2. The method according to claim 1, wherein, The first information includes power information and / or positioning reference signal (PRS).

3. The method according to claim 2, wherein, If the first information includes the power information, the second information includes the power information obtained by demodulating the first excitation signal.

4. The method according to claim 2, wherein, If the first information includes the PRS, the second information includes power information obtained by measuring the first excitation signal.

5. The method according to claim 4, wherein, The method further includes: Receive configuration information for the PRS sent by the third device; Based on the configuration information of the PRS, the PRS in the first excitation signal is determined; The power of PRS in the first excitation signal is measured to obtain the second information.

6. The method according to any one of claims 2-5, wherein, The power information includes the reference signal received power RSRP and / or the reference signal received path power RSRPP.

7. The method according to any one of claims 1-5, wherein, The second information also includes indication information, which includes at least one of the following: Location mode; The identifier of the first device; Location information of the first device; The confidence level of the second piece of information.

8. The method according to any one of claims 1-5, wherein, The method further includes: Send the second excitation signal to the second device; The second excitation signal is an excitation signal that has not been modulated by the source information. The second excitation signal is sent according to a measurement time window, which is determined according to the configuration information of the excitation signal, and the configuration information of the excitation signal is sent by the third device.

9. A positioning method, wherein, Applied to a second device, including: Receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information; A first excitation signal is sent to the first device or the fourth device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information.

10. The method according to claim 9, wherein, The first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

11. The method according to claim 9 or 10, wherein, Sending a first excitation signal to the first device or the fourth device includes: Determine the first information; The first excitation signal is determined based on the first information and the second excitation signal; The first excitation signal is sent to the first device or the fourth device.

12. The method according to claim 11, wherein, When the first information includes power information, the first information is information obtained by measuring the power of the second excitation signal.

13. The method according to claim 12, wherein, The first information also includes indication information, which includes at least one of the following: Location mode; The identifier of the first device or the fourth device; Location information of the first device or the fourth device; The confidence level of the first piece of information.

14. The method according to claim 11, wherein, If the first information includes PRS, the first information is information determined based on the configuration information of the PRS, or the first information is information determined based on a pre-configured PRS, wherein the configuration information of the PRS is information sent by a third device.

15. A positioning method, wherein, Applied to third-party devices, including: Receive second information sent by the first device or the fourth device; Based on the second information, the second device is located.

16. The method according to claim 15, wherein, The second information includes power information obtained by demodulating the first excitation signal, or the second information includes power information obtained by measuring the first excitation signal.

17. The method according to claim 16, wherein, The power information includes RSRP and / or RSRPP.

18. A positioning method, wherein, Applied to the fourth device, including: Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device; The third device sends a second message, which is determined based on the first excitation signal, and the second message is used by the third device to locate the second device.

19. The method according to claim 18, wherein, The first information includes power information and / or PRS, wherein the power information includes RSRP and / or RSRPP.

20. The method according to claim 19, wherein, When the first information includes the power information, the second information includes the power information obtained by demodulating the first excitation signal; when the first information includes the PRS, the second information includes the power information obtained by measuring the first excitation signal.

21. A positioning device, wherein, Applied to a first device, including a receiving module and a transmitting module, wherein: The receiving module is used to receive a first excitation signal sent by the second device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information, and the second excitation signal is a signal sent by the first device; The sending module is used to send second information to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

22. A positioning device, wherein, Applied to a second device, including a receiving module and a transmitting module, wherein: The receiving module is used to receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information; The sending module is used to send a first excitation signal to the first device or the fourth device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information.

23. A positioning device, wherein, Applied to a third-party device, it includes a receiving module and a processing module, wherein: The receiving module is used to receive second information sent by the first device or the fourth device; The processing module is used to locate the second device based on the second information.

24. A positioning device, wherein, Applied to a fourth device, including a receiving module and a transmitting module, wherein: The receiving module is used to receive a first excitation signal sent by the second device, wherein the first excitation signal is determined by the second device based on the second excitation signal and the first information, and the second excitation signal is a signal sent by the first device; The sending module is used to send second information to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

25. A first device, wherein, Includes memory, transceiver, and processor: The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program from the memory and perform the following operations: Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device; The second information is sent to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

26. A second device, wherein, Includes memory, transceiver, and processor: The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program from the memory and perform the following operations: Receive a second excitation signal sent by the first device, wherein the second excitation signal is an excitation signal that has not been modulated by the source information; A first excitation signal is sent to the first device or the fourth device, wherein the first excitation signal is determined based on the second excitation signal and the first information.

27. A third device, wherein, Includes memory, transceiver, and processor: The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program from the memory and perform the following operations: Receive second information sent by the first device or the fourth device; Based on the second information, the second device is located.

28. A fourth device, wherein, Includes memory, transceiver, and processor: The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read the computer program from the memory and perform the following operations: Receive a first excitation signal sent by a second device, wherein the first excitation signal is determined by the second device based on a second excitation signal and first information, and the second excitation signal is a signal sent by the first device; The second information is sent to a third device. The second information is determined based on the first excitation signal. The second information is used by the third device to locate the second device.

29. A processor-readable storage medium, wherein, The processor-readable storage medium stores a computer program that causes the processor to perform the method as described in any one of claims 1-8, or the method as described in any one of claims 9-14, or the method as described in any one of claims 15-17, or the method as described in any one of claims 18-20.

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