Positioning method and apparatus

Abstract

A positioning method, comprising: receiving a first request, the first request being used for requesting positioning; receiving a first signal from a first satellite and a second signal from a second satellite; receiving first information, the first information being used for indicating a first delay, and the first delay being an ionospheric delay between the first satellite and the second satellite; and determining the position of a terminal device on the basis of the first signal, the second signal and the first delay. The positioning method can achieve joint positioning of terminal devices on the basis of high-orbit satellites and low-orbit satellites, which helps to improve the positioning efficiency and positioning accuracy of terminal devices, and can also expand the positioning range. Also disclosed is a communication apparatus.

Description

A positioning method and device

[0001] Cross-reference of related applications

[0002] This application claims priority to Chinese Patent Application No. 202411929686.2, filed on December 23, 2024, entitled "Positioning Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of communication technology, and in particular to a positioning method and apparatus. Background Technology

[0004] The 3rd Generation Partnership Project (3GPP) protocol supports various positioning technologies, including positioning based on Time Difference of Arrival (TDOA). TDOA is the time difference between the transmission of signals received by a terminal device from two network devices, and can be used for the positioning of the terminal device.

[0005] In the future, it may be possible to support joint positioning of terminal devices based on high-Earth orbit (GEO) and low-Earth orbit (LEO) satellites. How to achieve joint positioning based on GEO and LEO satellites is an unsolved problem. Summary of the Invention

[0006] This application provides a positioning method and apparatus that can improve the positioning accuracy of terminal devices.

[0007] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0008] Firstly, a positioning method is provided, which can be applied to a terminal device (hereinafter referred to as a terminal device). Unless otherwise specified in this application, the terminal device can be the terminal equipment itself, or a module or unit used to implement some or all of the functions of the terminal equipment. For example, the terminal device can be a circuit in the terminal equipment, or a chip / chip system (e.g., a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip). Alternatively, the terminal device can be a logical node, logical module, or software that implements all or part of the functions of the terminal equipment. In the following description, the terminal device is taken as the terminal equipment itself, and the first satellite is a high-orbit satellite or a medium-orbit satellite, and the second satellite is a low-orbit satellite. For ease of description, high-orbit satellites and medium-orbit satellites are collectively referred to as medium-orbit satellites. In other words, in this application, medium-orbit satellites can be replaced by high-orbit satellites or medium-orbit satellites.

[0009] The method includes: receiving a first request for location requests; receiving a first signal from a first satellite and a second signal from a second satellite; receiving first information indicating a first time delay, the first time delay being an ionospheric time delay between the first and second satellites; and determining the location of a terminal device based on the first signal, the second signal, and the first time delay.

[0010] In this method, the second satellite can indicate the ionospheric delay (i.e., the first delay) between the second satellite and the first satellite to the terminal device. Therefore, when calculating the time difference of arrival between the first and second satellites, the terminal device can compensate / calibrate this time difference based on the first delay to obtain a more accurate position. This method enables joint positioning of the terminal device based on high-Earth orbit (GEO) and low-Earth orbit (LEO) satellites, which helps improve the positioning efficiency and accuracy of the terminal device and can also maximize the positioning range.

[0011] In one design, determining the location of the terminal device based on a first signal, a second signal, and a first time delay includes: determining the Time Difference of Arrival (TDOA) of a first satellite and a second satellite based on the first signal, the second signal, and the first time delay. 1,2 and according to TDOA 1,2 Determine the location of the terminal device, including TDOA. 1,2 Satisfy: TDOA 1,2 =t 1,ue -t 2,ue -t3,lonosphere,t 1,ue t is the transmission time between the terminal device and the first satellite. 2,uet3,lonosphere represents the transmission time between the terminal device and the second satellite, and t3,lonosphere represents the first delay.

[0012] In one design, the method further includes receiving first indication information, which instructs positioning based on high-Earth orbit (HEO) satellites and low-Earth orbit (LEO) satellites. This design, through the first indication information, enables the terminal device to explicitly specify positioning based on HEO and LEO satellites, thereby avoiding the terminal device from measuring only satellites at the same orbital altitude during positioning.

[0013] In one design, the first request includes first indication information indicating whether positioning is based on high-Earth orbit (HEO) and low-Earth orbit (LEO) satellites. With this design, when positioning based on HEO and LEO satellites is not required, the first request does not include the first indication information. Thus, the network side (e.g., a first network device) can flexibly instruct the terminal device whether positioning is based on HEO and LEO satellites.

[0014] In one design, the first request includes the identifiers of a first satellite and a second satellite. In this design, the terminal device measures the satellite indicated by the first request, minimizing the measurement of unnecessary satellites to save energy.

[0015] In one design, the method further includes: sending first capability information, which indicates whether positioning based on high-Earth orbit (HEO) and low-Earth orbit (LEO) satellites is supported. In this design, the terminal device can report the first capability information to the network side, enabling the network side (e.g., a first network device) to determine whether to send a first request or a first indication to the terminal device based on the first capability information. For example, if the first capability information indicates that positioning based on HEO and LEO satellites is not supported, the first network device will not send a first request or a first indication to the terminal device. This design avoids the first network device sending unnecessary first requests or first indications, thereby saving signaling overhead.

[0016] In one design, the method further includes sending second capability information, which indicates whether processing the first delay is supported. In this design, the terminal device can report the second capability information to the network side, enabling the network side (e.g., a first network device) to determine whether to send a first request or a first indication to the terminal device based on the second capability information. For example, if the first capability information indicates that processing the first delay is not supported, the first network device does not send the first request or the first indication to the terminal device. This design avoids the first network device sending unnecessary first requests or first indications, thereby saving signaling overhead.

[0017] In one design, the first information includes a first delay; or, the first information includes information for determining the first delay. For example, the first information includes first location information, second location information, first time information, and second time information. The first location information indicates the location of the first satellite when it transmits the first signal. The second location information indicates the location of the second satellite when it receives the first signal. The first time information indicates the time when the first satellite transmits the first signal. The second time information indicates the time when the first signal arrives at the second satellite. This design provides two ways for the first information to indicate the first delay. For example, if the first information includes the first delay, directly indicating the first delay, the complexity of determining the first delay for the terminal device can be reduced. Alternatively, if the first information includes information for determining the first delay, the first network device does not need to calculate the first delay, which helps reduce the processing complexity of the first network device.

[0018] In one design, the method further includes receiving configuration information for a second signal. With this design, the terminal device receives a second signal from a second satellite based on the configuration information for the second signal, thereby minimizing erroneous reception of the second signal or avoiding failure to receive the second signal.

[0019] In one design, the first signal is a ranging code, and the second signal is a positioning reference signal. The ranging code includes a pseudo-random sequence used for distance measurement, distance calculation, or distance estimation. The positioning reference signal includes a pseudo-random sequence used for one or more of the following: distance measurement, distance calculation, distance estimation, angle estimation, phase estimation, or frequency estimation.

[0020] In one design, receiving a first request includes receiving a first request from a first network device, which is either a location management function (LMF) entity or a serving satellite for a terminal device. This design provides two network architectures, such as the first network device being an LMF entity or the first network device being a serving satellite for a terminal device. The serving satellite can deploy an LMF.

[0021] Secondly, a positioning method is provided, which can be applied to a network-side device, such as a first network device. Unless otherwise specified in this application, the first network device can be the network device itself, or a module or unit used to perform some functions of the network device. For example, the first network device is a circuit or chip / chip system in the network device. Alternatively, the first network device can be a logical node, logical module, or software module that implements all or part of the functions of the network device. In a specific example, the first network device is an LMF entity, or the first network device is a service satellite that deploys an LMF. In the following description, the first satellite is a high-orbit satellite and the second satellite is a low-orbit satellite.

[0022] The method includes: sending a second request to a second satellite for requesting measurement of a first satellite; receiving second information from the second satellite for indicating a first time delay, the first time delay being an ionospheric time delay between the first and second satellites; and sending first information to a terminal device for indicating the first time delay.

[0023] In one design, the method further includes: sending a first indication message to a terminal device, the first indication message being used to indicate positioning based on high-orbit and low-orbit satellites.

[0024] In one design, the second information includes a first time delay; or, the second information includes first location information, second location information, first time information, and second time information. The first location information indicates the location of the first satellite when it transmits the first signal. The second location information indicates the location of the second satellite when it receives the first signal. The first time information indicates the time when the first satellite transmits the first signal. The second time information indicates the time when the first signal arrives at the second satellite.

[0025] In one design, when the second information includes a first time delay, the first information includes a first time delay. Alternatively, when the second information includes first location information, second location information, first time information, and second time information, the first information includes a first time delay, or the first information includes first location information, second location information, first time information, and second time information.

[0026] For information on the beneficial effects of the second aspect and its various designs, please refer to the aforementioned first aspect and its various designs; further details will not be provided here.

[0027] Thirdly, a positioning method is provided, which can be applied to a satellite device. Unless otherwise specified in this application, the satellite device can be the satellite itself, or a module or unit used to perform some of the satellite's functions; for example, the satellite device can be a circuit or chip / chip system within the satellite. Alternatively, the satellite device can be a logic node, logic module, or software module that implements all or part of the satellite's functions. In a specific example, the satellite device is a satellite, for example, a second satellite. In the following description, the first satellite is a high-orbit satellite, and the second satellite is a low-orbit satellite.

[0028] The method includes: receiving a second request for requesting measurement of a first satellite; sending second information indicating a first time delay, the first time delay being an ionospheric time delay between the first and second satellites; and sending a second signal to a terminal device for determining the location of the terminal device.

[0029] In one design, the second information includes a first time delay; or, the second information includes first location information, second location information, first time information, and second time information. The first location information indicates the location of the first satellite when it transmits the first signal. The second location information indicates the location of the second satellite when it receives the first signal. The first time information indicates the time when the first satellite transmits the first signal. The second time information indicates the time when the first signal arrives at the second satellite.

[0030] For information on the beneficial effects of the second aspect and its various designs, please refer to the aforementioned first aspect and its various designs; further details will not be provided here.

[0031] Fourthly, embodiments of this application provide a communication device for performing the methods described in any of the first to third aspects and any of their designs. The beneficial effects can be found in the relevant descriptions of any of the first to third aspects, which will not be repeated here.

[0032] In one possible design, the communication device includes corresponding means, modules, or units for performing the methods of any of the first to third aspects. These modules, units, or means can be implemented in software, hardware, or a combination of both. For example, the communication device includes a processing unit (sometimes also called a processing module or processor) and / or input / output interfaces. Input / output interfaces include input interfaces and / or output interfaces, which can be interface circuits, output circuits, input circuits, pins, or related circuits. Optionally, the communication device also includes a transceiver unit (sometimes also called a transceiver module or transceiver). The transceiver unit is capable of both transmitting and receiving functions. When the transceiver unit performs the transmitting function, it can be called a transmitting unit (sometimes also called a transmitting module), and when it performs the receiving function, it can be called a receiving unit (sometimes also called a receiving module). The transmitting unit and the receiving unit can be the same functional unit, referred to as the transceiver unit, which performs both transmitting and receiving functions; or, the transmitting unit and the receiving unit can be different functional units, with the transceiver unit being a collective term for these functional units. These input / output interfaces and units (modules) can perform the corresponding functions in the method examples of the first or second aspect above. For details, please refer to the detailed description in the method examples, which will not be repeated here.

[0033] For example, when the communication device is used to implement the corresponding function in the method example of the first aspect, the transceiver unit is used to receive a first request, receive a first signal from a first satellite and a second signal from a second satellite, and receive first information. The first request is used to request location. The first information is used to indicate a first delay, which is the ionospheric delay between the first and second satellites. The processing unit is used to determine the location of the terminal device based on the first signal, the second signal, and the first delay.

[0034] For example, when the communication device is used to implement the corresponding function in the method example of the second aspect, the transceiver unit is used to send a second request to the second satellite, receive second information from the second satellite, and send first information to the terminal device. The second request is used to request measurement of the first satellite. The second information is used to indicate a first delay, which is the ionospheric delay between the first and second satellites. The first information is used to indicate the first delay. The processing unit can be used to determine the second request.

[0035] For example, when the communication device is used to implement the corresponding function in the method example of the third aspect, the transceiver unit is used to receive a second request, send second information, and send a second signal to the terminal device, the second signal being used to determine the location of the terminal device. The second request is used to request measurement of the first satellite. The second information is used to indicate a first delay, which is the ionospheric delay between the first and second satellites. The processing unit can be used to determine the second information.

[0036] Fifthly, embodiments of this application provide a communication device including a processor configured to execute the methods described in any of the first to third aspects and any design thereof. This application does not limit the specific type of processor. For example, the processor can be a baseband device, a central processing unit (CPU), or other specific integrated circuits. As another example, the processor can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0037] Optionally, the communication device further includes a communication interface. Optionally, the communication device also includes a memory for storing computer programs (also referred to as code or instructions), data, etc. The processor is coupled to the memory and the communication interface. When the processor reads the computer program, data, etc., from the memory, it causes any of the first to third aspects and any method in any of their designs to be executed.

[0038] In one design, the memory is located outside the communication device.

[0039] In one design, the memory is located within the communication device.

[0040] In one design, the processor and memory are integrated together.

[0041] Sixthly, embodiments of this application provide a chip system including a processor and a communication interface for implementing the methods described in any of the first to third aspects. Optionally, the chip system further includes a memory. The memory stores a computer program (also referred to as code or instructions). The processor retrieves and runs the computer program from the memory, causing a device equipped with the chip system to perform any of the first to third aspects and the methods in any of their designs. The chip system may be composed of chips or may include chips and other discrete devices.

[0042] In a seventh aspect, embodiments of this application provide a communication device including an input / output interface and logic circuitry. The input / output interface is used for inputting and / or outputting information. The input / output interface may be an interface circuit, an output circuit, an input circuit, a pin, or related circuitry, etc. The logic circuitry is used to execute the methods described in any of the first to third aspects.

[0043] In one implementation of the seventh aspect, when the communication device is a terminal device, the interface circuit can be a radio frequency processing chip in the terminal device, and the processing circuit can be a baseband processing chip in the terminal device. When the communication device is a satellite, the interface circuit can be a radio frequency processing chip in the satellite, and the processing circuit can be a baseband processing chip in the satellite. When the communication device is an LMF entity, the interface circuit can be a radio frequency processing chip in the LMF entity, and the processing circuit can be a processing chip in the LMF entity.

[0044] In one implementation of the seventh aspect, when the communication device is a chip or chip system, the input circuit can be an input pin, the output circuit can be an output pin, and the logic circuit can be a transistor, gate circuit, flip-flop, or various other logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver; the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the input / output interface and the logic circuit.

[0045] The aforementioned communication device may be the terminal device in the first aspect. Alternatively, the communication device may be a means capable of supporting the terminal device to implement the functions required by the method provided in the first aspect; for example, the communication device may be a chip or chip system in the terminal device. Alternatively, the communication device may be the first network device in the second aspect. Alternatively, the communication device may be a means capable of supporting the network device to implement the functions required by the method provided in the second aspect; for example, the communication device may be a chip or chip system in the network device. Alternatively, the communication device may be a satellite device in the third aspect. Alternatively, the communication device may be a means capable of supporting the satellite to implement the functions required by the method provided in the third aspect; for example, the communication device may be a chip or chip system in the satellite. The chip may be a baseband chip and / or a radio frequency chip, and the chip system may be composed of chips or may include chips and other discrete devices.

[0046] Eighthly, embodiments of this application provide a communication system comprising a terminal device, a first satellite, a second satellite, and a first network device. The terminal device is used to implement the functions described in the first aspect, the first network device is used to implement the functions described in the second aspect, and the second satellite is used to implement the functions described in the third aspect. The first satellite is used to transmit a first signal for positioning.

[0047] Ninthly, embodiments of this application provide a computer-readable storage medium for storing a computer program or instructions that, when executed, cause the methods described in any of the first to third aspects and any of their designs to be implemented.

[0048] In a tenth aspect, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the methods described in any of the first to third aspects and any of their designs to be implemented.

[0049] The beneficial effects of the above-mentioned fourth to tenth aspects and their implementation methods can be referenced to the beneficial effects of any aspect of the first to third aspects and any one of their designs. Attached Figure Description

[0050] Figures 1A to 1C are schematic diagrams of the architecture of various communication systems;

[0051] Figure 2 is a schematic diagram of the TDOA positioning principle;

[0052] Figure 3 is a schematic diagram illustrating the principle of positioning based on high-orbit and low-orbit satellites provided in an embodiment of this application;

[0053] Figure 4 is a flowchart illustrating the positioning method provided in an embodiment of this application;

[0054] Figure 5 is a schematic diagram of a communication device provided in an embodiment of this application;

[0055] Figure 6 is a schematic diagram of another structure of the communication device provided in an embodiment of this application. Detailed Implementation

[0056] In the embodiments of this application, "transmission" includes "sending" and / or "receiving." "Sending" and "receiving" indicate the direction of signal transmission. For example, "sending information to XX" can be understood as the destination of the information being XX, including direct sending as well as indirect sending through other units, modules, devices, or network elements. "Receiving information from YY" can be understood as the source of the information being YY, including receiving directly from YY via the air interface as well as receiving indirectly from YY via the air interface from other units or modules. "Sending" can also be understood as the "output" of a chip interface, and "receiving" can also be understood as the "input" of a chip interface. In other words, sending and receiving can occur between devices, such as between access network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via buses, traces, or interfaces.

[0057] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A / B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and / or c means the following combinations: a exists alone, b exists alone, c exists alone, a and b exist simultaneously, a and c exist simultaneously, b and c exist simultaneously, or a, b, and c exist simultaneously, where a, b, and c can be single or multiple.

[0058] In the embodiments of this application, "when," "if," and "if" all refer to the device taking corresponding actions under certain objective circumstances, and are not time-limited, nor do they require the device to perform a judgment action, nor do they imply any other limitations. Unless otherwise specified, "if" and "if" can be substituted, and "when" and "in the case of" can be substituted. "When" and "if" / "if" can be substituted.

[0059] In the embodiments of this application, the words "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner. In the embodiments of this application, "of," "corresponding, relevant," and "corresponding" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinction is emphasized.

[0060] In this application, the ordinal numbers such as "first" and "second" are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. For example, "first satellite" and "second satellite" refer to two different satellites, and do not indicate a difference in priority or importance between the two satellites.

[0061] In the embodiments of this application, the solutions in each embodiment can be used in a reasonable combination, and the explanations or descriptions of various terms, similar operations, or steps appearing in the embodiments can be referenced or explained to each other in the embodiments, without limitation.

[0062] The technical solutions provided in this application can be applied to non-terrestrial network (NTN) systems. An NTN system is a communication system formed by networking non-terrestrial network devices. Examples of non-terrestrial network devices include satellites, high altitude platform stations (HAPS), and drones. The non-terrestrial network devices involved in this application are not limited to the examples above. The non-terrestrial network devices in this application can also be referred to as airborne network devices. This application does not limit the type or number of satellites. For example, satellites can be highly elliptical orbit (HEO) satellites, geostationary earth orbit (GEO) satellites, medium earth orbit (MEO) satellites, and low-earth orbit (LEO) satellites. Furthermore, satellite communication systems can be integrated with traditional mobile communication systems. Mobile communication systems can be long-term evolution (LTE) communication systems, the sixth generation (5G) mobile communication systems / new radio (NR) systems, or future communication systems, or other similar communication systems. Other similar communication systems may include Wireless Fidelity (WIFI) systems, Vehicle-to-Everything (V2X) systems, Internet of Things (IoT) systems, and so on. WIFI systems support any of the Wireless Local Area Network (WLAN) protocols in the IEEE 802.11 series of protocols.

[0063] Please refer to Figure 1A, which illustrates a first communication system applicable to embodiments of this application. This communication system includes a wireless access network 100 and a core network 200. Optionally, the communication system may also include the Internet (Figure 1A uses this as an example).

[0064] The wireless access network 100 may include at least one access network device and at least one terminal device. For example, the wireless access network 100 includes two access network devices, 110a and 110b, and terminal devices 120a to 120j. The network architecture shown in Figure 1A is only schematic; the number of terminal devices and / or access network devices may be fewer or more. The communication system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application and does not constitute a limitation on the communication system to which the embodiments of this application apply. For example, the communication system may also include other devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1A.

[0065] In this embodiment, the access network device refers to a radio access network (R)AN device / RAN node. In this embodiment, R)AN and RAN are interchangeable; for ease of description, RAN is used as an example below. In future scenarios, RAN nodes may also have other evolved forms; for example, RAN nodes may not be distinguished from core network devices and may be collectively referred to as network devices.

[0066] RAN can be a 3GPP-related cellular system, such as a 5G / NR mobile communication system, or a future-oriented evolution system. RAN can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), a virtualized RAN (vRAN), a non-terrestrial network (NTN), etc. RAN can also be a communication system that integrates two or more of the above systems. RAN equipment can also be called a RAN node, RAN entity, or access node, etc.

[0067] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), or a base station in a future mobile communication system. RAN nodes can also be macro base stations, micro base stations, indoor stations, relay nodes, donor / host nodes, satellites, or radio controllers. RAN nodes can also be servers, wearable devices, vehicles, or in-vehicle equipment. For example, in V2X technology, the RAN node can be a roadside unit (RSU).

[0068] In another possible scenario, the RAN node can be a module or unit that performs some of the functions of the base station; or multiple RAN nodes can cooperate to assist terminal equipment in achieving wireless access, with different RAN nodes performing some of the functions of the base station. For example, the RAN node can be a CU, DU, or RU. The function of the CU can be implemented by a single entity or by different entities. For example, the function of the CU can be further divided, that is, the control plane and the user plane can be separated and implemented by different entities, namely the control plane CU entity (i.e., CU-control plane (CP) entity) and the user plane CU entity (i.e., CU-user plane (UP) entity). The CU-CP entity and the CU-UP entity can be coupled with the DU to jointly complete the function of the RAN node. The CU and DU can be set up separately or included in the same network element, such as in the baseband unit (BBU). Any of the units among the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by software modules, hardware modules, or a combination of software modules and hardware modules.

[0069] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples.

[0070] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement: for example, the CU can be configured to implement the functions of the PDCP layer and above (such as the radio resource control (RRC) layer and / or the service data adaptation protocol (SDAP) layer); the DU can be configured to implement the functions of the protocol layers below the PDCP layer (such as the radio link control (RLC) layer, the medium access control (MAC) layer, and / or the physical (PHY) layer). For specific descriptions of the above protocol layers, please refer to the relevant 3GPP technical specifications or the technical specifications of other applicable communication protocols.

[0071] The above division of the processing functions of CU and DU according to protocol layers is merely an example; other division methods are also possible, and this application does not limit this. For example, in one design, CU or DU can be further divided into processing functions with protocol layers. In one design, some functions of the RLC layer and the functions of the protocol layer above the RLC layer are located in the CU, while the remaining functions of the RLC layer and the functions of the protocol layer below the RLC layer are located in the DU.

[0072] In another possible design, the DU and RU collaborate to implement the PHY layer functionality, or, more specifically, a portion of the PHY layer functionality of the DU can be moved to the RU. A DU can be connected to one or more RUs. The functions of the DU and RU can be configured in various ways depending on the design. For example, the DU may be configured to implement baseband functions, and the RU may be configured to implement mid-RF functions. Alternatively, the DU may be configured to implement higher-level functions in the PHY layer, and the RU may be configured to implement lower-level functions in the PHY layer, or both lower-level and RF functions. Higher-level functions in the physical layer may include a portion of the physical layer's functionality closer to the MAC layer, and lower-level functions may include another portion of the physical layer's functionality closer to the mid-RF side. This application does not limit the specific functions of the DU and RU. The interface between the DU and RU can be called a fronthaul interface. In one design, the CU may not have a PDCP layer; for example, the CU may only include an RRC layer. The CU-CP may not have PDCP-C. The CU-UP may not have PDCP-U, or may not have a CU-UP. In one design, the DU may not have an RLC layer; for example, the DU may only have a MAC and a higher PHY layer.

[0073] When the RAN is O-RAN, it can also have artificial intelligence (AI) capabilities. For example, O-RAN includes an intelligent controller. The intelligent controller can be a non-real-time RAN intelligent controller (RIC / non-RT RIC / NRT RIC) or a near-real-time RAN intelligent controller (RIC / near-RT RIC / nRT RIC). A non-real-time RIC can be used to implement non-real-time intelligent management of RAN functions, enabling workflows including model training and model updates, and guiding applications / functions in the nRT RIC based on policies. A near-real-time RIC can be used to implement near-real-time intelligent management of the RAN. Through data collection and related operations on the E2 interface, near-real-time control and optimization of O-RAN modules and resources are achieved.

[0074] In the embodiments of this application, the device used to implement the function of the access network device can be the access network device itself, or it can be a device that supports the access network device in implementing the function, such as a chip system or a combination device or component that can implement the function of the access network device. The device can be installed in the access network device. The embodiments of this application do not limit the specific technology or specific device form used in the access network device.

[0075] In the embodiments of this application, any device capable of data communication with a base station can be considered a terminal device. A terminal device is also called a terminal, terminal apparatus, user equipment (UE), user terminal, mobile station, or mobile terminal, etc. Terminal devices can be widely used in various scenarios. For example, a terminal device can be: a mobile phone, computer, mobile internet device (MID), wearable device, virtual reality (VR) device, augmented reality (AR) device, station (STA), robotic arm, camera, robot, vehicle, drone, helicopter, airplane, ship, or smart home device (e.g., television, air conditioner, robot vacuum cleaner, speaker, set-top box), relay, customer premises equipment (CPE), etc.

[0076] Furthermore, in this embodiment, the terminal device can also be a terminal device in an IoT system, such as a water meter or electricity meter. IoT is an important component of future information technology development. Its main technical characteristic is connecting objects to networks through communication technology, thereby realizing an intelligent network that enables human-machine interconnection and object-to-object interconnection.

[0077] When the terminal device is applied to V2X, it can also be called a V2X device, such as a smart car, an unmanned car, a driverless car, a pilotless car, or an automobile, or a roadside unit (RSU). All the terminal devices described above, if located on a vehicle (e.g., placed / installed inside the vehicle), can be considered in-vehicle terminal devices. In-vehicle terminal devices can be built into a vehicle's on-board module, on-board unit, on-board component, on-board chip, or on-board unit as one or more components or units. The vehicle can implement the methods of this application through the built-in on-board module, on-board unit, on-board component, on-board chip, or on-board unit. In-vehicle terminal devices can be vehicle equipment, on-board modules, vehicles, on-board units (OBU), RSUs, in-vehicle infotainment systems (or on-board transmitting units) (telematics boxes, T-boxes), chips, or SoCs, etc., and the aforementioned chips or SoCs can be installed in the vehicle, OBU, RSU, or T-box.

[0078] In the embodiments of this application, the device for implementing the functions of the terminal device can be the terminal device itself, or a device capable of supporting the terminal device in implementing the functions, such as a chip system or a combination of devices or components capable of implementing the functions of the terminal device. This device can be installed in the terminal device. The embodiments of this application do not limit the specific technology or specific device form used in the terminal device.

[0079] Please refer to Figures 1B and 1C, which illustrate two communication systems applicable to embodiments of this application. The communication system includes satellites, access network equipment, and terminal equipment, etc. The communication system may also include gateways and core network equipment. Figures 1B and 1C exemplarily illustrate a converged network architecture of NTN and terrestrial networks. A description follows with reference to the accompanying drawings.

[0080] The satellite can be one or more of HEO, GEO, MEO, and LEO satellites. The satellite can wirelessly communicate with the terminal device via broadcast communication signals and / or navigation signals. Optionally, each satellite can provide communication, navigation, and positioning services to the terminal device using multiple beams. For example, each satellite may use multiple beams to cover the service area, and the relationship between the different beams can be one or more of time-division, frequency-division, and space-division.

[0081] This application does not limit the satellite's operating mode. For example, the satellite's operating mode can be transparent mode or regenerative mode. Figure 1B illustrates the example of a satellite operating in transparent mode, and Figure 1C illustrates the example of a satellite operating in regenerative mode.

[0082] When a satellite operates in transparent mode, it provides transparent relay functionality. A gateway functions as an access network device (e.g., a base station) or partially functions as one, and in this case, the gateway can be considered as such. Alternatively, the access network device (e.g., the base station) can be deployed separately from the gateway. In this case, the feeder link latency includes both the latency from the satellite to the gateway and the latency from the gateway to the gNB. The transparent mode described later in this article assumes the gateway and gNB are located together or close to each other. For cases where the gateway and gNB are far apart, the feeder link latency is simply the sum of the latency from the satellite to the gateway and the latency from the gateway to the gNB.

[0083] When a satellite operates in regenerative mode, it has data processing capabilities and functions as an access network device (such as a base station) or partially functions as an access network device (such as a base station). In this case, the satellite can be regarded as an access network device (such as a base station).

[0084] A gateway (also known as a ground station, earth station, or gateway) is used to connect satellites to ground-based access network equipment (such as ground base stations). One or more satellites can connect to one or more ground-based access network devices (such as ground base stations) through one or more gateways; this is not a limitation. The link between the satellite and the terminal equipment is called a service link, and the link between the satellite and the gateway is called a feeder link. Access network equipment can be deployed separately from the gateway; therefore, the latency of the feeder link can include both the latency from the satellite to the gateway and the latency from the gateway to the access network equipment.

[0085] The access network equipment in this application embodiment may include access network equipment deployed on satellites (such as satellite base stations), access network equipment deployed on gateways, or access network equipment deployed on the ground (such as ground base stations). For example, the access network equipment may be a radio access network (RAN) node, an RAN node in an O-RAN system, etc., as shown in Figures 1A, 1B, and 1C. Related details are as described above and will not be repeated here.

[0086] When a base station is deployed on a satellite, it is also called a satellite base station or spaceborne base station (satellite gNB, S-gNB). The satellite base station communicates with the ground station via an air interface, and the ground station connects to the core network via an NG interface. Ground terminal equipment communicates with the satellite base station via the air interface, thereby accessing the communication network. Here, the air interface refers to the communication interface between the terminal equipment and the base station. The Xn interface refers to the interface between base stations, mainly used for signaling interactions such as handover. The NG interface refers to the interface between the base station and the core network, or the interface between the ground station and the core network. The NG interface can be wired or wireless.

[0087] In the embodiments of this application, the positioning management device has positioning functionality. The positioning management device involved in the embodiments of this application may include an LMF entity, a location management component (LMC), or a local location management function (LLMF), and the embodiments of this application are not limited thereto. For ease of description, the following embodiments all use an LMF as an example for the positioning management device. The LMF can be deployed on the ground; for example, the LMF is a device deployed on the ground, or the LMF is deployed at a ground base station. The LMF can also be deployed on a satellite as a functional unit of the satellite.

[0088] Unless otherwise specified, in this application embodiment, network devices include devices deployed on the network side (e.g., access network devices, satellites, or LMFs). Of course, network devices may also include some devices deployed on the core network side; for example, in this application embodiment, an LMF deployed on the core network side can also be considered a type of network device. In this application embodiment, high-orbit satellites include high-orbit satellites and / or medium-orbit satellites; or, in other words, this application collectively refers to high-orbit satellites and medium-orbit satellites as high-orbit satellites.

[0089] The communication system applicable to the embodiments of this application has been introduced above. To facilitate understanding of the technical solutions provided by the embodiments of this application, the relevant concepts involved in the embodiments of this application and the technical problems to be solved by the embodiments of this application will be explained below.

[0090] As mentioned in the background above, the 3GPP protocol supports various positioning technologies, including TDOA-based positioning technologies. Depending on the object being measured, TDOA includes (downlink time difference of arrival, DL-TDOA) and (uplink time difference of arrival, UL-TDOA). In some embodiments, DL-TDOA can also be referred to as UTDOA, and UL-TDOA can also be referred to as observed time difference of arrival (OTDOA).

[0091] TDOA positioning determines the location of a terminal device by measuring the transmission delay difference between the terminal device and multiple access network devices (e.g., two access network devices or at least three access network devices).

[0092] For example, please refer to Figure 2, which is a schematic diagram of the principle of TDOA-based positioning. Figure 2 uses four satellites (satellites 1 to 4 in Figure 2) as an example for multiple access network devices. Assume that the position coordinates of the i-th satellite among these four satellites are (x... i y i , z i The location coordinates of the terminal device are (x, y). UE y UE , z UE The arrival time of the reference signal of the i-th satellite measured by the terminal device is t. i Traversing satellites 1 to 4, we have: (x1-x UE ) 2 +(y1-y UE ) 2 +(z1-z UE ) 2 =d1 2 =(c×(t1+Δt)) 2 ; (x2-x UE ) 2 +(y2-y UE ) 2 +(z2-z UE ) 2 =d2 2 =(c×(t2+Δt)) 2 ; (x3-x UE ) 2 +(y3-y UE ) 2 +(z3-z UE ) 2 =d3 2 =(c×(t3+Δt))2 ; (x4-x UE ) 2 +(y4-y UE ) 2 +(z4-z UE ) 2 =d4 2 =(c×(t4+Δt)) 2 .

[0093] In the above formula, c is the speed of light, and Δt is the error caused by clock drift.

[0094] The positions of satellites 1 through 4 are known. The position of the terminal device can be determined using three of the four formulas mentioned above. For example, the distance difference d21 = d2 - d1 between the terminal device and satellite 1 (d1) and the terminal device and satellite 2 (d2) can be calculated. Similarly, the distance difference d31 = d3 - d1 between the terminal device and satellite 1 and the terminal device and satellite 3 (d3) can be calculated. Therefore, the terminal device is located on both hyperbola 1 (foci of satellites 1 and 2, with a constant distance difference of d21) and hyperbola 2 (foci of satellites 1 and 3, with a constant distance difference of d31). That is, the terminal device is located at the intersection of hyperbola 1 and hyperbola 2. In the actual positioning process of the terminal device, errors may occur due to clock errors, measurement errors, etc. Therefore, more reference satellites can be used to calculate the position of the terminal device. Using the example above, we can also calculate the distance difference d41 = d4 - d1 between the distance d1 between the terminal device and satellite 1 and the distance d4 between the terminal device and satellite 4. The terminal device should also be located on hyperbola 1 with satellite 1 and satellite 4 as its foci and the distance difference between the terminal device and the two foci is always d41, thereby improving the accuracy of the terminal device's position.

[0095] It should be understood that signals may be subject to interference during actual transmission, resulting in additional transmission delays, which can also affect the accuracy of the terminal device's location. For satellites, ionospheric delay is the primary transmission delay. The ionosphere is an ionized region of the Earth's atmosphere, typically referring to the atmospheric airspace from approximately 60 kilometers (km) to approximately 2000 km above the ground, a region containing a large number of free electrons and ions. When electromagnetic signals propagate through the ionosphere, the uneven distribution of electron density alters the transmission rate, leading to transmission delays.

[0096] One approach to eliminate or reduce the impact of ionospheric delay on positioning is to estimate the ionospheric delay based on an ionospheric model, and then compensate for the signal transmission delay based on the estimated ionospheric delay.

[0097] For example, for high-orbit satellites, the ionospheric model satisfies the following formula (1):

[0098] Among them, V ion denoted as ionospheric delay, f as frequency, and TEC as the total electron content along the signal transmission path.

[0099] As can be seen from this formula, the ionospheric delay is inversely proportional to the square of the frequency. When a satellite simultaneously transmits signals of two frequencies along the same transmission path, since the TEC (Transmission Time Limit) is the same, if the time difference between the arrival times of the two frequencies at the receiver is known, then the ionospheric delay corresponding to each frequency can be calculated.

[0100] In one implementation, the ionospheric delay for each of the multiple frequency points can be calculated based on the transmission delay / time difference of signals arriving at the receiver from multiple frequency points and the corresponding TEC (Transmission Time Delay) for these multiple frequency points. Here, the TEC is frequency-dependent; in other words, the ionospheric delay for each of the multiple frequency points can be calculated based on the transmission delay / time difference of signals arriving at the receiver from multiple frequency points and the corresponding frequencies.

[0101] For example, the process of calculating the ionospheric delay corresponding to these two frequencies is as follows. In the following description, t1 is the transmission delay of the signal at frequency 1 reaching the receiver, and t2 is the transmission delay of the signal at frequency 2 reaching the receiver. real V represents the signal transmission time in the absence of an ionosphere. ion,1 V represents the ionospheric delay corresponding to frequency 1. ion,2 Let t1 be the ionospheric delay corresponding to frequency 2. Assuming the satellite transmits signals at frequency 1 and frequency 2, then: t1 = t real +V ion,1 (2) t2=t real +V ion,2 (3)

[0102] Formulas (4) and (5) can be obtained from formulas (1), (2), and (3):

[0103] Substituting formula (5) into formula (1) yields formulas (6) and (7):

[0104] As can be seen from formulas (6) and (7), the ionospheric delay corresponding to each of the multiple frequency points can be calculated by using the measurement results (or arrival time difference) of multiple frequency points and the frequencies of multiple frequency points.

[0105] The ionospheric delay model represented by formula (1) above is the ionospheric delay model for medium-Earth orbit satellites, or in other words, the ionospheric delay model represented by formula (1) is applicable to medium-Earth orbit satellites. Considering the coverage and capacity of the network, the future development trend of satellite communication networks is a multi-layer constellation network. In a multi-layer constellation network, multiple satellites are deployed at multiple orbital altitudes, and satellites at the same orbital altitude can be considered as one layer. Based on orbital altitude, multiple satellites can be divided into medium-Earth orbit satellites, medium-Earth orbit satellites, and low-Earth orbit satellites.

[0106] Because low-Earth orbit (LEO) satellites are closer to the Earth's surface, they offer wider coverage and better communication quality, making them commonly used for communications. For example, currently, medium and high-Earth orbit (MEO) satellites are used for positioning, while LEO satellites are used for communication. Given the relatively high speed of LEO satellites and their spatial distribution with surrounding satellites being more conducive to positioning, it is possible that future development will support the use of LEO satellites for both communication and positioning. In other words, the future may see LEO satellites used for both communication and positioning.

[0107] For example, future positioning may support joint positioning based on high-Earth orbit (GEO) and low-Earth orbit (LEO) satellites. However, GEO satellites are located outside the ionosphere, while LEO satellites are located within it. Therefore, the additional latency introduced by the ionosphere differs for LEO and GEO satellites. In other words, the ionospheric latency of LEO satellites differs from that of GEO satellites. For LEO satellites, the ionospheric latency model in formula (1) is not applicable. Therefore, using the ionospheric latency model in formula (1) to eliminate the ionospheric latency of LEO satellites is limited, resulting in low accuracy of the final calculated location of the terminal device. How to improve the positioning accuracy of terminal devices for joint positioning based on GEO and LEO satellites remains an unsolved problem.

[0108] Therefore, the present application provides a solution based on its embodiments. In this embodiment, the "ionospheric delay between low-Earth orbit satellites and terminal devices" is solved by calculating the "ionospheric delay between high-Earth orbit satellites and low-Earth orbit satellites." The network side notifies the terminal device of the ionospheric delay between high-Earth orbit satellites and low-Earth orbit satellites. Thus, when calculating its position, the terminal device incorporates this ionospheric delay to reduce or eliminate the impact of the ionospheric delay between low-Earth orbit satellites and the terminal device on its position calculation, thereby improving the positioning accuracy of the terminal device.

[0109] To facilitate understanding of the solutions in this application, the principle of transforming the solution of "ionospheric delay between low-Earth orbit satellite and terminal equipment" into the solution of "ionospheric delay between high-Earth orbit satellite and low-Earth orbit satellite" will be introduced first.

[0110] Please refer to Figure 3, which is a schematic diagram of joint positioning based on high-Earth orbit (GEO) and low-Earth orbit (LEO) satellites. Multiple satellites can be deployed in one orbit. For ease of description, Figure 3 uses satellite 1 and satellite 2 as examples. In the following introduction, t 1,ue t represents the signal transmission time from satellite 1 to the terminal device. 2,ue t represents the signal transmission time from satellite 2 to the terminal device. 1,real The transmission time from satellite 1 to the terminal device without ionospheric delay, t 2,real Let ti be the transmission time from satellite 2 to the terminal device without ionospheric delay. Let t1,lonosphere be the ionospheric delay corresponding to the signal from satellite 1, t2,lonosphere be the ionospheric delay corresponding to the signal from satellite 2, and t3,lonosphere be the ionospheric delay between satellite 1 and satellite 2. Then: ti 1,ue =t 1,real +t1,lonosphere (8) t 2,ue =t 2,real +t2,lonosphere (9)

[0111] The terminal device measures the signals from satellite 1 and satellite 2 to obtain the time difference of arrival (TDOA) between satellite 1 and satellite 2. 1,2 TDOA 1,2 =t 1,ue -t 2,ue =t 1,real -t 2,real +t1,lonosphere-t2,lonosphere (10)

[0112] In formula (10), the parameters other than t1,lonosphere-t2,lonosphere are known or can be obtained by calculation. It is only necessary to calculate t1,lonosphere-t2,lonosphere.

[0113] Let t1,lonosphere - t2,lonosphere ≈ t3,lonosphere, where t3,lonosphere can be obtained by measuring the ionospheric delay between satellite 1 and satellite 2. For example, t3,lonosphere = t12,measure - t 12,real Where t12,measure is the transmission time of the signal obtained by satellite 2 from the signal measured by satellite 1, and t 12,real Let t be the transmission time between satellite 1 and satellite 2, and assuming the distance between satellite 1 and satellite 2 is D, then t 12,real = D cc is the speed of light.

[0114] It can be seen that solving for the "ionospheric delay between a low-Earth orbit satellite and the terminal device" can be transformed into solving for the "ionospheric delay between a medium-Earth orbit satellite (e.g., satellite 1) and a low-Earth orbit satellite (e.g., satellite 2)". In other words, the "ionospheric delay between a low-Earth orbit satellite and the terminal device" can be calculated based on the "ionospheric delay between a medium-Earth orbit satellite (e.g., satellite 1) and a low-Earth orbit satellite (e.g., satellite 2)".

[0115] The solutions provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0116] The positioning method provided in this application is executed by a first satellite device, a second satellite device, a terminal device, and a first network device. The first and second satellite devices have different orbits. For example, the first satellite device is a high-orbit or medium-orbit satellite device, and the second satellite device is a low-orbit satellite device. The first network device has positioning management functions; for example, the first communication device is an LMF entity, or the first network device is a ground station or access network device deploying an LMF; for example, the first network device is a service satellite deploying an LMF.

[0117] The steps executed by the first satellite device can be performed by the first satellite device itself, by a component (such as a chip / chip system) within the first satellite device, or by a device that includes the first satellite device. For example, the steps executed by the first satellite device can be performed by a first satellite that includes the first satellite device. Similarly, the steps executed by the second satellite device can be performed by the second satellite device itself, by a component (such as a chip / chip system) within the second satellite device, or by a device that includes the second satellite device. For example, the steps executed by the second satellite device can be performed by a second satellite that includes the second satellite device. The steps executed by the terminal device can be performed by the terminal device itself, by a component (such as a chip / chip system) within the terminal device, or by a terminal device that includes the terminal device. The steps executed by the first network device can be performed by the first network device itself, by a component (such as a chip / chip system) within the first network device, or by a device that includes the first network device. For example, the steps executed by the first network device can be performed by a serving satellite that includes the first network device. Furthermore, the processing performed by a single execution entity can also be divided into multiple execution entities, which can be logically and / or physically separated.

[0118] In the following description, the positioning method provided in the embodiments of this application is applied to any architecture shown in Figures 1A to 1C as an example. The network architecture and application scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems. When applying the technical solutions of the embodiments of this application to other communication systems, the devices, components, modules, etc. in the embodiments can be replaced with corresponding devices, components, modules in other communication systems without limitation. In the embodiments of this application, the solutions in each embodiment can be reasonably combined and used, and the explanations or descriptions of various terms, similar operations, or steps appearing in the embodiments can be mutually referenced or explained in the various embodiments, without limitation.

[0119] For ease of description, this article uses the example of "first satellite device" as "first satellite," "second satellite device" as "second satellite," "terminal device" as "terminal equipment," and "first network device" as "first network equipment." The first satellite is a high-orbit satellite, and the second satellite is a low-orbit satellite.

[0120] Please refer to Figure 4, which is a flowchart illustrating the positioning method provided in an embodiment of this application. Figure 4 describes the method from the perspective of the interaction between the first satellite, the second satellite, the terminal device, and the first network device. It should be understood that the positioning method can also be implemented by other devices, such as a chip or communication device with communication capabilities. Furthermore, the processing performed by a single execution entity can be divided into multiple execution entities, which can be logically and / or physically separated. As shown in Figure 4, the flow of this positioning method includes the following steps.

[0121] S401, The first network device sends the first request.

[0122] When the location of a terminal device needs to be obtained (e.g., a first network device receives a location request from a client for the terminal device), the first network device may send a first request to the terminal device, and the terminal device receives the first request accordingly. This first request is used to request location. The specific name of the first request is not limited in this embodiment; for example, the first request may be called a location request. The first request may include / indicate some information used for location, for example, the first request may include / indicate one or more of the following: location method (e.g., TDOA), or location requirements (e.g., location accuracy), etc.

[0123] The first network device has a positioning management function. For example, the first network device may be an LMF (Local Multi-Functional Network), or it may be a serving satellite for the terminal device, which has a positioning management function. Depending on the specific implementation of the first network device, the specific implementation of the first network device sending the first request will also vary, as illustrated in the following examples.

[0124] In implementation method 1, the first network device is an LMF.

[0125] In this scenario, the LMF sends a first request to the terminal device via the network. For example, the LMF can send the first request to the terminal device through a Serving Mobile Location Center (SMLC) / location service, base station, etc., within the network. This first request can be an RRC message or an LTE Positioning Protocol (LPP) message, or the first request can be carried within an RRC message or an LPP message. Alternatively, the LMF can forward the first request to the terminal device via a serving satellite. For example, the LMF sends the first request to a serving satellite, which then forwards it to the terminal device.

[0126] In implementation method 2, the first network device is a service satellite, which is equipped with positioning management functions.

[0127] In this case, "the first network device sends the first request" can be replaced with "the serving satellite sends the first request" or "the serving satellite sends the first request to the terminal device".

[0128] Optionally, the first network device further sends a first indication message to the terminal device, and the terminal device receives the first indication message, which is used to instruct positioning based on high-orbit and low-orbit satellites. For example, the first network device is an LMF (Local Multi-Functional Network), and the first network device can send the first indication message to the terminal device through SMLC / positioning services, base stations, etc. in the network. Alternatively, the first network device can forward the first indication message to the terminal device through a serving satellite, which can be referred to as sending a first request to the terminal device, and will not be elaborated further.

[0129] The first indication information and the first request can be carried in a single signaling message. For example, the first request may include the first indication information (Figure 4 uses this as an example). When positioning based on high-Earth orbit (HEO) and low-Earth orbit (LEO) satellites is not required, the first request may not include the first indication information. In this way, the first network device can flexibly indicate whether positioning is based on HEO and LEO satellites through the first request.

[0130] Alternatively, the first indication information and the first request can be carried on different signaling protocols. For example, the first indication information can be carried on (or be) a first signaling protocol, and the first request can be carried on (or be) a second signaling protocol. For the terminal device, receiving the first indication information allows it to determine whether to use high-Earth orbit (GEO) or low-Earth orbit (LEO) satellites for positioning. For multiple positioning requests from the first network device, the first network device only needs to send the first indication information once, thus saving signaling overhead. When the first indication information and the first request are carried on different signaling protocols, their order is not restricted. For example, the first indication information can be sent before the first request, or after the first request, or simultaneously.

[0131] The first indication information can explicitly instruct positioning based on high-Earth orbit (LEO) and low-Earth orbit (LEO) satellites, thereby enabling the terminal device to measure signals received from LEO satellites (e.g., the first signal in this document) and LEO satellites (e.g., the second signal in this document). This avoids the terminal device only measuring satellites at the same orbital altitude (e.g., LEO satellites) during positioning. Since LEO satellites fly faster and have a wider coverage area, positioning based on LEO satellites in this embodiment helps improve positioning accuracy, expand the positioning range, and improve positioning efficiency.

[0132] Optionally, the first request includes the identifiers of a first satellite and a second satellite. The first and second satellites are the satellites that the terminal device needs to measure. It should be understood that multiple satellites are deployed in the network, with multiple satellites in each orbit, and the terminal device is located within the coverage area of ​​one or more of these satellites. As shown in Figure 2 above, for the positioning of the terminal device, knowing the positions of two satellites allows determining the approximate location area of ​​the terminal device. For example, the terminal device may be located on hyperbola 1 with satellites 1 and 2 as foci, and the distance difference between the terminal device and the two foci is constant at d21. To reduce the power consumption of the terminal device, the first network device can indicate to the terminal device which satellite to measure, such as the first and second satellites. For the terminal device, signals from satellites other than the first and second satellites do not need to be measured, thereby reducing the power consumption of the terminal device.

[0133] Alternatively, if the positions of three satellites are known, the location of the terminal device can be determined. For example, following the example in Figure 2, the terminal device is located at the intersection of hyperbola 1 and hyperbola 2. Based on this, the first request may also include the identifiers of other satellites besides the first and second satellites to enable the terminal device to determine a more accurate location. For example, the first request may also include the identifier of a third satellite, which could be a medium-Earth orbit satellite. Alternatively, to improve the positioning accuracy of the terminal device, the first request may also include the identifiers of more satellites; for example, the first request may also include the identifier of a fourth satellite, which could be a medium-Earth orbit satellite.

[0134] The first network device can select a location from multiple satellites in the network for locating the terminal device, such as a first satellite, a second satellite, or even a third or fourth satellite. For example, the first network device is an LMF (Local Management Provider), which knows in advance the satellite deployment information in the network, such as satellite locations, operational status, orbital types, and coverage areas. Additionally, the LMF knows the satellites covering the terminal device. The LMF can select one satellite from those covering the terminal device as the second satellite, and determine the first satellite from among multiple high-orbit / medium-Earth orbit (HEO) satellites covering the second satellite. Optionally, the LMF can also determine the third and / or fourth satellites from among the multiple HEO satellites covering the second satellite.

[0135] Typically, terminal devices support positioning based on medium-Earth orbit (MEO) satellites. Due to capability limitations, some terminal devices may support positioning based on both MEO and low-Earth orbit (LEO) satellites, while others may not. To avoid the first network device sending unnecessary first requests and / or first indications, thus wasting signaling resources, the terminal device may report its capabilities to the network, allowing the first network device to determine whether to send a first request to the terminal device based on its capabilities.

[0136] For example, the terminal device may send first capability information, which indicates whether it supports positioning based on high-Earth orbit (HEO) and low-Earth orbit (LEO) satellites. Alternatively, the first capability information may indicate whether the terminal device has the capability to support positioning based on HEO and LE satellites. For instance, if the terminal device does not support positioning based on HEO and LE satellites, the first network device will not send the first indication information to the terminal device.

[0137] For example, the terminal device can send second capability information, which indicates whether it supports processing the first delay. "Second capability information indicates whether it supports processing the first delay" can be replaced with "Second capability information indicates whether the terminal device has the capability to process the first delay," or "Second capability information indicates whether the terminal device has the capability to calibrate ionospheric delay," or "Second capability information indicates whether the terminal device supports ionospheric delay calibration." Here, the first delay is the ionospheric delay between the first satellite and the second satellite. As can be seen from the relevant content of the embodiment shown in Figure 3 above, when the terminal device performs positioning based on high-Earth orbit (HEO) satellites and low-Earth orbit (LEO) satellites, the terminal device needs to calculate its position based on the ionospheric delay between the HEO and LEO satellites. If the terminal device does not have the capability to process the ionospheric delay between HEO and LEO satellites, it does not support positioning based on HEO and LEO satellites.

[0138] The first capability information and the second capability information can be carried in a single signaling message, or they can be carried in different signaling messages. Optionally, the terminal device can send the second capability information without sending the first capability information. The second capability information can also indicate whether positioning based on high-Earth orbit (HEO) and low-Earth orbit (LEO) satellites is supported. For example, if the second capability information indicates support for handling the first latency, it implicitly indicates support for positioning based on HEO and LEO satellites. If the second capability information indicates that handling the first latency is not supported, it implicitly indicates that positioning based on HEO and LEO satellites is not supported. Furthermore, there is no limitation on the specific name of the first capability information; for example, the first capability information can also be called positioning assistance information.

[0139] S402, The first network device sends a second request to the second satellite.

[0140] Accordingly, the second satellite receives a second request from the first network device. This second request requests a measurement of the first satellite. The second request may include the identifier of the first satellite, thus ensuring that the satellite to be measured by the second satellite is the first satellite. Typically, the second satellite does not measure the first satellite. In this embodiment, if the first network device instructs the terminal device to perform positioning based on high-Earth orbit (GEO) and low-Earth orbit (LEO) satellites, the first network device also instructs the second satellite to measure the first satellite to obtain the ionospheric delay between the first and second satellites, thereby achieving positioning of the terminal device. The specific name of the second request is not limited; for example, the second request could be called an ionospheric delay request.

[0141] The execution order of S402 and S401 is not restricted. For example, S402 can be executed before S401, or after S401, or S402 and S401 can be executed simultaneously.

[0142] S403, The first satellite sends the first signal.

[0143] Accordingly, the terminal device receives a first signal from the first satellite. The first signal can be a reference signal specifically for positioning; for example, if the first satellite is a BeiDou satellite, the first signal could be a ranging code. The ranging code includes a pseudo-random sequence used for distance measurement, distance calculation, or distance estimation. Alternatively, the first signal can also be a reference signal that can be used for positioning.

[0144] The first satellite transmits the first signal according to its configuration information, which includes, for example, the transmission period and resource location of the first signal. When the first satellite is a BeiDou satellite, it can broadcast the first signal, and the terminal device can blindly detect the first signal. The terminal device receives the first signal and measures it. The measurement of the first signal by the terminal device will be described below and will not be discussed here.

[0145] Similarly, the second satellite blindly detects the first signal from the first satellite. The second satellite receives the first signal and can measure it. The measurement of the first signal by the second satellite will be described below and will not be discussed here.

[0146] S404, the second satellite transmits the second signal.

[0147] Accordingly, the terminal device receives a second signal from the second satellite. The second signal can be a reference signal specifically used for positioning, or it can be any reference signal that can be used for positioning.

[0148] The second satellite transmits the second signal according to the configuration information of the second signal. The configuration information of the second signal includes, for example, the transmission period and resource location of the second signal. The first network device requests the configuration information of the second signal from the second satellite, and the second satellite responds to the request by sending the configuration information of the second signal to the first network device. The first network device receives the configuration information of the second signal and sends it to the terminal device, so that the terminal device can receive the second signal according to the configuration information.

[0149] The execution order of S403 and S404 is not restricted. For example, S403 can be executed before S404, or after S404, or S403 and S404 can be executed simultaneously.

[0150] S405, the second satellite sends the second information to the first network device.

[0151] Accordingly, the first network device receives second information from the second satellite, which is used to indicate the first delay.

[0152] The second satellite can receive the first signal from the first satellite and measure the first signal, determining the first time delay based on the measurement result. For example, the first time delay is the difference between a first duration and a second duration. The first duration is the transmission time of the first signal measured by the second satellite between the first and second satellites, and the second duration is the transmission time between the first and second satellites. For example, the second duration is the distance D / c between the first and second satellites, where c is the speed of light. For details on how the second satellite determines the first time delay, please refer to the relevant content in Figure 3 above; it will not be repeated here.

[0153] The second satellite determines the first delay and reports it to the first network device. For example, the second satellite can send second information to the first network device, which can indicate the first delay. The second information can directly indicate the first delay or indirectly indicate the first delay, as illustrated in the following examples.

[0154] In implementation method 1, the second information includes the first delay, directly indicating the first delay. The first network device can directly determine the first delay based on the second information, which can reduce the processing complexity of the first network device.

[0155] In implementation method 2, the second information includes information for determining the first delay, so that the first network device can determine the first delay based on the second information. For example, the second information includes first location information, second location information, first time information, and second time information, wherein the first location information indicates the location of the first satellite when transmitting the first signal, and the second location information indicates the location of the second satellite when receiving the first signal. The first time information indicates the time t1 when the first satellite transmits the first signal. The second time information indicates the time t2 when the first signal arrives at the second satellite.

[0156] The first network device can calculate the distance D between the first satellite and the second satellite based on the first location information and the second location information, and then calculate the transmission time t between the first satellite and the second satellite. 12,real Let D / c be the distance between the first and second satellites, and c be the speed of light. The first network device can calculate the actual transmission time t12,measure between the first and second satellites based on the first and second time information. This time t12,measure is t1-t2. The first network device determines the first delay t3,lonosphere as t1-t2-D / c.

[0157] S406. The first network device sends the first information to the terminal device.

[0158] Accordingly, the terminal device receives first information, which is used to indicate a first delay. The first information can directly indicate the first delay or indirectly indicate the first delay, as illustrated in the following examples.

[0159] In implementation method 1, the first information includes the first delay, directly indicating the first delay. The first network device can directly determine the first delay based on the first information, which can reduce the processing complexity of the first network device.

[0160] In implementation method 2, the first information includes information for determining the first delay, so that the first network device can determine the first delay based on the first information. For example, the first information includes first location information, second location information, first time information, and second time information, wherein the first location information indicates the location of the first satellite when transmitting the first signal, the second location information indicates the location of the second satellite when receiving the first signal, the first time information indicates the time when the first satellite transmitted the first signal, and the second time information indicates the time when the first signal arrived at the second satellite.

[0161] Optionally, when the second information includes first location information, second location information, first time information, and second time information, the first information may include a first delay to reduce the complexity of the terminal device in determining the first delay. Alternatively, when the second information includes first location information, second location information, first time information, and second time information, the first information may include first location information, second location information, first time information, and second time information to reduce the processing complexity of the first network device.

[0162] Regarding the specific implementation of the first network device sending the first information to the terminal device, refer to the aforementioned specific implementation of the first network device sending the first request to the terminal device. For example, if the first network device is an LMF (Location Management Function), it can send the first information to the terminal device through SMLC / location services, base stations, etc. in the network. Alternatively, the first network device can forward the first information to the terminal device through a serving satellite. As another example, if the first network device is a serving satellite, it can directly send the first information to the terminal device.

[0163] S407. The terminal device determines its location based on the first signal, the second signal, and the first delay.

[0164] The terminal device determines its location based on the first signal, the second signal, and the first delay, including: the terminal device determines the transmission time t of the first signal between the first satellite and the terminal device based on the first signal. 1,ue The transmission time t of the second signal between the second satellite and the terminal equipment is determined based on the second signal. 2,ue Determine the first time delay; based on t 1,ue t2,ue The arrival time difference between the first satellite and the second satellite is determined by the first time delay, and the location of the terminal equipment is determined based on the arrival time difference between the first satellite and the second satellite.

[0165] The terminal device can determine the first delay based on the first information received from the first network device. For example, if the first information includes the first delay, the terminal device can directly determine the first delay. Alternatively, the first information may include first location information, second location information, first time information, and second time information. The terminal device can calculate the distance D between the first satellite and the second satellite based on the first and second location information, and then calculate the transmission time t between the first satellite and the second satellite. 12,real Let D / c be the distance between the first and second satellites, and c be the speed of light. The terminal device can also calculate the actual transmission time t12,measure between the first and second satellites based on the first and second time information. This time t12,measure is t1-t2. Here, t1 is the time indicated by the first time information when the first satellite sends the first signal, and t2 is the time indicated by the second time information when the first signal arrives at the second satellite. Finally, the terminal device determines the first time delay t3,lonosphere as t1-t2-D / c.

[0166] A first satellite transmits a first signal, a terminal device receives the first signal, and measures the first signal to obtain the transmission time t between the first satellite and the terminal device. 1,ue The second satellite transmits a second signal, and the terminal device receives the second signal. By measuring the received second signal, the transmission time t between the second signal and the terminal device can be obtained. 2,ue .

[0167] Terminal equipment according to t 1,ue and t 2,ue And the first time delay t3, lonosphere determines the arrival time difference TDOA between the first and second satellites. 1,2 Among them, TDOA 1,2 Satisfy the following formula:

[0168] TDOA 1,2 =t 1,ue -t 2,ue -(t12,measure-t 12,real ), or, TDOA 1,2 =t 1,ue -t 2,ue -t3,lonosphere

[0169] As shown in Figure 2 above, when the positions of the first and second satellites are known, the terminal device can use TDOA. 1,2The distance D1 between the terminal device and the first satellite can be calculated, and the distance D2 between the terminal device and the second satellite can also be calculated, thereby determining that the terminal device is located on the hyperbola A with the first satellite and the second satellite as its foci and the distance difference between the terminal device and the two foci is always D1-D2.

[0170] Similarly, if the first network device also instructs the terminal device to measure the third satellite, the terminal device can also determine the Time Difference of Arrival (TDOA) between the third satellite and the second satellite. 1,3 When the positions of the third and second satellites are known, the terminal device can use TDOA. 1,3 The distance D3 between the terminal device and the third satellite and the distance D2 between the terminal device and the second satellite can be calculated, thereby determining that the terminal device is located on hyperbola B with the third satellite and the second satellite as its foci and the distance difference between the two foci is always D3-D2. The terminal device is also located on hyperbola A with the first satellite and the second satellite as its foci and the distance difference between the two foci is always D1-D2. That is, the terminal device is located at the intersection of hyperbola A and hyperbola B.

[0171] In this embodiment, solving for the "ionospheric delay between a low-Earth orbit satellite and the terminal device" can be transformed into solving for the "ionospheric delay between a medium-Earth orbit satellite and a low-Earth orbit satellite." When calculating its position, the terminal device compensates / calibrates the arrival time difference between the medium-Earth orbit satellite and the low-Earth orbit satellite based on the ionospheric delay between them, thus obtaining a more accurate position for the terminal device. The positioning method provided in this embodiment enables the terminal device to be positioned based on medium-Earth orbit satellites and low-Earth orbit satellites, thereby improving the positioning efficiency and accuracy of the terminal device and maximizing the positioning range.

[0172] The methods provided in the embodiments of this application described above are illustrated using a first satellite, a second satellite, a terminal device, and a first network device as examples. In this application, each embodiment can be implemented independently or in combination based on certain inherent connections; different implementation methods can be implemented in combination or independently in each embodiment. To achieve the functions of the methods provided in the embodiments of this application above, the steps executed by the terminal device can be implemented by the terminal device itself, or by components (e.g., chips / chip systems) that make up the terminal device. The steps executed by the first satellite can be implemented by the first satellite itself, or by components (e.g., chips / chip systems) that make up the first satellite. The steps executed by the second satellite can be implemented by the second satellite itself, or by components (e.g., chips / chip systems) that make up the second satellite. The steps executed by the first network device can be implemented by the first network device itself, or by components (e.g., chips / chip systems) that make up the first network device. To achieve the functions of the methods provided in the embodiments of this application above, the first satellite, the second satellite, the terminal device, or the first network device may include hardware structures and / or software modules, implementing the above functions in the form of hardware structures, software modules, or hardware structures plus software modules. Whether a particular function among the above functions is executed through hardware structure, software module, or a combination of hardware structure and software module depends on the specific application and design constraints of the technical solution.

[0173] Based on the same inventive concept as the method embodiments, this application provides a communication device. The communication device used to implement the above method in the embodiments of this application is described below with reference to the accompanying drawings. The content above can be used in subsequent embodiments, and repeated content will not be repeated.

[0174] Figure 5 is a schematic block diagram of a communication device 500 provided in an embodiment of this application. The communication device 500 can correspondingly implement the functions or steps implemented by the terminal device in the various method embodiments described above. The communication device 500 may include a processing module 510 and a transceiver module 520. Optionally, it may also include a storage module, which can be used to store instructions (code or program) and / or data. The storage module may be, for example, a memory. The processing module 510 and the transceiver module 520 may be coupled to the storage module. For example, the processing module 510 can read instructions (code or program) and / or data from the storage module to implement the corresponding method. When the communication device 500 is a chip in an intelligent agent, the storage module may be a storage module within the chip, such as a register, cache, etc. For example, the storage module may also be a storage module located outside the chip within the terminal device, such as a read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM). The above-mentioned units can be set independently, or partially or completely integrated.

[0175] Processing module 510 may be a processor or controller, such as a CPU, general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, transistor logic device, hardware component, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. Transceiver module 520 is a transceiver, interface circuit, bus, pin, or other possible communication interface for receiving signals from other devices. For example, when the device is implemented as a chip, transceiver module 520 is an interface circuit for the chip to receive signals from other chips or devices, or an interface circuit for the chip to send signals to other chips or devices.

[0176] In one implementation, the communication device 500 can correspondingly implement the behavior and functions of the terminal device in the above method embodiments. The communication device 500 can be the terminal device itself, a component (e.g., a chip or circuit) within the terminal device, a part of a chip or chipset in the terminal device used to execute the relevant method functions, or a software module in the terminal device capable of implementing the above positioning method; there are no limitations. For details, please refer to the relevant content of the foregoing method embodiments, which will not be repeated here.

[0177] For example, the transceiver module 520 is used to receive a first request for location; receive a first signal from a first satellite and a second signal from a second satellite; and receive first information indicating a first time delay, which is the ionospheric time delay between the first and second satellites. The processing module 510 is used to determine the location of the terminal device based on the first signal, the second signal, and the first time delay.

[0178] As an optional implementation, the transceiver module 520 is also used to receive first indication information, which is used to indicate positioning based on high-orbit and low-orbit satellites.

[0179] As an optional implementation, the first request includes first indication information for indicating positioning based on high-orbit and low-orbit satellites.

[0180] As an optional implementation, the first request includes the identifier of the first satellite and the identifier of the second satellite.

[0181] As an optional implementation, the transceiver module 520 is also used to send first capability information, which indicates whether positioning based on high-orbit and low-orbit satellites is supported.

[0182] As an optional implementation, the transceiver module 520 is also used to send second capability information, which indicates whether processing of the first delay is supported.

[0183] As an optional implementation, the first information includes a first time delay; or, the first information includes first location information, second location information, first time information, and second time information. Wherein, the first location information indicates the location of the first satellite when transmitting the first signal. The second location information indicates the location of the second satellite when receiving the first signal. The first time information indicates the time when the first satellite transmitted the first signal. The second time information indicates the time when the first signal arrived at the second satellite.

[0184] As an optional implementation, the transceiver module 520 is also used to receive configuration information of the second signal.

[0185] As an optional implementation, the first signal is a ranging code, and the second signal is a positioning reference signal.

[0186] As an optional implementation, the transceiver module 520 is specifically used to: receive a first request from a first network device, which is an LMF entity or a service satellite of the communication device 500.

[0187] In one implementation, the communication device 500 can correspondingly implement the behavior and functions of the first network device in the above method embodiments. The communication device 500 can be an LMF (Local Mesh Filter) or a serving satellite with positioning management functions, or it can be a component (e.g., a chip or circuit) in an LMF or a serving satellite with positioning management functions, or it can be a part of a chip or chipset in an LMF or a serving satellite with positioning management functions used to perform related method functions, or it can be a software module in the first network device capable of implementing the above positioning method; there are no limitations. For details, please refer to the relevant content of the foregoing method embodiments, which will not be repeated here.

[0188] For example, transceiver module 520 is used to send a second request to a second satellite, the second request being for requesting measurement of the first satellite; receive second information from the second satellite, the second information being for indicating a first delay, the first delay being the ionospheric delay between the first satellite and the second satellite; and send first information to a terminal device, the first information being for indicating the first delay. Processing module 510 is used to determine the second request.

[0189] As an optional implementation, the transceiver module 520 is also used to send a first indication information to the terminal device, which is used to indicate positioning based on high-orbit and low-orbit satellites.

[0190] As an optional implementation, the second information includes a first time delay; or, the second information includes first location information, second location information, first time information, and second time information. Wherein, the first location information indicates the location of the first satellite when transmitting the first signal. The second location information indicates the location of the second satellite when receiving the first signal. The first time information indicates the time when the first satellite transmitted the first signal. The second time information indicates the time when the first signal arrived at the second satellite.

[0191] As an optional implementation, when the second information includes the first delay, the first information includes the first delay. Alternatively, when the second information includes first location information, second location information, first time information, and second time information, the first information includes the first delay, or the first information includes first location information, second location information, first time information, and second time information.

[0192] In one implementation, the communication device 500 can correspondingly implement the behavior and functions of the second satellite in the above method embodiments. The communication device 500 can be the second satellite itself, a component (e.g., a chip or circuit) in a low-Earth orbit satellite, a part of a chip or chipset in the second satellite used to perform the relevant method functions, or a software module in the second satellite capable of implementing the above positioning method; there are no limitations. For details, please refer to the relevant content of the foregoing method embodiments, which will not be repeated here.

[0193] For example, transceiver module 520 is used to receive a second request for measuring a first satellite; send second information indicating a first delay, which is the ionospheric delay between the first and second satellites; and send a second signal to a terminal device to determine the location of the terminal device. Processing module 510 is used to determine the second information.

[0194] As an optional implementation, the second information includes a first time delay; or, the second information includes first location information, second location information, first time information, and second time information. Wherein, the first location information indicates the location of the first satellite when it transmits the first signal. The second location information indicates the location of the second satellite when it receives the first signal. The first time information indicates the time at which the first satellite transmits the first signal. The second time information indicates the time at which the first signal arrives at the second satellite.

[0195] When the communication device 500 is a chip-based device or circuit, the transceiver module can be an input / output circuit and / or a communication interface; the processing module is an integrated processor, microprocessor, or integrated circuit.

[0196] Figure 6 is a schematic block diagram of a communication device 600 provided in an embodiment of this application. The communication device 600 can be a second satellite, a terminal device, or a first network device as described in the above embodiments. For example, the communication device 600 can be a terminal device or a chip (system) within a terminal device as shown in Figures 1A-1C. Another example is a low-Earth orbit (LEO) satellite or a chip (system) within a LEO satellite as shown in Figures 1A-1C. Yet another example is an LMF (Low Earth Component) or a chip (system) within an LMF. In this embodiment, the chip system can be composed of chips or may include chips and other discrete devices. Specific functions can be found in the descriptions of the above method embodiments.

[0197] The communication device 600 includes one or more processors 601, used to implement or support the communication device 600 in implementing the functions of the second satellite, terminal device, or first network device in the methods provided in the embodiments of this application. For details, please refer to the detailed description in the method examples, which will not be repeated here. The processor 601 can also be called a processing unit or processing module, and can implement certain control functions to control the communication device 600. The processor 601 can be a general-purpose processor or a dedicated processor, etc. For example, it includes: a baseband processor, a central processing unit, an application processor, a modem processor, a graphics processor, an image signal processor, a digital signal processor, a video codec processor, a controller, a memory, and / or a neural network processor, etc. The baseband processor can be used to process communication protocols and communication data. The central processing unit can be used to control the communication device 600 (e.g., a terminal device or a network device), execute software programs, and / or process data. Different processors can be independent devices or integrated into one or more processors, for example, integrated on one or more application-specific integrated circuits.

[0198] In one design, processor 601 may include program 603 (sometimes referred to as code or instructions) that can be executed on processor 601 to cause communication device 600 to perform the methods described in the embodiments below. In yet another possible design, communication device 600 includes circuitry (not shown in FIG. 6) for implementing the functions of the second satellite, terminal device, or first network device in the above embodiments.

[0199] In one design, the communication device 600 may include one or more memories 602 storing a program 604 (sometimes referred to as code or instructions), which can be run on the memory 602 to cause the communication device 600 to perform the method implemented by the second satellite, terminal device or first network device in the above method embodiments.

[0200] In one design, the processor 601 and / or memory 602 may include an AI module for implementing AI-related functions. The AI ​​module may be implemented through software, hardware, or a combination of both. For example, the AI ​​module may include a RIC module. For instance, the AI ​​module may be a near real-time RIC or a non-real-time RIC.

[0201] In one possible design, the processor 601 and / or memory 602 may also store data. The processor and memory may be configured separately or integrated together.

[0202] In one possible design, the communication device 600 may further include a communication interface 605. This communication interface 605 may be a transceiver and / or antenna, or a circuit or pin, etc. The transceiver, sometimes also referred to as a transceiver unit, transceiver, transceiver circuit, or simply a transceiver, is used to implement the transmission and reception functions of the communication device 600 via an antenna.

[0203] In one possible design, the communication device 600 may further include one or more of the following components: a wireless communication module, an audio module, an external memory interface, internal memory, a universal serial bus (USB) interface, a power management module, an antenna, a speaker, a microphone, an input / output module, a sensor module, a motor, a camera, or a display screen, etc. It is understood that in some embodiments, the communication device 600 may include more or fewer components, or some components may be integrated, or some components may be separated. These components may be implemented in hardware, software, or a combination of software and hardware.

[0204] The communication device in the above embodiments can be a second satellite, a terminal device, or a first network device. It can also be a circuit, a chip, or other device or component applied in the second satellite, terminal device, or first network device. When the communication device is a terminal device or a satellite, the transceiver module can be a transceiver, which may include an antenna and radio frequency circuits, etc., and the processing module can be a processor, such as a CPU. When the communication device is a chip system, it can be an FPGA, a dedicated ASIC, a SoC, a CPU, a network processor (NP), a DSP, a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips. The processing module can be the processor of the chip system. The transceiver module or communication interface can be the input / output interface or interface circuit of the chip system. For example, the interface circuit can be a code / data read / write interface circuit. The interface circuit can be used to receive code instructions (the code instructions are stored in memory and can be read directly from memory or through other devices) and transmit them to the processor; the processor can be used to run the code instructions to execute the methods in the above method embodiments. For example, the interface circuit can also be a signal transmission interface circuit between the communication processor and the transceiver.

[0205] This application also provides a communication system, which includes a first satellite device, a second satellite device, a terminal device, or a first network device. The first satellite device is used to transmit a first signal. The second satellite device is used to implement the functions related to the second satellite in the above embodiments. The terminal device is used to implement the functions related to the terminal device in the above embodiments. The first network device is used to implement the functions related to the first network device in the above embodiments.

[0206] This application also provides a computer-readable storage medium including instructions that, when run on a computer, cause the method executed by the second satellite, terminal device, or first network device in the above positioning method to be executed.

[0207] This application also provides a computer program product, including computer program code, which, when executed, causes the method executed by the second satellite, terminal device, or first network device in the above positioning method to be executed.

[0208] This application provides a chip system including a processor and potentially a memory, for implementing the functions of the second satellite, terminal device, or first network device in the aforementioned positioning method. The chip system may consist of a chip or may include chips and other discrete components.

[0209] To achieve the functions of the communication devices shown in Figures 5 and 6, this application embodiment also provides a chip, including a processor, for supporting the communication device in implementing the functions involved in the second satellite, terminal device, or first network device in the above method embodiments. In one possible design, the chip is connected to a memory or the chip includes a memory for storing necessary computer programs, instructions, and data for the communication device.

[0210] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0211] Those skilled in the art will recognize that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0212] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0213] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0214] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0215] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essential contributing part of the technical solution of this application, or a portion 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.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0216] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A positioning method, characterized by, include: Receive a first request, which is used to request location; Receives a first signal from a first satellite and a second signal from a second satellite, wherein the first satellite is a medium-orbit satellite, and the medium-orbit satellite includes a high-orbit satellite or a medium-orbit satellite, and the second satellite is a low-orbit satellite; Receive first information, the first information being used to indicate a first delay, the first delay being the ionospheric delay between the first satellite and the second satellite; The location of the terminal device is determined based on the first signal, the second signal, and the first delay.

2. The method of claim 1, wherein, Determining the location of the terminal device based on the first signal, the second signal, and the first delay includes: determining a time difference of arrival TDOA of the first satellite and the second satellite according to the first signal, the second signal and the first time delay 1,2 , and determining a position of the terminal device according to the TDOA 1,2 ​ Wherein, the TDOA 1,2 Satisfy: TDOA 1,2 =t 1,ue -t 2,ue -t3,lonosphere,t 1,ue t represents the transmission time between the terminal device and the first satellite. 2,ue t3,lonosphere represents the transmission time between the terminal device and the second satellite, and t3,lonosphere represents the first delay.

3. The method of claim 1 or 2, wherein, The method further includes: Receive first instruction information, which is used to instruct positioning based on high-orbit and low-orbit satellites.

4. The method of claim 1 or 2, wherein, The first request includes first indication information, which is used to instruct positioning based on high-orbit and low-orbit satellites.

5. The method of any one of claims 1-4, wherein, The first request includes the identifier of the first satellite and the identifier of the second satellite.

6. The method of any one of claims 1-5, wherein, The method further includes: Send first capability information, which indicates whether positioning based on high-orbit and low-orbit satellites is supported.

7. The method of any one of claims 1-6, wherein, The method further includes: Send second capability information, which indicates whether processing the first delay is supported.

8. The method according to any one of claims 1-7, characterized in that, The first information includes the first delay; or, The first information includes first location information, second location information, first time information, and second time information. The first location information is used to indicate the location of the first satellite when it sends the first signal, the second location information is used to indicate the location of the second satellite when it receives the first signal, the first time information is used to indicate the time when the first satellite sends the first signal, and the second time information is used to indicate the time when the first signal arrives at the second satellite.

9. The method of any one of claims 1-8, wherein, Receive the first request, including: The system receives the first request from a first network device, which is a Location Management Function (LMF) entity, or the first network device is a serving satellite of the terminal device.

10. A positioning method, characterized in that, include: Send a second request to the second satellite, the second request being used to request measurement of the first satellite, the first satellite being a medium-orbit satellite, the medium-orbit satellite including high-orbit satellites or medium-orbit satellites, and the second satellite being a low-orbit satellite; Receive second information from the second satellite, the second information being used to indicate a first delay, the first delay being the ionospheric delay between the first satellite and the second satellite; Send first information to the terminal device, the first information being used to indicate the first delay.

11. The method of claim 10, wherein, The method further includes: Send a first instruction message to the terminal device, the first instruction message being used to instruct positioning based on high-orbit and low-orbit satellites.

12. The method as described in claim 10 or 11, characterized in that, The second information includes the first delay; or, The second information includes first location information, second location information, first time information, and second time information. The first location information is used to indicate the location of the first satellite when it sends the first signal, the second location information is used to indicate the location of the second satellite when it receives the first signal, the first time information is used to indicate the time when the first satellite sends the first signal, and the second time information is used to indicate the time when the first signal arrives at the second satellite.

13. The method as described in claim 12, characterized in that, When the second information includes the first delay, the first information includes the first delay; or... When the second information includes the first location information, the second location information, the first time information, and the second time information, the first information includes the first time delay, or the first information includes the first location information, the second location information, the first time information, and the second time information.

14. A positioning method characterized by, include: Receive a second request, the second request being used to request measurement of a first satellite, the first satellite being a medium-orbit satellite, the medium-orbit satellite including a high-orbit satellite or a medium-orbit satellite, and the second satellite being a low-orbit satellite; Send a second message, the second message being used to indicate a first delay, the first delay being the ionospheric delay between the first satellite and the second satellite; A second signal is sent to the terminal device, the second signal being used to determine the location of the terminal device.

15. The method as described in claim 14, characterized in that, The second information includes the first delay; or, The second information includes first location information, second location information, first time information, and second time information. The first location information is used to indicate the location of the first satellite when it sends the first signal, the second location information is used to indicate the location of the second satellite when it receives the first signal, the first time information is used to indicate the time when the first satellite sends the first signal, and the second time information is used to indicate the time when the first signal arrives at the second satellite.

16. A communications device, characterized by include: A receiving unit is configured to receive a first request, a first signal from a first satellite, a second signal from a second satellite, and first information; wherein the first request is used to request positioning; the first satellite is an intermediate-orbit satellite, which includes high-orbit satellites or medium-orbit satellites, and the second satellite is a low-orbit satellite; the first information is used to indicate a first time delay, which is the ionospheric time delay between the first satellite and the second satellite. The processing unit is configured to determine the location of the terminal device based on the first signal, the second signal, and the first delay.

17. The apparatus of claim 16, wherein, The processing unit is specifically used for: determining a time difference of arrival TDOA of the first satellite and the second satellite according to the first signal, the second signal and the first time delay 1,2 and determining a position of the terminal device according to the TDOA 1,2 ​ Wherein, the TDOA 1,2 satisfies: TDOA 1,2 = t 1,ue -t 2,ue -t3,lonosphere, t 1,ue is a transmission time between the terminal device and the first satellite, t 2,ue is a transmission time between the terminal device and the second satellite, and t3,lonosphere is the first time delay.

18. The apparatus of claim 16 or 17, wherein, The transceiver unit is also used for: Receive first instruction information, which is used to instruct positioning based on high-orbit and low-orbit satellites.

19. The apparatus of claim 16 or 17, wherein, The first request includes first indication information, which is used to instruct positioning based on high-orbit and low-orbit satellites.

20. The apparatus according to any one of claims 16-19, characterized in that, The first request includes the identifier of the first satellite and the identifier of the second satellite.

21. The apparatus as claimed in any one of claims 16-20, characterized in that, The transceiver unit is also used for: Send first capability information, which indicates whether positioning based on high-orbit and low-orbit satellites is supported.

22. The apparatus as claimed in any one of claims 16-21, characterized in that, The transceiver unit is also used for: Send second capability information, which indicates whether processing the first delay is supported.

23. The apparatus as claimed in any one of claims 16-22, characterized in that, The first information includes the first delay; or, The first information includes first location information, second location information, first time information, and second time information. The first location information is used to indicate the location of the first satellite when it sends the first signal, the second location information is used to indicate the location of the second satellite when it receives the first signal, the first time information is used to indicate the time when the first satellite sends the first signal, and the second time information is used to indicate the time when the first signal arrives at the second satellite.

24. The apparatus as claimed in any one of claims 16-23, characterized in that, The transceiver unit is specifically used for: The system receives the first request from a first network device, which is a Location Management Function (LMF) entity, or the first network device is a serving satellite of the terminal device.

25. A communication device, characterized in that, include: The transceiver unit is configured to send a second request to the second satellite, receive second information from the second satellite, and send first information to the terminal device; wherein, the second request is used to request measurement of the first satellite, the first satellite being a medium-orbit satellite, the medium-orbit satellite including a high-orbit satellite or a medium-orbit satellite, and the second satellite being a low-orbit satellite; the second information is used to indicate a first time delay, the first time delay being the ionospheric time delay between the first satellite and the second satellite; the first information is used to indicate the first time delay; A processing unit is used to determine the second request.

26. The apparatus as claimed in claim 25, characterized in that, The transceiver unit is also used for: Send a first instruction message to the terminal device, the first instruction message being used to instruct positioning based on high-orbit and low-orbit satellites.

27. The apparatus as described in claim 25 or 26, characterized in that, The second information includes the first delay; or, The second information includes first location information, second location information, first time information, and second time information. The first location information is used to indicate the location of the first satellite when it sends the first signal, the second location information is used to indicate the location of the second satellite when it receives the first signal, the first time information is used to indicate the time when the first satellite sends the first signal, and the second time information is used to indicate the time when the first signal arrives at the second satellite.

28. The apparatus as claimed in claim 27, characterized in that, When the second information includes the first delay, the first information includes the first delay; or... When the second information includes the first location information, the second location information, the first time information, and the second time information, the first information includes the first time delay, or the first information includes the first location information, the second location information, the first time information, and the second time information.

29. A communication device, characterized in that, include: The transceiver unit is configured to receive a second request, send second information, and send a second signal to a terminal device; wherein the second request is used to request measurement of a first satellite, the first satellite being a medium-orbit satellite, the medium-orbit satellite including a high-orbit satellite or a medium-orbit satellite, and the second satellite being a low-orbit satellite; the second information is used to indicate a first time delay, the first time delay being the ionospheric time delay between the first satellite and the second satellite; and the second signal is used to determine the position of the terminal device. A processing unit is used to determine the second information.

30. The apparatus as claimed in claim 29, characterized in that, The second information includes the first delay; or, The second information includes first location information, second location information, first time information, and second time information. The first location information is used to indicate the location of the first satellite when it sends the first signal, the second location information is used to indicate the location of the second satellite when it receives the first signal, the first time information is used to indicate the time when the first satellite sends the first signal, and the second time information is used to indicate the time when the first signal arrives at the second satellite.

31. A communication device, characterized in that, The communication device includes at least one processor configured to execute a computer program or instructions to cause the method of any one of claims 1-9 to be performed by the communication device, or the at least one processor configured to execute a computer program or instructions to cause the method of any one of claims 10-13 to be performed by the communication device, or the at least one processor configured to execute a computer program or instructions to cause the communication device to perform the method of claim 14 or 15 to be performed by the communication device.

32. The apparatus as claimed in claim 31, characterized in that, The device further includes a memory that stores the computer program or instructions.

33. A communication system, characterized in that, The system includes a terminal device, a first network device, a first satellite, and a second satellite. The terminal device is configured to perform the method as described in any one of claims 1-9, the first network device is configured to perform the method as described in any one of claims 10-13, the second satellite is configured to perform the method as described in claim 14 or 15, and the first satellite is configured to transmit a first signal for positioning of the terminal device.

34. A chip or chip system, characterized in that, The chip or chip system includes: At least one processor and an interface, the at least one processor being configured to call and execute instructions from the interface, such that when the at least one processor executes the instructions, the method as claimed in any one of claims 1-9 is executed, or the method as claimed in any one of claims 10-13 is executed, or the method as claimed in claim 14 or 15 is executed.

35. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program or instructions that, when executed on a computer, cause the method as described in any one of claims 1-9 to be performed, or the method as described in any one of claims 10-13 to be performed, or the method as described in claim 14 or 15 to be performed.

36. A computer program product, characterized in that, The computer program product includes one or more computer programs or instructions that, when read and executed by the computer, cause the method as described in any one of claims 1-9 to be performed, or the method as described in any one of claims 10-13 to be performed, or the method as described in claim 14 or 15 to be performed.

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