CN115707092A

CN115707092A - Information transmission method, communication node and storage medium

Info

Publication number: CN115707092A
Application number: CN202110898194.1A
Authority: CN
Inventors: 贺海港; 卢有雄; 邢卫民; 陈杰
Original assignee: ZTE Corp
Current assignee: ZTE Corp
Priority date: 2021-08-05
Filing date: 2021-08-05
Publication date: 2023-02-17
Also published as: WO2023011438A1

Abstract

The application provides an information transmission method, a communication node and a storage medium, wherein the method applied to the first communication node comprises the following steps: measuring for a first Positioning Reference Signal (PRS) resource; sending feedback information and first geographical position information; the first PRS resource is a PRS resource used by a second communication node to transmit a first PRS, the feedback information includes information to be fed back, each information to be fed back corresponds to a target object and one first PRS resource in the first PRS resource, and the target object is an object representing the geographical position of the first communication node or the position of a time-frequency resource used by the first communication node. By using the method, the information of the first communication node is effectively utilized when positioning is carried out, and the positioning efficiency is improved.

Description

Information transmission method, communication node and storage medium

Technical Field

The present invention relates to the field of communications technologies, and in particular, to an information transmission method, a communication node, and a storage medium.

Background

In positioning, a communication node that needs to obtain its own geographical location is called a target node. For the positioning of the target node, the positioning of the target node needs to be achieved with the help of other communication nodes, which are generally called anchor nodes.

There may be multiple antenna panels, whether anchor or target nodes. Also, multiple antenna panels of an anchor node and/or a target node may have different geographic locations. In the related positioning technology, information of an anchor node, i.e., a first communication node, is not fully utilized to achieve positioning of a target node, resulting in poor positioning efficiency.

Disclosure of Invention

The application provides an information transmission method, a communication node and a storage medium, which effectively utilize information of a first communication node when positioning is carried out, and improve positioning efficiency.

In a first aspect, an embodiment of the present application provides an information transmission method, which is applied to a first communication node, and the method includes:

measuring for a first Positioning Reference Signal (PRS) resource;

sending feedback information and first geographical position information;

the first PRS resource is a PRS resource used by a second communication node to transmit a first PRS, the feedback information includes information to be fed back, each information to be fed back corresponds to a target object and one first PRS resource in the first PRS resource, and the target object is an object representing the geographical position of the first communication node or the position of a time-frequency resource used by the first communication node.

In a second aspect, an embodiment of the present application provides an information transmission method, which is applied to a first communication node, and the method includes:

transmitting a second PRS through a second PRS resource;

and sending first geographical position information, wherein a mapping relation exists between the first geographical position information and the PRS resource.

In a third aspect, an embodiment of the present application provides an information transmission method, which is applied to a second communication node, and the method includes:

and sending second geographic position information, wherein the second geographic position information is the position of a second antenna panel of the second communication node in a local coordinate system.

In a fourth aspect, an embodiment of the present application provides a communication node, including:

one or more processors;

storage means for storing one or more programs;

when the one or more programs are executed by the one or more processors, the one or more processors implement the information transmission method according to the embodiment of the present invention.

In a fourth aspect, an embodiment of the present application provides an information transmission method, which is applied to a second communication node, and the method includes:

measuring for second Positioning Reference Signal (PRS) resources;

reporting the measurement result to a high layer;

the measurement result comprises one or more pieces of measurement information, each piece of measurement information corresponds to a set object and a second PRS resource in the second PRS resources, and the set object is an object representing the geographical position of the second communication node or the time-frequency resource position used by the second communication node.

In a fifth aspect, an embodiment of the present application provides a storage medium, where the storage medium stores a computer program, and the computer program, when executed by a processor, implements an information transmission method according to an embodiment of the present invention.

With regard to the above embodiments and other aspects of the present application and implementations thereof, further description is provided in the accompanying drawings description, detailed description and claims.

Drawings

Fig. 1 is a schematic flowchart of an information transmission method according to an embodiment of the present application;

fig. 2 is a schematic flowchart of an information transmission method according to an embodiment of the present application;

fig. 3a is a schematic flowchart of an information transmission method according to an embodiment of the present application;

fig. 3b is a schematic flowchart of an information transmission method according to an embodiment of the present application;

fig. 4a is a schematic view of a scenario of an anchor node and a target node provided in an exemplary embodiment of the present application;

fig. 4b is a schematic coordinate system diagram of a target node according to an embodiment of the present disclosure;

fig. 4c is a schematic diagram of interaction between a target node and an anchor node according to an embodiment of the present application;

fig. 4d is a schematic diagram of a mapping relationship of a first terminal according to an embodiment of the present application;

fig. 4e is a schematic diagram of a mapping relationship between a first terminal and a second terminal provided in the embodiment of the present application;

fig. 4f is a schematic diagram of another information transmission provided in the embodiment of the present application;

fig. 4g is a schematic diagram of interaction between an anchor node and a target node according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of an information transmission apparatus according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an information transmission apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an information transmission apparatus according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an information transmission apparatus according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a communication node according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.

In an exemplary embodiment, fig. 1 is a flowchart illustrating an information transmission method provided in an embodiment of the present application, where the method is applicable to a case of positioning a second communication node, where a first communication node may be an anchor node, and a second communication node may be a target node, that is, a node to be positioned. The method may be performed by an information transmission apparatus, which may be implemented by software and/or hardware, and which is typically integrated in the first communication node. As shown in fig. 1, an information transmission method provided in the present application includes the following steps:

s110, measuring the PRS resources of the first positioning reference signals.

Wherein the first PRS resource is a PRS resource used by a second communication node to transmit a first PRS. Measurements are made for the first PRS to derive feedback information. The feedback information comprises information to be fed back, each piece of information to be fed back corresponds to a target object and a first PRS resource in the first PRS resources, the target object is an object representing the geographical position of the first communication node or the time-frequency resource position used by the first communication node, and the feedback information is obtained based on measurement. The target object is not limited herein.

The feedback information comprises one or more pieces of information to be fed back.

And S120, sending the feedback information and the first geographical position information.

The first geographic location information is a geographic location of a first antenna panel of the first communication node. The geographic location of the first antenna panel may be directly or indirectly communicated. The direct notification is, for example, a direct notification of the coordinates of the first antenna panel, the indirect notification is, for example, a notification of the distance and angular direction of the antenna panel with respect to the reference geography, and the like.

The first communication node sends the feedback information and the first geographical position information to a second communication node or a server so as to position the second node.

The first geographic location information may be information representing an absolute geographic location, or may be information representing a relative geographic location, such as the first geographic location information, which may be information (relative geographic location) such as coordinates (absolute geographic location), a distance from a reference location, and direction information.

The information transmission method provided by the application is implemented and aims at measuring a first Positioning Reference Signal (PRS) resource; the feedback information and the first geographical position information are sent, and by using the method, the information of the first communication node, such as the feedback information, is effectively utilized when positioning is carried out, so that the positioning efficiency is improved.

On the basis of the above-described embodiment, a modified embodiment of the above-described embodiment is proposed, and it is to be noted herein that, in order to make the description brief, only the differences from the above-described embodiment are described in the modified embodiment.

In one embodiment, the target object includes one or more of:

first geographical location information;

a first antenna panel of the first communication node;

a second PRS resource, the second PRS resource being a PRS resource for the first communication node to transmit a second PRS.

The first antenna panel may refer to an antenna panel of the first communication node, and may include one or more first antenna panels in this embodiment. The second antenna panel may refer to an antenna panel of the second communication node, which application may include one or more second antenna panels.

In one embodiment, the different second PRS resources correspond to one or more of:

a different PRS port; PRS resources at different times.

In this embodiment, the PRS resource may be a second PRS resource.

In one embodiment, the different first PRS resources correspond to one or more of:

a different PRS port; PRS resources at different times.

In this embodiment, the PRS resource may be a first PRS resource.

In one embodiment, one of said first geographical location information is associated with one or more of:

a first antenna panel of said first communication node;

a set of first antenna panels of the first communication node;

a time of day of a first antenna panel of the first communication node;

a time of day for a set of first antenna panels for the first communication node;

wherein a group of antenna panels comprises antenna panels having the same or similar geographic locations. Two antenna panels having similar geographic locations may be considered a distance of the two antenna panels that is less than a threshold value. The first communication node transmits a plurality of first geographical location information, each geographical location information being associated with one or more of: a first antenna panel; a set of first antenna panels; a time of day of a first antenna panel; one time instance of a set of first antenna panels.

In one embodiment, the information to be fed back includes one or more of the following:

a delay difference between a first PRS resource and a first antenna panel relative to a first reference delay;

a delay of a first PRS resource and a first geographical location information, a delay difference relative to a second reference delay,

a time difference between two first PRS resources corresponding to the same first geographical location information;

a time difference between two first geographical location information corresponding to the same first PRS resource.

The delay may be a transmission delay.

In one embodiment, the first reference latency is a latency of a first one of the measured first PRS resources and a first one of the first antenna panels, and the second reference latency is a latency of the first one of the measured first PRS resources and a first one of the first geographical location information. The delay can be considered as a transmission delay.

a difference between a first PRS resource and a second PRS resource;

a relative value of a transmit-receive time difference of one first PRS resource and one second PRS resource to a transmit-receive time difference of a first one of the measured first PRS resources and a first one of the measured second PRS resources.

In one embodiment, the first communication node receives one or more PRS signals from a second communication node on one or more first PRS resources; the first communication node transmits one or more PRS signals on one or more second PRS resources.

a horizontal angle of arrival corresponding to a first PRS resource and a first geographical location information;

a first PRS resource and a vertical angle of arrival corresponding to the first geographical location information.

In one embodiment, the method further comprises: indicating that the content included in the feedback information is one or more of the following:

a difference in transmit-receive time; an angle of arrival; relative time delay.

In one embodiment, the method further comprises indicating one or more of the following capabilities:

feedback capability of transmit-receive time difference; angle of arrival feedback capability; the feedback capability of the delay difference.

Each piece of information to be fed back corresponds to one target object and one first PRS resource in the first PRS resources. In the case that the target object is at the first geographical location, indirectly feeding back one or more pieces of information to be fed back by the following example: in one embodiment, the information to be fed back and the first geographical location information are included in a first geographical location information list, the first geographical location information list includes N pieces of first geographical location information, N is a positive integer, each piece of first geographical location information in the N pieces of first geographical location information corresponds to one information list to be fed back, one information list to be fed back includes M pieces of information to be fed back, and M is a positive integer. In an embodiment, the information to be fed back corresponding to the ith first PRS resource and the jth first geographical location information is the jth information to be fed back in the information list to be fed back corresponding to the jth first geographical location information in the first geographical location information list.

For measurement/feedback, feedback is made for the measurement of (ith first PRS resource, jth first geography). For the transmission of the second PRS, the jth second PRS resource has a mapping relation with the jth first geographical location information. The first geographical position information has a corresponding relation with the first PRS resource and also has a corresponding relation with the second PRS resource. In one embodiment, the information to be fed back includes one or more of the following: a time difference between a measurement time corresponding to a first PRS resource and a first geographical location information and a measurement time corresponding to a first geographical location in the first measured PRS resource and the first geographical location information; a first PRS resource and an angle of arrival corresponding to the first geographical location information; a time difference between the transmission and reception of a positioning reference signal corresponding to a first PRS resource and a first geographical location information.

Each piece of information to be fed back corresponds to one target object and one first PRS resource in the first PRS resources. In the case that the target object is at the first geographical location, indirectly feeding back one or more pieces of information to be fed back by the following example: in an embodiment, the information to be fed back and the first geographical location information are included in a second geographical location list, where the second geographical location list includes S pieces of first geographical location information, S is a positive integer, each geographical location in the S pieces of first geographical location information corresponds to a list formed by Z elements, Z is a positive integer, and each element includes a first PRS resource identifier and information to be fed back. In an embodiment, the information to be fed back corresponding to the ith first PRS resource and the jth first geographical location information is information to be fed back corresponding to an element identified as i by a PRS resource corresponding to the jth first geographical location information in the second geographical location list.

In one embodiment, the feedback information includes:

a delay of a first PRS resource and a first geographical location information, and a difference between a measured delay of a first one of the first PRS resources and a first geographical location of said first geographical location information;

a first PRS resource and an angle of arrival corresponding to the first geographical location information;

a first PRS resource and a positioning reference signal corresponding to the first geographical location information have a transceiving time difference or an absolute value of the transceiving time difference.

In an example implementation, the present application further provides an information transmission method, and fig. 2 is a schematic flowchart of the information transmission method provided in the embodiment of the present application, where the method may be applied to a case of positioning a second communication node. The method may be performed by an information transfer device, which may be implemented by software and/or hardware, and which is typically integrated on the first communication node. The present embodiment is not exhaustive, and reference is made to the above embodiments.

As shown in fig. 2, the information transmission method provided by the present application includes the following steps:

s210, sending the second PRS through the second PRS resource.

S220, sending first geographical location information, wherein a mapping relation exists between the first geographical location information and the PRS resource.

In this embodiment, the second PRS is transmitted through the second PRS resource; and sending first geographical position information, wherein a mapping relation exists between the first geographical position information and the PRS resource. Information for positioning the second communication node is effectively transmitted, and the positioning efficiency of the second communication node is improved.

In one embodiment, the first geographical location information is associated with one or more of:

an antenna panel of the first communication node;

a set of antenna panels of the first communication node;

a time of day of an antenna panel of the first communication node;

a time of day of a set of antenna panels of the first communication node.

In one embodiment, the first geographical location information is contained in a geographical location list comprising W first geographical location information, W being a positive integer.

In one embodiment, the jth first geographical location information in the geographical location list corresponds to a jth second PRS resource, j being a positive integer no greater than W.

In one embodiment, the number of the first geographical location information is one or more, and the first communication node indicates, for each first geographical location information, the second PRS resource identifier to which the first geographical location information is mapped.

In one embodiment, the method further comprises:

indicating one of the following coordinate types:

a local coordinate system and a global coordinate system.

In one embodiment, the origin of coordinates of the local coordinate system is a reference geographical location of the first communication node, the reference geographical location being one of:

the first communication node geometric center position; a panel of the first communication node corresponds to a geographic location.

In one embodiment, the method includes one of:

the x-axis of the global coordinate system points to the north;

the x-axis of the global coordinate system points to the north, and the z-axis is perpendicular to the ground or sea level.

In one embodiment, the method further comprises notifying one or more of:

coordinates of the first geographical location information in the local coordinate system;

an angle of the first geographical location information in the local coordinate system;

a distance between the first geographical location information and a reference geographical location.

In one embodiment, the number of the first geographical location information is Q × M, Q is Q time instants or time periods, and M is the second PRS resource number.

In one embodiment, the method includes one or more of:

the pth first geographical location information corresponds to the time or period of ith = ceil (p/M);

the p-th geographical location corresponds to the m = mod (p-1,M) +1 second PRS resource for one time instant or time period;

the p geographic location corresponds to the m = mod (p-1,M) +1 antenna panel group, or to the m = mod (p-1,M) +1 antenna panel group.

mod denotes remainder and ceil denotes rounding up. p is a positive integer no greater than Q x M.

M (groups of) antenna panels, corresponding to the M first geographical location information, map to the M second PRS resources.

The M antenna panels (groups) have Q M first geographical position information at Q moments.

The p-th first geographical location information of the Q × M first geographical location information notified by the first communication node corresponds to the M-th (group) antenna panel of the M (group) antenna panels.

The pth first geographical location information corresponds to the ith time of the Q times.

In an example implementation manner, the present application further provides an information transmission method, and fig. 3a is a schematic flow chart of the information transmission method provided in the embodiment of the present application, the method is suitable for a case of locating a second communication node, and the method may be executed by an information transmission apparatus, which may be implemented by software and/or hardware and is generally integrated on the second communication node.

As shown in fig. 3a, the information transmission method provided by the present application includes the following steps:

and S310, sending second geographic position information, wherein the second geographic position information is the position of a second antenna panel of the second communication node in a local coordinate system.

The second geographical location information may also be information characterizing an absolute geographical location and may also be information characterizing a relative geographical location. And is not limited herein.

The information transmission method sends second geographic position information, wherein the second geographic position information is the position of a second antenna panel of the second communication node in a local coordinate system, so that the second communication node is positioned.

In one embodiment, the second geographical location information is coordinates in a local coordinate system.

In one embodiment, the second geographic location information includes one or more of:

a distance between the second geographical location information and a reference geographical location; the angle of the second geographic position information in the local area coordinate system.

In one embodiment, the method further comprises: and sending a first PRS (primary radio signal) which is mapped to one or more first PRS resources, wherein the quantity of the second geographical location information is one or more, and each piece of second geographical location information has a mapping relation with one of the first PRS resources.

In one embodiment, the origin of coordinates of the local coordinate system is a reference geographical location of the second communication node, the reference geographical location being one of:

the second communication node geometric center position; the second communication node is associated with a geographic location corresponding to a second antenna panel.

In one embodiment, the method further comprises indicating one or more of the following types of feedback:

a difference in transmit-receive time; angle of arrival; relative delay difference.

In one embodiment, the method further comprises: indicating a first node feedback supported capability, the first node supported capability comprising one of:

feedback capability of transmit-receive time difference; angle of arrival feedback capability; feedback capability with respect to delay variation.

The second communication node indicates the first communication node to feed back the capabilities supported by the first node, that is, indicates which capabilities are supported by the first communication node, and the capabilities include a feedback capability of a transceiving time difference, a feedback capability of an arrival angle, and a feedback capability of a relative delay difference.

In an example implementation manner, an information transmission method is provided in an embodiment of the present application, and fig. 3b is a flowchart of the information transmission method provided in the embodiment of the present application, where the method may be applied to a case of locating a second communication node, and the method may be executed by an information transmission apparatus, which may be implemented by software and/or hardware and is generally integrated on the second communication node.

As shown in fig. 3b, the information transmission method provided in the embodiment of the present application includes the following steps:

s410, measuring aiming at the PRS resource of the second positioning reference signal.

And S420, reporting the measurement result to a high layer.

The measurement result comprises one or more pieces of measurement information, each piece of measurement information corresponds to one set object and one second PRS resource in the second PRS resources, and the set object is an object representing the geographic position of the second communication node or the position of a time-frequency resource used by the second communication node.

According to the information transmission method provided by the embodiment of the application, the measurement result is reported to the upper layer, so that the positioning of the second communication node is completed.

In one embodiment, the setting object includes one or more of:

second geographic location information;

a second antenna panel of the second communication node;

a first PRS resource, the first PRS resource being a PRS resource for the second communication node to transmit a first PRS.

a different PRS port; PRS resources at different times.

In one embodiment, the one measurement information includes one or more of:

a delay difference between a second PRS resource and a second antenna panel relative to a third reference delay;

a delay of a second PRS resource and a second geographical location information, a delay difference with respect to a fourth reference delay,

a time difference between two second PRS resources corresponding to the same second geographical location information;

a time difference between two second geographical location information corresponding to the same second PRS resource.

In one embodiment, the third reference latency is a latency of a first one of the measured second PRS resources and a first one of the second antenna panels, and the fourth reference latency is a latency of a first one of the measured second PRS resources and a first one of the second geographic location information.

In one embodiment, the one measurement information includes one or more of:

a difference between a second PRS resource and a first PRS resource;

a relative value of a transmit-receive time difference of one second PRS resource and one first PRS resource to a transmit-receive time difference of a first one of the measured second PRS resources and a first one of the measured first PRS resources.

In one embodiment, the second communication node receives one or more PRS signals from the first communication node on one or more second PRS resources; the second communication node transmits one or more PRS signals on one or more first PRS resources.

In one embodiment, the one measurement information includes one or more of:

a horizontal angle of arrival corresponding to a second PRS resource and a second geographical location information;

a second PRS resource and a vertical angle of arrival corresponding to the second geographical location information.

In one embodiment, the measured second positioning reference signal PRS resources are resources indicated by physical layer signaling or higher layer signaling.

The corresponding embodiments in fig. 3b are not detailed in detail, and are not repeated herein.

As described below, by way of example, there may be multiple antenna panels in different geographic locations, whether anchor or target. In related positioning techniques, the different geographical locations of the multiple antenna panels of the anchor node and the target node are not fully utilized. In the related positioning technology, measurement and feedback for a multi-antenna panel are not supported. The present application provides a positioning technique that supports measurement and feedback for multiple antenna panels. By the positioning technology, the positioning of the target node can be obtained under the condition of less anchor points, and even the absolute positioning of the target node can be obtained under the condition of only one anchor point node. In addition, under the condition that the number of anchor nodes is not changed, the positioning precision of the target node can be improved through the positioning technology.

In this example, the solution of antenna panel positioning is described by taking an example in which the target node and the anchor node both have multiple antenna panels. The positioning in three-dimensional space is similar to the positioning in two-dimensional space. Next, positioning in a two-dimensional plane space will be described as an example.

Assume that multiple antenna panels of an anchor node have different geographic locations.

In addition, the target node is assumed to be a vehicle, and the plurality of antenna panels of the target node are assumed to have different geographical locations. Assume a location point located at the target node as a reference location to represent the geographic location of the target node, for example, the reference location is the geometric center of the target node. The target node does not know the coordinate location of the reference location point, but knows the distance between the reference location point and each antenna panel of the target node. The goal is to obtain the geographic location of the reference location of the target node, e.g., in terms of coordinates (x, y). (x, y) are coordinates in the global coordinate system, for example, the x-axis direction of the global coordinate system is defined as the true north direction.

Fig. 4a is a schematic view of a scenario of an anchor node and a target node provided in an exemplary embodiment of the present application, where as shown in fig. 4a, a geographic location of an antenna panel of the anchor node is known, and a geographic location of an antenna panel 1 is marked as

Geographical location marking of antenna panel 2

Are coordinates in a global coordinate system.

The geographic coordinate positions of the

antenna panel

1,2, 3 and 4 of the target node are (x) ₁ ,y ₁ )、(x ₂ ,y ₂ )、(x ₃ ,y ₃ )、(x ₄ ,y ₄ ) The coordinates of the reference position of the target node are (x, y). Wherein (x) ₁ ，y ₁ )、(x ₂ ，y ₂ )、(x ₃ ，y ₃ )、(x ₄ ，y ₄ ) And (x, y) are coordinates in the global coordinate system, and these coordinates are unknown.

Fig. 4b is a schematic coordinate system diagram of a target node according to an embodiment of the present disclosure. As shown in fig. 4b, the target node may assume a local coordinate system, the origin of which is the reference geographical location of the target node. The x-axis direction of the local coordinate system can be arbitrarily assumed by the target node. Suppose the x-axis of the local coordinate system of the target node is labeled x 'and the y-axis is labeled y'. In fig. 4b, the coordinate system with x-axis labeled x and y-axis labeled y is a global coordinate system. Angle between local coordinate system and global coordinate system

Is not known to be present in the solution,

is the angle between the x' axis of the local coordinate system and the x axis of the global coordinate system in fig. 4 b. In the local coordinate system assumed by the target node, the coordinates of each antenna panel in the local coordinate system are known, and the coordinates of the antenna panel 1, the antenna panel 2, the antenna panel 3, and the antenna panel 4 of the target node in the local coordinate system are (x' ₁ ,y′ ₁ )、(x′ ₂ ,y′ ₂ )、(x′ ₃ ,y′ ₃ )、(x′ ₄ ，y′ ₄ ). The coordinate of the reference position in the local coordinate system is (0,0). In addition, the distance between each antenna panel and the reference geographical position is known, and the distance between the

antenna panel

1,2, 3 and 4 of the target node and the reference geographical position of the target node is L ₁ 、L ₂ 、L ₃ 、L ₄ 。

1. Positioning based on time difference between transmission and reception (i.e., time difference between transmission and reception) (obtaining tau by time difference between transmission and reception) _i,j )：

τ _i,j And the air propagation delay of signal transmission between the ith antenna panel of the target node and the jth antenna panel of the anchor node is represented. Thus, there are the following equations:

wherein C represents the propagation velocity of light and has a value of 3 x 10 ⁸ In meters per second, the above equation can be converted to the following equation:

wherein, Δ τ _i,j For the ith antenna panel of the target node and the jth antenna panel of the anchor nodeRelative time delay therebetween. More specifically, Δ τ _i,j Representing the propagation delay tau between the ith antenna panel of the target node and the jth antenna panel of the anchor node _i,j The delay difference between the two is relative to the delay between the reference antenna panel pair. Assume the reference antenna panel pair is (target node 1 st antenna panel, anchor node j antenna panel). Thus, Δ τ _i,j ＝τ _i,j -τ _1,1 。

For any antenna panel i of the target node, the coordinates in the global coordinate system thereof can be expressed as follows:

for any i, j, if τ is known _i,j Then, the reference position coordinates (x, y) of the target node can be solved through the above formula 1 and formula 3, that is, the location of the target node is obtained. Tau is _i,j The acquisition can be obtained by respectively measuring the receiving-transmitting time difference by the anchor node and the target node.

The receiving-transmitting time difference is respectively measured by the anchor node and the target node to obtain tau _i,j The method of (1).

Fig. 4c is a schematic diagram of interaction between a target node and an anchor node provided in an embodiment of the present application, and as shown in fig. 4c, an antenna panel i on the target node side sends a PRS, and an antenna panel j on the anchor node side feeds back the PRS. For antenna panel i and antenna panel j, the PRS measured by the anchor point node has a receiving-transmitting time difference T _i,j The time difference of receiving and transmitting of PRS measured by the target node is T' _i,j . Thus, τ _i,j ＝(T′ _i,j -T _i,j )/2。

2. Based on relative delay difference delta tau _i,j Positioning:

similarly, for any i, j, if Δ τ is known _i,j Then, the reference position coordinates (x, y) of the target node can be solved through the

above equations

2 and 3, that is, the location of the target node is obtained.

Angle of Arrival (AOA) based localization is as follows:

the location of the target node can also be calculated by measuring the angle of arrival of the PRS signal for the antenna panel i of the target node and the antenna panel j of the anchor node. The equations set forth herein for how this is the case are not specifically set forth.

Based on the above description, AOA, relative time difference Δ τ _i,j The transmission-reception time difference is referred to as first feedback information. I.e. the first feedback information comprises the AOA, the relative time difference Δ τ _i,j And a difference in transmission/reception time. The first feedback information may be considered as information to be fed back.

If the first feedback information of each antenna panel pair is known, the geographic position of each antenna panel of one or more anchor point nodes is known, and the corresponding relation between the geographic position and the geographic position is known, the geographic position of the target node can be calculated. Thus obtaining the absolute positioning of the target node.

Similarly, whether the geographic position of each antenna panel of the anchor node is known or not, if the first feedback information of each antenna panel pair is known, the relative geographic position of the target node relative to the anchor node can be calculated. The relative positioning of the target node is described in detail in example 4, and will not be described in detail here.

The solution for multi-antenna panel positioning is introduced above. In order to achieve the multi-antenna panel positioning described above, measurement and feedback are required. Thus, the following positioning methods can be classified.

The method comprises the following steps: target node sends PRS and anchor point node feeds back PRS to realize multi-antenna panel positioning

This method is illustrated in fig. 4 c. In the method, a plurality of geographically diverse antenna panels of the target node, i.e., pannel, transmit a plurality of PRS signals, i.e., first PRS signals or first PRSs, over different first PRS resources. That is, each pannel on the target UE side corresponds to one PRS resource. Wherein, the target UE is a target node.

The anchor node maps to different second PRS resources through a plurality of geographically different pannels, and transmits a plurality of PRS signals, i.e., second PRS signals or second PRSs, through the plurality of second PRS resources. I.e. each pannel on the anchor UE side, maps to one PRS resource.

In the method, after a target node sends an RPS through a first PRS resource, an anchor point node feeds back a PRS to the target node through a second PRS resource.

N (or N groups, each group comprises 1 or more antenna panels with similar geographic positions) antenna panels of the target node are mapped to N first PRS resources, and the target node transmits N PRS signals on the N first PRS resources at the time t ₁ ,t ₂ ,…,t _N 。t ₁ ,t ₂ ,…,t _N May be the same time or different times. And marking the antenna panel corresponding to the ith first PRS resource of the target node as an antenna panel i. The two antenna panels may be considered to have similar geographic positions when the geographic positions are close to each other, and the geographic positions of the two antenna panels may be considered to be similar when the distance between the two antenna panels is smaller than a threshold value.

M (or M groups, each group comprises 1 or more antenna panels with similar geographic positions) antenna panels of the anchor node are mapped to M second PRS resources, the anchor node sends M PRS signals on the M second PRS resources at the sending moments

Any two times in the above may be the same time or different times. And marking the antenna panel corresponding to the jth second PRS resource of the anchor point node as an antenna panel j.

For the PRS signal sent by the target node on the ith first PRS resource, the receiving time of the antenna panel j of the anchor node for the PRS signal is t _i,j 。

For the PRS signal sent by the anchor node on the jth second PRS resource, the antenna panel i of the target node has the receiving time of the PRS signal

As shown in FIG. 4c, T _i,j The measured transmit-receive time difference for the anchor node for the (ith first PRS resource, jth second PRS resource). T' _i,j The measured transmit-receive time difference for the target node for the (ith first PRS resource, jth second PRS resource). Thus, the signal transmission delay τ between (i-th first PRS resource, j-th second PRS resource) can be calculated _i,j ＝(T′ _i,j -T _i,j )/2. Thus, the location of the target node can be obtained.

The anchor node measures the RX-TX time difference of each (first PRS resource, second PRS resource) pair, and then feeds back the measured RX-TX time difference to the target node. Here, the time difference between receiving and transmitting fed back by the anchor node for each pair (first PRS resource, second PRS resource) is referred to as first feedback information.

The anchor node feeds back first feedback information of multiple pairs (first PRS resources and second PRS resources) to the target node in the following manner, and feeds back the following information:

geographic location 1 (geographic location corresponding to the first second PRS resource):

(1 st first feedback information, 2 nd first feedback information);

geographic location 2 (geographic location corresponding to the 2 nd second PRS resource):

(1 st first feedback information, 2 nd first feedback information);

geographic location j (geographic location corresponding to jth second PRS resource):

(1 st first feedback information, 2 nd first feedback information).

The number of the first feedback information corresponding to each geographical location information is only an example, and the ith first feedback information corresponds to the ith first PRS resource and the jth geographical location.

The mapping relationship between the first feedback information and a pair (first PRS resource, second PRS resource) is defined as:

the jth first feedback information in the ith geographical location is first feedback information of the (ith first PRS, jth second PRS resource) pair.

Anchor node feedbackThe first feedback information to the target node is: (ith first PRS resource, jth second PRS resource) corresponding to the receiving-transmitting time difference T _i,j 。

In addition, the target node obtains the receiving-transmitting time difference T 'corresponding to the (ith first PRS resource and jth second PRS resource) pair through measurement' _i,j 。

Therefore, the target terminal calculates the corresponding time delay tau of (i-th first PRS resource, j-th second PRS resource) _i,j ＝(T′ _i,j -T _i,j )/2。

With the foregoing

equations

1 and 3, the target node can solve for (x, y) in the equation, and obtain the location in the two-dimensional plane space.

Equations

1 and 3 may also be extended to three-dimensional stereo space to obtain the location in three-dimensional space of the target node.

The method and the device can also calculate the positioning of the target node through the positioning server. At this time, information to be fed back to the positioning server is described as follows.

The anchor node feeds back a plurality of first geographical locations to the positioning server, and feeds back the transmit-receive time differences for a plurality of (first PRS resources, second PRS resources) pairs. The feedback mode may refer to a mode in which the anchor node feeds back first feedback information of multiple pairs (first PRS resources, second PRS) to the target node. In addition, the target node feeds back the receiving-transmitting time difference of a plurality of (first PRS resource, second PRS resource) pairs to the positioning server. In addition, the target node also feeds back coordinate information in the local coordinate system to the positioning server, for example, feeds back coordinates in the local coordinate system of a plurality of second geographical locations corresponding to the first PRS resource. Or feeding back a plurality of second geographical positions corresponding to the first PRS resource, and the angle in the local coordinate system and the distance between the plurality of second geographical positions corresponding to the first PRS resource and the reference geographical position of the target node.

The anchor node feeds back the receiving-transmitting time difference of a plurality of (first PRS resource, second PRS resource) pairs to the target node. The target node feeds back to the positioning server the receiving-transmitting time differences of the plurality of (first PRS resources, second PRS resources) pairs measured by the target node, and the target node feeds back to the positioning server the receiving-transmitting time differences of the plurality of (first PRS resources, second PRS resources) pairs measured by the target node. In addition, the target node also feeds back coordinate information in the local coordinate system to the positioning server, for example, feeds back coordinates in the local coordinate system of a plurality of second geographical locations corresponding to the first PRS resource. Or feeding back a plurality of second geographical positions corresponding to the first PRS resource, an angle in the local coordinate system, and distances between the plurality of geographical positions corresponding to the first PRS resource and a reference geographical position of the target node.

And calculating the geographical position of the target node by the positioning server according to the information fed back by the target node and the anchor node.

This example introduces multi-antenna panel positioning based on receive-transmit time difference measurements, taking a target node sending PRS and an anchor target feeding back PRS as examples. In addition, the anchor node can also transmit PRS, the target node feeds back PRS, and multi-antenna positioning based on receiving-transmitting time difference measurement is realized. For an introduction of this case, see example 4.

The method 2 comprises the following steps of sending a PRS through an anchor point node to realize multi-antenna panel positioning:

m antenna panels of the anchor node are mapped to the M second PRS resources, wherein the geographic location of each antenna panel is different. Or M groups of antenna panels of the anchor node are mapped to the M second PRS resources, wherein each group of antenna panels is composed of a plurality of antenna panels having the same or similar geographical locations.

The M (or M groups) antenna panels of the anchor node map to M second PRS resources. And M (or M groups of) antenna panels of the anchor node respectively transmit the PRS signals through M second PRS resources.

The target node measures PRS signals on M second PRS resources through N (or N groups of) antenna panels, respectively. The measurement quantity may be AOA, relative time delay difference, etc. Here, the measurement amount is taken as a relative delay difference for example, and the description is given.

On the target node side, N (or N groups of) antenna panels, which perform measurements, have different geographical locations. For the antenna panel (or antenna panel group) corresponding to the jth geographic location, it is labeled antenna panel j (or antenna panel group j).The measurement result of the ith second PRS resource by the antenna panel j (or the antenna panel group j) is delta tau _i,j . The geographical location of the target node side antenna panel (or antenna panel group) is referred to as the second geographical location.

Δ τ above _i,j Is the relative time delay of (i-th second PRS resource, j-th second geographical position), Δ τ _i,j The difference (or absolute value of the difference) between the following two time delays:

(ith second PRS resource, jth second geographic location);

referencing (a second PRS resource, a second geographic location) a corresponding latency;

for example, the reference (second PRS resource, second geographic location) pair is (1 st second PRS resource, 1 st second geographic location).

The anchor UE informs a plurality of geographic positions in the following way: the 1 st first geographic location, the 2 nd first geographic location.

The mapping relationship between the first geographical location and the second PRS resource is defined as: the ith first geographical position in the geographical position list corresponds to the ith second PRS resource of the anchor point node.

According to the mapping relation between the first geographical position and the second PRS resource notified by the anchor node, the target node can know the geographical position (x) corresponding to the ith second PRS _i ,y _i ,z _i ) And a jth second geographic location of the target node. And the target node obtains the corresponding time difference delta tau (i-th second PRS, j-th second geographic position) through measurement _i,j 。Δτ _i,j As defined above. Assume that the reference position of the target node is (x, y, z) and (x, y, z) are coordinates in the global coordinate system.

Therefore, after extending equation 2 and equation 3 to a three-dimensional space, x, y, and z in the equations can be solved to obtain the location of the target node.

The above description is directed to a target node to calculate the location of the target node.

In addition, the target terminal may calculate the location of the target node by the location server through feedback to the location server.

In one embodiment, the target node feeds back to the positioning server a plurality of first geographical locations notified by the anchor node, and feeds back to the positioning server a plurality of corresponding time differences (second PRS resources, second geographical locations) measured by the target node, where the corresponding time difference (i-th second PRS, j-th second geographical location) is Δ τ _i,j . And the second geographic position is a geographic position in the global coordinate system. The x-axis direction of the global coordinate system is the true north direction, and the z-axis direction is vertical to the ground.

In addition, the target terminal, i.e. the target node, assumes a local coordinate system, referred to as the first local coordinate system. The origin of coordinates of the first local coordinate system assumed by the target terminal is the reference geographical position. The target node informs a plurality of second geographic locations of the distance from the reference location of the target node. And the target node informs the plurality of second geographical locations of angular information, such as azimuth and elevation, in the first local coordinate system. And an included angle between the first local coordinate system and the global coordinate system is an unknown quantity. The location server calculates the location of the target node based on this information.

This example introduces the sending of PRSs by anchor nodes, enabling time difference based or AOA based multi-antenna panel positioning.

In addition, PRS may also be sent by the target node to implement multi-antenna panel positioning based on time difference or AOA, as described in embodiment 2.

The present application proposes a positioning technique that supports measurement and feedback for multiple antenna panels. By the positioning technology, the positioning of the target node can be obtained under the condition of less anchor points, and even the absolute positioning of the target node can be obtained under the condition of only one anchor point node. In addition, under the condition that the number of anchor nodes is not changed, the positioning precision of the target node can be improved through the positioning technology. Specific examples of the positioning technique of the present application are given in the following examples.

Embodiment 1 (anchor node points PRS, implementing multi-panel positioning) corresponding method 2

In this embodiment, the first terminal is an anchor node, and the first terminal sends a PRS; PRSs transmitted by a first terminal are mapped to one or more PRS resources; for example, PRS 1 maps to PRS resource 1 and PRS2 maps to PRS resource 2.

The first terminal transmits the geographic location of one or more pannels.

For example, a notification (pannel geographic location 1, pannel geographic location 2,., pannel geographic location M).

The pannel geographic position has a fixed mapping relationship with the PRS resource. For example, the PRS resource i has a mapping relation with the ith geographical position notified by the first terminal.

In this embodiment, the second terminal is a target node, the second terminal has N pannels, and the second terminal performs the following operations:

the second terminal receives the geographical location of one or more pannels sent by the first terminal.

The second terminal performs measurements of target measurement X on PRS signals on a plurality of PRS resources for N received antenna panels, i.e., the geographical locations of N receive Rx pannels, respectively. And for the j pannel of the second terminal, measuring a PRS signal on the i PRS resource to obtain a measurement quantity X (i, j) of the j pannel on the i PRS resource.

The second terminal assumes a fixed mapping relationship between the pannel geographical location notified by the first terminal and PRS resources used by the first terminal for transmitting PRS. For example, the second terminal assumes: and the PRS resource i has a mapping relation with the ith geographic position notified by the first terminal. And the second terminal obtains the measurement quantity between the jth pannel of the second terminal and the geographic position notified by the first terminal based on the mapping relation.

For example, j pannels have a mapping relation with the i-th geographical location of the first terminal for the measurement quantity X (i, j) of the i-th PRS resource, and thus, the measurement quantity of the j pannels for the i-th geographical location is Y (i, j) = X (i, j).

Y and X above represent the same physical meaning, e.g. X, Y represents relative time delay.

X, Y denote the relative delay, Y (i, j) denotes the signal transmission delay of the jth pannel for the ith geographical position, the difference (or the absolute value of the difference) of the delays with respect to the reference (pannel, geographical position) pair.

X (i, j) represents the relative latency measured by the jth pannel for the ith PRS resource. In the above example, the relative delay Y (i, j) of the jth Pannel of the target node with respect to the ith Pannel of the anchor node is obtained by measuring the relative delay of the jth Pannel of the target node with respect to the ith PRS resource of the anchor node (measurement result X (i, j), i.e., Y (i, j) = X (i, j)).

In this embodiment, fig. 4d is a schematic diagram of a mapping relationship of a first terminal according to an embodiment of the present application. Fig. 4e is a schematic diagram of a mapping relationship between a first terminal and a second terminal according to an embodiment of the present disclosure. In fig. 4d, the first terminal is UE1. The first terminal is an anchor terminal, i.e. an anchor node, and the geographic locations (x 1, y1, z 1), (x 2, y2, z 2) of the first terminal antenna panel 1 and the antenna panel 2 are known. The second terminal is a target UE, that is, a UE that needs to acquire its own geographical location, and in fig. 4e, the second terminal is UE2. The geographic positions (x 3, y3, z 3), (x 4, y4, z 4) of pannel 0 and pannel 1 of the second terminal are unknown.

In connection with the example in fig. 4d, the first terminal performs the following operations:

a first terminal sends the geographical position of one or more pannels; geographic positions { geographic position 1, geographic position 2} = { (x 1, y1, z 1), (x 2, y2, z 2) } of the first terminal M pannels.

PRSs transmitted by a first terminal are mapped to one or more PRS resources; for example, PRS 1 maps to PRS resource 1 and PRSs 2 maps to PRS resource 2. For PRS on M PRS resources, as shown in fig. 4 d.

The pannel geographic location has a fixed mapping relationship with the PRS resource. And the PRS resource i has a mapping relation with the ith geographic position notified by the first terminal. Therefore, the pannel corresponding to the ith geographical location transmits PRS on resource i, denoted as PRS i.

In connection with the example in fig. 4e, the second terminal performs the following operations:

and the second terminal receives the geographic positions { geographic position 1, geographic position 2} = { (x 1, y1, z 1), (x 2, y2, z 2) } of the plurality of pannels transmitted by the first terminal.

The second terminal performs target measurement X measurements on PRS signals on a plurality of PRS resources, respectively, for N geographical locations where pannel is received. For the jth pannel of the second terminal, the measurement quantity X (i, j) of the jth pannel for the ith PRS resource is obtained by measuring the PRS signal on the ith PRS resource, as shown in fig. 4 e.

The second terminal assumes a fixed mapping relationship between the pannel geographical location notified by the first terminal and PRS resources used by the first terminal for transmitting PRS. For example, the second terminal assumes: and the PRS resource i and the ith geographical position notified by the first terminal have a mapping relation. The second terminal derives Y (i, j) from X (i, j) based on the mapping relationship, and fig. 4f is a schematic diagram of another information transmission provided in this embodiment of the present application, which is a schematic diagram of the mapping relationship of the first terminal and the measurement of the second terminal, as shown in fig. 4 f.

In fig. 4e and 4f, RSTD represents a Reference Signal Time Difference (Reference Signal Time Difference), and the Reference Signal refers to PRS transmitted by the first terminal. RSTD (i, j) represents a difference between a signal transmission delay corresponding to (the j-th pannel of the second terminal, the i-th PRS resource of the first terminal) and a signal transmission delay corresponding to (the j-th pannel of the second terminal, the i-th PRS resource of the first terminal).

In fig. 4f, RSTD' represents a Reference Signal Time Difference (Reference Signal Time Difference), and the Reference Signal refers to the PRS transmitted by the first terminal. RSTD' (i, j) represents a difference between a signal propagation delay corresponding to (the j-th pannel of the second terminal, the i-th pannel of the first terminal) and a signal propagation delay corresponding to (the j-th pannel of the second terminal, the i-th pannel of the first terminal).

The second terminal may calculate the location of the second terminal based on the measurements, the information notified by the first terminal, and the coordinates of the respective antenna panels of the second terminal in the local coordinate system. The origin of the local coordinate system is a reference point of the second terminal, and the coordinate axis of the local coordinate system points and can be assumed by the second terminal.

Embodiment 2, the target node sends PRS to realize multi-antenna panel positioning:

n antenna panels of the target node are mapped to the N first PRS resources, wherein the geographic location of each antenna panel is different. Or mapping N groups of antenna panels of the target node to the N first PRS resources, wherein each group of antenna panels is composed of a plurality of antenna panels with the same or similar geographical positions.

The N (or N groups of) antenna panels of the target node are mapped to the N first PRS resources. And N (or N groups of) antenna panels of the target node respectively transmit the PRS signals through N first PRS resources.

The anchor node measures the PRS signals on the N first PRS resources through M (or M groups of) antenna panels, respectively. The measurement quantity may be AOA, relative delay difference, etc. Here, the measurement amount is taken as a relative delay difference for example, and the description is given.

On the anchor node side, M (or M groups) antenna panels for measurement have different geographical locations. For the antenna panel (or antenna panel group) corresponding to the jth geographic location, it is labeled as antenna panel j (or antenna panel group j). The measurement result of the ith first PRS resource by the antenna panel j (or the antenna panel group j) is delta tau _i,j 。

The geographical location of the anchor node-side antenna panel (or group of antenna panels) is referred to herein as the first geographical location.

Δ τ above _j,j Is the relative time delay of (i-th first PRS resource, j-th first geographical position), Δ τ _i,j The difference (or absolute value of the difference) between the following two time delays: (ith first PRS resource, jth first geographical location) corresponding transmission delay; referring to (a first PRS resource, a first geographical location) a corresponding delay, i.e., a transmission delay;

for example, the reference (first PRS resource, first geographical location) pair is (1 st first PRS resource, 1 st first geographical location).

The anchor point node feeds back the receiving-transmitting time difference of each (first PRS resource, first geographical position) pair to the target terminal, and feeds back the geographical position information of each first geographical position of the anchor point node to the target terminal, wherein each first geographical position corresponds to one anchor point node or one group of antenna panels.

The mode of the anchor node for feeding back the information is as follows:

geographic position 1:

(1 st first feedback information, 2 nd first feedback information);

(1 st first feedback information, 2 nd first feedback information).

The geographic location is a first geographic location.

The mapping relationship between the first feedback information (e.g., the time difference between transmission and reception) and the pair (first PRS resource, first geographical location) is defined as: the jth first feedback information in the ith geographical location corresponds to the first feedback information of (the ith first PRS, the jth first geographical location). The first feedback information is relative time difference, the first feedback information (i-th first PRS, j-th geographical position) fed back by the anchor node is Δ τ _i,j . Assume that the reference position of the target node is (x, y, z), (x, y, z) are coordinates in the global coordinate system.

Therefore, by extending

equations

2 and 3 to a three-dimensional space, (x, y, z) in the equations can be solved to obtain the location of the target node.

The target terminal may calculate the location of the target node by the location server through feedback to the location server.

And the target UE feeds back the relative time delay differences of the plurality of (first PRS resources, first geographical positions) pairs fed back by the anchor node and the plurality of first geographical positions notified by the anchor node to the positioning server through the LPPa protocol.

In addition, the target node also feeds back coordinate information in the local coordinate system to the positioning server, for example, feeds back coordinates of a plurality of second geographical locations corresponding to the first PRS resource in the local coordinate system. Or, feeding back a plurality of second geographical locations corresponding to the first PRS resources, angles (including azimuth and elevation) in the local coordinate system, and distances between the plurality of second geographical locations corresponding to the first PRS resources and the reference geographical location of the target terminal.

Based on the above information, the positioning server can obtain the positioning of the target terminal.

Embodiment 3 (target node sends PRS, anchor node feeds back PRS, implementing multi-antenna panel positioning:

the details of this embodiment can be found in method 1 described above.

Embodiment 4, the anchor node sends PRS and the target node feeds back PRS, realizing multi-antenna panel positioning:

in the example in fig. 4a, the location of the anchor node's antenna panel is known, and the geographic location of antenna panel 1 is labeled

Geographical position marking of antenna panel 2

Is a coordinate in the global coordinate system.

The geographic coordinate positions of the

antenna panel

1,2, 3 and 4 of the target node are (x) ₁ ,y ₁ )、(x ₂ ,y ₂ )、(x ₃ ,y ₃ )、(x ₄ ,y ₄ ) The coordinates of the reference position of the target node are (x, y). Wherein (x) ₁ ,y ₁ )、(x ₂ ,y ₃ )、(x ₃ ,y ₃ )、(x ₄ ,y ₄ ) And (x, y) are coordinates in the global coordinate system, and these coordinates are unknown.

As shown in fig. 4b, the target node may assume a local coordinate system, and the origin of the local coordinate system is the reference position of the target node. Local coordinatesThe x-axis direction of the system can be arbitrarily assumed by the target node. Suppose the x-axis of the local coordinate system of the target node is labeled x 'and the y-axis is labeled y'. In fig. 4b, the coordinate system with x-axis labeled x and y-axis labeled y is a global coordinate system. Angle between local coordinate system and global coordinate system

Is not known to be present in the solution,

is the angle between the x' axis of the local coordinate system and the x-axis of the global coordinate system in fig. 4 b. In the local coordinate system assumed by the target node, the coordinates of each antenna panel in the local coordinate system are known, and the coordinates of the antenna panel 1, the antenna panel 2, the antenna panel 3, and the antenna panel 4 of the target node in the local coordinate system are (x' ₁ ,y′ ₁ )、(x′ ₂ ,y′ ₂ )、(x′ ₃ ,y′ ₃ )、(x′ ₄ ,y′ ₄ ). The coordinate of the reference position in the local coordinate system is (0,0). In addition, the distances between the respective panels and the reference location are known, and the distances between the

antenna panels

1,2, 3 and 4 of the target node and the reference geographical location of the target node are L ₁ 、L ₂ 、L ₃ 、L ₄ 。

And the anchor point node is mapped to different second PRS resources through a plurality of pannels with different geographic positions, and a plurality of PRS signals are transmitted through the plurality of second PRS resources. I.e. each pannel on the anchor UE side, maps to one PRS resource.

And a plurality of geographically different pannels of the target node transmit the plurality of PRS signals through different first PRS resources. That is, each pannel on the target UE side corresponds to one PRS resource.

In the method, after an anchor point node sends an RPS through a second PRS resource, a target node feeds back a PRS to the anchor point node through a first PRS resource.

M (or M groups, each group comprising 1 or more geographically close antenna panels) antenna panels of an anchor node,mapping to M second PRS resources, the anchor point node sends M PRS signals on the M second PRS resources, and the sending moments are respectively

N (or N groups, each group comprises 1 or more antenna panels with similar geographic positions) antenna panels of the target node are mapped to N first PRS resources, and the target node transmits N PRS signals on the N first PRS resources at the time t ₁ ,t ₂ ,…,t _N 。t ₁ ,t ₂ ,…,t _N Any two times in the above may be the same time or different times. And marking the antenna panel corresponding to the ith first PRS resource of the target node as an antenna panel i.

For a PRS signal sent by a target node on an ith first PRS resource, an antenna panel j of an anchor node has a receiving time t for the PRS signal _i,j 。

Fig. 4g is an interaction schematic diagram of an anchor node and a target node provided in the embodiment of the present application, as shown in fig. 4g, T' _i,j The measured transmit-receive time difference for the anchor node for the (ith first PRS resource, jth second PRS resource). T is _i,j A measured transmit-receive time difference for the target node for (ith first PRS resource, jth second PRS resource). Thus, the signal transmission delay τ between (i-th first PRS resource, j-th second PRS resource) can be calculated _i,j ＝(T′ _i,j -T _i,j )/2. Thus, the location of the target node can be obtained.

And after measuring the receiving-transmitting time difference of each pair (the first PRS resource and the second PRS resource), the anchor node feeds back the time difference to the target node. Here, the time difference between transmission and reception fed back by the anchor node for each pair (first PRS resource, second PRS) is referred to as first feedback information.

The anchor node feeds back first feedback information of multiple pairs (first PRS resources, second PRS) to the target node in the following manner, and feeds back the following information:

(1 st first feedback information, 2 nd first feedback information);

(1 st first feedback information, 2 nd first feedback information).

The geographic location is a first geographic location. The first feedback information is information to be fed back.

The mapping relationship between the first feedback information and a pair (first PRS, second PRS resource) is defined as:

the jth first feedback information in the ith geographical location is first feedback information of a (ith first PRS, jth second PRS resource) pair.

The first feedback information fed back to the target node by the anchor node is: (ith first PRS, jth second PRS resource) pair corresponding to receiving-transmitting time difference T' _i,j 。

In addition, based on the above description, the target node has obtained the receiving-transmitting time difference T corresponding to the (i-th first PRS, j-th second PRS resource) pair through measurement _i,j 。

Therefore, the target terminal calculates the corresponding time delay tau of the (ith first PRS and jth second PRS resource) _i,j ＝(T′ _i,j -T _i,j )/2。

With the

above equations

1 and 3, the target node can solve (x, y) in the equation to obtain the location in the two-dimensional plane space. Of course,

equations

1 and 3 can also be extended to three-dimensional stereo space to obtain the location in three-dimensional space of the target node.

The target node feeds back a plurality of first geographical locations to the positioning server, and feeds back the time difference between transmission and reception of a plurality of (first PRS, second PRS resources) pairs. The feedback mode can be seen in the form in highlighting above.

In addition, the target node also feeds back coordinate information in the local coordinate system to the positioning server, for example, feeds back coordinates of a plurality of second geographical locations corresponding to the first PRS resource in the local coordinate system. Or feeding back a plurality of second geographical positions corresponding to the first PRS resource, angles in the local coordinate system and distances between the second geographical positions and the reference geographical position of the target node.

And for the positioning server, calculating the positioning of the target node according to the information.

Embodiment 5 relative positioning (Anchor node sending PRS)

In this embodiment, the first node is an anchor node, and the second node is a target node.

M antenna panels of the anchor node are mapped to the M second PRS resources, wherein the geographic location of each antenna panel is different. Or M groups of antenna panels of the anchor node are mapped to the M second PRS resources, wherein each group of antenna panels is composed of a plurality of antenna panels having the same or similar geographical locations. For convenience of description, a principle explanation is made next with only the mapping of the M antenna panels of the anchor node to the M second PRS resources.

The M antenna panels of the anchor node are mapped to M second PRS resources. And the M antenna panels of the anchor node respectively transmit the PRS signals through M second PRS resources.

The target node measures PRS signals on M second PRS resources through N (or N sets of) antenna panels, respectively. The measurement quantity may be AOA, relative time delay difference, etc. Here, the description will be given taking the relative delay difference as an example of the measurement amount.

On the target node side, N (or N groups of) antenna panels, which perform measurements, have different geographical locations. For the antenna panel (or antenna panel group) corresponding to the ith geographical position, the measurement result of the jth second PRS resource is delta tau _i,j 。

The geographical location of the target node-side antenna panel (or antenna panel group) is referred to herein as the second geographical location.

Δ τ above _i,j Is the relative time delay of (jth second PRS resource, ith second geographical position), Δ τ _i,j The difference (or the absolute value of the difference) between the following two time delays: (jth second PRS resource, ith second geographical location); referring to (a second PRS resource, a second geographical location) a corresponding latency;

The anchor node indicates the coordinate type as a local coordinate system through Sidelink Control Information (SCI).

The anchor point node informs a plurality of first geographic positions in the local coordinate system in the following way: the 1 st first geographic location, the 2 nd first geographic location.

The origin of coordinates of the local coordinate system is the reference geographical position, and the local coordinate system is marked as a second local coordinate system.

The mapping relationship between the first geographical location and the PRS resource is defined as: a jth first geographic location in the list of geographic locations corresponds to a jth second PRS resource of the anchor node.

The mapping relationship between the first geographical location (corresponding to one or a group of antenna panels) and the second PRS resource is as follows: the jth first geographical location in the notification corresponds to the jth second PRS resource. Therefore, the target node may know the first geographical location corresponding to the jth second PRS resource. In addition, the frontIn the statement, the target node has measured the relative delay Δ τ corresponding to the (jth second PRS, ith second geographic location) obtained _i,j 。

In addition, the target terminal assumes a local coordinate system, referred to as a first local coordinate system. The origin of coordinates of the first local coordinate system assumed by the target terminal is the reference geographical position.

The positioning in two-dimensional space is taken as an example for explanation.

The anchor node assumes a second local coordinate system and the informed M geographic locations, coordinates in the second local coordinate system.

The target node may assume that the x-axis direction of the first local coordinate system is an arbitrary direction, for example, the x-axis direction is the moving direction of the target node. And the target node knows the distance between the geographic location corresponding to each antenna panel (or each group of antenna panels) and the reference geographic location. 1,2., the distances of the second geographic location corresponding to the N (or group) antenna panels from the reference geographic location are labeled L1, L2.., LN, respectively. In the first local coordinate system, the 1,2, the geographic location of the N (or group) antenna panels, corresponding to an azimuth angle of

For the target node, L1, L2., LN is known,

are also known.

In addition, the angle of the x-axis of the first local coordinate system with respect to the x-axis of the second local coordinate system is an unknown quantity.

Based on the above information, the target node can obtain a plurality of equation sets, so that the positioning of the target node can be obtained.

The above describes the case where the target node calculates its own position. In addition, the location of the target node may also be calculated by the location server. At this time, the required feedback information is described as follows.

The target node feeds back M geographic positions (marked as first geographic positions) to the positioning server, wherein the jth first geographic position corresponds to the jth first PRS resource. The target node feeds back to the positioning server the coordinates of the plurality of antenna panels (or groups of antenna panels) of the target node in the first local coordinate system. And the target node feeds back the relative time delay difference corresponding to the plurality of (second PRS resources, second geographic positions) measured by the target node side to the positioning server. Here, each second geographic location corresponds to one or a group of antenna panels. For example, the jth second geographic location corresponds to the jth (or jth group) antenna panel of the target node.

And the positioning server calculates the positioning of the target node based on the information.

Example 6 Multi-time antenna Panel positioning (Anchor UE, single antenna Panel)

The anchor node is in motion, at t ₁ ,t ₂ ,…,t _M Time of day/time period, one (or a group of) antenna panels of anchor node at t ₁ ,t ₂ ,…,t _M The geographical location of the time/time period is respectively

At time tj, if a group of antenna panels is mapped to one second PRS resource, the group of antenna panels consists of multiple antenna panels having the same or similar geographical locations. An antenna panel (or a group of antenna panels) of an anchor node, at t ₁ ,t ₂ ,…,t _M Time instants are mapped to M second PRS resources, a marked 1 st second PRS resource, a marked 2 nd second PRS resource. t is t ₁ ,t ₂ ,…,t _M Time/time period, the anchor node transmits PRS over these second PRS resources. For different second PRS resources, the PRS resource numbers may be the same or different. For different second PRS resources, the corresponding PRS port numbers may be the same or different.

As can be seen from the above description, a geographic location

And a time/period t of a set of antenna panels (or an antenna panel) _j And (6) binding.

Assuming that the target node is stationary, the target node passes through N (or N groups of) antenna panels, respectively for t ₁ ,t ₂ ,…,t _M And measuring the PRS signals on the M second PRS resources at the time. The measurement quantity may be AOA, relative delay difference, etc. Here, the description will be given taking the relative delay difference as an example of the measurement amount.

On the target node side, N (or N groups of) antenna panels, which perform measurements, have different geographical locations. For an antenna panel (or antenna panel group) corresponding to the ith geographic location, the antenna panel i (or antenna panel group i) is marked, and the antenna panel i (or antenna panel group i) is used for the jth second PRS resource (corresponding to the time moment/time period t) _j ) Is marked as Δ τ _j,i . The geographical location of the target node-side antenna panel (or antenna panel group) is referred to herein as the second geographical location.

Δ τ above _j,i Expressed as the PRS signal transmission delay corresponding to the (jth second PRS resource, ith second geographical location), the delay corresponding to the reference (second PRS resource, second geographical location), and the delay difference between the two. For example, the reference (second PRS resource, second geographic location) is (1 st second PRS resource, 1 st second geographic location). Here, the 1 st second geographic location is, for example, the geographic location of the 1 st antenna panel (or 1 st group antenna panel) of the target terminal.

Anchor UE is at t respectively ₁ ,t ₂ ,…,t _M And at the moment, sending the PRS through the PRS resource.

The anchor UE notifies a plurality of first geographical locations, for example, geographical locations of a plurality of antenna panels (or antenna panel groups) by sending them at a time in the following manner: 1 st first geographic location, 2 nd first geographic location

The mapping relationship between the first geographical location and the PRS resource is defined as: and according to an ascending mode, the first geographical position in the geographical position list corresponds to the PRS resources at different moments one by one. For example, the 1 st first geographic location and t ₁ Corresponding PRS resource of time/period, 2 nd first geographic position and t ₂ PRS resource correspondence for time/time period _M PRS resources for time instants/time periods correspond.

According to the mapping relation between the first geographical position (corresponding to one antenna panel or a group of antenna panels) and the second PRS resource and the plurality of first geographical positions informed by the anchor node. The target node can know the corresponding geographic position of the jth second PRS

And the second terminal knows the geographical location of its ith antenna panel. And the target node knows the corresponding time difference delta tau of the (jth second PRS resource, ith second geographic position) through measurement _j,i 。

Assuming that the coordinates of the reference geographical position of the target node are (x, y, z), with the above information, the target node can obtain a plurality of equation sets containing variables (x, y, z). Therefore, the target node can obtain the positioning of the target node by solving the equation.

The target terminal is a target node, and the positioning server can calculate the positioning of the target node through the feedback of the target terminal to the positioning server.

More specifically, the target node feeds back to the positioning server a plurality of first geographical locations notified by the anchor node, and feeds back to the positioning server a plurality of (second PRS, second geographical location) corresponding time differences measured by the target node, where the (jth second PRS, ith second geographical location) corresponding time differences are Δ τ _j,i 。

In addition, the target terminal assumes a local coordinate system, referred to as a first local coordinate system. The origin of coordinates of the first local coordinate system assumed by the target terminal is the reference geographical position. The target node informs a plurality of second geographic locations of the distance from the reference location of the target node. And the target node informs the plurality of second geographical locations of angular information, such as azimuth and elevation, in the first local coordinate system. The angle between the first local coordinate system and the global coordinate system is an unknown quantity. The location server calculates the location of the target node based on this information.

Example 7 multiple time antenna Panel positioning (Anchor UE, multiple antenna panels)

For one time instant, the anchor node's M (or group of) antenna panels, has M different geographical locations.

The anchor node is mobile, with any one (or group of) antenna panels at different times/periods t ₁ ,t ₂ ,…,t _Q Are different. For t _i At the time/time, the geographic positions of the

antenna panels

1,2, 3, M (or the

antenna panel groups

1,2, 3, M) of the anchor nodes are set as

I.e. at t _i At the moment/time, the geographic position of the antenna panel m of the anchor node is

For at t _i Time/epoch, M (M groups) antenna panels of the anchor node are mapped to M second PRS resources, respectively, labeled as the 1 st second PRS resource, the 2 nd second PRS resource. At t _i Time/time period, the anchor node transmits PRS over these second PRS resources.

Assuming the target node is stationary, the target node measures PRS signals on M second PRS resources through N (or N sets of) antenna panels at each time instant/period at t1, t 2. The measurement quantity may be AOA, relative time delay difference, etc. The measurement amount is taken as an example of the relative delay difference.

On the target node side, N (or N groups of) antenna panels, which perform measurements, have different geographical locations. For the antenna panel (or antenna panel group) corresponding to the nth geographic location, the antenna panel n (or antenna panel group n) is labeled. The relative time delay of the measurement of the mth second PRS resource by the antenna panel n (or the antenna panel group n) at i time instants/periods is Δ τ _m,n,i . Relative time delay deltaτ _m,n,i For the delay difference, the reference delay in the delay calculation is: at 1 time/period, the time delay of the antenna panel 1 (or the antenna panel group 1) corresponding to the 1 st second PRS resource.

Anchor UE is at t respectively ₁ ,t ₂ ,…,t _Q A time/period, transmitting PRS through a second PRS resource; for any time instant/time period ti, PRSs are transmitted over M second PRS resources.

The anchor point UE informs a plurality of first geographical positions by sending the information once, and the informing mode is as follows:

the 1 st geographic location, the 2 nd geographic location, the mth geographic location

The M +1 th geographic location, the M +2 nd geographic location

......

The (Q-1) × M +1 geographic locations, (Q-1) × M +2 geographic locations.

The mapping relationship between the first geographical location and the second PRS resource is described as follows.

For any ith time/period t _i The corresponding 1 st second PRS resource, 2 nd second PRS,. And mth second PRS correspond to the (i-1) × M +1 th geographical location, (i-1) × M +2 th geographical location,. And. Wherein i is a positive integer less than or equal to Q.

According to the mapping relation between the geographical position (corresponding to one antenna panel) and the second PRS resource and the plurality of geographical positions informed by the anchor point node. The target node may know the (i-1) × M +1 st geographical locations, the (i-1) × M +2 th geographical locations, the i × M first geographical locations, the 1 st second PRS resource, the 2 nd second PRS,.., the M th second PRS corresponding to the i time instant/time instant. Therefore, the target terminal knows the geographic position corresponding to the mth second PRS of the ith time/period

The relationship between the time instant/time period i corresponding to the M × Q first geographic locations and the corresponding PRS resource M is further expressed as follows:

the p (p is an integer belonging to [1, M x q ]) th first geographical positions, corresponding to the i = ceil (p/M) th time instant/period;

p (p is a group belonging to [1, M x Q ]]Integer) first geographical locations corresponding to an ith time/time period (t) _i ) Corresponding M = mod (p-1/M) +1 PRS resources;

alternatively, the time/period corresponding to the first geographical location and the corresponding antenna panel (or antenna panel group) are further expressed as follows:

a pth first geographical position, corresponding to an i = ceil (p/M) time/period;

a pth first geographic location, corresponding to an M = mod (p-1/M) +1 antenna panel (or antenna panel group);

the target node is a target terminal, and the target terminal has obtained a time difference (mth second PRS resource, nth second geographic location, ith time/period) through measurement, and the time difference is marked as Δ τ _m,n,i 。

More specifically, the target node feeds back to the positioning server a plurality of first geographical locations notified by the anchor node, and feeds back to the positioning server a plurality of (second PRS, second geographical locations) corresponding to Q time instants/periods measured by the target node, where the time difference corresponding to the (mth second PRS, nth second geographical location, ith time instant/period) is Δ τ _m,n,i 。

In addition, the target terminal assumes a local coordinate system, referred to herein as the first local coordinate system. The origin of coordinates of the first local coordinate system assumed by the target terminal is the reference geographical position. The target node informs a plurality of second geographic locations of distances relative to the reference location of the target node. And the target node informs the plurality of second geographical locations of angular information, such as azimuth and elevation, in the first local coordinate system. The angle between the first local coordinate system and the global coordinate system is an unknown quantity. The location server calculates the location of the target node based on this information.

The above examples are summarized below:

example 1. A first terminal, i.e. a first communication node, measures on one or more first PRS resources;

a first terminal sends feedback information, wherein the feedback information comprises one or more pieces of first feedback information (namely information to be fed back), and the first feedback information corresponds to a pair (a first PRS resource and a first target object);

the first terminal transmits one or more first geographical location information.

Example 2 is based on example 1, comprising at least one of:

a first target object being a first geographic location;

a first target object which is an antenna panel, namely a first antenna panel;

a first target object which is a second PRS resource;

example 3 is based on example 1, comprising at least one of:

for different first PRS resources, different PRS ports are used;

for different first PRS resources, the PRS resources at different times are obtained;

example 4 is based on example 2, comprising at least one of:

for a different second PRS resource, a different PRS port;

for a different second PRS resource, PRS resources at a different time.

Example 5 based on example 1, the first terminal sends one or more first geographical location information, including, for each first geographical location information, at least one of:

the one first geographical location information, and one pannel binding.

The one first geographical location information, and a set of pannel bindings, the set of pannel comprising a plurality of pannels having the same or similar geographical locations.

The one first geographical location information, and a time of day of one pannel.

The one first geographical location information, and one time of day binding for a set of pannels, the set of pannels including a plurality of pannels having the same or similar geographical locations.

Example 6 based on example 1, the first terminal sends the first feedback information in a manner that includes at least one of:

a delay corresponding to a pair (first PRS resource, antenna panel), a delay difference with respect to a reference delay. The reference time delay is a time delay corresponding to a reference (a first PRS resource, an antenna panel);

a delay corresponding to a pair (first PRS resource, first geographical location), a delay difference with respect to a reference delay. The reference time delay is a time delay corresponding to a reference (a first PRS resource, a first geographical position);

a time difference between two first PRS resources corresponding to the same first geographical location.

Time difference between two first geographical locations corresponding to the same first PRS resource

Example 7 is based on example 6, comprising at least one of:

referring to (a first PRS resource, antenna panel) corresponding PRS resource as a first PRS resource (marked as number 0) and corresponding to a first antenna panel (marked as number 0);

a reference (first PRS resource, first geographical location) corresponds to a first PRS resource (denoted by number 0) and to a first geographical location (denoted by number 0);

example 8 based on example 1, the first feedback information is at least one of:

a pair of (first PRS resource, second PRS resource) corresponding receive-transmit time difference;

a relative value between a pair of (first PRS resource, second PRS resource) receive-transmit time difference and a reference (first PRS resource, second PRS resource) receive-transmit time difference;

example 9 is based on example 8, comprising, for a pair (first PRS resource, second PRS resource):

a first terminal receives one or more PRS signals on one or more first PRS resources, the one or more PRS signals first PRS signals being from a second terminal.

The first terminal transmits one or more PRS signals on one or more second PRS resources.

Example 10 based on example 1, the first feedback information is at least one of:

a pair of (first PRS resources, first geographic location) corresponding horizontal angles of arrival;

a pair of (first PRS resource, first geographical location) corresponding vertical angles of arrival;

example 11 based on example 1, the first terminal indicates to the first terminal the information to send as at least one of:

a receive-transmit time difference; angle of arrival; relative time delay.

Example 12 the first terminal indicates to the first terminal feedback capabilities based on example 1, the feedback capabilities including at least one of:

receive-transmit time difference feedback capability.

Angle of arrival feedback capability;

relative latency feedback capability.

Do not support any of the above capabilities

Example 13 is based on example 1, where the first terminal feeds back one or more pieces of first feedback information corresponding to one or more (first PRS resource, first geographical location) in a manner of:

the information fed back by the first terminal comprises a geographical position information list;

the geographical location information list comprises N pieces of first geographical location information (N is an integer greater than 0) which are marked as a geographical location 1, a geographical location 2, · and a geographical location N;

each geographic position in the N pieces of first geographic position information corresponds to a first feedback information list;

the first feedback information list includes M first feedback information, where M is an integer greater than 0.

Such as:

geographic position 1:

(1 st first feedback information, 2 nd first feedback information);

geographic position 2:

(1 st first feedback information, 2 nd first feedback information);

geographic location j:

(1 st first feedback information, 2 nd first feedback information).

The ith first feedback information corresponds to the ith resource and the jth geographic position.

The geographic position N:

(first feedback information 1, first feedback information 2) ith time delay, corresponding to ith resource and jth geographic position.

Example 14 is based on example 13, wherein the first feedback information corresponding to (i-th first PRS resource, j-th first geographical location) corresponds to: and j-th feedback information in the first feedback information corresponding to the ith first geographical position in the geographical position list.

Example 15 based on example 13, the first feedback information is one of:

a pair of corresponding measurement instants (first PRS resource, first geographical location), a time difference with respect to a reference measurement instant (first PRS resource, first geographical location);

a pair of (first PRS resources, first geographical location) corresponding angles of arrival;

a transmit-receive time difference of a pair (first PRS resource, first geographical location) of corresponding positioning reference signals.

Example 16 is based on example 1, where the first terminal feeds back one or more first feedback information corresponding to one or more pairs (first PRS resources, first geographical location) in a manner that:

the geographical location information list comprises N pieces of first geographical location information (N is an integer greater than 0) which are recorded as a geographical location 1, a geographical location 2,. And a geographical location N;

for each geographic position information in the N first geographic positions, corresponding to a list consisting of M elements, wherein M is an integer greater than 0;

for each of the M elements: contains a first PRS resource number and contains a first feedback information.

Specific indication examples are as follows:

geographic position 1:

(first PRS resource ID =1, 1 st first feedback information)

(PRS resource ID =2, 2 nd first feedback information)

Geographic position 2:

(PRS resource ID =1, 1 st first feedback information)

(PRS resource ID =2, 2 nd first feedback information)

.....

Geographic location j:

(PRS resource ID =1, 1 st first feedback information)

(PRS resource ID =2, 2 nd first feedback information) PRS resource ID = i indicated by this row corresponds to the ith resource, jth geographical location

.....

The geographic position N:

(PRS resource ID =1, 1 st first feedback information)

(PRS resource ID =2, 2 nd first feedback information)

Example 17 is based on example 16, wherein the first feedback information corresponding to (i-th first PRS resource, j-th first geographical location) corresponds to: and the PRS resource number i element corresponding to the jth first geographic position in the geographic position list contains first feedback information. Wherein, the PRS resource identifier may be a PRS resource number.

Example 18 is based on example 16, the first feedback information being one of:

a pair (first PRS resource, first geographical location) of relative delay differences, the relative delay difference being the difference between the pair (first PRS resource, first geographical location) of delays and a reference (first PRS resource, first geographical location);

a receive-transmit time difference, or an absolute value of a receive-transmit time difference, of a corresponding pair (first PRS resource, first geographical location) of positioning reference signals.

Based on the transmission behavior of the first terminal in

embodiments

1, 3, 4, 5, 6, 7, the following scheme is provided:

scheme 1: an information transmission method, comprising:

a first terminal transmits PRSs through one or more PRS resources;

the first terminal sends one or more first geographical positions;

the first geographical position and the PRS resource have a fixed mapping relation;

scheme 2:

based on scheme 1, the first terminal transmits one or more geographical location information, and for each geographical location information, at least one of the following is included:

the one geographical location information, and one pannel binding.

The one geographical location information, and a set of pannel bindings, the set of pannel comprising a plurality of pannels having the same or similar geographical locations.

The one geographical location information is bound to one time of day of one pannel.

The geographical location information, and a time of day binding for a set of pannel bindings, the set of pannel bindings including a plurality of pannels having the same or similar geographical location.

Scheme 3:

the first terminal sends one or more geographical positions in the following way:

the information notified by the first terminal comprises a geographical location list;

the geographical location list includes N geographical location information (N is an integer greater than 0), which are denoted as a geographical location 1, a geographical location 2.

Specific indication examples are as follows:

the 1 st geographical location, the 2 nd geographical location.

Scheme 4: based on scheme 1 and scheme 3, the mapping relationship between the geographical location and the PRS resource is as follows: the ith geographical position in the geographical position list corresponds to the ith PRS resource of the first terminal.

Specific indication examples are as follows:

the 1 st geographical location, the 2 nd geographical location.

Scheme 5:

the mapping relation between the geographical position and the PRS resource is as follows:

the first terminal indicating a plurality of geographical locations;

the first terminal indicates, for each geographical location, a PRS resource number mapped by the geographical location;

specific examples of indications are as follows:

geographic location 1 of Pannel: PRS resource ID1

Geographic location 1 of Pannel: PRS resource ID2

Scheme 6:

the first terminal indicates a coordinate type through the SCI, the indicated coordinate system type being one of:

local coordinate system

A global coordinate system;

scheme 7: based on scheme 6, the origin of coordinates of the local coordinate system is the reference geographic location, and the reference geographic location is one of the following:

the geometric center position of the terminal;

a pannel corresponding geographical location of the terminal.

Scheme 8:

based on scheme 6, at least one of the following is included:

the x-axis of the global coordinate system points to the north;

the x axis of the global coordinate system points to the north direction, and the z axis of the global coordinate system is vertical to the ground or the sea level;

scheme 9: based on scheme 1, at least one of the following is included:

the first terminal informs one or more first geographical locations of the coordinates in the local coordinate system.

The first terminal informs the angle of the one or more first geographical positions in the local coordinate system and/or the first terminal informs the distance between the one or more first geographical positions and the reference geographical position.

Scheme 10 (example 7):

the first terminal informs Q = M N first geographical positions, N represents N time instants/time periods, and the p geographical position corresponds to the time instant/time period with the number of i = ceil (p/M);

scheme 11 (example 7):

the first terminal informs Q = M × N first geographical locations, N representing N time instants/time periods, including, for the pth geographical location, at least one of:

m = mod (p-1/M) +1 PRS resource for one time instant or period;

for the M = mod (p-1/M) +1 antenna panel, or for the M = mod (p-1/M) +1 antenna panel group.

Based on the transmission behavior of the second terminal, the following embodiments are provided:

second terminal (target terminal)

Mode 1:

and the second terminal sends one or more second geographic position information, wherein the second geographic position information is the position in the local coordinate system.

Mode 2:

and the second geographic position is a coordinate in a local coordinate system.

Mode 3:

the second geographical location information includes at least one of:

a distance between the second geographic location and the reference geographic location;

an angle of the second geographic location in the local coordinate system;

mode 4:

PRSs transmitted by a second terminal are mapped onto one or more first PRS resources;

the first terminal transmitting one or more second geographic locations;

the second geographical position and the first PRS resource have a fixed mapping relation;

mode 5: based on the method 1, the coordinate origin of the local coordinate system is the reference geographic location, and the reference geographic location is one of the following:

the geometric center position of the terminal;

a pannel corresponding geographical location of the terminal.

Mode 6:

the second terminal indicates a feedback type of the information through the SCI, the feedback type of the information including at least one of:

the difference between the transmission and reception times.

Angle of arrival;

relative time delay.

Mode 7:

the second terminal triggers the first node to feed back 'feedback type capability' through the SCI, wherein the 'feedback type capability' comprises at least one of the following capabilities:

receive-transmit time difference feedback capability.

Angle of arrival feedback capability;

relative latency feedback capability.

The feedback of the "feedback type capability" comes from the first node.

In an example implementation manner, an embodiment of the present application provides an information transmission apparatus, and fig. 5 is a schematic structural diagram of an information transmission apparatus provided in an embodiment of the present application, which may be integrated in a first communication node, as shown in fig. 5, and the apparatus includes:

a measurement module 51 configured to measure for a first positioning reference signal, PRS, resource;

a sending module 52 configured to send the feedback information and the first geographical location information;

the first PRS resource is a PRS resource used by a second communication node to send a first PRS, the feedback information includes information to be fed back, each information to be fed back corresponds to a target object and one first PRS resource in the first PRS resource, the target object is an object representing a geographical position of the first communication node or a time-frequency resource position used by the first communication node, and the feedback information is obtained based on measurement.

The information transmission apparatus provided in this embodiment is used to implement the information transmission method according to the embodiment shown in fig. 1, and the implementation principle and technical effect of the information transmission apparatus provided in this embodiment are similar to those of the information transmission method according to the embodiment shown in fig. 1, and are not described herein again.

In one embodiment, the target object includes one or more of:

first geographical location information;

a first antenna panel of the first communication node;

a different PRS port; PRS resources at different times.

a first antenna panel of said first communication node;

a set of first antenna panels of the first communication node;

a time of day of a first antenna panel of the first communication node;

a time of day of a set of first antenna panels of the first communication node.

In one embodiment, the first reference latency is a latency of a first one of the measured first PRS resources and a first one of the first antenna panels, and the second reference latency is a latency of the first one of the measured first PRS resources and a first one of the first geographical location information.

a difference between a first PRS resource and a second PRS resource;

In one embodiment, the apparatus further comprises an indication module configured to: indicating that the content included in the feedback information is one or more of the following:

a transmit-receive time difference; angle of arrival; relative time delay. 12. The method of claim 1, further comprising indicating one or more of the following capabilities:

feedback capability of the transmit-receive time difference; angle of arrival feedback capability; the feedback capability of the delay difference.

In one embodiment, the feedback information and the first geographical location information are included in a first geographical location information list, where the first geographical location information list includes N first geographical location information, N is a positive integer, each of the N first geographical location information corresponds to a feedback information list, and a feedback information list includes M feedback information, and M is a positive integer.

In one embodiment, the feedback information corresponding to the ith first PRS resource and the jth first geographical location information is the jth feedback information in a feedback information list corresponding to the jth first geographical location information in the first geographical location information list.

a time difference between a measurement time corresponding to a first PRS resource and a first geographical location information and a measurement time corresponding to a first geographical location in the first measured PRS resource and the first geographical location information;

a time difference between the transmission and reception of a positioning reference signal corresponding to a first PRS resource and a first geographical location information.

In one embodiment, the feedback information and the first geographical location information are included in a second geographical location list, where the second geographical location list includes S pieces of first geographical location information, S is a positive integer, each geographical location in the S pieces of first geographical location information corresponds to a list composed of Z elements, Z is a positive integer, and each element includes a first PRS resource identifier and a feedback information.

In an embodiment, the feedback information corresponding to the ith first PRS resource and the jth first geographical location information is feedback information corresponding to an element, where a PRS resource identifier corresponding to the jth first geographical location information in the second geographical location list is i.

In one embodiment, the feedback information includes:

a delay of a first PRS resource and a first geographical location information, and a difference between a measured delay of a first PRS resource in the first PRS resource and a first geographical location in said first geographical location information;

In an example implementation manner, an embodiment of the present application provides an information transmission apparatus, and fig. 6 is a schematic structural diagram of an information transmission apparatus provided in an embodiment of the present application, where the apparatus is configured at a first communication node, and the apparatus includes:

a first transmission module 61 configured to transmit the second PRS over the second PRS resource;

a second sending module 62, configured to send first geographical location information, where a mapping relationship exists between the first geographical location information and the PRS resource.

The information transmission apparatus provided in this embodiment is used to implement the information transmission method according to the embodiment shown in fig. 2, and the implementation principle and technical effect of the information transmission apparatus provided in this embodiment are similar to those of the information transmission method according to the embodiment shown in fig. 2, and are not described herein again.

On the basis of the above-described embodiment, a modified embodiment of the above-described embodiment is proposed, and it is to be noted here that, in order to make the description brief, only the differences from the above-described embodiment are described in the modified embodiment.

an antenna panel of the first communication node;

a set of antenna panels of the first communication node;

a time of day of an antenna panel of the first communication node;

a time of day of a set of antenna panels of the first communication node.

In one embodiment, the number of the first geographical location information is one or more, and the first communication node indicates, for each first geographical location information, the second PRS resource identity to which the first geographical location information is mapped.

In one embodiment, the apparatus further comprises an indication module configured to:

one of the following coordinate types is indicated:

a local coordinate system and a global coordinate system.

In one embodiment, one of the following is included:

the x-axis of the global coordinate system points to the north;

In one embodiment, the apparatus further comprises a notification module configured to notify one or more of:

In one embodiment, the apparatus includes one or more of:

In an example implementation manner, an embodiment of the present application provides an information transmission apparatus configured at a second communication node, and fig. 7 is a schematic structural diagram of the information transmission apparatus provided in the embodiment of the present application, where the apparatus includes:

the sending module 71 is configured to send second geographic position information, where the second geographic position information is a position of a second antenna panel of the second communication node in the local coordinate system.

The information transmission apparatus provided in this embodiment is used to implement the information transmission method in the embodiment shown in fig. 3a, and the implementation principle and technical effect of the information transmission apparatus provided in this embodiment are similar to those of the information transmission method in the embodiment shown in fig. 3a, and are not described herein again.

In one embodiment, the apparatus further includes a first PRS transmission module configured to: and sending a first PRS (primary radio signal) which is mapped to one or more first PRS resources, wherein the quantity of the second geographical location information is one or more, and each piece of second geographical location information has a mapping relation with one of the first PRS resources.

In one embodiment, the apparatus further includes a first indication module configured to indicate one or more of the following feedback types:

a transmit-receive time difference; angle of arrival; relative delay difference.

In one embodiment, the apparatus further comprises: a second indicating module configured to indicate a capability supported by the first node for feedback, wherein the capability supported by the first node includes one of the following capabilities:

feedback capability of transmit-receive time difference; angle of arrival feedback capability; feedback capability with respect to delay differences.

In an example implementation manner, an information transmission apparatus is provided in an embodiment of the present application, and fig. 8 is a schematic structural diagram of an information transmission apparatus provided in an embodiment of the present application, which is integrated on a second communication node. As shown in fig. 8, the apparatus includes:

a measurement module 110 configured to measure for second positioning reference signal, PRS, resources;

a reporting module 120 configured to report the measurement result to a higher layer;

The information transmission apparatus provided in this embodiment is used to implement the information transmission method in the embodiment shown in fig. 3b, and the implementation principle and technical effect of the information transmission apparatus provided in this embodiment are similar to those of the information transmission method in the embodiment shown in fig. 3b, and are not described herein again.

In one embodiment, the setting object includes one or more of:

second geographic location information;

a second antenna panel of the second communication node;

a different PRS port; PRS resources at different times.

In one embodiment, the one measurement information includes one or more of:

a difference between transmission and reception times of one second PRS resource and one first PRS resource;

In one embodiment, the one measurement information includes one or more of:

a second PRS resource and a vertical angle of arrival corresponding to the second geolocation information.

In an example embodiment, an embodiment of the present application provides a communication node, where the communication node may be a first communication node that performs the information transmission method shown in fig. 1 or fig. 2, or may be a second communication node that performs the information transmission method shown in fig. 3 a. Fig. 9 is a schematic structural diagram of a communication node according to an embodiment of the present application. As shown in fig. 9, the communication node provided by the present application includes one or more processors 81 and a storage device 82; the processor 81 in the communication node may be one or more, and one processor 81 is taken as an example in fig. 9; the storage 82 is used to store one or more programs; the one or more programs are executed by the one or more processors 81, so that the one or more processors 81 implement the information transmission method as described in the embodiment of the present application.

The communication node further comprises: a communication device 83, an input device 84, and an output device 85.

The processor 81, the storage device 82, the communication device 83, the input device 84 and the output device 85 in the communication node may be connected by a bus or other means, and the connection by the bus is exemplified in fig. 9.

The input device 84 may be used to receive entered numeric or character information and to generate key signal inputs relating to user settings and function control of the communication node. The output device 85 may include a display device such as a display screen.

The communication means 83 may comprise a receiver and a transmitter. The communication device 83 is configured to perform information transceiving communication according to control of the processor 81. The information includes, but is not limited to, feedback information.

The storage device 82, which is a computer-readable storage medium, may be configured to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the information transmission method according to the embodiments of the present application (for example, the measurement module 51 and the sending module 52 in the information transmission device; or the first sending module 61 and the second sending module 62 in the information transmission device; or the sending module 71 in the information transmission device). The storage 82 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the communication node, and the like. Further, the storage 82 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the storage 82 may further include memory located remotely from the processor 81, which may be connected to the communication node over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

An embodiment of the present application further provides a storage medium, where the storage medium stores a computer program, and the computer program is executed by a processor to implement any of the information transmission methods in the present application, and the storage medium stores a computer program, and the computer program is executed by a processor to implement any of the information transmission methods in the embodiment of the present application. The information transmission method as applied to the first communication node:

measuring for a first Positioning Reference Signal (PRS) resource;

sending feedback information and first geographical position information;

the first PRS resource is a PRS resource used by a second communication node for sending a first PRS, the feedback information comprises information to be fed back, each information to be fed back corresponds to a target object and the first PRS resource in the first PRS resource, the target object is an object representing the geographical position of the first communication node or the position of a time-frequency resource used by the first communication node, and the feedback information is obtained based on measurement.

Also, for example, the information transmission method applied to the first communication node:

transmitting a second PRS through a second PRS resource;

As another example, the information transmission method applied to the second communication node:

The computer storage media of the embodiments of the present application may take any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take a variety of forms, including, but not limited to: an electromagnetic signal, an optical signal, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, or a conventional procedural programming language such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The above description is only exemplary embodiments of the present application, and is not intended to limit the scope of the present application.

It will be clear to a person skilled in the art that the term terminal equipment covers any suitable type of wireless user equipment, such as mobile phones, portable data processing devices, portable web browsers or vehicle-mounted mobile stations.

In general, the various embodiments of the application may be implemented in hardware or special purpose circuits, software, logic or any combination thereof. For example, some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device, although the application is not limited thereto.

Embodiments of the application may be implemented by a data processor of a mobile device executing computer program instructions, for example in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

The block diagrams of any logic flows in the figures of this application may represent program steps, or may represent interconnected logic circuits, modules, and functions, or may represent a combination of program steps and logic circuits, modules, and functions. The computer program may be stored on a memory. The Memory may be of any type suitable to the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, read-Only Memory (ROM), random Access Memory (RAM), optical storage devices and systems (Digital Video Disc (DVD) or Compact Disc (CD)), etc. The computer readable medium may include a non-transitory storage medium. The data processor may be of any type suitable to the local technical environment, such as but not limited to general purpose computers, special purpose computers, microprocessors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), programmable logic devices (FGPAs), and processors based on a multi-core processor architecture.

The foregoing has provided by way of exemplary and non-limiting examples a detailed description of exemplary embodiments of the present application. Various modifications and adaptations to the foregoing embodiments may become apparent to those skilled in the relevant arts in view of the drawings and the following claims without departing from the scope of the invention. Accordingly, the proper scope of the application is to be determined according to the claims.

Claims

1. An information transmission method applied to a first communication node, the method comprising:

measuring for a first Positioning Reference Signal (PRS) resource;

sending feedback information and first geographical position information;

2. The method of claim 1, wherein the target object comprises one or more of:

first geographical location information;

a first antenna panel of the first communication node;

a second PRS resource, the second PRS resource to transmit PRS resources of a second PRS for the first communication node.

3. The method of claim 2, wherein the different second PRS resources correspond to one or more of:

a different PRS port; PRS resources at different times.

4. The method of claim 1, wherein the different first PRS resources correspond to one or more of:

a different PRS port; PRS resources at different times.

5. The method of claim 1, wherein one of the first geographic location information is associated with one or more of:

a first antenna panel of said first communication node;

a set of first antenna panels of the first communication node;

a time of day of a first antenna panel of the first communication node;

a time of day of a set of first antenna panels of the first communication node.

6. The method according to claim 1, wherein the information to be fed back comprises one or more of the following:

7. The method of claim 6, wherein the first reference latency is a latency of a first one of the measured first PRS resources and a first one of the first antenna panels, and wherein the second reference latency is a latency of a first one of the measured first PRS resources and a first one of the first geographical location information.

8. The method according to claim 1, wherein the information to be fed back includes one or more of the following:

a difference between a first PRS resource and a second PRS resource;

a relative value of a transmit/receive time difference between one of the first PRS resources and one of the second PRS resources and a transmit/receive time difference between a first one of the measured first PRS resources and a first one of the second PRS resources.

9. The method of claim 8, wherein the first communication node receives one or more PRS signals from a second communication node on one or more first PRS resources; the first communication node transmits one or more PRS signals on one or more second PRS resources.

10. The method of claim 1, wherein the information to be fed back comprises one or more of the following:

11. The method of claim 1, further comprising: indicating that the content included in the feedback information is one or more of the following:

a transmit-receive time difference; angle of arrival; relative time delay.

12. The method of claim 1, further comprising indicating one or more of the following capabilities:

feedback capability of transmit-receive time difference; angle of arrival feedback capability; delay difference feedback capability.

13. The method according to claim 1, wherein the information to be fed back and the first geographical location information are included in a first geographical location information list, the first geographical location information list includes N first geographical location information, N is a positive integer, each of the N first geographical location information corresponds to one information to be fed back list, one information to be fed back list includes M information to be fed back, and M is a positive integer.

14. The method of claim 13, wherein the information to be fed back corresponding to the ith first PRS resource and the jth first geographical location information is the jth information to be fed back in an information list to be fed back corresponding to the jth first geographical location information in the first geographical location information list.

15. The method of claim 13, wherein the information to be fed back comprises one or more of the following:

a measurement time corresponding to a first PRS resource and first geographical location information, and a time difference between the measurement time corresponding to a first PRS resource in the measured first PRS resource and a first geographical location in the first geographical location information;

16. The method of claim 1, wherein the information to be fed back and the first geographical location information are included in a second geographical location list, the second geographical location list includes S first geographical location information, S is a positive integer, each geographical location in the S first geographical location information corresponds to a list of Z elements, Z is a positive integer, and each element includes a first PRS resource identifier and information to be fed back.

17. The method of claim 16, wherein the information to be fed back corresponding to the ith first PRS resource and the jth first geographical location information is information to be fed back corresponding to an element identified as i by a PRS resource corresponding to the jth first geographical location information in the second geographical location list.

18. The method of claim 16, wherein the feedback information comprises:

19. An information transmission method applied to a first communication node, the method comprising:

transmitting a second PRS through a second PRS resource;

20. The method of claim 19, wherein the first geographic location information is associated with one or more of:

an antenna panel of the first communication node;

a set of antenna panels of the first communication node;

a time of day of an antenna panel of the first communication node;

a time of day of a set of antenna panels of the first communication node.

21. The method of claim 19, wherein the first geographic location information is included in a geographic location list, wherein the geographic location list comprises W first geographic location information, and wherein W is a positive integer.

22. The method of claim 21, wherein the jth first geographical location information in the geographical location list corresponds to a jth second PRS resource, j being a positive integer no greater than W.

23. The method of claim 19, wherein there are one or more first geographical location information numbers, and wherein the first communication node indicates, for each first geographical location information, the second PRS resource identity to which the first geographical location information maps.

24. The method of claim 19, further comprising:

indicating one of the following coordinate types:

a local coordinate system and a global coordinate system.

25. The method of claim 24, wherein the origin of coordinates of the local coordinate system is a reference geographical location of the first communication node, the reference geographical location being one of:

26. The method of claim 24, comprising one of:

the x-axis of the global coordinate system points to the north;

27. The method of claim 19, further comprising notifying one or more of:

28. The method of claim 19, wherein the first geographical location information is Q x M, wherein Q is Q time instants or time periods, and wherein M is a second PRS resource number.

29. The method of claim 28, comprising one or more of:

the p-th first geographical position information corresponds to the time or time period of i = ceil (p/M);

the pth geographic position corresponds to the m = mod (p-1,M) +1 antenna panel, or to the m = mod (p-1,M) +1 antenna panel set.

30. An information transmission method applied to a second communication node, the method comprising:

31. The method of claim 30, wherein the second geolocation information is coordinates in a local coordinate system.

32. The method of claim 30, wherein the second geolocation information includes one or more of:

a distance between the second geographical location information and a reference geographical location; and the angle of the second geographical position information in the local coordinate system.

33. The method of claim 30, further comprising: and sending a first PRS, wherein the first PRS is mapped to one or more first PRS resources, the quantity of the second geographical location information is one or more, and each second geographical location information has a mapping relation with one of the first PRS resources.

34. The method of claim 30, wherein the origin of coordinates of the local coordinate system is a reference geographical location of the second communication node, wherein the reference geographical location is one of:

35. The method of claim 30, further comprising indicating one or more of the following types of feedback:

36. The method of claim 30, further comprising: indicating a first node feedback supported capabilities, the first node supported capabilities comprising one of:

37. A communications node, comprising:

one or more processors;

storage means for storing one or more programs;

the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method recited in any of claims 1-36.

38. An information transmission method applied to a second communication node, the method comprising:

measuring for second Positioning Reference Signal (PRS) resources;

reporting the measurement result to a high layer;

39. The method of claim 38, wherein the setting object comprises one or more of:

second geographic location information;

a second antenna panel of the second communication node;

40. The method of claim 39, wherein the different first PRS resources correspond to one or more of:

a different PRS port; PRS resources at different times.

41. The method of claim 38, wherein the second PRS resources correspond to one or more of:

a different PRS port; PRS resources at different times.

42. The method of claim 38, wherein the measurement information includes one or more of:

43. The method of claim 42, wherein the third reference latency is a latency of a first one of the measured second PRS resources and a first one of the second antenna panels, and wherein the fourth reference latency is a latency of a first one of the measured second PRS resources and a first one of the second geographic location information.

44. The method of claim 38, wherein the measurement information includes one or more of:

45. The method of claim 44, wherein the second communication node receives one or more PRS signals from the first communication node on one or more second PRS resources; the second communication node transmits one or more PRS signals on one or more first PRS resources.

46. The method of claim 38, wherein the one measurement information comprises one or more of:

a horizontal angle of arrival corresponding to a second PRS resource and a second geolocation information;

47. The method according to claim 38, wherein the measured second Positioning Reference Signal (PRS) resources are resources indicated by physical layer signaling or higher layer signaling.

48. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any one of claims 1-47.