CN113196107B

CN113196107B - Information processing method and terminal equipment

Info

Publication number: CN113196107B
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: 2024-02-06
Anticipated expiration: 2039-03-01
Also published as: CN113196107A; WO2020177041A1

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 method and terminal equipment

Technical Field

The embodiment of the application relates to the field of communication, in particular to an information processing method and terminal equipment.

Background

The internet of vehicles system is a Side Link (SL) transmission technology based on a terminal-to-terminal (D2D) transmission mode, and unlike a conventional long term evolution (Long Term Evaluation, LTE) system in which communication data is received or transmitted through a base station, the internet of vehicles system adopts a terminal-to-terminal direct communication mode, so that the 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, which can improve the positioning accuracy of vehicles in the Internet of vehicles.

In a first aspect, there is provided a method of information processing, the method comprising:

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 of the network device and the first terminal device, and the variance of the 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 for performing the method of the first aspect or each implementation manner thereof.

Specifically, the terminal device comprises functional modules for performing the method of the first aspect or its implementation manner.

In a third aspect, a terminal device is provided comprising 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 various implementation manners thereof.

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

Specifically, the chip includes: 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 as in any one of the first aspects or implementations thereof.

In a fifth aspect, a computer-readable storage medium is provided for storing a computer program for causing a computer to perform the method of any one of the above-described first aspects or implementations thereof.

In a sixth aspect, there is provided a computer program product comprising computer program instructions for causing a computer to perform the method of any one of the above aspects or implementations thereof.

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

According to the technical scheme, the first terminal equipment can be positioned according to at least one parameter 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 clock noise of the first terminal equipment. On the basis of the relative position of the first terminal equipment based on the second terminal equipment, the first terminal equipment is positioned, so that the first terminal equipment can be positioned more accurately, and the positioning accuracy 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 at least need 4 different network devices to complete positioning, however, the signals of the network devices are easily blocked, so that the number of network devices acquired by the first terminal device is limited, less than 4 situations may occur, and at this time, the positioning of the first terminal device may not be realized or the error is larger. After the angle measurement is introduced, positioning can be realized by using 2 network devices, so that the positioning accuracy can be improved. Since the influence of the clock noise of the first terminal device may be received during the positioning process, the accuracy of positioning the first terminal device may be improved by considering the influence of the clock noise. In addition, if the above-mentioned multiple parameters are considered in the positioning process, multiple data can be fused into a unified positioning scheme, so that the obtained positioning information is more abundant, 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 measurement angle according to an embodiment of the present application.

Fig. 5 is a schematic flow chart of a positioning scheme according to 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

The following description of the technical solutions in the embodiments of the present application will be made with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The technical solution of the embodiment of the application can be applied to various communication systems, for example: global system for mobile communications (Global System of Mobile communication, GSM), code division multiple access (Code Division Multiple Access, CDMA), wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) systems, general packet radio service (General Packet Radio Service, GPRS), long term evolution (Long Term Evolution, LTE) systems, LTE frequency division duplex (Frequency Division Duplex, FDD) systems, LTE time division duplex (Time Division Duplex, TDD), universal mobile telecommunications system (Universal Mobile Telecommunication System, UMTS), worldwide interoperability for microwave access (Worldwide Interoperability for Microwave Access, wiMAX) communication systems, or 5G systems, and the like.

Embodiments of the present application describe various embodiments in connection with a network device. The network device may provide communication coverage for a particular geographic area and may communicate with terminal devices located within the coverage area. In an embodiment, the network device may be a base station (Base Transceiver Station, BTS) in a GSM system or a CDMA system, a base station (NodeB, NB) in a WCDMA system, an evolved base station (Evolutional Node B, eNB or eNodeB) in an LTE system, or a radio controller in a cloud radio access network (Cloud Radio Access Network, CRAN), or the network device may be a mobile switching center, a relay station, an access point, a vehicle 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 future evolved public land mobile network (Public Land Mobile Network, PLMN), etc.

The embodiments of the present application describe various embodiments in connection with a terminal device. Terminal devices include, but are not limited to, connections via wireline, such as via public-switched telephone network (Public Switched Telephone Networks, PSTN), digital subscriber line (Digital Subscriber Line, DSL), digital cable, direct cable connection; and/or another data connection/network; and/or via a wireless interface, e.g., for a cellular network, a wireless local area network (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 the other terminal device arranged to receive/transmit communication signals; and/or internet of things (Internet of Things, ioT) devices. Terminal devices arranged to communicate over a wireless interface may be referred to as "wireless communication terminals", "wireless terminals" or "mobile terminals". Examples of mobile terminals include, but are not limited to, satellites or cellular telephones; a personal communications system (Personal Communications System, PCS) terminal that may combine a cellular radiotelephone with data processing, facsimile and data communications capabilities; a PDA that can include a radiotelephone, pager, internet/intranet access, web browser, organizer, calendar, and/or a global positioning system (Global Positioning System, GPS) receiver; and conventional laptop and/or palmtop receivers or other electronic devices that include a radiotelephone transceiver. A terminal device 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 (Session Initiation Protocol, SIP) phone, a wireless local loop (Wireless Local Loop, WLL) station, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, an in-vehicle 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" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.

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

Specifically, the terminal device 20 and the terminal device 30 may communicate in a D2D communication mode, and at the time of D2D communication, the terminal device 20 and the terminal device 30 directly communicate through a D2D link, that is, SL, for example, as shown in fig. 1 or fig. 2. In fig. 1, the transmission resources of the terminal device 20 and the terminal device 30 are allocated by the network device through the side-link communication. In fig. 2, the transmission resources between the terminal device 20 and the terminal device 30 are selected autonomously by the terminal device through the side-link communication, and the network device is not required to allocate the transmission resources.

In third generation partnership project (3rd Generation Partnership Project,3GPP) release 14 (Rel-14), two modes of transmission are defined for internet of vehicles, namely mode 3 and mode 4.

In an embodiment, the scenario shown in fig. 1 may be used in a vehicle-to-vehicle (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 side link 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 a semi-static transmission to the terminal.

In an embodiment, the scenario shown in fig. 2 may be used in a V2V scenario, and the mode shown in fig. 2 may be referred to as mode 4, where the vehicle terminal adopts a transmission manner of interception (transmission) +reservation (reservation). The vehicle-mounted terminal can acquire an available transmission resource set in a resource pool in a interception mode, and then can randomly select one resource from the set to transmit data. Because the service in the internet of vehicles system has a periodic characteristic, the terminal equipment generally adopts a semi-static transmission mode, namely, after the terminal equipment selects one transmission resource, the resource can be continuously used in a plurality of transmission periods, 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 resources in the control information of the current transmission, so that other terminal equipment can judge whether the resources are reserved and used by the user or not by detecting the control information of the user, and the purpose of reducing resource conflict is achieved.

The D2D communication mode may be used for V2V communication or vehicle-to-other device (Vehicle to Everything, V2X) communication, or enhanced (cellular) internet of vehicles (enhanced Vehicle to Everything, eV 2X). In V2X communications, X may refer broadly to any device having wireless receiving and transmitting capabilities, such as, but not limited to, a slow moving wireless device, a fast moving vehicle device, or a network control node having wireless transmitting and receiving capabilities, etc. It should be understood that the embodiments of the present application are mainly applied to the scenario of V2X communication, but may also be applied to any other D2D communication scenario, and the embodiments of the present application do not limit this in any way.

Currently, 3GPP specifies 3 positioning methods, namely a method based on Cell-ID-based (CID), a method of observing time difference of arrival (Observed Time Difference of Arrival, OTDOA), and a method based on assisted global navigation satellite system (Assisted Global Navigation Satellite System, a-GNSS), respectively.

For the positioning mode of CID, the specific method can be as follows: 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 regarded as the location where the terminal device is currently located. The method has low precision, is hundred-meter precision, and cannot meet the requirements of high precision and high reliability of the Internet of vehicles.

For the positioning mode of OTDOA, the positioning principle is the same as that of a global satellite navigation satellite system (Global Navigation Satellite System, GNSS), and the position is obtained by a hyperbolic positioning mode based on the arrival time difference. In theory, the method can obtain higher precision, but the actual precision is not high, which is approximately in the order of ten meters, because the base station signals have co-channel interference, the positioning needs at least 4 different base stations, and the base station signals have far and near effects which can cause the base station signals at a far distance to be submerged. In addition, because the number of the base stations is limited, signal shielding and other conditions are easy to occur in an actual environment, the positioning mode is likely to be easy to occur in the condition of incapacitation, and the reliability is not high enough.

The a-GNSS positioning scheme is the most widely used satellite positioning scheme at present, and the principle is classical hyperbolic positioning based on time difference of arrival. In open areas, satellite systems can provide meter-level positioning accuracy. However, in some severe environments, such as urban high-rise zones, overpasses, indoor environments, etc., satellite signals may be blocked, which may result in a situation that cannot be located, and thus, a long-time high-reliability service cannot be provided.

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

For this reason, in the present embodiment, the following method 100 is provided to solve the problem. In the method 100, the terminal device may be located according to at least one parameter based on the relative position of the other terminal devices, the angle of the network device to the terminal device, and the variance of the clock noise of the terminal device. So that positioning accuracy can be provided.

Fig. 3 is a schematic flow chart of a method 100 of 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 some 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 as well as an internet of vehicles 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 shops, gas stations, restaurants, etc., and may also be applied to services such as rescue in emergency situations, scheduling of vehicles, personnel management, etc.

In 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.

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

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

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

In an embodiment, the clock noise may be, but is not limited to being 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 for distinguishing between 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, but the present invention is not limited thereto.

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

One possible theoretical model of this implementation is presented below. The theoretical model considers a satellite and ground base station assisted ground cooperative internet of vehicles system. It should be understood that this theoretical model is merely an example and does not constitute a limitation of the embodiments of the present application.

Let N be in the network _c Individual vehicles, M _b Individual base stations and H _s And a satellite, wherein the locations of the base station and the satellite are known. The aggregate of vehicles is: n is n _c ＝{1,2,...,N _c The aggregate of vehicles and base stations is: m 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 is a _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 ] ^T The parameter vector containing all vehicle positions isAssuming that the satellite and the base station are synchronous, the vehicle k has clock deviation delta between the satellite and the base station due to idle hardware equipment _k The distance deviation introduced by the clock deviation can satisfy the formula (1):

b _k ＝c*δ _k (1)

wherein b _k The distance deviation caused by the clock deviation of the vehicle k is represented by c, which is the light velocity.

In an embodiment, the distance between node k and observation node j may be defined as:

d _kj ＝||p _k -p _j || (2)

defining a pitch angle θ between a node k and an observation node j _kj Hefang (Chinese character) prescriptionAngle phi of position _kj The method comprises the following steps of:

the receipt of a signal from node j by node k may be expressed as follows:

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

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

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

In particular, without satellite and base station assistance, any vehicle in the vehicle network may be used as a reference vehicle, such as the first vehicle, or the last vehicle. The clock of the reference vehicle is set as a clock reference, and the distance deviation b caused by the clock deviation is set ₁ =0. The measurement of the inter-vehicle distance can then be derived from the two-way measurement, and the clock bias of the other vehicles relative to the reference vehicle can be derived.

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

wherein,d is a distance measurement between vehicle k and vehicle j _kj B is the actual value of the distance between vehicle k and vehicle j _k B for distance deviations due to clock deviations of the vehicle k _j V for distance deviations due to clock deviations of vehicle j _jk For the clock noise term, if not calibrated, its variance +.>May increase with accumulation over time.

The clock bias due to the clock noise is specifically random, for example, the clock bias due to the clock noise at the previous time is 1ms, and the clock bias due to the clock noise at the current time is 0.5ms. Unlike the clock skew caused by clock noise, the clock skew delta mentioned above _k Are the same at different times, e.g. all 1ms.

Omega in equation (6) _jk Due to signal noise n _kj (t) introducing an equivalent zero mean Gaussian error, subject to a mean of 0, variance ofThe normal distribution of (2) satisfies the following formula:

as can be seen, the varianceInversely proportional to the signal-to-noise ratio, the 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 vehicle k and vehicle j takes into account the influence of the clock noise of vehicle k at this time, i.e. the pseudo-range between vehicle k and vehicle j is determined based on the variance of the clock noise of vehicle k.

In one embodiment, the second pseudo-range model may also be independent of the effect of the clock noise of vehicle k, in which case v may be _jk Is 0.

In an embodiment, in this embodiment of the present application, the second pseudo-range model may be preset on the vehicle k, or may be sent to the vehicle k by another communication device. For example, vehicle j may transmit information including the second pseudorange model at the same time when transmitting a signal to vehicle k.

Next, the distance estimation values of the vehicle k and the vehicle j may be determined according to the formula (6).

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

Further exemplary, two-way ranging of vehicle k and vehicle j may be averaged to obtain a distance estimate. For example, when two-way ranging is averaged, a signal from vehicle k is received for vehicle j, and the pseudorange with vehicle k is determined by vehicle jThe method comprises the following steps:

averaging equations (6) and (8) allows the clock bias b between vehicle k and the reference vehicle _k And a clock offset b between vehicle j and reference vehicle _j Cancellation out, so that an estimated value of the distance between the vehicle k and the vehicle j can be obtained as shown in the formula (9):

similarly, an estimate of the distance 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. I.e. the first vehicle may determine a second pseudo-range to the second vehicle, from which the relative position based on the second vehicle may then be determined.

The first vehicle may determine the second pseudorange based on a variance of clock noise of the first vehicle. The second pseudorange may also be determined without limitation in the embodiments of the present application based on the variance of the clock noise of the first vehicle. It should be appreciated that the accuracy of the second pseudorange, which is determined based on the variance of the clock noise of the first vehicle, may be higher than the accuracy of the second pseudorange, which is not determined based on the variance of the clock noise of the first vehicle.

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

Wherein 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 send information including the angle to the first vehicle, and the first vehicle may determine the angle with the second vehicle after receiving the information.

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 appreciated that the predetermined algorithm is not particularly limited in this embodiment, and may be a multidimensional calibration algorithm, or may be a semi-positive calibration scheme, or the like, for example.

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

for the followingIn which no measured distance value is found, the shortest path can be used instead, and then the square distance matrix is usedAnd obtaining the shape of the vehicle network by adopting a multidimensional calibration algorithm.

It should be understood that the specific examples in the embodiments of the present application are intended only to help those skilled in the art to better understand the embodiments of the present 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, while may listen for a wireless signal existing around, and may aggregate 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 the plurality of groups of antennas, such as a received signal strength indicator (Received Signal Strength Indication, RSSI).

In an embodiment, the identification information of the first vehicle may include, but is not limited to, a Cell radio network temporary identity (Cell-Radio Network Temporary Identifier, C-RNTI) of the first vehicle, an international mobile subscriber identity (International Mobile Subscriber Identification Number, IMSI) of the first vehicle, an identity of the first vehicle in the vehicle network. The identifier of the first vehicle in the vehicle network may be the number of the first vehicle in the vehicle network, for example, the vehicle network has 10 vehicles in total, the number of the first vehicle in the vehicle network is 4, and the identifier of the first vehicle in the vehicle network is 4.

As another example, the first vehicle may determine the second vehicle-based relative position by a vision-based positioning method. It should be understood that the embodiment of the present application does not limit the vision-based positioning method at all, 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 may be included in the protection scope of the embodiment of the present application.

The first vehicle may determine the current location of the first vehicle based on the satellite and/or base station based on the relative location of the second vehicle.

It is to be noted that, when the current position of the first vehicle is determined 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 acquired at any time.

In one implementation, the first vehicle may determine the current location based on any of the 3 positioning modes currently specified by 3GPP, namely CID, OTDOA or A-GNSS, from the determined relative location.

In another implementation, the first vehicle may determine the location where the first vehicle is currently located based on the determined relative location and based on a first pseudorange between satellites and/or base stations.

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

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

a. Car cooperation and satellite positioning scheme

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

In embodiments of the present application, there are a variety of implementations of the first pseudorange between the first vehicle acquisition and the satellite. As one example, the first vehicle may receive signals transmitted by satellites and then determine the first pseudorange based on the signals transmitted by the satellites. At this time, the observation node j is the satellite j.

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

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

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

In an embodiment, in the embodiment of the present application, the specific algorithm may be a least squares method, a gradient descent algorithm, or the like.

It should be noted that, because of the special high altitude characteristic of the satellite system, the positioning result generally adopts the result of the XY plane, so that the accuracy of two-dimensional positioning can be ensured, the positioning error in height is larger, and the positioning accuracy can reach the level of ten meters.

a. Car cooperation and base station positioning scheme

In the embodiment of the application, besides the satellite, the base station may also provide positioning assistance for the first vehicle.

There may be a variety of implementations of the first pseudorange between the first vehicle acquisition and the base station. As one example, the first vehicle may receive signals transmitted by the base station and then determine a first pseudorange to the base station based on the signals transmitted by the base station.

Illustratively, for vehicle k receiving a signal from base station j, the pseudorange model between vehicle and base station may be:

since the base station and the satellite are assumed to be synchronized based on 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。

Still further exemplary, for vehicle k receiving a signal from base station j, the pseudorange model between vehicle and base station may also be:

it can be seen that equation (12) takes into account the effect of the first vehicle's clock noise, i.e., equation (12) is determined based on the variance of the first vehicle's clock noise, 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 the base station. Thereafter, the first vehicle may determine a location where the first vehicle is currently located based on the first pseudorange to the base station and based on the relative location of the second vehicle.

It should be appreciated that, in an implementation manner of determining, by using the first pseudo-range with the base station, the current location of the first vehicle, reference may be made to an implementation manner of determining, by using the first pseudo-range with the satellite, the current location of the first vehicle, which is not described herein for brevity of the content.

Further, the first vehicle may acquire an angle of the base station with the first vehicle, so that a current location of the first vehicle may be determined according to the angle and according to a first pseudo-range with the base station.

In an embodiment, the first vehicle may obtain the angle of the base station to the first vehicle by measuring the angle of the base station to the first vehicle.

In one embodiment, the base station may measure the angle with the first vehicle and then, when signaling the first vehicle, simultaneously transmit information to the first vehicle including the angle with the first vehicle. After the first vehicle receives this information, the angle of the base station to the first vehicle may be determined.

In one embodiment, the pitch angle and azimuth angle of the base station and the first vehicle may satisfy the following formula:

wherein θ _jk Is the actual value of pitch angle phi _jk As an actual value of the azimuth angle,is of pitch angleMeasurement value of- >Mu, as a measure of azimuth angle _jk Angle measurement noise caused by signal noise transmitted to a first vehicle by a base station, wherein the angle measurement noise can be equivalent zero mean Gaussian noise on two-dimensional angles, and the covariance matrix is C _jk ，C _jk Inversely proportional to the signal noise transmitted by the base station to the first vehicle, C _jk May be related to the spatial structure of the array.

In one embodiment, the array may be any shape of array, such as a rectangular array, a circular array, or the like. The rectangular array will be described 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 dot S represents the first vehicle. Order the Delta is the array element interval in the figure, namely the distance between 2 black points, lambda is the signal wavelength, and the covariance matrix C _jk The inverse of (2) may satisfy the following formula:

wherein,

after determining the angle between the base station and the first vehicle, the first vehicle may determine, according to the angle and according to a first pseudo-range with the base station, a location where the first vehicle is currently located.

According to the technical scheme, when angle measurement is not introduced, the minimum number of the base stations is 4, however, under severe environments such as signal shielding, the number of the base stations which can be seen is easily less than 4, and the positioning can be invalid. After the angle measurement is introduced, the 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 mutual measurement of vehicles, and then the three-dimensional coordinates (including the three-dimensional coordinates of the first vehicle in the global coordinate system) of the vehicle network in the global coordinate system can be obtained through combination of 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.

After the base station is used for positioning, the positioning error in the height is small, and the function of high-precision three-dimensional positioning can be realized.

c. Positioning scheme of vehicle-vehicle cooperation, satellite and base station

In the embodiment of the application, if the positioning is assisted by a single system, such as a satellite or a base station, the situation that the number of satellites or base stations possibly observed is insufficient in severe environments such as urban high-rise buildings, etc., so that the positioning cannot be performed is easy to occur. By combining the vehicle-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 aspect, the first vehicle may determine the current location of the first vehicle using a second pseudorange prior to the vehicle, a pseudorange between the first vehicle and a satellite, and a pseudorange between the first vehicle and a 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 of this solution may refer to the foregoing description, and will not be repeated here.

According to the technical scheme, when the satellite and the ground base station are assisted at the same time, 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 by at least one parameter of the foregoing, in one 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, the first vehicle may also rely on sensors of the vehicle itself to assist in positioning during dynamic travel of the first vehicle.

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

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

It should be noted that, since errors of speed, orientation and displacement of the vehicle measured by the IMU may accumulate over time, a long time dependence of the IMU may result in a large positioning error. In dynamic driving, the above method using at least one parameter may fail or fail at some time, and in this case, a high positioning accuracy may be obtained by maintaining the estimation of the first vehicle position by means of the IMU in a short time. In addition, the IMU may also be used to assist in positioning during normal operation of the method by at least one parameter, so as to improve positioning accuracy.

In an embodiment, the first vehicle may acquire an object, landmark information, lane line information, and the like near itself using the vision sensor, and the first vehicle may measure a distance and an azimuth between the object near itself and the vehicle using the vehicle-mounted radar.

By combining the different sensor information, on one hand, the method can provide assistance for the operation of avoiding collision, changing lines and the like of the vehicle, and on the other hand, the method can improve the positioning accuracy of the vehicle through the information of landmarks and the like. And even if signals of satellites and/or base stations cannot be obtained for a certain short period of time, the positioning in a severe environment has short-term maintenance capability, and the situation that positioning cannot be performed is avoided.

It should be understood that the various implementations of the embodiments of the present invention may be implemented alone or in combination, and the embodiments of the present application are not limited in this regard.

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

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

As 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 the first pseudorange to the base station and/or satellite mentioned above.

As 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 the sensors 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 from the variance of the clock noise of the first vehicle based on the relative location of the second vehicle, which may or may not be implemented in combination with an embodiment in which the first vehicle determines the current location from the variance of the clock noise of the first vehicle.

For example, the first vehicle may determine the location where the first vehicle is currently located based on the variance of the clock noise of the first vehicle and based on the first pseudorange with the base station and/or satellite mentioned above. For example, the first vehicle may determine a first pseudorange to the base station based on the variance of the clock noise, and then determine a location of the first vehicle based on the first pseudorange.

In one embodiment, the first vehicle may determine a first pseudorange to the 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 limiting of embodiments of the present application. As can be seen from fig. 5, based on the pseudo-range measurement of the vehicle, the pseudo-range and angle measurement of the base station, the pseudo-range measurement of the satellite and the measurement of the vehicle and other sensors can be introduced according to different scenes, and the shape and absolute position coordinates of the vehicle network can be obtained by combining the measurements.

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

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

It should be understood that formulas (3), (4) and (14) in the embodiments of the present application are determined in three-dimensional space, but may also be determined in two-dimensional planes. In addition, in the embodiment of the present application, a pseudo-range measurement model is adopted for the distance, and the pseudo-range measurement model can also be converted into a time measurement model, where the two sides of the formula in the pseudo-range measurement model are divided by the speed of light at the same time to obtain the time measurement model.

According to the embodiment of the application, the first terminal equipment can be positioned according to at least one parameter 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 clock noise of the first terminal equipment. On the basis of the relative position of the first terminal equipment based on the second terminal equipment, the first terminal equipment is positioned, so that the first terminal equipment can be positioned more accurately, and the positioning accuracy 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 at least need 4 different network devices to complete positioning, however, the signals of the network devices are easily blocked, so that the number of network devices acquired by the first terminal device is limited, less than 4 situations may occur, and at this time, the positioning of the first terminal device may not be realized or the error is larger. After the angle measurement is introduced, positioning can be realized by using 2 network devices, so that the positioning accuracy can be improved. Since the influence of the clock noise of the first terminal device may be received during the positioning process, the accuracy of positioning the first terminal device may be improved by considering the influence of the clock noise. In addition, if the above-mentioned multiple parameters are considered in the positioning process, multiple data can be fused into a unified positioning scheme, so that the obtained positioning information is more abundant, and the positioning accuracy can be greatly improved.

It should be noted that, on the premise of no conflict, the embodiments described in the present application and/or the technical features in the embodiments may be arbitrarily combined with each other, and the technical solutions obtained after the combination should also fall into the protection scope of the present application.

It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on 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 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 of 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 is based on the relative position of the second terminal device, the angle of the network device to the terminal device 200, and the variance of the 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.

In an embodiment, in an embodiment of the present application, if the at least one parameter includes the relative position, the processing unit 210 is specifically configured to: the location where the terminal device 200 is currently located is determined from the relative position and from the first pseudoranges to satellites and/or the network device.

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

In an embodiment, the second pseudorange is determined based on a variance of the clock noise.

In an embodiment, in this embodiment, 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: based on the angle and a first pseudo-range between the terminal device 200 and the network device, a location at which the terminal device 200 is currently located is determined.

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

In one embodiment, in the present example, 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 to the terminal device 200 for the network device.

In an embodiment, in this embodiment, if the first pseudo-range is a pseudo-range between the terminal device 200 and the network device, the first pseudo-range is determined based on the variance of the clock noise.

In an embodiment, in the embodiment of the present 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 based on the variance of the clock noise; and determining the current position of the terminal equipment 200 according to the first pseudo range.

In an embodiment, in this embodiment, 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 further configured to: the first pseudorange is determined from signals transmitted by the satellite and/or the network device.

In an embodiment, in an embodiment of the present application, the processing unit 210 is further configured to: acquiring data sent by a sensor in 210;

the processing unit 210 specifically is configured to: and determining 210 the current position according to the at least one parameter and the data sent by the sensor.

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

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

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

In one implementation, as shown in fig. 7, the communication device 300 may also include a memory 320. Wherein the processor 310 may call and run a computer program from the memory 320 to implement the methods in embodiments of the present application.

Wherein the memory 320 may be a separate device from the processor 310 or may be integrated into the processor 310.

In an embodiment, 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 in particular, may send information or data to other devices, or receive information or data sent by other devices.

The transceiver 330 may include a transmitter and a receiver, among others. Transceiver 330 may further include antennas, the number of which may be one or more.

In an implementation manner, the communication device 300 may be specifically a first terminal device in the embodiment of the present application, and the communication device 300 may implement a corresponding flow implemented by the first terminal device in each method in the embodiment of the present application, which is not described herein for brevity.

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 may call and run a computer program from a memory to implement the method in the embodiments of the present application.

In one embodiment, as shown in FIG. 8, the chip 400 may also include a memory 420. Wherein the processor 410 may call and run a computer program from the memory 420 to implement the methods in embodiments of the present application.

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

In one embodiment, the chip 400 may also include an input interface 430. The processor 410 may control the input interface 430 to communicate with other devices or chips, and in particular, may acquire information or data sent by the other devices or chips.

In an embodiment, the chip 400 may further include an output interface 440. Wherein 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 other devices or chips.

In an embodiment, the chip may be applied to the first terminal device in the embodiment of the present application, and the chip may implement a corresponding flow implemented by the first terminal device in each method in the embodiment of the present application, which is not described herein for brevity.

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

It should be appreciated that the processor of an embodiment 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 implemented by integrated logic circuits of hardware in a processor or instructions in software form. The processor may 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 logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks 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 a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.

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

It should be understood that the above memory is exemplary but not limiting, and for example, the memory in the embodiments of the present application may be Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), direct RAM (DR RAM), and the like. That is, the memory in embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.

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

In an implementation manner, the computer readable storage medium may be applied to the first terminal device in the embodiments of the present application, and the computer program makes the computer execute the corresponding procedure implemented by the first terminal device in each method in the embodiments of the present application, which is not described herein for brevity.

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

In an implementation manner, the computer program product may be applied to the first terminal device in the embodiment of the present application, and the computer program instructions cause the computer to execute a corresponding flow implemented by the first terminal device in each method in the embodiment of the present application, which is not described herein for brevity.

The embodiment of the application also provides a computer program.

In an implementation manner, 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 caused to execute a corresponding flow implemented by the first terminal device in each method in the embodiment of the present application, which is not described herein for brevity.

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 solution. 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 will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown 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 may 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 may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in 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 may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely 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 think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to 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

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.