CN113196107A

CN113196107A - Information processing method and terminal equipment

Info

Publication number: CN113196107A
Application number: CN201980081599.7A
Authority: CN
Inventors: 卢前溪; 沈渊; 刘袁鹏
Original assignee: Tsinghua University; Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Tsinghua University; Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2021-07-30
Anticipated expiration: 2039-03-01
Also published as: CN113196107B; WO2020177041A1

Abstract

An information processing method and a terminal device, the method comprising: the first terminal equipment acquires at least one parameter of the following parameters: the first terminal device is based on a relative position of a second terminal device, an angle of a network device to the first terminal device, and a variance of clock noise of the first terminal device (110); the first terminal device determines (120) a location where the first terminal device is currently located according to the at least one parameter. The information processing method and the terminal equipment can improve the positioning accuracy of the vehicles in the Internet of vehicles.

Description

Information processing method and terminal equipment

Technical Field

The present application relates to the field of communications, and in particular, to a method and a terminal device for processing information.

Background

The car networking system is a Sidelink (SL) transmission technology based on a terminal to Device (D2D) transmission mode, and is different from a mode that communication data in a traditional Long Term Evolution (LTE) system is received or sent through a base station, and the car networking system adopts a terminal to terminal direct communication mode, so that the car networking system has higher spectral efficiency and lower transmission delay.

With the rapid development of the internet of vehicles, vehicle positioning is receiving more and more attention. However, the accuracy of the existing vehicle positioning method is low.

Disclosure of Invention

The embodiment of the application provides an information processing method and terminal equipment, and the positioning accuracy of vehicles in an internet of vehicles can be improved.

In a first aspect, a method for processing information is provided, where the method includes:

the method comprises the following steps that a first terminal device obtains at least one parameter of the following parameters, wherein the first terminal device is based on the relative position of a second terminal device, the angle between a network device and the first terminal device, and the variance of clock noise of the first terminal device;

and the first terminal equipment determines the current position of the first terminal equipment according to the at least one parameter.

In a second aspect, a terminal device is provided, which is configured to perform the method in the first aspect or each implementation manner thereof.

Specifically, the terminal device includes a functional module for executing the method in the first aspect or each implementation manner thereof.

In a third aspect, a terminal device is provided that includes a processor and a memory. The memory is used for storing a computer program, and the processor is used for calling and running the computer program stored in the memory, and executing the method in the first aspect or each implementation manner thereof.

In a fourth aspect, a chip is provided for implementing the method in any one of the above first aspects or implementations thereof.

Specifically, the chip includes: a processor configured to call and run the computer program from the memory, so that the device on which the chip is installed performs the method according to any one of the above first aspects or the implementation manners thereof.

In a fifth aspect, a computer-readable storage medium is provided for storing a computer program, which causes a computer to execute the method of any one of the above aspects or implementations thereof.

A sixth aspect provides a computer program product comprising computer program instructions to cause a computer to perform the method of any of the above first aspects or implementations thereof.

In a seventh aspect, a computer program is provided, which, when run on a computer, causes the computer to perform the method of any one of the above first aspects or implementations thereof.

According to the technical scheme, the first terminal equipment can be positioned according to at least one parameter of the relative position based on the second terminal equipment, the angle between the network equipment and the first terminal equipment and the variance of the clock noise of the first terminal equipment. On the basis that the first terminal equipment is based on the relative position of the second terminal equipment, the first terminal equipment is positioned, so that the positioning of the first terminal equipment can be more accurate, and the positioning precision can be improved. If the angle measurement with the network device is not introduced in the positioning process of the first terminal device, the first terminal device may need at least 4 different network devices to complete the positioning, however, signals of the network devices are easily blocked, so the number of the network devices acquired by the first terminal device is limited, and the number of the network devices may be less than 4, and at this time, the positioning of the first terminal device may not be realized or the error is large. After angle measurement is introduced, positioning can be realized by utilizing 2 network devices, so that the positioning precision can be improved. Since the first terminal device may be affected by the clock noise during the positioning process, the accuracy of positioning the first terminal device may be improved by considering the effect of the clock noise. In addition, if a plurality of parameters mentioned above are considered in the positioning process, a plurality of data can be fused into a unified positioning scheme, so that the obtained positioning information is richer, and the positioning accuracy can be greatly improved.

Drawings

Fig. 1 is a schematic diagram of a communication architecture according to an embodiment of the present application.

Fig. 2 is a schematic diagram of another communication architecture according to an embodiment of the present application.

Fig. 3 is a schematic flow chart of a method of information processing according to an embodiment of the present application.

FIG. 4 is a schematic diagram of a rectangular array measuring angles according to an embodiment of the present application.

Fig. 5 is a schematic flow chart diagram of a positioning scheme in accordance with an embodiment of the present application.

Fig. 6 is a schematic block diagram of a terminal device according to an embodiment of the present application.

Fig. 7 is a schematic block diagram of a communication device according to an embodiment of the present application.

Fig. 8 is a schematic block diagram of a chip according to an embodiment of the present application.

Detailed Description

Technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The technical scheme of the embodiment of the application can be applied to various communication systems, for example: a Global System for Mobile communications (GSM) System, a Code Division Multiple Access (CDMA) System, a Wideband Code Division Multiple Access (WCDMA) System, a General Packet Radio Service (GPRS), a Long Term Evolution (Long Term Evolution, LTE) System, an LTE Frequency Division Duplex (FDD) System, an LTE Time Division Duplex (TDD), a Universal Mobile Telecommunications System (UMTS), a Worldwide Interoperability for Microwave Access (WiMAX) communication System, or a 5G System.

Various embodiments are described herein in connection with a network device. A network device may provide communication coverage for a particular geographic area and may communicate with terminal devices located within that coverage area. Optionally, the Network device may be a Base Transceiver Station (BTS) in a GSM system or a CDMA system, a Base Station (NodeB, NB) in a WCDMA system, an evolved Node B (eNB or eNodeB) in an LTE system, or a wireless controller in a Cloud Radio Access Network (CRAN), or may be a Network device in a Mobile switching center, a relay Station, an Access point, a vehicle-mounted device, a wearable device, a hub, a switch, a bridge, a router, a Network-side device in a 5G Network, or a Network device in a Public Land Mobile Network (PLMN) for future evolution, or the like.

The embodiments of the present application have been described with reference to terminal devices. Terminal devices include, but are not limited to, connections via wireline, such as Public Switched Telephone Network (PSTN), Digital Subscriber Line (DSL), Digital cable, direct cable connection; and/or another data connection/network; and/or via a Wireless interface, e.g., to a cellular Network, a Wireless Local Area Network (WLAN), a digital television Network such as a DVB-H Network, a satellite Network, an AM-FM broadcast transmitter; and/or means of another terminal device arranged to receive/transmit communication signals; and/or Internet of Things (IoT) devices. A terminal device arranged to communicate over a wireless interface may be referred to as a "wireless communication terminal", "wireless terminal", or "mobile terminal". Examples of mobile terminals include, but are not limited to, satellite or cellular telephones; personal Communications Systems (PCS) terminals that may combine cellular radiotelephones with data processing, facsimile, and data Communications capabilities; PDAs that may include radiotelephones, pagers, internet/intranet access, Web browsers, notepads, calendars, and/or Global Positioning System (GPS) receivers; and conventional laptop and/or palmtop receivers or other electronic devices that include a radiotelephone transceiver. Terminal Equipment may refer to an access terminal, User Equipment (UE), subscriber unit, subscriber station, mobile station, remote terminal, mobile device, User terminal, wireless communication device, User agent, or User Equipment. An access terminal may be a cellular telephone, a cordless telephone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a handheld device having Wireless communication capabilities, a computing device or other processing device connected to a Wireless modem, a vehicle mounted device, a wearable device, a terminal device in a 5G network, or a terminal device in a future evolved PLMN, etc.

It should be noted that the terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone.

Fig. 1 and 2 are schematic diagrams of an application scenario of the embodiment of the present application. Fig. 1 exemplarily shows one network device and two terminal devices, and optionally, the communication system may include a plurality of network devices and may include other numbers of terminal devices within the coverage of each network device, which is not limited in this embodiment of the present application.

Specifically, the terminal device 20 and the terminal device 30 may communicate in the communication mode of D2D, and when performing D2D communication, the terminal device 20 and the terminal device 30 communicate directly through a D2D link, i.e., SL, as shown in fig. 1 or fig. 2, for example. In fig. 1, terminal device 20 and terminal device 30 communicate via a sidelink, the transmission resources of which are allocated by the network device. In fig. 2, terminal device 20 and terminal device 30 communicate via a sidelink, and their transmission resources are selected by the terminal device autonomously without the need for the network device to allocate transmission resources.

In the third Generation Partnership Project (3 GPP) release 14(Rel-14), two transmission modes are defined for the car networking technology, mode 3 and mode 4.

Alternatively, the scenario shown in fig. 1 may be used in a Vehicle-to-Vehicle (V2V) scenario, and the mode shown in fig. 1 may be referred to as mode 3, where transmission resources of the Vehicle-mounted terminal are allocated by the base station, and the Vehicle-mounted terminal may perform data transmission on the sidelink according to the resources allocated by the base station. It should be understood that the base station may allocate resources for a single transmission to the terminal, or may allocate resources for semi-static transmission to the terminal.

Alternatively, the scenario shown in fig. 2 may be used for the V2V scenario, the mode shown in fig. 2 may be referred to as mode 4, and the vehicle-mounted terminal adopts a transmission manner of listening (sending) + reserving (reservation). The vehicle-mounted terminal can acquire an available transmission resource set in the resource pool in an interception mode, and then randomly selects one resource from the set to transmit data. Because the service in the car networking system has a periodic characteristic, the terminal device usually adopts a semi-static transmission mode, that is, after the terminal device selects one transmission resource, the resource can be continuously used in a plurality of transmission cycles, so that the probability of resource reselection and resource conflict can be reduced. The terminal equipment can carry the information of the reserved secondary transmission resource in the control information transmitted this time, so that other terminal equipment can judge whether the resource is reserved and used by the user or not by detecting the control information of the user, and the aim of reducing resource conflict is fulfilled.

The D2D communication scheme may be used for V2V communication or Vehicle to other device (V2X) communication, or enhanced (cellular) Vehicle networking (eV 2X). In V2X communication, X may refer to any device with wireless receiving and transmitting capability, such as but not limited to a slow moving wireless device, a fast moving vehicle-mounted device, or a network control node with wireless transmitting and receiving capability. It should be understood that the embodiment of the present application is mainly applied to the scenario of V2X communication, but may also be applied to any other D2D communication scenario, and the embodiment of the present application is not limited in this respect.

Currently, 3GPP defines 3 positioning methods, which are a Cell-ID-based (CID) method, an Observed Time Difference of Arrival (OTDOA) method, and an Assisted Global Navigation Satellite System (a-GNSS) method.

For the CID positioning method, the specific method may be: the location of the terminal device can be determined by identifying which cell in the network transmits the terminal device call, using the identity of each cell, and translating the cell center location information into latitude and longitude. That is, the location information of the cell may be taken as the current location of the terminal device. The method has low precision which is in the order of hundred meters, and cannot meet the requirements of high precision and high reliability of the vehicle networking.

In the OTDOA positioning method, the positioning principle is the same as that of a Global Navigation Satellite System (GNSS), and a hyperbolic positioning method based on a time difference of arrival is used to obtain a position. Theoretically, higher accuracy can be obtained, but because the base station signals have co-channel interference, a minimum of 4 different base stations are needed for positioning, and the base station signals also have near-far effect, which may cause the signals of the base stations at far distance to be submerged, so the actual accuracy is not high, and is about ten meters. In addition, because the number of base stations is limited, signal occlusion and other situations are easy to occur in an actual environment, and the positioning mode may easily cause a situation that positioning cannot be performed, and reliability is not high enough.

The a-GNSS positioning scheme is currently the most widely used satellite positioning scheme, the principle of which is also the classical hyperbolic positioning based on time difference of arrival. In open terrain, satellite systems can provide positioning accuracy on the order of meters. However, in some severe environments, such as urban high-rise areas, overpasses, indoor environments, etc., the satellite signal may be blocked, which may result in a situation where positioning is impossible, and thus a long-term high-reliability service cannot be provided.

In addition, the OTDOA and a-GNSS positioning schemes with higher accuracy may be affected by clock noise due to the use of time-of-arrival based measurements, and the accuracy is difficult to achieve the sub-meter level accuracy required by the internet of vehicles. Therefore, the three independent positioning schemes may not meet the requirement of high precision of the internet of vehicles.

To this end, in the embodiment of the present application, the following method 100 is provided to solve this problem. In the method 100, the terminal device may be located according to at least one parameter based on a relative position of other terminal devices, an angle of the network device to the terminal device, and a variance of clock noise of the terminal device. Thereby providing positioning accuracy.

Fig. 3 is a schematic flow chart of a method 100 for information processing according to an embodiment of the present application. The method may be implemented by a terminal device, and the method 100 may include at least part of the following.

It should be understood that the technical solution of the embodiment of the present application may be applied to other scenarios of a communication system besides the car networking system. Of course, the technical solution of the embodiment of the present application may also be applied to providing various location-based services, such as querying information of surrounding stores, gas stations, restaurants, and the like, and may also be used for services such as rescue in emergency, vehicle scheduling, personnel management, and the like.

At 110, the first terminal device obtains at least one parameter of: the first terminal device is based on the relative position of the second terminal device, the angle of the network device to the first terminal device, and the variance of the clock noise of the first terminal device.

At 120, the first terminal device determines a current location of the first terminal device according to at least one parameter.

Wherein the second terminal device may comprise at least one terminal device.

Optionally, in this embodiment, the angle between the network device and the first terminal device may include a pitch angle and/or an azimuth angle.

Alternatively, the clock noise may be, but is not limited to, caused by clock drift of the first terminal device.

It should be understood that, in the embodiments of the present application, "first" and "second" are merely used to distinguish different objects, and do not limit the scope of the embodiments of the present application.

The technical solutions provided in the embodiments of the present application will be described below by taking a terminal device as a vehicle and a network device as a base station as examples, but the present invention is not limited thereto.

In the embodiment of the present application, in the process of acquiring the relative position of the first vehicle based on the second vehicle, as an example, the first vehicle may obtain the relative position of the first vehicle based on the second vehicle by using a pseudo-range measurement manner, that is, by measuring pseudo-ranges between the vehicles in two directions.

A possible theoretical model of this implementation is described below. The theoretical model considers a ground cooperative vehicle networking system assisted by satellites and ground base stations. It should be understood that the theoretical model is only an example and does not constitute a limitation on the embodiments of the present application.

Suppose there is N in the network_cA vehicle, M_bBase station and H_sA satellite, wherein the locations of the base station and the satellite are known. The set of vehicles is: n is_c＝{1,2,...,N _cThe set of vehicles and base stations is: m is_b＝{N ₁+M ₁,N ₂+M ₂,...,N _c+M _bThe set of vehicles, base stations and satellites is: h is_s＝{N ₁+M ₁+H ₁,N ₂+M ₂+H ₂,...,N _c+M _b+H _s}. The position of node (including vehicle, base station and satellite) k is p_k＝[x _k,y _k,z _k] ^TThe parameter vector containing all vehicle positions is

Assuming that the satellite and the base station are synchronized, the vehicle k is idle due to hardware devices, and there is a clock bias δ between the satellite, i.e., the base station_kThe distance deviation introduced by the clock deviation can satisfy the formula (1):

b _k＝c*δ _k (1)

wherein, b_kThe distance deviation due to the clock deviation existing in the vehicle k, and c is the speed of light.

Alternatively, the distance between node k and observation node j may be defined as:

d _kj＝||p _k-p _j|| (2)

defining a pitch angle theta between a node k and an observation node j_kjAnd azimuth angle phi_kjRespectively as follows:

the signal received by node k from node j can be expressed as follows:

r _kj(t)＝α _kjs _j(t-τ _kj)+n _kj(t) (5)

wherein s is_j(t) is the known signal, its Fourier transform being S_j(f)，α _kjAnd τ_kjSignal amplitude and delay, n, of the transmission link from node j to node k, respectively _kj(t) is the power spectral density N₀White Gaussian noise of/2.

On the basis of the theoretical model, the relative positions of any two vehicles in the vehicle network can be obtained by adopting a pseudo-range measurement mode.

Specifically, without satellite and base station assistance, a vehicle may be referenced to any one of the vehicles in the vehicle network, such as the first vehicle, or the last vehicle. Let the clock of the reference vehicle be the clock reference and let it be the distance deviation b caused by the clock deviation₁0. A measure of the inter-vehicle distance can then be derived from the two-way measurements, and the clock bias of the other vehicle relative to the reference vehicle can be derived.

Let any two vehicles in the vehicle network be vehicle k and vehicle j, respectively, and for vehicle k receiving a signal from vehicle j, the following second pseudo-range model may be employed:

wherein the content of the first and second substances,

as a measure of the distance between vehicle k and vehicle j, d_kjIs the actual value of the distance between vehicle k and vehicle j, b_kDistance deviations due to clock deviations of the vehicle k, b_jFor distance deviations introduced by clock deviations of vehicle j, v_jkAs a clock noise term, if not calibrated, its variance

May grow over time.

It should be noted that clock skew caused by clock noise is random, for example, the clock noise at the last timeThe clock skew caused is 1ms, and the clock skew caused by the clock noise at the present time is 0.5 ms. The clock deviation delta mentioned above is different from the clock deviation caused by clock noise_kAre the same at different times, e.g. all 1 ms.

ω in the formula (6)_jkDue to signal noise n_kj(t) an equivalent zero mean Gaussian error, obeying a mean of 0 and a variance of

Satisfies the following formula:

it can be seen that the variance

Inversely proportional to the signal-to-noise ratio, equivalent bandwidth. Therefore, the signal-to-noise ratio and the equivalent bandwidth are improved, and the positioning accuracy of the vehicle can be improved.

It can be seen that the pseudo-range between the vehicle k and the vehicle j at this time takes into account the influence factor of the clock noise of the vehicle k, i.e., the pseudo-range between the vehicle k and the vehicle j is determined based on the variance of the clock noise of the vehicle k.

Optionally, the second pseudorange model may also be used without taking into account the effects of clock noise of the vehicle k, where v may be let_jkIs 0.

Optionally, in this embodiment of the present application, the second pseudorange model may be preset on the vehicle k, or may be transmitted to the vehicle k by other communication devices. For example, vehicle j may transmit information including the second pseudorange model while transmitting a signal to vehicle k.

Next, the distance estimates for vehicle k and vehicle j may be determined according to equation (6).

Illustratively, the distance estimate may be determined using a least squares method.

As yet another example, the two-way range measurements of vehicle k and vehicle j may be averaged to obtain a range estimate. For example, in averaging the two-way ranging, for vehicle j receiving a signal from vehicle k, the pseudorange between vehicle j and vehicle k is determined

Can be as follows:

averaging equations (6) and (8) allows the clock offset b between vehicle k and the reference vehicle to be determined_kAnd the clock deviation b between the vehicle j and the reference vehicle_jThe offset is obtained, and an estimated value of the distance between the vehicle k and the vehicle j can be obtained, as shown in equation (9):

similarly, distance estimates between all vehicles in the vehicle network may be obtained.

That is, the first vehicle may determine the relative position based on the second vehicle according to the implementations mentioned above. That is, the first vehicle may determine a second pseudorange to the second vehicle, and then determine a relative position based on the second vehicle based on the second pseudorange.

It should be noted that the first vehicle may determine the second pseudorange based on a variance of a clock noise of the first vehicle. The second pseudorange may not be determined based on the variance of the clock noise of the first vehicle, which is not limited in the embodiment of the present application. It should be appreciated that the accuracy of the second pseudoranges determined based on the variance of the clock noise of the first vehicle may be higher than the accuracy of the second pseudoranges determined not based on the variance of the clock noise of the first vehicle.

Optionally, in the embodiment of the present application, the first vehicle may further obtain an angle with the second vehicle, and determine the relative position based on the second vehicle according to the angle with the second vehicle.

The first vehicle may measure an angle with the second vehicle, or the second vehicle may measure an angle between the first vehicle and the second vehicle, and then the second vehicle may transmit information including the angle to the first vehicle, and after receiving the information, the first vehicle may determine the angle with the second vehicle.

Further, the shape of the vehicle network may be derived according to a predetermined algorithm, i.e. to achieve a relative positioning of all vehicles in the vehicle network.

It should be understood that the predetermined algorithm is not particularly limited in the embodiments of the present application, for example, the predetermined algorithm may be a multidimensional calibration algorithm, or may be a semi-positive plan, etc.

Taking the multidimensional scaling algorithm as an example, the k rows and j columns of the squared distance matrix can be as follows:

for the

The shortest path can be used instead of the distance value without measurement, and then the square distance matrix is used

And obtaining the shape of the vehicle network by adopting a multi-dimensional calibration algorithm.

It should be understood that the specific examples in the embodiments of the present application are for the purpose of promoting a better understanding of the embodiments of the invention, and are not intended to limit the scope of the embodiments of the present application.

As another example, the antenna of the first vehicle may broadcast a wireless signal containing identification information of the first vehicle to the outside, and may simultaneously listen to wireless signals existing in the surroundings, and may converge the received signal to the in-vehicle device in real time. The vehicle-mounted device processes the acquired data information, and can determine the relative position of the first vehicle based on the second vehicle through the Signal Strength of multiple groups of antennas, such as Received Signal Strength Indication (RSSI).

Optionally, the Identification information of the first vehicle may include, but is not limited to, a Cell-Radio Network Temporary Identifier (C-RNTI) of the first vehicle, an International Mobile Subscriber identity Number (IMSI) of the first vehicle, and an Identification of the first vehicle in a vehicle Network. The identifier of the first vehicle in the vehicle network may be a number of the first vehicle in the vehicle network, and if the number of the first vehicle in the vehicle network is 4, the identifier of the first vehicle in the vehicle network is 4.

As another example, the first vehicle may determine the relative position based on the second vehicle through a vision-based positioning method. It should be understood that the embodiment of the present application does not limit the vision-based positioning method in any way, and any method that can determine the relative position of the first vehicle based on the second vehicle by using the vision-based positioning method can be included in the scope of the embodiment of the present application.

Based on the relative position of the second vehicle, the first vehicle may determine a current location of the first vehicle based on the satellite and/or the base station.

It should be noted that, when determining the current position of the first vehicle based on the relative position of the second vehicle, it is assumed that the relative position of the first vehicle based on the second vehicle can be obtained at any time.

In one implementation, the first vehicle may determine the current position based on any of the 3 positioning methods currently specified by 3GPP, i.e., CID, OTDOA, or a-GNSS, according to the determined relative position.

In another implementation, the first vehicle may determine a current location of the first vehicle based on the determined relative position and based on first pseudoranges between satellites and/or base stations.

Alternatively, the first terminal device may receive signals transmitted by satellites and/or base stations, from which signals the first pseudorange is determined.

The following describes a technical solution for determining a current position of a first vehicle according to a relative position and a first pseudorange. For convenience of description, a scheme of determining the relative position of the first vehicle based on the second vehicle will be referred to as a vehicle-to-vehicle cooperation scheme hereinafter.

a. Vehicle-to-vehicle cooperation + satellite positioning scheme

On the basis of vehicle-vehicle cooperation, the position of the first vehicle in the terrestrial coordinate system, namely the current position of the first vehicle, can be determined through satellite assistance.

In the embodiment of the present application, there are various implementations of the first pseudorange between the first vehicle and the satellite. As one example, a first vehicle may receive signals transmitted by a satellite and then determine a first pseudorange from the signals transmitted by the satellite. At this time, the observation node j is a satellite j.

For example, for a vehicle k receiving a signal from a satellite j, a first pseudorange model between the vehicle and the satellite may be:

based on equation (11), the first vehicle may determine a first pseudorange to a satellite.

After determining the first pseudorange to the satellite, the first vehicle may determine a current location of the first vehicle based on the first pseudorange to the satellite, based on a relative location of the second vehicle, and a particular algorithm.

Alternatively, in the embodiment of the present application, the specific algorithm may be a least square method, a gradient descent algorithm, or the like.

It should be noted that, due to the special high-altitude characteristic of the satellite system, the positioning result generally adopts the result of XY plane, which can ensure the precision of two-dimensional positioning, and the positioning error in height is larger, and the positioning precision can reach the level of ten meters.

a. Vehicle-vehicle cooperation + base station positioning scheme

In the present embodiment, the base station may provide positioning assistance for the first vehicle in addition to the satellite.

Various implementations of the first pseudorange between the first vehicle acquisition and the base station are possible. As an example, a first vehicle may receive a signal transmitted by a base station and then determine a first pseudorange to the base station based on the signal transmitted by the base station.

For example, for a vehicle k receiving a signal from a base station j, the pseudo-range model between the vehicle and the base station may be:

since the base station and the satellite are assumed to be synchronized on the basis of the theoretical model, the base station and the satellite have no clock bias, i.e. no distance bias introduced by the clock bias, i.e. b_j＝0。

For another example, for the vehicle k receiving the signal from the base station j, the pseudo-range model between the vehicle and the base station may also be:

it can be seen that equation (12) takes into account the effect of the clock noise of the first vehicle, i.e. equation (12) is determined based on the variance of the clock noise of the first vehicle, and equation (13) does not take into account the effect of the clock noise.

Based on equation (12) or equation (13), the first vehicle may determine a first pseudorange to a base station. Thereafter, the first vehicle may determine a current location of the first vehicle based on the first pseudorange to the base station and based on the relative position of the second vehicle.

It should be understood that, for the implementation of the first vehicle determining the current position of the first vehicle by using the first pseudorange with the base station, reference may be made to the implementation of determining the current position of the first vehicle by using the first pseudorange with the satellite, and details are not described herein for brevity.

Further, the first vehicle may obtain an angle between the base station and the first vehicle, so that a current position of the first vehicle may be determined according to the angle and according to the first pseudo range to the base station.

Optionally, the first vehicle may obtain the angle between the base station and the first vehicle by measuring the angle between the base station and the first vehicle.

Alternatively, the base station may measure the angle to the first vehicle and then transmit information including the angle to the first vehicle when signaling the first vehicle again. After the first vehicle receives the information, an angle of the base station with the first vehicle may be determined.

Optionally, the pitch angle and the azimuth angle of the base station and the first vehicle may satisfy the following formulas:

wherein, theta_jkIs the actual value of the pitch angle, phi_jkIs the actual value of the azimuth angle,

is a measure of the pitch angle,

as a measure of azimuth angle, μ_jkThe method is characterized in that the angle measurement noise caused by the signal noise transmitted by a base station to a first vehicle is equivalent zero mean Gaussian noise on a two-dimensional angle, and the covariance matrix of the angle measurement noise is C_jk，C _jkInversely proportional to the noise of the signal transmitted by the base station to the first vehicle, C_jkMay be related to the spatial structure of the array.

Alternatively, the array may be an array of any shape, such as a rectangular array, a circular array, or the like. The following description will be given taking a rectangular array as an example.

As shown in fig. 4, the rectangular array is a matrix of M × N. In fig. 4, one black dot represents one antenna array of the base station, and the point S represents the first vehicle. Order to

Δ is the spacing between the elements in the diagram, i.e. the distance between 2 black dots, λ is the signal wavelength, and its covariance matrix C_jkThe inverse matrix of (c) may satisfy the following formula:

wherein the content of the first and second substances,

after the first vehicle determines the angle between the base station and the first vehicle, the first vehicle may determine the current position of the first vehicle according to the angle and according to the first pseudo range between the first vehicle and the base station.

According to the technical scheme, when angle measurement is not introduced, at least 4 different base stations are needed for realizing positioning, however, under severe environments such as signal shielding, the situation that the number of visible base stations is less than 4 is easily generated, and positioning may fail. After angle measurement is introduced, positioning can be realized by only 2 base stations, so that the positioning precision and the system reliability can be improved. In addition, the shape of the vehicle network is determined through vehicle-to-vehicle measurement, and then three-dimensional coordinates of the vehicle network in a terrestrial coordinate system (including three-dimensional coordinates of the first vehicle in the terrestrial coordinate system) can be obtained through measurement of the base station, so that positioning is realized. After the ground base station is used, the error in height is small, and the function of high-precision three-dimensional positioning can be realized.

It should be noted that, after the positioning is performed by using the base station, the positioning error in height is small, and the function of high-precision three-dimensional positioning can be realized.

c. Vehicle-vehicle cooperation + satellite + base station positioning scheme

In the embodiment of the application, if a single system, such as a satellite or a base station, is used for assisting positioning, the situation that positioning cannot be performed due to insufficient numbers of satellites or base stations which may be observed easily occurs in severe environments such as high buildings in urban areas. By combining vehicle-to-vehicle cooperation, satellite assistance and base station assistance, the reliability and accuracy of the vehicle positioning system can be improved.

Optionally, in this scenario, the first vehicle may determine the current location of the first vehicle using the second pseudorange from the vehicle before the vehicle, the pseudorange between the first vehicle and the satellite, and the pseudorange between the first vehicle and the base station.

Further, the first vehicle can also determine the current position by using the angle between the base station and the first vehicle.

It should be understood that, the specific implementation manner of this scheme may refer to the description of the foregoing content, and is not repeated herein.

According to the technical scheme, when the satellite and the ground base station are assisted simultaneously, high-precision two-dimensional positioning can be provided, and the requirement of high-precision three-dimensional positioning can be met, so that more reliable positioning service and higher positioning precision can be obtained.

In addition to determining the current location of the first vehicle through at least one of the parameters mentioned above, in this embodiment, the method 100 may further include: the first vehicle acquires data sent by a sensor in the first vehicle, and determines the current position of the first vehicle according to at least one parameter and the data sent by the sensor.

That is, during dynamic travel of the first vehicle, the first vehicle may also rely on the vehicle's own sensors to assist in positioning.

Alternatively, the sensor may include, but is not limited to, at least one of an Inertial Measurement Unit (IMU), a vision sensor, and an onboard radar.

Alternatively, the IMU may measure the acceleration, angular velocity, etc. of the first vehicle itself, which may provide a more accurate measurement of the first vehicle's speed, heading, displacement, etc. in a short time. Therefore, the first vehicle can determine the position of the current time by combining the position of the last time and the information of the acceleration, the orientation and the like of the current time.

It should be noted that since errors in the speed, orientation, and displacement of the vehicle measured by the IMU may accumulate over time, relying on the IMU for a long time may result in large positioning errors. In dynamic driving, the method of passing at least one parameter may be unable to calculate or fail at some point in time, and relying on the IMU to maintain the estimate of the first vehicle position for a short period of time may result in a higher positioning accuracy. Furthermore, the IMU may also be used for assisting positioning to improve positioning accuracy when the above method by at least one parameter works properly.

Alternatively, the first vehicle may acquire an object, landmark information, lane line information, and the like in the vicinity of the first vehicle using a vision sensor, and the first vehicle may measure a distance and an orientation between the object in the vicinity of the first vehicle and the vehicle using an on-vehicle radar.

By combining the different sensor information, on one hand, assistance can be provided for vehicle collision avoidance, lane change and other operations, and on the other hand, the vehicle positioning accuracy can be improved through the landmark and other information. And even if the signals of the satellites and/or the base stations cannot be obtained for a short time, the short-term maintenance capability is provided for positioning under the severe environment, and the situation that positioning cannot be carried out cannot occur.

It should be understood that various embodiments of the present invention can be implemented individually or in combination, and the embodiments of the present invention are not limited thereto.

As an example, the above describes an embodiment in which the first vehicle determines the current position of the first vehicle according to the relative position based on the second vehicle and according to the angle between the base station and the first vehicle, and an embodiment in which the first vehicle determines the current position according to the angle between the base station and the first vehicle may also be implemented alone, and may not be implemented in combination with an embodiment based on the relative position of the second vehicle.

For example, the first vehicle may determine the current location of the first vehicle based on the angle of the base station to the first vehicle.

For another example, the first vehicle may determine the current position of the first vehicle based on the angle of the base station to the first vehicle and based on the aforementioned first pseudoranges to the base station and/or the satellites.

For another example, the first vehicle may determine the current location of the first vehicle based on the angle of the base station to the first vehicle and based on a sensor of the first vehicle.

As another example, the above describes an embodiment in which the first vehicle determines the current location of the first vehicle according to the relative location based on the second vehicle and according to the variance of the clock noise of the first vehicle, and an embodiment in which the first vehicle determines the current location according to the variance of the clock noise of the first vehicle may also be implemented alone, and may not be implemented in combination with an embodiment based on the relative location of the second vehicle.

For example, the first vehicle may determine the current location of the first vehicle based on a variance of the clock noise of the first vehicle and based on the aforementioned first pseudoranges to the base stations and/or satellites. For example, the first vehicle may determine a first pseudorange to the base station according to the variance of the clock noise, and then determine the current position of the first vehicle according to the first pseudorange.

Alternatively, the first vehicle may determine a first pseudorange to a base station according to equation (12).

Fig. 5 shows an exemplary flow chart of a positioning scheme of an embodiment of the present application. It should be understood that fig. 5 is only an example and is not to be construed as limiting the embodiments of the present application. As can be seen from fig. 5, based on the pseudorange measurements from the vehicles, pseudorange and angle measurements from the base stations, pseudorange measurements from the satellites, and measurements from the vehicles and other sensors can be introduced according to different scenarios, and in combination with these measurements, the shape and absolute position coordinates of the vehicle network can be obtained.

For example, if the first vehicle only made inter-vehicle pseudorange measurements, the first vehicle may obtain the shape of the vehicle network.

For another example, if the first vehicle performs at least one of the measurement of the onboard sensor, the measurement of the satellite pseudo range, the angle measurement of the base station, and the pseudo range measurement on the basis of the inter-vehicle pseudo range measurement, the first vehicle may determine the absolute position of the first vehicle, that is, the current position, in addition to the shape of the vehicle network.

It should be understood that equations (3), (4) and (14) in the embodiments of the present application are determined in a three-dimensional space, and may also be determined in a two-dimensional plane. In addition, in the embodiment of the present application, a pseudo-range measurement model is used for the distance, which may also be converted into a time measurement model, wherein the time measurement model is obtained by dividing both sides of a formula in the pseudo-range measurement model by the speed of light.

According to the embodiment of the application, the first terminal equipment can be positioned according to at least one parameter of the variance of the clock noise based on the relative position of the second terminal equipment, the angle between the network equipment and the first terminal equipment and the clock noise of the first terminal equipment. On the basis that the first terminal equipment is based on the relative position of the second terminal equipment, the first terminal equipment is positioned, so that the positioning of the first terminal equipment can be more accurate, and the positioning precision can be improved. If the angle measurement with the network device is not introduced in the positioning process of the first terminal device, the first terminal device may need at least 4 different network devices to complete the positioning, however, signals of the network devices are easily blocked, so the number of the network devices acquired by the first terminal device is limited, and the number of the network devices may be less than 4, and at this time, the positioning of the first terminal device may not be realized or the error is large. After angle measurement is introduced, positioning can be realized by utilizing 2 network devices, so that the positioning precision can be improved. Since the first terminal device may be affected by the clock noise during the positioning process, the accuracy of positioning the first terminal device may be improved by considering the effect of the clock noise. In addition, if a plurality of parameters mentioned above are considered in the positioning process, a plurality of data can be fused into a unified positioning scheme, so that the obtained positioning information is richer, and the positioning accuracy can be greatly improved.

It should be noted that, without conflict, the embodiments and/or technical features in the embodiments described in the present application may be arbitrarily combined with each other, and the technical solutions obtained after the combination also fall within the protection scope of the present application.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Having described the method of information processing according to the embodiment of the present application in detail above, a communication apparatus according to the embodiment of the present application will be described below with reference to fig. 6 and 7, and the technical features described in the method embodiment are applicable to the following apparatus embodiments.

Fig. 6 shows a schematic block diagram of a terminal device 200 according to an embodiment of the present application. It should be understood that the terminal device 200 is the first terminal device in the method 100. As shown in fig. 6, the terminal device 200 includes:

a processing unit 210, configured to obtain at least one parameter of the terminal device 200 based on a relative position of a second terminal device, an angle of a network device and the terminal device 200, and a variance of clock noise of the terminal device 200;

the processing unit 210 is further configured to determine, according to the at least one parameter, a current location of the terminal device 200.

Optionally, in this embodiment of the application, if the at least one parameter includes the relative position, the processing unit 210 is specifically configured to: based on the relative position and on first pseudoranges to satellites and/or the network device, a current position of the terminal device 200 is determined.

Optionally, in this embodiment of the present application, the processing unit 210 is further configured to: determining a second pseudorange to said second terminal device; and determining the relative position according to the second pseudo range.

Optionally, in this embodiment of the present application, the second pseudorange is determined based on a variance of the clock noise.

Optionally, in this embodiment of the application, if the at least one parameter includes an angle between the network device and the terminal device 200, the processing unit 210 is specifically configured to: and determining the current position of the terminal device 200 according to the angle and the first pseudo range between the terminal device 200 and the network device.

Optionally, in an embodiment of the present application, the angle comprises a pitch angle and/or an azimuth angle.

Optionally, in an embodiment of the present application, the pitch angle and the azimuth angle satisfy the following formulas:

wherein, theta_jkIs the actual value of said pitch angle, phi_jkIs the actual value of the said azimuth angle,

is a measure of the pitch angle and,

is a measure of said azimuth angle, mu_jkThe angle measurement noise caused by the signal noise transmitted from the network device to the terminal device 200.

Optionally, in this embodiment of the present application, if the first pseudorange is a pseudorange between the terminal device 200 and the network device, the first pseudorange is determined based on a variance of the clock noise.

Optionally, in this embodiment of the application, if the at least one parameter includes a variance of the clock noise, the processing unit 210 is specifically configured to: determining a first pseudo range between the terminal device 200 and the network device according to the variance of the clock noise; and determining the current position of the terminal device 200 according to the first pseudo range.

Optionally, in this embodiment of the present application, the terminal device 200 further includes: a communication unit 220 for receiving signals transmitted by the satellite and/or the network device; the processing unit 210 is further configured to: and determining the first pseudorange according to signals transmitted by the satellite and/or the network equipment.

Optionally, in this embodiment of the present application, the processing unit 210 is further configured to: acquiring data sent by the sensors in the 210;

the processing unit 210 is specifically configured to: based on the at least one parameter and the data sent by the sensors, a current location is determined 210.

Optionally, in an embodiment of the present application, the sensor includes at least one of an inertial measurement unit, a vision sensor, and a vehicle-mounted radar.

It should be understood that the terminal device 200 may correspond to the first terminal device in the method 100, and corresponding operations of the first terminal device in the method 100 may be implemented, which are not described herein again for brevity.

Fig. 7 is a schematic structural diagram of a communication device 300 according to an embodiment of the present application. The communication device 300 shown in fig. 7 comprises a processor 310, and the processor 310 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

Optionally, as shown in fig. 7, the communication device 300 may further include a memory 320. From the memory 320, the processor 310 may call and run a computer program to implement the method in the embodiment of the present application.

The memory 320 may be a separate device from the processor 310, or may be integrated in the processor 310.

Optionally, as shown in fig. 7, the communication device 300 may further include a transceiver 330, and the processor 310 may control the transceiver 330 to communicate with other devices, and specifically, may transmit information or data to the other devices or receive information or data transmitted by the other devices.

The transceiver 330 may include a transmitter and a receiver, among others. The transceiver 330 may further include one or more antennas.

Optionally, the communication device 300 may specifically be a first terminal device in the embodiment of the present application, and the communication device 300 may implement a corresponding process implemented by the first terminal device in each method in the embodiment of the present application, and for brevity, details are not described here again.

Fig. 8 is a schematic structural diagram of a chip of an embodiment of the present application. The chip 400 shown in fig. 8 includes a processor 410, and the processor 410 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

Optionally, as shown in fig. 8, the chip 400 may further include a memory 420. From the memory 420, the processor 410 can call and run a computer program to implement the method in the embodiment of the present application.

The memory 420 may be a separate device from the processor 410, or may be integrated into the processor 410.

Optionally, the chip 400 may further include an input interface 430. The processor 410 can control the input interface 430 to communicate with other devices or chips, and in particular, can obtain information or data transmitted by other devices or chips.

Optionally, the chip 400 may further include an output interface 440. The processor 410 may control the output interface 440 to communicate with other devices or chips, and in particular, may output information or data to the other devices or chips.

Optionally, the chip may be applied to the first terminal device in the embodiment of the present application, and the chip may implement a corresponding process implemented by the first terminal device in each method in the embodiment of the present application, and for brevity, details are not described here again.

It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as a system-on-chip, a system-on-chip or a system-on-chip, etc.

It should be understood that the processor of the embodiments of the present application may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

It will be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous link SDRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memories of the systems and methods described herein are intended to comprise, without being limited to, these and any other suitable types of memories.

It should be understood that the above memories are exemplary but not limiting illustrations, for example, the memories in the embodiments of the present application may also be Static Random Access Memory (SRAM), dynamic random access memory (dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (enhanced SDRAM, ESDRAM), Synchronous Link DRAM (SLDRAM), Direct Rambus RAM (DR RAM), and the like. That is, the memory in the embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.

The embodiment of the application also provides a computer readable storage medium for storing the computer program.

Optionally, the computer-readable storage medium may be applied to the first terminal device in the embodiment of the present application, and the computer program enables the computer to execute the corresponding process implemented by the first terminal device in the methods in the embodiments of the present application, which is not described herein again for brevity.

Embodiments of the present application also provide a computer program product comprising computer program instructions.

Optionally, the computer program product may be applied to the first terminal device in the embodiment of the present application, and the computer program instructions enable the computer to execute corresponding processes implemented by the first terminal device in the methods in the embodiments of the present application, which are not described herein again for brevity.

The embodiment of the application also provides a computer program.

Optionally, the computer program may be applied to the first terminal device in the embodiment of the present application, and when the computer program runs on a computer, the computer is enabled to execute a corresponding process implemented by the first terminal device in each method in the embodiment of the present application, and for brevity, details are not described here again.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A method of information processing, the method comprising:

the method comprises the following steps that a first terminal device obtains at least one parameter of the following parameters, wherein the first terminal device is based on the relative position of a second terminal device, the angle between a network device and the first terminal device, and the variance of clock noise of the first terminal device;

and the first terminal equipment determines the current position of the first terminal equipment according to the at least one parameter.
The method of claim 1, wherein if the at least one parameter includes the relative position, the determining, by the first terminal device, a current position of the first terminal device according to the at least one parameter comprises:

and the first terminal equipment determines the current position of the first terminal equipment according to the relative position and the first pseudo range between the first terminal equipment and the satellite and/or the network equipment.
The method of claim 2, further comprising:

the first terminal device determining a second pseudorange to the second terminal device;

and the first terminal equipment determines the relative position according to the second pseudo range.
The method of claim 3, wherein the second pseudorange is determined based on a variance of the clock noise.
The method according to any one of claims 1 to 4, wherein if the at least one parameter includes an angle between the network device and the first terminal device, the first terminal device determines, according to the at least one parameter, a location where the first terminal device is currently located, including:

and the first terminal equipment determines the current position of the first terminal equipment according to the angle and a first pseudo range between the first terminal equipment and the network equipment.
The method of claim 5, wherein the angle comprises a pitch angle and/or an azimuth angle.
The method of claim 6, wherein the pitch and azimuth angles satisfy the following equations:

wherein, theta_jkIs the actual value of said pitch angle, phi_jkIs the actual value of the said azimuth angle,
is a measure of the pitch angle and,
is a measure of said azimuth angle, mu_jkAnd the angle measurement noise is caused by the signal noise sent by the network equipment to the first terminal equipment.
The method according to any of claims 2 to 7, wherein if said first pseudorange is a pseudorange between said first terminal device and said network device, said first pseudorange is determined based on a variance of said clock noise.
The method according to any one of claims 1 to 7, wherein if the at least one parameter comprises a variance of the clock noise, the determining, by the first terminal device, a current location of the first terminal device according to the at least one parameter comprises:

the first terminal device determines a first pseudo range between the first terminal device and the network device according to the variance of the clock noise;

and the first terminal equipment determines the current position of the first terminal equipment according to the first pseudo range.
The method according to any one of claims 2 to 9, further comprising:

the first terminal equipment receives signals sent by the satellite and/or the network equipment;

and the first terminal equipment determines the first pseudo range according to the signals sent by the satellite and/or the network equipment.
The method according to any one of claims 1 to 10, further comprising:

the first terminal equipment acquires data sent by a sensor in the first terminal equipment;

the determining, by the first terminal device, the current position of the first terminal device according to the at least one parameter includes:

and the first terminal equipment determines the current position of the first terminal equipment according to the at least one parameter and the data sent by the sensor.
The method of claim 11, wherein the sensor comprises at least one of an inertial measurement unit, a vision sensor, and a vehicle radar.
A terminal device, wherein the terminal device is a first terminal device, comprising:

the processing unit is used for acquiring at least one parameter of the following parameters, namely the relative position of the first terminal equipment based on the second terminal equipment, the angle between the network equipment and the first terminal equipment, and the variance of clock noise of the first terminal equipment;

the processing unit is further configured to determine, according to the at least one parameter, a current location of the first terminal device.
The terminal device of claim 13, wherein if the at least one parameter includes the relative position, the processing unit is specifically configured to:

determining a current location of the first terminal device based on the relative location and based on a first pseudorange to a satellite and/or the network device.
The terminal device of claim 14, wherein the processing unit is further configured to:

determining a second pseudorange to said second terminal device;

and determining the relative position according to the second pseudo range.
The terminal device of claim 15, wherein the second pseudorange is determined based on a variance of the clock noise.
The terminal device of any one of claims 13 to 16, wherein if the at least one parameter includes an angle between the network device and the first terminal device, the processing unit is specifically configured to:

and determining the current position of the first terminal device according to the angle and the first pseudo range between the first terminal device and the network device.
A terminal device according to claim 17, characterised in that the angle comprises a pitch angle and/or an azimuth angle.
The terminal device of claim 18, wherein the pitch and azimuth angles satisfy the following equations:

wherein, theta_jkIs the actual value of said pitch angle, phi_jkIs the actual value of the said azimuth angle,
is a measure of the pitch angle and,
is a measure of said azimuth angle, mu_jkAnd the angle measurement noise is caused by the signal noise sent by the network equipment to the first terminal equipment.
A terminal device according to any of claims 14 to 19, wherein if said first pseudorange is a pseudorange between said first terminal device and said network device, said first pseudorange is determined based on a variance of said clock noise.
The terminal device according to any of claims 13 to 19, wherein if the at least one parameter comprises a variance of the clock noise, the processing unit is specifically configured to:

determining a first pseudorange between the first terminal device and the network device according to the variance of the clock noise;

and determining the current position of the first terminal equipment according to the first pseudo range.
The terminal device according to any of claims 14 to 21, wherein the terminal device further comprises:

a communication unit for receiving signals transmitted by the satellite and/or the network device;

the processing unit is further to:

and determining the first pseudorange according to signals transmitted by the satellite and/or the network equipment.
The terminal device of any of claims 13 to 22, wherein the processing unit is further configured to:

acquiring data sent by a sensor in the first terminal equipment;

the processing unit is specifically configured to:

and determining the current position of the first terminal equipment according to the at least one parameter and the data sent by the sensor.
The terminal device of claim 23, wherein the sensor comprises at least one of an inertial measurement unit, a vision sensor, and a vehicle radar.
A terminal device, comprising: a processor and a memory, the memory for storing a computer program, the processor for invoking and executing the computer program stored in the memory, performing the method of any one of claims 1 to 12.
A chip, comprising: a processor for calling and running a computer program from a memory so that a device on which the chip is installed performs the method of any one of claims 1 to 12.
A computer-readable storage medium for storing a computer program which causes a computer to perform the method of any one of claims 1 to 12.
A computer program product comprising computer program instructions for causing a computer to perform the method of any one of claims 1 to 12.
A computer program, characterized in that the computer program causes a computer to perform the method according to any of claims 1 to 12.