CN113196107B - Information processing methods and terminal equipment - Google Patents

Abstract

An information processing method and a terminal device, the method comprising: the first terminal device obtains at least one 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 a current location of the first terminal device (120) according to the at least one parameter. The information processing method and the terminal equipment can improve the positioning accuracy of the vehicle in the Internet of vehicles.

Description

Information processing methods and terminal equipment

Technical field

Embodiments of the present application relate to the field of communications, and specifically to an information processing method and terminal device.

Background technique

The Internet of Vehicles system is a Sidelink (SL) transmission technology based on the Device to Device (D2D) transmission method. It is different from the traditional Long Term Evolution (LTE) system in which communication data passes through the base station. Different methods of receiving or transmitting are used. The Internet of Vehicles system uses end-to-end direct communication, so it has higher spectrum efficiency and lower transmission delay.

With the rapid development of the Internet of Vehicles, vehicle positioning has received more and more attention. However, the accuracy of existing vehicle positioning methods is low.

Contents of the invention

Embodiments of the present application provide an information processing method and terminal equipment, which can improve the positioning accuracy of vehicles in the Internet of Vehicles.

In a first aspect, an information processing method is provided, and the method includes:

The first terminal device obtains at least one of the following parameters: the first terminal device is based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the clock noise of the first terminal device Variance;

The first terminal device determines the current location of the first terminal device based on the at least one parameter.

A second aspect provides a terminal device for executing the method in the above first aspect or its respective implementations.

Specifically, the terminal device includes a functional module for executing the method in the above-mentioned first aspect or its respective implementations.

In a third aspect, a terminal device is provided, including a processor and a memory. The memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory to execute the method in the above first aspect or its implementations.

A fourth aspect provides a chip for implementing any one of the above-mentioned first aspects or the methods in each implementation manner thereof.

Specifically, the chip includes: a processor, configured to call and run a computer program from a memory, so that the device installed with the chip executes the method in any of the above-mentioned first aspects or implementations thereof.

In a fifth aspect, a computer-readable storage medium is provided for storing a computer program, the computer program causing a computer to execute any one of the above-mentioned first aspects or the methods in its respective implementations.

In a sixth aspect, a computer program product is provided, including computer program instructions, which cause a computer to execute any one of the above-mentioned aspects in the first aspect or the method in each implementation thereof.

A seventh aspect provides a computer program that, when run on a computer, causes the computer to execute any one of the above-mentioned first aspects or the methods in each implementation thereof.

According to the above technical solution, the first terminal device can be positioned according to at least one parameter based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the variance of the clock noise of the first terminal device. Based on the relative position of the first terminal device based on the second terminal device, the first terminal device is positioned so that the positioning of the first terminal device can be more accurate, thereby improving the accuracy of positioning. If the first terminal device does not introduce angle measurement with the network device during the positioning process, the first terminal device may need at least 4 different network devices to complete the positioning. However, the signal of the network device is easily blocked and therefore is blocked by the third terminal device. The number of network devices acquired by a terminal device is limited and may be less than 4. In this case, the positioning of the first terminal device may not be achieved or the error may be large. After the introduction of angle measurement, positioning can be achieved using two network devices, thereby improving positioning accuracy. Since the positioning process may be affected by the clock noise of the first terminal device, the positioning accuracy of the first terminal device can be improved by considering the influence of the clock noise. In addition, if the multiple parameters mentioned above are considered during the positioning process, multiple data can be integrated into a unified positioning solution, making the positioning information obtained more abundant, thus greatly improving the positioning accuracy. .

Description of drawings

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

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

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

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

Figure 5 is a schematic flow chart of a positioning solution according to an embodiment of the present application.

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

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

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

Detailed ways

The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: Global System of Mobile communication (GSM) system, Code Division Multiple Access (Code Division Multiple Access, CDMA) system, Wideband Code Division Multiple Access (Wideband Code Division Multiple Access, WCDMA) system, General Packet Radio Service (GPRS), Long Term Evolution (LTE) system, LTE Frequency Division Duplex (FDD) system, LTE Time Division Duplex (Time Division Duplex, TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication system or 5G system, etc.

The embodiments of this application describe various embodiments in conjunction with network devices. Network equipment can provide communication coverage for a specific geographical area and can communicate with end devices located within that coverage area. In one embodiment, the network device may be a base station (Base Transceiver Station, BTS) in the GSM system or CDMA system, a base station (NodeB, NB) in the WCDMA system, or an evolved base station in the LTE system. (Evolutional Node B, eNB or eNodeB), or a wireless controller in the Cloud Radio Access Network (Cloud Radio Access Network, CRAN), or the network device can be a mobile switching center, relay station, access point, vehicle-mounted equipment, Wearable devices, hubs, switches, bridges, routers, network side equipment in 5G networks or network equipment in future evolved Public Land Mobile Networks (PLMN), etc.

The embodiments of this application describe various embodiments in conjunction with terminal equipment. Terminal equipment includes, but is not limited to, connection via wired lines, such as via Public Switched Telephone Networks (PSTN), Digital Subscriber Line (DSL), digital cable, direct cable connection; and/or another data connection Connections/networks; and/or via wireless interfaces, e.g., for cellular networks, Wireless Local Area Network (WLAN), digital television networks such as DVB-H networks, satellite networks, AM-FM broadcast transmitters; and/or A device of another terminal device configured to receive/send communication signals; and/or an Internet of Things (IoT) device. A terminal device configured to communicate via 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 System (PCS) terminals that may combine cellular radiotelephones with data processing, fax, and data communications capabilities; may include radiotelephones, pagers, Internet/Intranet PDAs with Internet access, Web browsers, planners, calendars, and/or Global Positioning System (GPS) receivers; and conventional laptop and/or handheld receivers or other devices including radiotelephone transceivers electronic devices. Terminal equipment may refer to access terminal, user equipment (User Equipment, UE), user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent or User device. The access terminal may be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a device with wireless communications Functional handheld devices, computing devices or other processing devices connected to wireless modems, vehicle-mounted devices, wearable devices, terminal devices in 5G networks or terminal devices in future evolved PLMNs, etc.

It should be noted that the terms “system” and “network” are often used interchangeably in this article. The term "and/or" in this article is just an association relationship that describes related objects, indicating that three relationships can exist. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and they exist alone. B these three situations.

Figures 1 and 2 are schematic diagrams of an application scenario according to the embodiment of the present application. Figure 1 exemplarily shows a network device and two terminal devices. In an embodiment, the communication system may include multiple network devices and the coverage of each network device may include other numbers of terminal devices. This disclosure The application examples do not limit this.

Specifically, the terminal device 20 and the terminal device 30 can communicate using the D2D communication mode. When performing D2D communication, the terminal device 20 and the terminal device 30 directly communicate through the D2D link, that is, SL, as shown in Figure 1 or Figure 2, for example. . In Figure 1, terminal equipment 20 and terminal equipment 30 communicate through side links, and their transmission resources are allocated by network equipment. In Figure 2, terminal equipment 20 and terminal equipment 30 communicate through side links, and their transmission resources are independently selected by the terminal equipment, without the need for network equipment to allocate transmission resources.

In the 3rd Generation Partnership Project (3GPP) version 14 (Rel-14), two transmission modes are defined for the Internet of Vehicles technology, namely mode 3 and mode 4.

In one embodiment, the scenario shown in Figure 1 can be used in a vehicle-to-vehicle (V2V) scenario. The mode shown in Figure 1 can be called mode 3, in which the transmission resources of the vehicle terminal are allocated by the base station. , the vehicle-mounted terminal can send data 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.

In one implementation, the scenario shown in Figure 2 can be used in a V2V scenario, and the mode shown in Figure 2 can be called mode 4. The vehicle-mounted terminal adopts a sensing + reservation transmission method. The vehicle-mounted terminal can obtain a set of available transmission resources by listening in the resource pool, and then randomly select a resource from the set for data transmission. Since the business in the Internet of Vehicles system has periodic characteristics, terminal equipment usually adopts a semi-static transmission method. That is, after the terminal equipment selects a transmission resource, it can continuously use the resource in multiple transmission cycles, thereby reducing resource duplication. selection and the probability of resource conflict. The terminal device can carry information about reserving resources for next transmission in the control information of this transmission, so that other terminal devices can determine whether this resource is reserved and used by the user by detecting the user's control information, thereby reducing resources. conflicting purposes.

The D2D communication method can be used for V2V communication or Vehicle to Everything (V2X) communication, or enhanced (cellular) Internet of Vehicles (enhanced Vehicle to Everything, eV2X). In V2X communications, It should be understood that the embodiments of the present application are mainly applied to V2X communication scenarios, but can also be applied to any other D2D communication scenarios, and the embodiments of the present application do not impose any limitations on this.

Currently, 3GPP stipulates three positioning methods, namely Cell-ID-based (CID), Observed Time Difference of Arrival (OTDOA) and Assisted Global Navigation Satellite System (Assisted). Global Navigation Satellite System, A-GNSS).

For the CID positioning method, the specific method can be: using the identification code of each cell, identifying which cell in the network transmits the terminal equipment call, and translating the center location information of the cell into latitude and longitude, so that the terminal equipment can be determined s position. That is to say, the location information of the cell can be used as the current location of the terminal device. This method has low accuracy, which is at the hundred-meter level, and cannot meet the high-precision and high-reliability requirements of the Internet of Vehicles.

As for the positioning method of OTDOA, its positioning principle is the same as that of the Global Navigation Satellite System (GNSS), which uses a hyperbolic positioning method based on arrival time difference to obtain the position. Theoretically, it can achieve higher accuracy. However, due to the co-channel interference of base station signals, at least 4 different base stations are required to locate, and the base station signals also have near-far effects that may cause distant base station signals to be submerged, so the actual accuracy is not high. Roughly ten meters level. In addition, due to the limited number of base stations, signal obstruction and other situations are prone to occur in the actual environment, so this positioning method may be prone to failure to position, and the reliability is not high enough.

The A-GNSS positioning solution is currently the most widely used satellite positioning solution, and its principle is also the classic hyperbolic positioning based on arrival time difference. In open areas, satellite systems can provide meter-level positioning accuracy. However, in some harsh environments, such as urban high-rise areas, overpasses, indoors and other environments, positioning may not be possible due to obstruction of satellite signals, and long-term high-reliability services cannot be provided.

In addition, the above-mentioned higher-accuracy OTDOA and A-GNSS positioning solutions may be affected by clock noise because they use measurements based on arrival time, and the accuracy is difficult to achieve the sub-meter accuracy required by the Internet of Vehicles. Therefore, the above three independent positioning solutions may not be able to meet the high-precision requirements of the Internet of Vehicles.

To this end, in the embodiment of this application, the following method 100 is provided to solve this problem. In the method 100, the terminal device may be positioned according to at least one parameter based on the relative position of other terminal devices, the angle between the network device and the terminal device, and the variance of the clock noise of the terminal device. This can provide positioning accuracy.

Figure 3 is a schematic flow chart of the information processing method 100 according to the 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 content.

It should be understood that the technical solutions of the embodiments of the present application can be applied not only to the Internet of Vehicles system, but also to other scenarios of the communication system. Of course, the technical solutions of the embodiments of the present application can also be used to provide various location-based services, such as querying information about surrounding stores, gas stations, restaurants, etc., and can also be used for rescue, vehicle dispatching and personnel in emergencies. Management and other services.

In 110, the first terminal device obtains at least one of the following parameters: the first terminal device is based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the variance of the clock noise of the first terminal device. .

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

Wherein, the second terminal device may include at least one terminal device.

In one implementation, in this embodiment of the present application, the angle between the network device and the first terminal device may include a pitch angle and/or an azimuth angle.

In one embodiment, 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 only used to distinguish different objects, but do not limit the scope of the embodiments of the present application.

The following takes the terminal device as a vehicle and the network device as a base station as an example to describe the technical solutions provided by the embodiments of the present application, but the present invention is not limited thereto.

In the embodiment of the present application, in the process of the first vehicle obtaining the relative position based on the second vehicle, as an example, the first vehicle may adopt a pseudorange measurement method, that is, the vehicles bidirectionally measure the pseudorange between each other. , to obtain the relative position of the first vehicle based on the second vehicle.

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

Assume that there are N _c vehicles, M _b base stations and H _s satellites in the network, where the positions of the base stations and satellites are known. The set of vehicles is: n _c ={1,2,...,N _c }, and the set of vehicles and base stations is: m _b ={N ₁ +M ₁ ,N ₂ +M ₂ ,...,N _c +M _b }, the set of vehicles, base stations and satellites is: h _s = {N ₁ +M ₁ +H ₁ ,N ₂ +M ₂ +H ₂ ,...,N _c +M _b +H _s }. The position of node k (including vehicles, base stations and satellites) is p _k =[x _k ,y _k ,z _k ] ^T , and the parameter vector containing the positions of all vehicles is Assume that the satellite and the base station are synchronized. Due to the idle hardware equipment of the vehicle k, there is a clock deviation δ _k between the vehicle k and the satellite, that is, the base station. The distance deviation introduced by the clock deviation can satisfy formula (1):

_bk ＝c* _δk (1)

Among them, b _k is the distance deviation caused by the clock deviation of vehicle k, and c is the speed of light.

In one implementation, the distance between node k and observation node j can be defined as:

d _kj =||p _k -p _j || (2)

Define the pitch angle θ _kj and the azimuth angle φ _kj between node k and observation node j as:

The signal received by node k from node j can be expressed in the following form:

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

Among them, s _j (t) is a known signal, and its Fourier transform is S _j (f). α _kj and τ _kj are the signal amplitude and delay of the transmission link from node j to node k respectively, n _kj (t ) is Gaussian white noise with a power spectral density of N ₀ /2.

Based on the above theoretical model, the relative position of any two vehicles in the vehicle network can be obtained using pseudorange measurement.

Specifically, without the assistance of satellites and base stations, any vehicle in the vehicle network can be used as the reference vehicle, such as the first vehicle or the last vehicle. Let the clock of the reference vehicle be the clock reference, and let its distance deviation b ₁ =0 due to the clock deviation. Measurements of distances between vehicles can then be obtained based on bidirectional measurements, and clock offsets of other vehicles relative to the reference vehicle can be obtained.

Let any two vehicles in the vehicle network be vehicle k and vehicle j respectively. For vehicle k to receive the signal from vehicle j, the following second pseudo-range model can be used:

in, is the distance measurement value between vehicle k and vehicle j, d _kj is the actual distance value between vehicle k and vehicle j, b _k is the distance deviation introduced due to the clock deviation of vehicle k, b _j is the clock deviation of vehicle j The distance deviation introduced by the deviation, ν _jk is the clock noise term, if no calibration is performed, its variance/> It may grow over time.

It should be noted that the clock deviation caused by clock noise is specifically random. For example, the clock deviation caused by clock noise at the previous moment was 1ms, and the clock deviation caused by clock noise at the current moment is 0.5ms. Different from the clock deviation caused by clock noise, the clock deviation δ _k mentioned above is the same at different times, such as 1ms.

In formula (6), ω _jk is an equivalent zero-mean Gaussian error introduced due to signal noise n _kj (t), with a mean value of 0 and a variance of The normal distribution satisfies the following formula:

As can be seen, the variance Inversely proportional to signal-to-noise ratio and equivalent bandwidth. Therefore, improving the signal-to-noise ratio and equivalent bandwidth can improve the vehicle positioning accuracy.

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

In one implementation, the second pseudorange model may not consider the influence of clock noise of vehicle k, and in this case, ν _jk may be set to 0.

In one implementation, in the embodiment of the present application, the second pseudorange model may be preset on vehicle k, or may be sent to vehicle k by other communication devices. For example, when vehicle j sends a signal to vehicle k, it can also send information including the second pseudorange model.

Next, the distance estimate between vehicle k and vehicle j can be determined according to formula (6).

For example, the least squares method may be used to determine the distance estimate.

As another example, the two-way ranging of vehicle k and vehicle j may be averaged to obtain a distance estimate. For example, when averaging two-way ranging, for vehicle j receiving a signal from vehicle k, the pseudorange determined by vehicle j and vehicle k Can be:

Averaging formula (6) and formula (8), the clock deviation b _k between vehicle k and the reference vehicle, and the clock deviation b _j between vehicle j and the reference vehicle can be offset, so that vehicle k can be obtained The estimated distance between vehicle j and vehicle j is as shown in formula (9):

Similarly, distance estimates between all vehicles in the vehicle network can be obtained.

That is to say, the first vehicle can determine the relative position based on the second vehicle according to the implementation manner mentioned above. That is, the first vehicle can determine the second pseudo-distance between the first vehicle and the second vehicle, and then the relative position based on the second vehicle can be determined based on the second pseudo-distance.

It should be noted that the first vehicle may determine the second pseudorange based on the variance of the 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 understood that the accuracy of the second pseudorange determined based on the variance of the clock noise of the first vehicle may be higher than the accuracy of the second pseudorange determined based on the variance of the clock noise of the first vehicle.

In one implementation, in the embodiment of the present application, the first vehicle can also obtain the angle with the second vehicle, and determine the relative position of the second vehicle based on the angle with the second vehicle.

Wherein, the first vehicle can measure the angle with the second vehicle, or the second vehicle can measure the angle between the first vehicle and the second vehicle, and then the second vehicle can send an angle including the angle to the first vehicle. After receiving the information, the first vehicle can determine the angle with the second vehicle.

Furthermore, the shape of the vehicle network can be obtained according to a predetermined algorithm, that is, the relative positioning of all vehicles in the vehicle network can be achieved.

It should be understood that the embodiment of the present application does not specifically limit the predetermined algorithm. For example, the predetermined algorithm may be a multi-dimensional calibration algorithm, or it may be a positive semi-definite programming, etc.

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

for There is no measured distance value in , you can use the shortest path instead, and then square the distance matrix The shape of the vehicle network can be obtained by using a multi-dimensional calibration algorithm.

It should be understood that the specific examples in the embodiments of the present application are only to help those skilled in the art better understand the embodiments of the present invention, but are not intended to limit the scope of the embodiments of the present application.

As another example, the antenna of the first vehicle can externally broadcast a wireless signal containing the identification information of the first vehicle, and at the same time can monitor the wireless signals existing in the surroundings, and can aggregate the received signals to the vehicle-mounted device in real time. The vehicle-mounted device processes the acquired data information and determines the relative position of the first vehicle based on the second vehicle through signal strengths of multiple sets of antennas, such as received signal strength indication (RSSI).

In one embodiment, the identification information of the first vehicle may include, but is not limited to, the Cell-Radio Network Temporary Identifier (C-RNTI) of the first vehicle, the International Mobile Subscriber Identity (International Mobile Subscriber Identity) of the first vehicle. Mobile Subscriber Identification Number (IMSI), the identification of the first vehicle in the vehicle network. The identification of the first vehicle in the vehicle network may be the number of the first vehicle in the vehicle network. For example, if there are 10 vehicles in the vehicle network and the number of the first vehicle in the vehicle network is 4, then the identification of the first vehicle in the vehicle network Just 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 embodiments of the present application do not limit the vision-based positioning method. Any method that can determine the relative position of the first vehicle based on the second vehicle through the vision-based positioning method can be included in the protection scope of the embodiments of the present application. .

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

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 can determine its current position based on the determined relative position and any of the three positioning methods currently specified by 3GPP, namely CID, OTDOA or A-GNSS.

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

In one implementation, the first terminal device may receive signals sent by satellites and/or base stations, and determine the first pseudorange based on the signals.

The technical solution for the first vehicle to determine the current position of the first vehicle based on the relative position and the first pseudo-range will be introduced below. For convenience of description, the scheme of determining the relative position of the first vehicle based on the second vehicle will be referred to as the vehicle-vehicle cooperation scheme below.

a. Vehicle-to-vehicle collaboration + satellite positioning solution

On the basis of vehicle-to-vehicle cooperation, the position of the first vehicle in the earth coordinate system can be determined with the assistance of satellites, that is, the current position of the first vehicle.

In the embodiment of the present application, there are multiple ways to implement the first pseudo-range between the first vehicle and the satellite. As an example, the first vehicle may receive a signal sent by a satellite, and then determine the first pseudorange based on the signal sent by the satellite. At this time, the observation node j is satellite j.

For example, for vehicle k receiving a signal from satellite j, the first pseudo-range model between the vehicle and the satellite can be:

On the basis of equation (11), the first vehicle can determine the first pseudo-range with the satellite.

After determining the first pseudo-range with the satellite, the first vehicle can determine the current position of the first vehicle based on the first pseudo-range with the satellite, the relative position of the second vehicle, and a specific algorithm.

In an implementation manner, in the embodiment of the present application, the specific algorithm may be the least squares method, the gradient descent algorithm, etc.

It should be noted that due to the special high-altitude characteristics of the satellite system, the positioning results are generally based on the XY plane, which can ensure the accuracy of two-dimensional positioning. However, the positioning error at altitude is larger, and the positioning accuracy can reach ten meters.

a. Vehicle-to-vehicle collaboration + base station positioning solution

In this embodiment of the present application, in addition to satellites, the base station can also provide positioning assistance for the first vehicle.

There may be multiple ways to implement the first pseudo-range between the first vehicle and the base station. As an example, the first vehicle may receive a signal sent by the base station, and then determine the first pseudorange with the base station based on the signal sent by the base station.

For example, for vehicle k receiving a signal from base station j, the pseudorange model between the vehicle and the base station can be:

Based on the above theoretical model, it is assumed that the base station and the satellite are synchronized. Therefore, there is no clock deviation between the base station and the satellite, and there is no distance deviation introduced by the clock deviation, that is, b _j =0.

As another example, for vehicle k receiving a signal from base station j, the pseudorange model between the vehicle and the base station can also be:

It can be seen that formula (12) considers the influence of the clock noise of the first vehicle, that is, formula (12) is determined based on the variance of the clock noise of the first vehicle, and formula (13) does not consider the influence of clock noise.

Based on formula (12) or formula (13), the first vehicle can determine the first pseudo-range with the base station. Afterwards, the first vehicle can determine the current location of the first vehicle based on the first pseudo-range with the base station and based on the relative position of the second vehicle.

It should be understood that the implementation of the first pseudo-distance between the first vehicle and the base station to determine the current location of the first vehicle can be referred to the implementation of using the first pseudo-range with the satellite to determine the current location of the first vehicle. For the sake of brevity, we will not go into details here.

Further, the first vehicle can obtain the angle between the base station and the first vehicle, so that the current position of the first vehicle can be determined based on the angle and the first pseudo-distance between the base station and the base station.

In one embodiment, the first vehicle can obtain the angle between the base station and the first vehicle by measuring the angle between the base station and the first vehicle.

In one embodiment, the base station may measure the angle with the first vehicle, and then when sending a signal to the first vehicle, the base station may simultaneously send information including the angle with the first vehicle to the first vehicle. After receiving the information, the first vehicle can determine the angle between the base station and the first vehicle.

In one implementation, the pitch angle and azimuth angle between the base station and the first vehicle can satisfy the following formula:

Among them, θ _jk is the actual value of the pitch angle, φ _jk is the actual value of the azimuth angle, is the measured value of the pitch angle,/> is the measured value of the azimuth angle, μ _jk is the angle measurement noise caused by the signal noise sent by the base station to the first vehicle. The angle measurement noise can be the equivalent zero-mean Gaussian noise on the two-dimensional angle, and its covariance matrix is C _jk , C _jk is inversely proportional to the signal noise sent by the base station to the first vehicle, and the specific form of C _jk can be related to the spatial structure of the array.

In one embodiment, the array can be an array of any shape, such as a rectangular array, a circular array, etc. The following uses a rectangular array as an example for explanation.

As shown in Figure 4, the rectangular array is an M*N matrix. In Figure 4, a black dot represents an antenna array of the base station, and point S represents the first vehicle. make Δ is the array element spacing in the figure, that is, the distance between two black points, λ is the signal wavelength, and the inverse matrix of its covariance matrix C _jk can satisfy the following formula:

in,

After determining the angle between the base station and the first vehicle, the first vehicle can determine the current location of the first vehicle based on the angle and the first pseudo-distance between the first vehicle and the base station.

In the above technical solution, when angle measurement is not introduced, at least 4 different base stations may be needed to achieve positioning. However, in harsh environments such as signal obstruction, it is easy to see less than 4 base stations. In this case, positioning may not be possible. Invalid. After the introduction of angle measurement, positioning can be achieved with only two base stations, thereby improving positioning accuracy and system reliability. In addition, the shape of the vehicle network is determined by vehicle-to-vehicle mutual measurements, and combined with the measurements of the base station, the three-dimensional coordinates of the vehicle network in the earth coordinate system (including the three-dimensional coordinates of the first vehicle in the earth coordinate system) can be obtained to achieve positioning. After using the ground base station, the height error is also smaller, and the function of high-precision three-dimensional positioning can be achieved.

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

c. Vehicle-to-vehicle collaboration + satellite + base station positioning solution

In the embodiment of the present application, if only a single system, such as a satellite or a base station, is relied upon to assist in positioning, in harsh environments such as high-rise buildings in urban areas, it is easy for the number of observed satellites or base stations to be insufficient, resulting in inability to position. By combining vehicle-to-vehicle cooperation, satellite assistance, and base station assistance, the reliability and accuracy of the vehicle positioning system can be improved.

In one embodiment, in this solution, the first vehicle can determine the first pseudo-range using the second pseudo-range before the vehicle, the pseudo-range between the first vehicle and the satellite, and the pseudo-range between the first vehicle and the base station. The current location of the vehicle.

Furthermore, the first vehicle can also determine its current location by using the angle between the base station and the first vehicle.

It should be understood that the specific implementation of this solution can refer to the foregoing description, and will not be described again here.

The above technical solution, when assisted by satellites and ground base stations at the same time, can not only provide high-precision two-dimensional positioning, but also meet the needs of high-precision three-dimensional positioning. Therefore, more reliable positioning services and higher positioning accuracy can be obtained.

In addition to determining the current location of the first vehicle through at least one parameter in the above content, in one implementation, in the embodiment of the present application, the method 100 may also include: the first vehicle acquires a sensor in the first vehicle The data sent determines the current location of the first vehicle based on at least one parameter and the data sent by the sensor.

That is to say, during the dynamic driving process of the first vehicle, the first vehicle can also rely on the vehicle's own sensors to assist in positioning.

In one embodiment, the sensor may include, but is not limited to, at least one of an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, and a vehicle-mounted radar.

In one embodiment, the IMU can measure the acceleration, angular velocity and other information of the first vehicle itself, and can provide relatively accurate measurements of the first vehicle's speed, orientation, displacement, etc. in a short period of time. Therefore, the first vehicle can determine its current position by combining its position at the previous moment and information such as acceleration and orientation at the current moment.

It should be noted that since the errors in the vehicle's speed, orientation, and displacement measured by the IMU may accumulate over time, relying on the IMU for a long time may lead to large positioning errors. During dynamic driving, the above-mentioned method of using at least one parameter may fail to calculate or fail at certain times. In this case, relying on the IMU to maintain the estimate of the first vehicle position in a short period of time can achieve higher positioning accuracy. . In addition, when the above method using at least one parameter works normally, the IMU can also be used to assist positioning to improve positioning accuracy.

In one embodiment, the first vehicle can use a visual sensor to obtain objects, landmark information, lane line information, etc. near itself, and the first vehicle can use on-board radar to measure the distance and orientation between objects near itself and the vehicle.

Combining these different sensor information, on the one hand, it can provide assistance for vehicles to avoid collisions, change lanes and other operations, and on the other hand, it can improve vehicle positioning accuracy through these landmarks and other information. And even if the signals from satellites and/or base stations cannot be obtained for a certain period of time, the positioning capability in harsh environments will be maintained in the short term, and positioning will not be impossible.

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

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

For another example, the first vehicle may determine the current position of the first vehicle based on the angle between the base station and the first vehicle, and based on the first pseudo-range with the base station and/or satellite mentioned above.

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

As another example, the above content describes an embodiment in which the first vehicle determines the current position of the first vehicle based on the relative position of the second vehicle and the variance of the clock noise of the first vehicle. The implementation in which the variance of the clock noise of the first vehicle determines the current location may also be implemented separately, and may not be implemented in combination with the implementation 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 the variance of the clock noise of the first vehicle and based on the first pseudo-range mentioned above with the base station and/or satellite. For example, the first vehicle can determine the first pseudo-range between the first vehicle and the base station based on the variance of the clock noise, and then determine the current location of the first vehicle based on the first pseudo-range.

In one implementation, the first vehicle can determine the first pseudo-range between the first vehicle and the base station according to formula (12).

Figure 5 shows an exemplary flow chart of the positioning solution according to the embodiment of the present application. It should be understood that FIG. 5 is only an example and does not constitute a limitation on the embodiments of the present application. As can be seen from Figure 5, on the basis of vehicle-to-vehicle pseudorange measurement, the pseudorange and angle measurement of the base station, the pseudorange measurement of the satellite, and the measurement of the vehicle and other sensors can be introduced according to different scenarios. Combining these measurements, you can Obtain the shape and absolute position coordinates of the vehicle network.

For example, if the first vehicle only measures the inter-vehicle pseudorange, the first vehicle can obtain the shape of the vehicle network.

For another example, if the first vehicle also performs at least one of a vehicle-mounted sensor measurement, a satellite pseudorange measurement, a base station angle measurement, and a pseudorange measurement based on the inter-vehicle pseudorange measurement, the first vehicle can obtain The shape of the vehicle network can also determine the absolute position of the first vehicle, that is, its current location.

It should be understood that formulas (3), (4) and (14) in the embodiment of the present application are determined in a three-dimensional space and can also be determined in a two-dimensional plane. In addition, the pseudorange measurement model used for distance in the embodiment of the present application can also be converted into a time measurement model. The time measurement model can be obtained by dividing both sides of the formula in the pseudorange measurement model by the speed of light at the same time.

In this embodiment of the present application, the first terminal device may be positioned based on at least one parameter based on the relative position of the second terminal device, the angle between the network device and the first terminal device, and the variance of the clock noise of the first terminal device. Based on the relative position of the first terminal device based on the second terminal device, the first terminal device is positioned so that the positioning of the first terminal device can be more accurate, thereby improving the accuracy of positioning. If the first terminal device does not introduce angle measurement with the network device during the positioning process, the first terminal device may need at least 4 different network devices to complete the positioning. However, the signal of the network device is easily blocked and therefore is blocked by the third terminal device. The number of network devices acquired by a terminal device is limited and may be less than 4. In this case, the positioning of the first terminal device may not be achieved or the error may be large. After the introduction of angle measurement, positioning can be achieved using two network devices, thereby improving positioning accuracy. Since the positioning process may be affected by the clock noise of the first terminal device, the positioning accuracy of the first terminal device can be improved by considering the influence of the clock noise. In addition, if the multiple parameters mentioned above are considered during the positioning process, multiple data can be integrated into a unified positioning solution, making the positioning information obtained more abundant, thus greatly improving the positioning accuracy. .

It should be noted that, on the premise of no conflict, the various embodiments described in this application and/or the technical features in each embodiment can be combined with each other arbitrarily, and the technical solution obtained after the combination should also fall within the protection scope of this application. .

It should be understood that in the various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its functions and internal logic, and should not be used in the embodiments of the present application. The implementation process constitutes any limitation.

The information processing method according to the embodiment of the present application is described in detail above. The communication device according to the embodiment of the present application will be described below with reference to Figures 6 and 7. The technical features described in the method embodiment are applicable to the following device embodiments.

Figure 6 shows a schematic block diagram of the terminal device 200 according to the 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 Figure 6, the terminal device 200 includes:

The processing unit 210 is configured to obtain at least one of the following parameters: the relative position of the terminal device 200 based on the relative position of the second terminal device, the angle between the network device and the terminal device 200, and the clock noise of the terminal device 200. variance;

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

In one implementation, in the embodiment of the present 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 based on the satellite and/or the The first pseudo-distance between network devices determines the current location of the terminal device 200 .

In one implementation, in this embodiment of the present application, the processing unit 210 is further configured to: determine a second pseudorange with the second terminal device; determine the relative distance based on the second pseudorange. Location.

In an implementation manner, in the embodiment of the present application, the second pseudorange is determined based on the variance of the clock noise.

In an implementation manner, in the embodiment of the present application, if the at least one parameter includes the angle between the network device and the terminal device 200, the processing unit 210 is specifically configured to: according to the angle and the The first pseudo-distance between the terminal device 200 and the network device determines the current location of the terminal device 200 .

In one implementation, in the embodiment of the present application, the angle includes a pitch angle and/or an azimuth angle.

In one implementation, in the embodiment of the present application, the pitch angle and azimuth angle satisfy the following formula:

Among them, θ _jk is the actual value of the pitch angle, φ _jk is the actual value of the azimuth angle, is the measured value of the pitch angle,/> is the measured value of the azimuth angle, and μ _jk is the angle measurement noise caused by the signal noise sent by the network device to the terminal device 200 .

In an implementation manner, in the 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 based on the clock noise. The variance is determined.

In an implementation manner, in the embodiment of the present application, if the at least one parameter includes the variance of the clock noise, the processing unit 210 is specifically configured to: determine the terminal device according to the variance of the clock noise. The first pseudo-range between 200 and the network device; according to the first pseudo-range, the current location of the terminal device 200 is determined.

In one implementation, in this embodiment of the present application, the terminal device 200 further includes: a communication unit 220, configured to receive signals sent by the satellite and/or the network device; the processing unit 210 is also configured to: : Determine the first pseudorange based on signals sent by the satellite and/or the network device.

In one implementation, in the embodiment of the present application, the processing unit 210 is also used to: obtain data sent by the sensors in the unit 210;

The processing unit 210 is specifically configured to determine 210 the current location according to the at least one parameter and the data sent by the sensor.

In one implementation, in the embodiment of the present application, the sensor includes at least one of an inertial measurement unit, a visual 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 may implement corresponding operations of the first terminal device in the method 100. For the sake of brevity, details will not be described again.

Figure 7 is a schematic structural diagram of a communication device 300 provided by an embodiment of the present application. The communication device 300 shown in Figure 7 includes a processor 310. The processor 310 can call and run a computer program from the memory to implement the method in the embodiment of the present application.

In an implementation, as shown in FIG. 7 , the communication device 300 may further include a memory 320 . The processor 310 can call and run the computer program from the memory 320 to implement the method in the embodiment of the present application.

The memory 320 may be a separate device independent of the processor 310 , or may be integrated into the processor 310 .

In one embodiment, as shown in Figure 7, the communication device 300 may also include a transceiver 330, and the processor 310 may control the transceiver 330 to communicate with other devices, specifically, may send information or data to other devices, or Receive information or data from other devices.

Among them, the transceiver 330 may include a transmitter and a receiver. The transceiver 330 may further include an antenna, and the number of antennas may be one or more.

In one implementation, the communication device 300 may specifically be the first terminal device in the embodiment of the present application, and the communication device 300 may implement the corresponding processes implemented by the first terminal device in the various methods of the embodiment of the present application. For the sake of simplicity , which will not be described in detail here.

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

In one embodiment, as shown in FIG. 8 , the chip 400 may further include a memory 420 . The processor 410 can call and run the computer program from the memory 420 to implement the method in the embodiment of the present application.

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

In one embodiment, 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. Specifically, it can obtain information or data sent by other devices or chips.

In one embodiment, the chip 400 may also include an output interface 440 . The processor 410 can control the output interface 440 to communicate with other devices or chips. Specifically, it can output information or data to other devices or chips.

In one implementation, the chip can be applied to the first terminal device in the embodiment of the present application, and the chip can implement the corresponding processes implemented by the first terminal device in each method of the embodiment of the present application. For the sake of simplicity, here No longer.

It should be understood that the chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-chip, etc.

It should be understood that the processor in the embodiment of the present application may be an integrated circuit chip and has signal processing capabilities. During the implementation process, each step of the above method embodiment can be completed through an integrated logic circuit of hardware in the processor or instructions in the form of software. The above-mentioned processor can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable processors. Logic devices, discrete gate or transistor logic devices, discrete hardware components. Each method, step and logical block diagram disclosed in the embodiment of this application can be implemented or executed. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

It can be understood that the memory in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) and direct memory bus random access memory (DirectRambus RAM, DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

It should be understood that the above memory is an exemplary but not restrictive description. For example, the memory in the embodiment of the present application can also be a static random access memory (static RAM, SRAM), a dynamic random access memory (dynamic RAM, DRAM), Synchronous dynamic random access memory (synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous connection Dynamic random access memory (synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DR RAM) and so on. That is, memories in embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

Embodiments of the present application also provide a computer-readable storage medium for storing computer programs.

In one implementation, the computer-readable storage medium can be applied to the first terminal device in the embodiment of the present application, and the computer program causes the computer to execute the corresponding processes implemented by the first terminal device in each method of the embodiment of the present application. , for the sake of brevity, will not be repeated here.

An embodiment of the present application also provides a computer program product, including computer program instructions.

In one embodiment, the computer program product can be applied to the first terminal device in the embodiment of the present application, and the computer program instructions cause the computer to execute the corresponding processes implemented by the first terminal device in each method of the embodiment of the present application, For the sake of brevity, no further details will be given here.

An embodiment of the present application also provides a computer program.

In one embodiment, the computer program can be applied to the first terminal device in the embodiment of the present application. When the computer program is run on the computer, it causes the computer to perform various methods implemented by the first terminal device in the embodiment of the present application. The corresponding process, for the sake of brevity, will not be repeated here.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each specific application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, 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 described again here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

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

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

If the functions are implemented in the form of 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 technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory,) ROM, random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code. .

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. should be covered by the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims (19)

1. A method of information processing, the method comprising:

the first terminal equipment acquires at least one parameter from the following, wherein the first terminal equipment is based on the relative position of 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;

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

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

the first terminal equipment determines the current position of the first terminal equipment according to the relative position and according to a first pseudo range between the first terminal equipment and the network equipment, wherein the first pseudo range is determined based on the variance of the clock noise;

if the at least one parameter includes an angle between the network device and the first terminal device, the determining, by the first terminal device, the current location of the first terminal device according to the at least one parameter includes: 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, wherein the first pseudo range is determined based on the variance of the clock noise;

If the at least one parameter includes the variance of the clock noise, the determining, by the first terminal device, the current location of the first terminal device according to the at least one parameter includes: the first terminal equipment determines a first pseudo range between the first terminal equipment and the network equipment according to the variance of the clock noise; the first terminal equipment determines the current position of the first terminal equipment according to the first pseudo range;

the clock noise is caused by clock drift of the first terminal device.

2. The method of claim 1, wherein if the at least one parameter comprises a relative location of the network device and the first terminal device, the method further comprises:

the first terminal device determining a second pseudo-range with the second terminal device;

the first terminal device determines the relative position according to the second pseudo range.

3. The method of claim 2, wherein the second pseudorange is determined based on a variance of the clock noise.

4. The method according to claim 1, wherein the angle comprises a pitch angle and/or an azimuth angle.

5. The method of claim 4, wherein the pitch and azimuth angles satisfy the following formula:

wherein θ _jk Phi is the actual value of the pitch angle _jk For the orientation ofThe actual value of the angle is used to determine,for the measurement of the pitch angle, +.>Mu as a measure of the azimuth angle _jk Angle measurement noise caused by signal noise transmitted by the network device to the first terminal device.

6. The method according to any one of claims 1 to 5, further comprising:

the first terminal equipment receives a signal sent by the network equipment;

and the first terminal equipment determines the first pseudo range according to the signal sent by the network equipment.

7. The method according to any one of claims 1 to 5, further comprising:

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

the first terminal device determining, according to the at least one parameter, a current location of the first terminal device, including:

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.

8. The method of claim 7, wherein the sensor comprises at least one of an inertial measurement unit, a vision sensor, and an on-board radar.

9. A terminal device, characterized in that the terminal device is a first terminal device, comprising:

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

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

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 according to the relative location and according to a first pseudo-range with the network device, wherein the first pseudo-range is determined based on the variance of the clock noise;

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: determining a 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, wherein the first pseudo range is determined based on the variance of the clock noise;

If the at least one parameter includes a variance of the clock noise, the processing unit is specifically configured to: determining a first pseudo-range between the first terminal device and the network device according to the variance of the clock noise; determining the current position of the first terminal equipment according to the first pseudo range;

the clock noise is caused by clock drift of the first terminal device.

10. The terminal device of claim 9, wherein if the at least one parameter includes the relative position, the processing unit is further configured to:

determining a second pseudorange to the second terminal device;

and determining the relative position according to the second pseudo range.

11. The terminal device of claim 10, wherein the second pseudorange is determined based on a variance of the clock noise.

12. Terminal device according to claim 9, characterized in that the angle comprises a pitch angle and/or an azimuth angle.

13. The terminal device of claim 12, wherein the pitch angle and the azimuth angle satisfy the following formula:

wherein θ _jk Phi is the actual value of the pitch angle _jk As an actual value of the azimuth angle,for the measurement of the pitch angle, +.>Mu as a measure of the azimuth angle _jk Angle measurement noise caused by signal noise transmitted by the network device to the first terminal device.

14. The terminal device according to any of the claims 9 to 13, characterized in that the terminal device further comprises:

a communication unit, configured to receive a signal sent by the network device;

the processing unit is further configured to:

and determining the first pseudo range according to the signal sent by the network equipment.

15. The terminal device according to any of the claims 9 to 13, 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.

16. The terminal device of claim 15, wherein the sensor comprises at least one of an inertial measurement unit, a vision sensor, and an in-vehicle radar.

17. A terminal device, comprising: a processor and a memory for storing a computer program, the processor being adapted to invoke and run the computer program stored in the memory, to perform the method according to any of claims 1 to 8.

18. A chip, comprising: a processor for calling and running a computer program from a memory, causing a device on which the chip is mounted to perform the method of any one of claims 1 to 8.

19. A computer readable storage medium storing a computer program for causing a computer to perform the method of any one of claims 1 to 8.