CN116614876A

CN116614876A - Positioning method, positioning device, user equipment and storage medium

Info

Publication number: CN116614876A
Application number: CN202210119393.2A
Authority: CN
Inventors: 姜大洁; 吴建明
Original assignee: Vivo Mobile Communication Co Ltd
Current assignee: Vivo Mobile Communication Co Ltd
Priority date: 2022-02-08
Filing date: 2022-02-08
Publication date: 2023-08-18
Also published as: WO2023151555A1

Abstract

The application discloses a positioning method which is executed by first wireless communication equipment, and the group positioning method of the embodiment of the application comprises the following steps: the first wireless communication device receives a target Reference Signal (RS) sent by the second wireless communication device; the first wireless communication device transmits a first signal to the third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

Description

Positioning method, positioning device, user equipment and storage medium

Technical Field

The present application belongs to the technical field of communications, and in particular, relates to a group positioning method, a device, a user equipment, and a storage medium.

Background

In a communication system, a positioning system of a mobile wireless communication device (for example, a mobile user equipment (Mobile User Equipment), a Sidelink user equipment (sidlink UE) or a source base station (gNB)) has problems of Timing errors (i.e., timing Error) and mobility of signal transmission and signal reception, and affects positioning accuracy thereof. Therefore, in order to improve positioning accuracy, the mobile wireless communication device needs to calibrate its own clock periodically, and in order to reduce timing errors of signals transmitted or received by the mobile wireless communication device, a calibration UE or gNB with a known accurate position may be introduced.

Disclosure of Invention

The embodiment of the application provides a positioning method which can solve the problem of accurately positioning mobile wireless communication equipment.

In a first aspect, there is provided a positioning method performed by a first wireless communication device, the method comprising: the first wireless communication device receives a target Reference Signal (RS) sent by the second wireless communication device; the first wireless communication device transmits a first signal to the third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

In a second aspect, there is provided a positioning method performed by a second wireless communication device, the method comprising: the second wireless communication device sends a first reference signal RS to the third wireless communication device and sends a target RS to the first wireless communication device; wherein the first RS and the target RS are used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

In a third aspect, there is provided a positioning method performed by a third wireless communication device, the method comprising: the third wireless communication device receives a first reference signal RS sent by the second wireless communication device; the third wireless communication device receives a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to a target RS, and the target RS is an RS sent by the second wireless communication device to the first wireless communication device; the third wireless communication device locates the first wireless communication device and the second wireless communication device based on the first RS and the first signal.

In a fourth aspect, there is provided a positioning method performed by a target device, the method comprising: in the first time slot, the target device is used as a first wireless communication device, receives a target Reference Signal (RS) sent by a second wireless communication device, and sends a first signal to a third wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS; in the second time slot, the target device is used as a second wireless communication device to send a first Reference Signal (RS) to the third wireless communication device and send the target RS to the first wireless communication device; in a third time slot, the target equipment is used as third wireless communication equipment to receive a first RS sent by second wireless communication equipment, receive a first signal sent by the first wireless communication equipment, and position the first wireless communication equipment and the second wireless communication equipment according to the first RS and the first signal; wherein the first wireless communication device is adapted to perform the positioning method as in the first aspect, the second wireless communication device is adapted to perform the positioning method as in the second aspect, and the third wireless communication device is adapted to perform the positioning method as in the third aspect.

In a fifth aspect, there is provided a positioning device comprising: a receiving module and a transmitting module. And the receiving module is used for receiving the target reference signal RS sent by the second wireless communication equipment. And the transmitting module is used for transmitting a first signal to the third wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS, and the first signal is used for indicating the positioning related information of the first wireless communication device and the second wireless communication device.

In a sixth aspect, there is provided a positioning device comprising: and a transmitting module. A transmitting module, configured to transmit a first reference signal RS to a third wireless communication device, and transmit a target RS to the first wireless communication device; wherein the first RS and the target RS are used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

In a seventh aspect, there is provided a positioning device comprising: a receiving module and a positioning module. A receiving module, configured to receive a first reference signal RS sent by a second wireless communication device; and receiving a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to a target RS, and the target RS is an RS sent by the second wireless communication device to the first wireless communication device. And the positioning module is used for positioning the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module.

In an eighth aspect, there is provided a positioning device comprising: the device comprises a receiving module, a sending module and a positioning module. And the receiving module is used for receiving the target reference signal RS sent by the second wireless communication device as the first wireless communication device in the first time slot, and sending a first signal to the third wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS. And the sending module is used for sending the first reference signal RS to the third wireless communication device as the second wireless communication device and sending the target RS to the first wireless communication device in the second time slot. And the receiving module is further used for receiving the first signal sent by the first wireless communication device as the first RS sent by the second wireless communication device by the third wireless communication device in the third time slot. And the positioning module is used for positioning the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module. Wherein the first wireless communication device is adapted to perform the positioning apparatus according to the fifth aspect, the second wireless communication device is adapted to perform the positioning apparatus according to the sixth aspect, and the third communication device is adapted to perform the positioning apparatus according to the seventh aspect.

In a ninth aspect, there is provided a terminal comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, the program or instruction when executed by the processor implementing the steps of the positioning method according to the first aspect or implementing the steps of the positioning method according to the second aspect or implementing the steps of the positioning method according to the third aspect or implementing the steps of the positioning method according to the fourth aspect.

In a tenth aspect, a terminal is provided, including a processor and a communication interface, where the processor is configured to receive a target reference signal RS sent by a second wireless communication device, and send a first signal to a third wireless communication device, where the first signal is a reflected signal corresponding to the target RS, and the first signal is used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

An eleventh aspect provides a terminal, including a processor and a communication interface, where the processor is configured to send a first reference signal RS to a third wireless communication device and send a target RS to the first wireless communication device; wherein the first RS and the target RS are used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

A twelfth aspect provides a terminal, including a processor and a communication interface, where the processor is configured to receive a first reference signal RS sent by a second wireless communication device; and receiving a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to a target RS, the target RS is an RS sent by the second wireless communication device to the first wireless communication device, and positioning the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module.

In a thirteenth aspect, a terminal is provided, including a processor and a communication interface, where the processor is configured to receive, as a first wireless communication device, a target reference signal RS sent by a second wireless communication device and send a first signal to a third wireless communication device, where the first signal is a reflected signal corresponding to the target RS, send, as the second wireless communication device, the first reference signal RS to the third wireless communication device and send the target RS to the first wireless communication device in a second time slot, receive, as the third wireless communication device, the first RS sent by the second wireless communication device in the third time slot, receive the first signal sent by the first wireless communication device, and perform positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module. Wherein the first wireless communication device is for performing a UE according to the tenth aspect, the second wireless communication device is for performing a UE according to the eleventh aspect, and the third communication device is for performing a UE according to the twelfth aspect.

In a fourteenth aspect, there is provided a readable storage medium having stored thereon a program or instructions that satisfy at least one of: steps of the positioning method as described in the first aspect are implemented when executed by a processor of a first communication device; the steps of implementing the positioning method as described in the second aspect when executed by a processor of a second communication device; the steps of the positioning method according to the third aspect are implemented when executed by a processor of a third communication device and the steps of the positioning method according to the fourth aspect are implemented when executed by a processor of a target communication device.

In a fifteenth aspect, there is provided a chip comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being for running a program or instructions to implement the steps of the positioning method as described in the first aspect, or to implement the steps of the positioning method as described in the second aspect, or to implement the steps of the positioning method as described in the third aspect, or to implement the steps of the positioning method as described in the fourth aspect.

In a sixteenth aspect, there is provided a computer program/program product stored in a non-volatile storage medium, the program/program product being executable by at least one processor to perform the steps of the positioning method as described in the first aspect, or to perform the steps of the positioning method as described in the second aspect, or to perform the steps of the positioning method as described in the third aspect, or to perform the steps of the positioning method as described in the fourth aspect.

A seventeenth aspect provides a positioning system comprising a first wireless communication device according to the first aspect, a second wireless communication device according to the second aspect, a third communication device according to the third aspect, and/or a target device according to the fourth aspect, for performing and implementing the steps of the positioning method according to the first aspect, or the steps of the positioning method according to the second aspect, or the steps of the positioning method according to the third aspect, or the steps of the positioning method according to the fourth aspect.

In the embodiment of the application, a first wireless communication device receives a target reference signal RS sent by a second wireless communication device; the first wireless communication device transmits a first signal to the third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning related information of the first wireless communication device and the second wireless communication device. Because the first wireless communication device can receive the target RS sent by the second wireless communication device and send a reflected signal corresponding to the target RS, namely, a first signal, to the third wireless communication device, the first signal is used for positioning related information of the first wireless communication device and the second wireless communication device, and therefore, the wireless communication device can be accurately positioned without introducing calibration UE or gNB.

Drawings

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

fig. 2 is a timing error schematic diagram of a gNB according to an embodiment of the application;

FIG. 3 is a schematic diagram of a precision time protocol PTP according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an accurate time protocol according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a positioning model based on a Backscatter according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a positioning method according to an embodiment of the present application;

FIG. 7 is a second schematic diagram of a positioning method according to the embodiment of the present application;

FIG. 8 is a third diagram illustrating a positioning method according to an embodiment of the present application;

FIG. 9 is a diagram illustrating a positioning method according to an embodiment of the present application;

FIG. 10 is a diagram of a positioning method according to an embodiment of the present application;

FIG. 11 is a diagram illustrating a positioning method according to an embodiment of the present application;

FIG. 12 is a diagram of a positioning method according to an embodiment of the present application;

FIG. 13 is a schematic structural diagram of a positioning device according to an embodiment of the present application;

FIG. 14 is a second schematic diagram of a positioning device according to the embodiment of the application;

FIG. 15 is a third schematic diagram of a positioning device according to an embodiment of the present application;

FIG. 16 is a schematic diagram of a positioning device according to an embodiment of the present application;

fig. 17 is a schematic hardware structure of a communication device according to an embodiment of the present application;

fig. 18 is a schematic hardware structure of a terminal according to an embodiment of the present application.

Detailed Description

The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.

The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or otherwise described herein, and that the "first" and "second" distinguishing between objects generally are not limited in number to the extent that the first object may, for example, be one or more. Furthermore, in the description and in the claims "and/or" means at least one of the connected objects, for example, a and/or B includes only a, only B, and three of a and B. A. B, and/or C includes at least one of A, B, C, namely A; b, a step of preparing a composite material; c, performing operation; a and B; b and C; a and C; A. b and C, and so on, the character "/" generally indicates that the associated object is an or relationship.

It should be noted that the techniques described in the embodiments of the present application are not limited to long term evolution (Long Term Evolution, LTE)/LTE evolution (LTE-Advanced, LTE-a) systems, but may also be used in other wireless communication systems, such as code division multiple access (Code Division Multiple Access, CDMA), time division multiple access (Time Division Multiple Access, TDMA), frequency division multiple access (Frequency Division Multiple Access, FDMA), orthogonal frequency division multiple access (Orthogonal Frequency Division Multiple Access, OFDMA), single carrier frequency division multiple access (sc-fdm)Multiple access (Single-carrier Frequency-Division Multiple Access, SC-FDMA) and other systems. The terms "system" and "network" in embodiments of the application are often used interchangeably, and the techniques described may be used for both the above-mentioned systems and radio technologies, as well as other systems and radio technologies. The following description describes a New air interface (NR) system for purposes of example and uses NR terminology in much of the description that follows, but these techniques are also applicable to applications other than NR system applications, such as generation 6 (6) ^th Generation, 6G) communication system.

Fig. 1 shows a block diagram of a wireless communication system to which an embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network device 12. The terminal 11 may also be called a terminal Device or a User Equipment (UE), and the terminal 11 may be a terminal-side Device such as a mobile phone, a tablet Computer (Tablet Personal Computer), a Laptop (Laptop Computer) or a notebook (Personal Digital Assistant, PDA), a palm Computer, a netbook, an ultra-mobile personal Computer (ultra-mobile personal Computer, UMPC), a mobile internet Device (Mobile Internet Device, MID), a Wearable Device (or a vehicle-mounted Device (VUE), a pedestrian terminal (PUE), and the Wearable Device includes: smart watches, bracelets, headphones, eyeglasses, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network side device 12 may be a base station or a core network, wherein the base station may be called a node B, an evolved node B, an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service set (Basic Service Set, BSS), an extended service set (Extended Service Set, ESS), a node B, an evolved node B (eNB), a home node B, a home evolved node B, a WLAN access point, a WiFi node, a transmission and reception point (Transmitting Receiving Point, TRP), or some other suitable terminology in the field, and the base station is not limited to a specific technical vocabulary so long as the same technical effect is achieved, and it should be noted that in the embodiment of the present application, only the base station in the NR system is taken as an example, but the specific type of the base station is not limited.

Some concepts and/or terms related to the positioning method, the positioning device, the user equipment and the storage medium provided by the embodiments of the present application are explained below.

1. gNB/UE transmits Tx/receives Rx Timing error (i.e., timing Errer)

Currently, the timing errors of the gNB and the UE are divided into two types: one is gNB and UE clock error, the other is gNB and UE calibration error.

As shown in fig. 2, at the gNB side, its error calibration can be achieved by a precision time protocol (Precision Time Protocol, PTP). Because of the channel/link asymmetry between the master clock and the sub-clock, PTP still has some residual calibration errors. Further, since the error between the master clock and the sub-clock cannot be completely eliminated, the residual calibration error of the present gNB is generally 50-100 ns, which also results in a UE positioning error of 15-30 m.

At the UE end, there are also two timing errors. However, for the UE, if the received signals arriving in different directions pass through the same Radio Frequency (RF) chain in the same antenna panel, both errors can be completely eliminated. Fig. 2 is timing error of gNB.

It should be noted that the timing calibration (Timing Calibration, TC) mechanism of the gNB cannot distinguish the two error components from the overall signal Arrival Time (TOA) or signal Arrival Time difference (Time Difference of Arrival, TDOA) measurement.

2. Precision time protocol

PTP is mainly used to define synchronization information used between master and slave clocks, similar to the server and client modes in the network time protocol (Network Time Protocol, NTP). The Master Clock (Master Clock) is the provider of time, while the Slave Clock (Slave Clock) is synchronized with the Master Clock. For example, grandmaster is a master clock that is synchronized to a time reference, such as GPS or code division multiple access (Code Division Multiple Access, CDMA). And clock synchronization over a network requires at least one master clock and one slave clock, wherein multiple slave clocks can be synchronized to one master clock. In general, it can be based onCapturing four time stamps between a master clock and a slave clock, i.e. reference time T ₁ ，T ₂ ，T ₃ and T₄ To calculate the time offset between the master and slave clocks as shown in fig. 3. The slave clock may adjust it with a time offset to be different from the master clock. Fig. 3 is a precision time protocol PTP.

It should be noted that the principle of the precise time protocol is that the master clock end and the slave clock end mutually transmit and receive calibration signals to complete clock calibration. As shown in fig. 3, the time of clock a is t _A (for the sender) and t' _A (for the receiving end), and the time of clock B is t _B (for the receiving end) and t' _B (for the sender). Thus t _A and t_B The time difference (from A to B) is t _Δ ＝t _A -t _B And t' _B and t′_A The time difference (from A to B) is t' _Δ ＝t′ _B -t′ _A . However, since the RF of the master clock side or the slave clock side varies, in general, t _A ≠t′ _A and t_B ≠t′ _B . Fig. 4 is a diagram of the principle of the precision time protocol.

However, for clock calibration between a and B, it can be calculated by the following formula:

for the derivation of the propagation delay between a and B, it can be calculated by the following formula: /> wherein ,t_d Is the length of propagation delay time between a and B. If the master and slave clock ends of the wireless communication device change in the round trip process in a negligible manner, i.e., t' _Δ ＝t _Δ Then the clock calibration value t between A and B _Δ And a propagation delay value t between A and B _d The calculation can be obtained by the following formulas:

and />

3. Positioning method based on back reflection Backscatter

Currently, a wireless communication device may perform positioning through a Backscatter, and in a method for implementing positioning based on the Backscatter, related information such as an ID (for example, EPC) provided by the Backscatter may be acquired, so that a receiving end may easily determine a position of a reflective object, and confirm the reflective object and track the reflective object. Fig. 4 shows a Backscatter-based positioning model. The transmitting end is the ith Tx UE, transmits a pilot reference signal (Positioning Reference Signal, PRS) for positioning, and the kth Backscatter modulates the relevant ID information On the received signal through binary phase shift Keying (Binary Phase Shift Keying, BPSK) or On-Off Keying (OOK) or CDM orthogonal code signals and reflects the ID information to the receiving end. The receiving end is gNB, and can receive the Backscatter reflection signal, and meanwhile receives the reflection signal of the unknown reflector and the diameter signal of the transmitting end. It is noted that the kth Backscatter reflection is a valid signal, and the gNB can receive the valid signal and calculate the specific coordinates of the target Backscatter, which is the same as the GPS received signal. However, with this method, the required number of gnbs is above 4 to ensure the relative accuracy of positioning. As shown in fig. 5, L gnbs receive signals and locate the i Tx UE and the k backhaul simultaneously.

The gNB may also receive a reflected signal of another Backscatter (excluding a reflected signal of the kth Backscatter), a reflected signal of an unknown reflector, and a diameter signal of the transmitting end. However, these signals are interference signals, and therefore, in order to ensure positioning accuracy, they need to be canceled before positioning calculation. Fig. 5 is a Backscatter-based positioning model.

According to the embodiment shown in fig. 5, in which positioning is implemented based on backscatters, it may be assumed that there are I Tx UEs, L gnbs, M backscatters (also known as tags) and J unknown reflectors (objects).

The signal transmitted by the ith UE and received by the ith gNB in the nth symbol of the mth slot is, taking into account the unknown reflector signal reflection

Wherein the Tx UE transmits a positioning pilot reference signal (i.e., PRS) s [ n ] in the nth symbol]，s[n]Signal passing channel response in time slot mIs directly received by the ith gNB while s [ n ]]Signal pass channel response->Received by the kth Backscatter. The kth Backscatter received signal is b in the same slot m _k，m Symbol modulation and following the channel response +.>Reflected to the first gNB, α is the complex attenuated backscatter signal coefficient (Complex Attenuation of the Backscattered SignalsS). Alpha _j Is the attenuation coefficient of the jth unknown reflector, including radar cross section (Rader Cross Section, RCS), is +.> and />The reflected channel responses for the jth unknown reflector for Tx UE and for gNB, respectively. w (w) _l，m [n]Is an additive white gaussian noise (Additive White Gaussian Noise, AWGN) with an average value of zero and a noise power spectral density of +.>Furthermore, the interval T of time slots _slot For RS symbol interval T _sym N times, i.e. T _slot ＝NT _sym Wherein n=1, 2, ….

It should be noted that, in the above embodiment, the channel response may be considered as a static channel for simplicity, and the channel response does not change during a certain period of time. The channel response and time slots are thus shown in the description as being independent, but the embodiments of the application described are equally applicable to scenarios of dynamic channel response. The embodiment of the application considers the problem of interference to the target Backscatter in the scene. From the above formula, it can be determined that there are three terms that can be considered as interference terms. The first term is the diameter signal from the Tx UE, the second term is the reflected signal from the backscattering (including target backscattering and non-target backscattering), and the third term is the reflected signal from the unknown reflector.

In the embodiment of the application, the positioned targets are Tx UE and a target Backscatter. For Tx UE positioning, since the diameter signal from Tx UE to gNB is much larger than the reflected signal from Backscatter and unknown reflectors, the impact of this interference on Tx UE positioning performance is relatively small. However, for positioning of the backscatters, interference of reflected signals from the Tx UE, other backscatters and unknown reflectors must be considered.

4. Backscatter modulation signal design

The Backscatter modulation signal may be designed by OOK. The kth Backscatter may be based On the On/Off modulation sequence B _k The signal modulates the reflected signal, the modulation sequence of which can be represented by the following matrix:

wherein ,b_k，m Is a modulation symbol modulated by the kth Backscatter and transmitted in the mth slot, k=1, 2, …, M, and m=1, 2, …, m+1.

In the embodiment of the present application, in order to derive the positioning signal from the kth Backscatter, the received signal may be calculated by the following method:

note that PRS signals transmitted from the ith UE are also reflected by other backsinks (except the kth) and unknown reflectors, but these signals may be completely cancelled by the ith gNB.

In the embodiment of the present application, in order to derive the ith UE positioning signal, the received signal may be calculated by the following method:

alternatively, in the embodiment of the present application, the Backscatter modulation signal may be designed by BPSK. Kth Backscatter may be based on a BPSK-based modulation sequence B _k The signal modulates the reflected signal, the modulation sequence of which can be represented by the following matrix:

wherein ,b_k，m Is a modulation symbol modulated by the kth Backscatter and transmitted in the mth slot, k=1, 2, …, M, and m=1, 2, …, m+2.

In the embodiment of the present application, in order to derive the positioning signal from the kth tag, the received signal may be calculated by the following method:

in the embodiment of the present application, in order to derive the UE positioning signal, the received signal may be calculated by the following method:

alternatively, in the embodiment of the present application, the backhaul modulation signal may be designed by a CDM orthogonal code method. For example, using Hadamard Code (Hadamard Code) as the modulation sequence symbol, the kth Backscatter may be based on the modulation sequence B of BPSK _k The signal modulates the reflected signal and the Hadamard code modulation sequence may be represented by the following matrix:

alternatively, in the embodiment of the present application, in the case where m=4, the Hadamard Code modulation sequence may be represented by the following matrix:

wherein ,b_k，m Is a modulation symbol modulated by the kth Backscatter and transmitted in the mth slot, k=1, 2, …, M, and m=1, 2, …, M.

where k=1, 2, …, M-1.

it should be noted that, since the maximum supportable Backscatter number of Hadamard code is 2 ⁿ -1. Thus, hadamard codes are usedThe solution achieves a gain much higher than the OOK or BPSK solutions, but its code flexibility is relatively poor.

In the embodiment of the application, because the kth Backscatter positioning signal is relatively simple, the diameter signal from the UE to the gNB and the received signal from the UE to the gNB reflected by other backscatters (except the kth Backscatter) can be completely eliminated; the signal from the UE to the gNB reflected by the unknown reflector can also be completely cancelled. Thus, compared to the OOK scheme, the BPSK scheme can achieve an SNR gain of 5.05 dB.ltoreq.ΔSNR < 6dB. Since the signal from the UE to the Backscatter, which is located by the UE and then reflected to the gNB, can be completely eliminated, the BPSK scheme can achieve SNR gain of 0 dB- Δsnr-3.8 dB compared to the OOK scheme.

Currently, a positioning system of a Mobile wireless communication device (such as Mobile UE, sidelink UE, base station gNB, etc.) has a problem of Rx/Tx timing error, and affects positioning accuracy of the Mobile wireless communication device. Therefore, in order to improve positioning accuracy, the wireless communication device needs to calibrate its own clock periodically. A straightforward approach to overcome the wireless communication device Rx/Tx timing error may be to introduce a calibrated UE or gNB with a known accurate position or accurate trajectory, however in a real world scenario, particularly if the wireless communication device is moving and possibly out of coverage, how to effectively set a calibrated UE or gNB with an accurate position is a big challenge to be solved.

The embodiment of the application can accurately locate the wireless communication devices by utilizing the interrelation among the wireless communication devices under the condition that the clock of the transceiver is not required to be calibrated.

It should be noted that, the wireless communication device in the present application may be any device having a wireless transceiver function, for example, a terminal, a base station, an internet of things device, a vehicle-mounted wireless device, a wireless TAG, etc., and the position of the wireless communication device may be fixed or may be changed in a mobile manner.

Specifically, at a first time, a first wireless communication device transmits a reference signal RS, and a second wireless communication device receives the RS signal. At a second time, the first wireless communication device retransmits the RS signal, the third wireless communication device receives the RS signal, and modulates and reflects the signal by a modulation sequence signal (i.e., OOK or BPSK or CDM orthogonal code), and the second wireless communication device receives the RS signal transmitted by the first wireless communication device, and also receives the modulated and reflected signal by the third wireless communication device.

More specifically, the second wireless communication device performs addition and subtraction of signals based on the RS signals received at the first time and the second time, separates the diameter signals from the first wireless communication device to the second wireless communication device, thereby calculating the delay of the diameter signals, and also separates the reflected signals reflected from the first wireless communication device to the second wireless communication device by the modulation of the third wireless communication device, thereby calculating the delay of the reflected diameter signals.

Example 1

The embodiment of the application provides a positioning method, and fig. 6 shows a flowchart of the positioning method provided by the embodiment of the application. As shown in fig. 6, the positioning method provided by the embodiment of the present application may include the following steps 201 and 202.

Step 201, the first wireless communication device receives a target reference signal RS sent by the second wireless communication device.

Optionally, in an embodiment of the present application, the target RS includes at least one of: a tracking reference signal (Tracking Reference Signal, TRS), a Channel-state information reference signal (Channel-State Information Reference Signal, CSI-RS), a positioning reference signal (Positioning Reference Signal, PRS), and a sounding reference signal (Sounding Reference Signal, SRS).

Optionally, in the embodiment of the present application, the first wireless communication device may be used as a reflection device, and after receiving the target RS sent by the second wireless communication device, modulate the target RS, and reflect the modulated RS to other devices.

Optionally, in the embodiment of the present application, the first wireless communication device may be a user equipment UE, a base station, an edge link device S-UE, a mobile user equipment, an internet of things device, a vehicle-mounted wireless device, etc., and in the embodiment of the present application, the first wireless communication device is taken as an example of the S-UE, a positioning method between mobile wireless communication devices is described, and other mobile wireless communication devices are taken as examples of a scenario, or a scenario between the mobile wireless communication device and a source base station is also protected in the positioning method provided by the present application.

It should be noted that any S-UE may be considered as a fixed UE, a gNB, a Road Side Unit (RSU), or a mobile radio communication technology (Vehicle To Everything) UE.

Optionally, in the embodiment of the present application, the target RS may be configured for a network side device, preconfigured, predefined, agreed-upon, or autonomously decided by an S-UE, etc.

Step 202, the first wireless communication device transmits a first signal to a third wireless communication device.

In the embodiment of the present application, the first signal is a reflected signal corresponding to the target RS, and the first signal is used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

Optionally, in the embodiment of the present application, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in the same timeslot; or the first wireless communication device, the second wireless communication device and the third wireless communication device are different communication devices in different time slots; alternatively, the first wireless communication device, the second wireless communication device, and the third wireless communication device are switched to each other in different time slots.

It should be noted that, taking an example in which the wireless communication device is an S-UE, any S-UE may be used as the first wireless communication device, the second wireless communication device, or the third wireless communication device, but one S-UE cannot be used as the first wireless communication device, the second wireless communication device, and the third wireless communication device at the same time in the same time slot.

Optionally, in an embodiment of the present application, the position of the first wireless communication device is fixed, or the position of the first wireless communication device moves along a first track; wherein the location of the first wireless communication device is known information of the third wireless communication device.

Optionally, in the embodiment of the present application, three S-UEs are included: the embodiment of the application can locate all S-UEs by acquiring the propagation delay amount of the propagation path of the RS signal between any two S-UEs or locate part of the S-UEs according to the requirement.

Optionally, in the embodiment of the present application, before the step 202, referring to fig. 6, as shown in fig. 7, the positioning method provided in the embodiment of the present application further includes the following step 301.

In step 301, the first wireless communication device modulates the target RS by modulating the sequence signal, to obtain a first signal.

Optionally, in an embodiment of the present application, the modulation sequence signal is determined by any one of the following manners: on-off keying OOK mode, binary phase shift keying BPSK mode, code division multiplexing CDM orthogonal code mode.

It should be noted that, the method for modulating the target RS by the first wireless communication device through the modulation sequence signal may refer to the method described in the above-mentioned backhaul modulation signal design, and in order to avoid repetition, a description is omitted here.

Optionally, in the embodiment of the present application, after the first wireless communication device receives, as the reflecting device, the target RS sent by the second wireless communication device, and modulates the target RS according to the modulation sequence, to obtain the first signal, the first signal may be sent to the third wireless communication device, so as to indicate, to the third wireless communication device, positioning related information of the first wireless communication device and the second wireless communication device.

The application provides a positioning method which is executed by a first wireless communication device, wherein the first wireless communication device receives a target Reference Signal (RS) sent by a second wireless communication device; the first wireless communication device transmits a first signal to the third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning related information of the first wireless communication device and the second wireless communication device. Because the first wireless communication device can receive the target RS sent by the second wireless communication device and send a reflected signal corresponding to the target RS, namely, a first signal, to the third wireless communication device, the first signal is used for indicating positioning related information of the first wireless communication device and the second wireless communication device, and therefore, the wireless communication device can be accurately positioned without introducing calibration UE or gNB.

Example two

The embodiment of the application provides a positioning method, and fig. 8 shows a flow chart of the positioning method provided by the embodiment of the application. As shown in fig. 8, the positioning method provided by the embodiment of the present application may include the following step 401.

Step 401, the second wireless communication device sends a first reference signal RS to the third wireless communication device and sends a target RS to the first wireless communication device.

Wherein the first RS and the target RS are used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

Optionally, in the embodiment of the present application, the second wireless communication device may send the first RS to the third wireless communication device at a first preset time, and send the target RS to the first wireless communication device at a second preset time, where the first preset time is the same as the second preset time, or the first preset time is different from the second preset time.

Optionally, in the embodiment of the present application, the first RS and the target RS are the same physical signal, or different physical signals.

Optionally, in an embodiment of the present application, the first RS and/or the target RS include at least one of: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS.

Alternatively, in the embodiment of the present application, the above step 401 may be specifically implemented by the following step 401a or step 401 b.

Step 401a, the second wireless communication device transmits the first RS to the third wireless communication device at a first time, and transmits the target RS to the first wireless communication device at a second time.

Alternatively, in the embodiment of the present application, the second wireless communication device may send the first RS to the third wireless communication device at the first time, and send the target RS to the first wireless communication device again at the second time, so that the second wireless communication device may send signals to the third wireless communication device through two paths.

Step 401b, the second wireless communication device transmits the first RS to the third wireless communication device at the third time, and simultaneously transmits the target RS to the first wireless communication device.

Alternatively, in the embodiment of the present application, the second wireless communication device may send the first RS to the third wireless communication device at the third time, and simultaneously send the target RS to the first wireless communication device, so that the second wireless communication device may send signals to the third wireless communication device through two paths.

The embodiment of the application provides a positioning method, which is executed by a second wireless communication device, wherein the second wireless communication device sends a first Reference Signal (RS) to a third wireless communication device and sends a target RS to the first wireless communication device.

Example III

The embodiment of the application provides a positioning method, and fig. 9 shows a flowchart of the positioning method provided by the embodiment of the application. As shown in fig. 9, the positioning method provided by the embodiment of the present application may include the following steps 501 to 503.

Step 501, the third wireless communication device receives the first reference signal RS sent by the second wireless communication device.

Alternatively, in the embodiment of the present application, the third wireless communication device may receive the first RS sent by the second wireless communication device through the direct path.

Step 502, the third wireless communication device receives a first signal sent by the first wireless communication device.

In the embodiment of the application, the first signal is a reflected signal corresponding to a target RS, and the target RS is an RS sent by the second wireless communication device to the first wireless communication device.

Alternatively, in the embodiment of the present application, the third wireless communication device may simultaneously receive the first signal sent by the first wireless communication device through the reflection path after receiving the first RS.

Step 503, the third wireless communication device locates the first wireless communication device and the second wireless communication device according to the first RS and the first signal.

Optionally, in the embodiment of the present application, the third wireless communication device may calculate the first RS and the first signal after receiving the first RS and the first signal, so that positioning may be performed for the first wireless communication device and the second wireless communication device.

Alternatively, in the embodiment of the present application, the above step 503 may be specifically implemented by the following steps 503a to 503 c.

Step 503a, the third wireless communication device determines a diameter signal according to the first RS.

In the embodiment of the application, the diameter signal is:

wherein ,A₂ Determined by the signal gain of the modulated sequence signal, w' _2,3 [n]The interference signals are included in the additive white gaussian noise AWGN received by the second wireless communication device in the nth symbol, respectively.

Step 503b, the third wireless communication device determines a reflection path signal according to the first signal.

In the embodiment of the application, the reflection path signal is:

wherein ,A₁ As determined by the signal gain of the modulated sequence signal,and w _2.3 [n]The interference signals are included in the additive white gaussian noise AWGN received by the second wireless communication device in the nth symbol, respectively.

Optionally, in the embodiment of the present application, the third wireless communication device may receive, in an mth time slot, a first RS sent by the second wireless communication device through a direct path, where the direct path of the first RS is: h is a _2,3 (τ _2,3 ) And experiences a time delay tau _2,3 In the same time slot, the third wireless communication device may receive a first signal that is sent by the second wireless communication device to the first wireless communication device, and is modulated and reflected by the first wireless communication device, where a reflection path of the first signal is: h is a _2,1 (τ _2,1) and h_1,3 (τ _1,3 ) And manage time delay tau _2,1 and τ_1,3 The reflection paths of the reflected signals through the unknown devices j are respectively and />/>

In the same time slot, since the first wireless device uses the modulation symbol b directly _k,m The target RS is modulated and immediately transmitted, so that the modulation and reflection completion process can be understood as a process of amplifying and forwarding the reception preference, i.e., the amplification-and-Forward (AF), assuming that there is no additional processing delay time in the modulation process. Thus, the total signal received by the third wireless communication device can be expressed as:

wherein α' is a complex attenuated backscatter signal coefficient transmitted by the first wireless communication device, including a power amplification factor of the received signal by the first wireless communication device, α _j Is the attenuation coefficient of the jth unknown reflector, including the radar cross-section.

Optionally, in an embodiment of the present application, after the third wireless communication device obtains the total signal, the diameter signal and the reflection path signal may be separated from the total signal by calculation, and the diameter signal and the reflection path signal may be determined.

Step 503c, the third wireless communication device locates the first wireless communication device and the second wireless communication device according to the diameter signal and the reflected diameter signal.

Alternatively, in the embodiment of the present application, the above step 503c may be specifically implemented by the following steps 503c1 and 503c 2.

In step 503c1, the third wireless communication device determines a first delay according to the diameter signal, and determines a second delay according to the reflected diameter signal.

Wherein the first delay is a delay of a diameter signal sent by the second wireless communication device to the third wireless communication device. The second delay is a delay of a reflected path signal transmitted by the second wireless communication device to the third wireless communication device via the first wireless communication device.

In the embodiment of the application, the first time delay is as follows: wherein ,/>In order to delay from the time of the first time,time offset, τ, of transmitting diameter signal for second wireless communication device _2,3 For the total propagation time of the diameter signal transmitted from the second wireless communication device to the third wireless communication device +. >A time offset of the diameter signal is received for the third wireless communication device.

In the embodiment of the application, the second time delayThe method comprises the following steps: wherein ,/>For the second time delay, +.>Time offset τ for transmitting reflected path signals for a second wireless communication device _2,1 For the propagation time of a target RS signal transmitted from a second wireless communication device to a first wireless communication device, τ _1,3 For the propagation time of the reflection path signal transmitted from the first wireless communication device to the third wireless communication device, and (2)>A time offset of the reflected path signal is received for the third wireless communication device.

In the embodiment of the application, the timing errors experienced by the sending end and the receiving end are respectively as follows and />Since the radio frequency signals RF of the transmitting end and the receiving end are different, there is +.>

Step 503c2, positioning the first wireless communication device and the second wireless communication device by the third wireless communication device according to the first time delay and the second time delay.

Alternatively, in the embodiment of the present application, the step 503c2 may be specifically implemented by the following steps a and b.

And a third wireless communication device determines a first propagation delay difference according to the first time delay and the second time delay.

In the embodiment of the present application, the first propagation delay difference is a difference between the propagation time of the first RS and the propagation time of the target RS. And, the first propagation delay difference amount is:

wherein ,for the first propagation delay difference amount, +.>For the second time delay, +.>Is the first delay.

The first propagation delay difference amount is a propagation delay difference amount of a signal transmitted from the second wireless communication device and modulated and reflected to the third wireless communication device via the first wireless communication device, and therefore, a propagation delay difference amount of a signal transmitted from the third wireless communication device and modulated and reflected to the second wireless communication device via the first wireless communication device may be obtained as:

thus, based on the dissimilarity of propagation delays, it is possible to determine

And b, the third wireless communication device locates the first wireless communication device and the second wireless communication device according to the first propagation delay difference.

Optionally, in an embodiment of the present application, as shown in fig. 10 in conjunction with fig. 9, before step 503, the positioning method provided in the embodiment of the present application further includes the following steps 601 and 701.

Step 601, the third wireless communication device receives the second information sent by the first wireless communication device.

In the embodiment of the application, the first information includes a third time delay and a fourth time delay, and the third time delay and the fourth time delay are respectively determined by the third wireless communication device according to the diameter signal and the reflection path signal under the condition that the second wireless communication device and the first wireless communication device are mutually in first conversion.

In the embodiment of the application, the third time delay is the time delay of the diameter signal sent to the third wireless communication device by the second wireless communication device after the first conversion; the fourth delay is a delay of a reflection path signal transmitted from the first converted second wireless communication device to the third wireless communication device via the first converted first wireless communication device.

It should be noted that, in the case where the first wireless communication device and the second wireless communication device perform the first conversion, the process of determining the third delay and the fourth delay may refer to the process of determining the first delay and the second delay, which is not repeated herein.

Step 701, the third wireless communication device locates the first wireless communication device and the second wireless communication device according to the third time delay and the fourth time delay.

Alternatively, in the embodiment of the present application, the above step 701 may be specifically implemented by the following step 701 a.

In step 701a, the third wireless communication device determines a second propagation delay difference amount according to the third delay and the fourth delay.

In the embodiment of the present application, the second propagation delay difference is a difference between a propagation time of the first RS sent by the second wireless communication device after the first conversion and a propagation time of the target RS after the first conversion.

In the embodiment of the present application, the second propagation delay difference is:

wherein ,for the first propagation delay difference amount, +.>For the fourth time delay, +.>And is a third delay. />

Optionally, in conjunction with fig. 9, as shown in fig. 11, before step 503, the positioning method provided in the embodiment of the present application further includes the following steps 602 and 702.

Step 602, the third wireless communication device receives third information sent by the second wireless communication device.

In the embodiment of the present application, the second information includes a fifth time delay and a sixth time delay, where the fifth time delay and the sixth time delay are respectively determined by the second wireless communication device according to the diameter signal and the reflection path signal in the case that the third wireless communication device and the first wireless communication device are second switched with each other.

In the embodiment of the application, the fifth time delay is the time delay of the diameter signal sent by the first wireless communication device after the second conversion to the third wireless communication device after the second conversion; the sixth delay is a delay of a reflected path signal transmitted by the second converted third wireless communication device to the second converted third wireless communication device via the second wireless communication device.

It should be noted that, in the case where the third wireless communication device and the first wireless communication device are in the second transition, the process of determining the fifth delay and the sixth delay may refer to the process of determining the first delay and the second delay, which is not repeated here.

Optionally, in the embodiment of the present application, after the step 602, the positioning method provided in the embodiment of the present application further includes the following step 702

Step 702, the third wireless communication device locates the third wireless communication device and the first wireless communication device according to the fifth time delay and the sixth time delay.

Alternatively, in the embodiment of the present application, the above step 702 may be specifically implemented by the following step 702 a.

It should be noted that, the positioning method provided in the embodiment of the present application may also both execute the step 601 and the step 602, that is, the positioning method provided in the embodiment of the present application includes the step 501 to the step 503, the step 601 and the step 602.

In step 702a, the third wireless communication device determines a second propagation delay difference according to the fifth delay and the sixth delay.

In the embodiment of the present application, the third propagation delay difference is a difference between a propagation time of the first RS sent by the second converted second wireless communication device and a propagation time of the second converted target RS.

In the embodiment of the present application, the third propagation delay difference is:

wherein ,for the first propagation delay difference amount, +.>For the sixth time delay, +.>Is the fifth delay.

Alternatively, in the embodiment of the present application, the above step 503c may be specifically implemented by the following step 503c 3.

In step 503c3, the third wireless communication device determines the target distance according to the first propagation delay difference amount, the second propagation delay difference amount, and the third propagation delay difference amount.

In the embodiment of the present application, the target distance includes a first distance, a second distance, and a third distance;

in the embodiment of the present application, the first distance is a distance between a third wireless communication device and a first wireless communication device, the second distance is a distance between the third wireless communication device and a second wireless communication device, and the third distance is a distance between the first wireless communication device and the second wireless communication device.

Optionally, in the embodiment of the present application, after obtaining the first propagation delay difference amount, the second propagation delay difference amount, and the third propagation delay difference amount, the third wireless communication device may obtain at least three equations, obtain propagation delays (i.e., positioning delay parameters) between S-UEs through the at least three equations, and identify the propagation delays by a vector manner, so that the third wireless communication device may determine the target distance.

Alternatively, in the embodiment of the present application, the above step 503c3 may be specifically implemented by the following step c.

And c, the third wireless communication equipment acquires at least three positioning equations, determines the positioning equations of the target number from the at least three positioning equations, and determines the target distance according to the positioning equations of the target number.

Wherein, the positioning equation is: y=ax, y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector arex is a positioning delay parameter vector, and the element of the positioning delay parameter vector is tau _2,3 ＝[x] _2,3 A is a positioning equation matrix, and is determined according to the first propagation delay difference amount, the second propagation delay difference amount and the third propagation delay difference amount.

Optionally, in the embodiment of the present application, the positioning delay parameter vector passes x= (a) ^T A) ^-1 A ^T y, and the positioning delay parameter vector x is expressed as:

alternatively, in the embodiment of the present application, the positioning equation vector y related to the propagation delay difference amount may be expressed as:

alternatively, in the embodiment of the present application, the positioning equation matrix a may be expressed as:

in the embodiment of the application, the third wireless communication device can receive the first signal reflected by the first wireless communication device through the reflection path and simultaneously receive the first RS sent by the second wireless communication device through the direct path, so that the first propagation delay difference amount can be determined according to the first signal and the first RS, then the first wireless communication device and the second wireless communication device are exchanged to determine the second propagation delay difference amount, and the first wireless communication device and the third wireless communication device are exchanged to determine the third propagation delay difference amount, so that the third wireless communication device can sum and calculate the first propagation delay difference amount, the second propagation delay difference amount and the third propagation delay difference amount, and determine the distance between the third wireless communication device and the first wireless communication device, the distance between the third wireless communication device and the second wireless communication device, and the distance between the first wireless communication device and the second wireless communication device.

Optionally, in an embodiment of the present application, the number of at least three positioning equations is a first number; the "determining the target number of positioning equations from the at least three positioning equations" in the above step c may be specifically implemented by the following step c 1.

And c1, obtaining a second number by the third wireless communication device when the position of the third wireless communication device is a fixed position, and determining the target number according to the second number and the number of positioning equations related to the reflection path of the third wireless communication device.

Wherein the first number is:the second number is: />The target number is less than or equal to->K is the number of wireless communication devices in the positioning group.

Optionally, in the embodiment of the present application, the third wireless communication device may exchange with the first wireless communication device and the second wireless communication device respectively, so that at least six time delays may be obtained, and distances among the first wireless communication device, the second wireless communication device, and the third wireless communication device may be calculated according to at least three equations.

Optionally, in the embodiment of the present application, by fixing the third wireless communication device, the number of positioning equations may be reduced to a second number, where the second number of positioning equations may be used to calculate the positioning delay parameters between (K-1) S-UEs (all S-UEs except the third wireless communication device), and if the positioning delay parameters between (K-1) S-UEs and the third wireless communication device are required to be determined, the target number of positioning equations may be determined by the second number of positioning equations and one positioning equation related to the reflection path of the third wireless communication device.

In the embodiment of the application, since the third wireless communication device is responsible for summarizing and calculating all data, when the number of S-UEs is more or the number of S-UEs is increased, if the number of S-UEs is required to be positioned, the number of equations which are required to be summarized and calculated is huge, although the equations with more numbers can be more accurately positioned among all the S-UEs, the resources of the involved links are more, so that the number of positioning equations can be reduced under the condition that all the required positioning delay parameters can be acquired, thus simplifying the steps of the third wireless communication device for positioning the first wireless communication device and the second wireless communication device and improving the efficiency of the third wireless communication device for positioning the first wireless communication device and the second wireless communication device.

The embodiment of the application provides a positioning method which is executed by third wireless communication equipment, wherein the third wireless communication equipment receives a first Reference Signal (RS) sent by second wireless communication equipment; the third wireless communication device receives a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to a target RS, and the target RS is an RS sent by the second wireless communication device to the first wireless communication device; the third wireless communication device locates the first wireless communication device and the second wireless communication device based on the first RS and the first signal. Since the third wireless communication device can locate the first wireless communication device and the second wireless communication device according to the first RS transmitted by the second wireless communication device through the direct path and the first signal modulated and reflected by the first wireless communication device, the wireless communication device can be accurately located without introducing a calibration UE or a gNB.

Example IV

An embodiment of the present application provides a positioning method, and fig. 12 shows a flowchart of the positioning method provided by the embodiment of the present application. As shown in fig. 12, the positioning method provided by the embodiment of the present application may include the following steps 801 to 804.

In step 801, in a first time slot, a target device acts as a first wireless communication device, receives a target reference signal RS sent by a second wireless communication device, and sends a first signal to a third wireless communication device.

In the embodiment of the present application, the first signal is a reflected signal corresponding to the target RS.

In step 802, in the second time slot, the target device sends, as the second wireless communication device, the first reference signal RS to the third wireless communication device, and sends the target RS to the first wireless communication device.

In step 803, in the third time slot, the target device receives, as a third wireless communication device, the first RS sent by the second wireless communication device, and receives the first signal sent by the first wireless communication device.

Step 804, the target device locates the first wireless communication device and the second wireless communication device according to the first RS and the first signal.

Wherein the first wireless communication device is configured to perform the positioning method as in the embodiment, the second wireless communication device is configured to perform the positioning method as in the embodiment two, and the third wireless communication device is configured to perform the positioning method as in the embodiment three.

It should be noted that, the execution sequence of steps 801 to 803 is not limited in any way, and one case of the execution sequence of steps 801 to 803 is illustrated in fig. 12.

The embodiment of the application provides a positioning method which is executed by target equipment, wherein in a first time slot, the target equipment is used as first wireless communication equipment, receives a target Reference Signal (RS) sent by second wireless communication equipment and sends a first signal to third wireless communication equipment; in the second time slot, the target device is used as a second wireless communication device to send a first Reference Signal (RS) to the third wireless communication device and send the target RS to the first wireless communication device; and in the third time slot, the target equipment is used as third wireless communication equipment to receive the first RS sent by the second wireless communication equipment, receive the first signal sent by the first wireless communication equipment, and position the first wireless communication equipment and the second wireless communication equipment according to the first RS and the first signal. Because the first wireless communication device, the second wireless communication device and the third wireless communication device can exchange each other in different time slots, at least one measurement quantity is obtained by sending an RS, and the obtained measurement quantity is sent to the third wireless communication device, the third wireless communication device can collect and calculate all data, and position the first wireless communication device and the second wireless communication device. In this way, the wireless communication device can be accurately positioned without introducing calibration UE or gNB.

According to the positioning method provided by the embodiment of the application, the execution main body can be a positioning device. In the embodiment of the application, a positioning method is taken as an example to describe a positioning device provided by the embodiment of the application.

Fig. 13 shows a schematic diagram of one possible construction of a positioning device according to an embodiment of the present application. As shown in fig. 13, the positioning device 40 may include: a receiving module 41 and a transmitting module 42.

Wherein, the receiving module 41 is configured to receive a target reference signal RS sent by the second wireless communication device. The transmitting module 42 is configured to transmit a first signal to the third wireless communication device, where the first signal is a reflected signal corresponding to the target RS, and the first signal is used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

The embodiment of the application provides a positioning device, because a first wireless communication device can receive a target RS sent by a second wireless communication device and send a reflected signal corresponding to the target RS, namely a first signal, to a third wireless communication device, wherein the first signal is used for indicating positioning related information of the first wireless communication device and the second wireless communication device, and thus, the wireless communication device can be accurately positioned without introducing a calibration UE or gNB.

In one possible implementation, the positioning device further includes: and a modulation module. The modulating module is configured to modulate the target RS by modulating the sequence signal before the transmitting module 42 transmits the first signal to the third wireless communication device, so as to obtain the first signal.

In one possible implementation, the modulation sequence signal is determined by any one of the following: on-off keying OOK mode, binary phase shift keying BPSK mode, code division multiplexing CDM orthogonal code mode.

In one possible implementation, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices within the same time slot; or the first wireless communication device, the second wireless communication device and the third wireless communication device are different communication devices in different time slots; alternatively, the first wireless communication device, the second wireless communication device, and the third wireless communication device are switched to each other in different time slots.

In one possible implementation, the target RS includes at least one of: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS.

In one possible implementation, the location of the first wireless communication device is fixed or the location of the first wireless communication device moves along a first trajectory; wherein the location of the first wireless communication device is known information of the third wireless communication device.

According to the positioning method provided by the embodiment of the application, the execution main body can be a positioning device. In the embodiment of the present application, a positioning method performed by a positioning device is taken as an example, and the positioning device provided by the embodiment of the present application is described.

Fig. 14 shows a schematic view of one possible construction of a positioning device according to an embodiment of the present application. As shown in fig. 14, the positioning device 50 may include: a transmitting module 51.

Wherein, the sending module 51 is configured to send the first reference signal RS to the third wireless communication device, and send the target RS to the first wireless communication device. Wherein the first RS and the target RS are used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

The embodiment of the application provides a positioning device, wherein a second wireless communication device sends a first Reference Signal (RS) to a third wireless communication device and sends a target RS to a first wireless communication device, and because the first RS and the target RS comprise positioning related information for indicating the first wireless communication device and the second wireless communication device, the positioning device can accurately position the wireless communication device without introducing a calibration UE or gNB.

In one possible implementation, the sending module 51 is specifically configured to send the first RS to the third wireless communication device at a first time, and send the target RS to the first wireless communication device at a second time. Alternatively, the first RS is transmitted to the third wireless communication device at the third time, and the target RS is simultaneously transmitted to the first wireless communication device.

In one possible implementation, the first RS and the target RS are the same physical signal, or different physical signals; the first RS and/or the target RS include at least one of: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS.

Fig. 15 shows a schematic view of one possible construction of a positioning device according to an embodiment of the present application. As shown in fig. 15, the positioning device 60 may include: a receiving module 61 and a positioning module 62.

Wherein, the receiving module 61 is configured to receive a first reference signal RS sent by the second wireless communication device; and receiving a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to a target RS, and the target RS is an RS sent by the second wireless communication device to the first wireless communication device. A positioning module 62, configured to perform positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module 61.

The embodiment of the application provides a positioning device, which can position a first wireless communication device and a second wireless communication device according to a first RS sent by the second wireless communication device through a direct path and a first signal modulated and reflected by the first wireless communication device, so that the wireless communication device can be accurately positioned without introducing a calibration UE or gNB.

In one possible implementation, the positioning module 62 is specifically configured to determine the diameter signal according to the first RS; determining a reflection path signal according to the first signal; and locating the first wireless communication device and the second wireless communication device based on the diameter signal and the reflected diameter signal.

In one possible implementation, the positioning module 62 is specifically configured to determine a first time delay according to the diameter signal, and determine a second time delay according to the reflected diameter signal; and locating the first wireless communication device and the second wireless communication device based on the first time delay and the second time delay. The first time delay is the time delay of a diameter signal sent by the second wireless communication device to the third wireless communication device; the second delay is a delay of a reflected path signal transmitted by the second wireless communication device to the third wireless communication device via the first wireless communication device.

In one possible implementation, the positioning module 62 is specifically configured to determine a first propagation delay difference according to the first delay and the second delay, where the propagation delay difference is a difference between a propagation time of the first RS and a propagation time of the target RS, and position the first wireless communication device and the second wireless communication device according to the first propagation delay difference.

In a possible implementation manner, the receiving module 61 is further configured to receive, before the positioning module 62 performs positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal, second information sent by the first wireless communication device; and/or receiving third information sent by the second wireless communication device. The first information comprises a third time delay and a fourth time delay, and the third time delay and the fourth time delay are respectively determined by the third wireless communication device according to the diameter signal and the reflection path signal under the condition that the second wireless communication device and the first wireless communication device are mutually in first conversion. The third time delay is the time delay of the diameter signal sent to the third wireless communication device by the second wireless communication device after the first conversion; the fourth delay is a delay of a reflection path signal transmitted from the first converted second wireless communication device to the third wireless communication device via the first converted first wireless communication device. The second information includes a fifth time delay and a sixth time delay, and the fifth time delay and the sixth time delay are respectively determined by the second wireless communication device according to the diameter signal and the reflection path signal under the condition that the third wireless communication device and the first wireless communication device are mutually in second conversion. The fifth time delay is the time delay of the diameter signal sent by the first wireless communication device after the second conversion to the third wireless communication device after the second conversion; the sixth delay is a delay of a reflected path signal transmitted by the second converted third wireless communication device to the second converted third wireless communication device via the second wireless communication device.

In a possible implementation manner, the positioning module 62 is further configured to, after the receiving module 61 receives the second information sent by the first wireless communication device, position the first wireless communication device and the second wireless communication device according to the third delay and the fourth delay. The positioning module 62 is further configured to, after the receiving module 61 receives the third information sent by the first wireless communication device, position the third wireless communication device and the first wireless communication device with the fifth delay and the sixth delay.

In one possible implementation manner, the positioning module 62 is specifically configured to determine a second propagation delay difference according to the third delay and the fourth delay, where the second propagation delay difference is a difference between a propagation time of the first RS sent by the second wireless communication device after the first conversion and a propagation time of the target RS after the first conversion. The positioning module 62 is specifically configured to determine a second propagation delay difference according to the fifth delay and the sixth delay, where the third propagation delay difference is a difference between a propagation time of the first RS sent by the second wireless communication device after the second conversion and a propagation time of the target RS after the second conversion.

In one possible implementation, the positioning module 62 is specifically configured to determine the target distance according to the first propagation delay difference amount, the second propagation delay difference amount, and the third propagation delay difference amount. The target distance includes a first distance, a second distance, and a third distance; the first distance is a distance between the third wireless communication device and the first wireless communication device, the second distance is a distance between the third wireless communication device and the second wireless communication device, and the third distance is a distance between the first wireless communication device and the second wireless communication device.

In one possible implementation, the diameter signal is:

wherein ,A₂ Determined by the signal gain of the modulated sequence signal, w' _2,3 [n]Additive white gaussian noise received by a second wireless communication device in an nth symbol, respectivelyThe sound AWGN includes an interference signal.

In one possible implementation, the reflected path signal is:

wherein ,A₁ Determined by the signal gain of the modulated sequence signal, and w _2.3 [n]The interference signals are included in the additive white gaussian noise AWGN received by the second wireless communication device in the nth symbol, respectively.

In one possible implementation, the first delay is: wherein ,/>For delaying from the first time->Time offset, τ, of transmitting diameter signal for second wireless communication device _2,3 For the total propagation time of the diameter signal transmitted from the second wireless communication device to the third wireless communication device +.>A time offset for receiving a diameter signal for a third wireless communication device; the second time delay is: /> wherein ,/>For the second time delay, +.>Time offset τ for transmitting reflected path signals for a second wireless communication device _2,1 Propagation of a target RS signal for transmission from a second wireless communication device to a first wireless communication deviceTime τ _1,3 For the propagation time of the reflection path signal transmitted from the first wireless communication device to the third wireless communication device, and (2) >Receiving a time offset of the reflected path signal for the third wireless communication device; wherein the timing errors experienced by the transmitting end and the receiving end are +.> and />The radio frequency signals RF at the transmitting end and the receiving end are different,

in one possible implementation, the first propagation delay difference is:

wherein ,/>For the propagation delay difference amount, +.>For the second time delay, +.>Is the first delay.

In one possible implementation, the positioning module 62 is specifically configured to obtain at least three positioning equations, determine a target number of positioning equations from the at least three positioning equations, and determine the target distance according to the target number of positioning equations. Wherein, the positioning equation is: y=ax, y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector arex is a positioning delay parameter vector, and the element of the positioning delay parameter vector is tau _2,3 ＝[x] _2,3 A is a positioning equation matrix, and is determined according to the first propagation delay difference amount, the second propagation delay difference amount and the third propagation delay difference amount.

In one possible implementation, the positioning delay parameter vector is represented by x= (a) ^T A) ^-1 A ^T And y is determined.

In one possible implementation, the number of at least three positioning equations is a first number; the positioning module 62 is specifically configured to obtain the second number if the location of the third wireless communication device is a fixed location, and determine the target number according to the second number and the number of positioning equations related to the reflection path of the third wireless communication device. Wherein the first number is: The second number is: />The target number is less than or equal to->K is the number of wireless communication devices in the positioning group.

Fig. 16 shows a schematic view of one possible construction of a positioning device according to an embodiment of the present application. As shown in fig. 16, the positioning device 70 may include: a receiving module 71, a transmitting module 72 and a positioning module 73.

The receiving module 71 is configured to receive, as a first wireless communication device, a target reference signal RS sent by a second wireless communication device in a first time slot, and send a first signal to a third wireless communication device, where the first signal is a reflected signal corresponding to the target RS. A transmitting module 72, configured to transmit, as the second wireless communication device, the first reference signal RS to the third wireless communication device and the target RS to the first wireless communication device in the second time slot. The receiving module 71 is further configured to receive, as the third wireless communication device, the first RS sent by the second wireless communication device, and receive the first signal sent by the first wireless communication device in the third time slot. And a positioning module 73, configured to perform positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module. Wherein the first wireless communication device is used for performing the positioning means of the positioning method as in step 201 and step 202, the second wireless communication device is used for performing the positioning means of the positioning method as in step 401, and the third communication device is used for performing the positioning means of the positioning method as in steps 501 to 503.

The embodiment of the application provides a positioning device, because in different time slots, a first wireless communication device, a second wireless communication device and a third wireless communication device can exchange each other, acquire at least one measurement quantity in a mode of sending RS, and send the acquired measurement quantity to the third wireless communication device, the third wireless communication device can collect and calculate all data, and position the first wireless communication device and the second wireless communication device. In this way, the wireless communication device can be accurately positioned without introducing calibration UE or gNB.

The positioning device in the embodiment of the application can be an electronic device, for example, an electronic device with an operating system, or can be a component in the electronic device, for example, an integrated circuit or a chip. The electronic device may be a terminal, or may be other devices than a terminal. By way of example, terminals may include, but are not limited to, the types of terminals 11 listed above, other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., and embodiments of the application are not specifically limited.

The positioning device provided by the embodiment of the application can realize each process realized by the embodiment of the positioning method of fig. 6 to 9 and achieve the same technical effect, and in order to avoid repetition, the description is omitted here.

Optionally, as shown in fig. 17, the embodiment of the present application further provides a communication device 1400, including a processor 1401 and a memory 1402, where the memory 1402 stores a program or instructions that can be executed on the processor 1401, for example, when the communication device 1400 is a terminal, the program or instructions implement the steps of the positioning method embodiment when executed by the processor 1401, and achieve the same technical effects. When the communication device 1400 is a network-side device, the program or the instructions, when executed by the processor 1401, implement the steps of the above-mentioned embodiments of the positioning method, and achieve the same technical effects, and are not repeated herein.

The embodiment of the application also provides a terminal, which comprises a processor and a communication interface, wherein the processor is used for receiving a target reference signal RS sent by second wireless communication equipment; and transmitting a first signal to the third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning related information of the first wireless communication device and the second wireless communication device. The terminal embodiment corresponds to the terminal-side method embodiment, and each implementation process and implementation manner of the method embodiment can be applied to the terminal embodiment, and the same technical effects can be achieved. Specifically, fig. 18 is a schematic diagram of a hardware structure of a terminal for implementing an embodiment of the present application.

The terminal 100 includes, but is not limited to: at least some of the components of the radio frequency unit 101, the network module 102, the audio output unit 103, the input unit 104, the sensor 105, the display unit 106, the user input unit 107, the interface unit 108, the memory 109, and the processor 110, etc.

Those skilled in the art will appreciate that the terminal 100 may further include a power source (e.g., a battery) for powering the various components, and the power source may be logically coupled to the processor 110 by a power management system to perform functions such as managing charging, discharging, and power consumption by the power management system. The terminal structure shown in fig. 18 does not constitute a limitation of the terminal, and the terminal may include more or less components than shown, or may combine some components, or may be arranged in different components, which will not be described in detail herein.

It should be appreciated that in embodiments of the present application, the input unit 104 may include a graphics processing unit (Graphics Processing Unit, GPU) 1041 and a microphone 1042, with the graphics processor 1041 processing image data of still pictures or video obtained by an image capturing device (e.g., a camera) in a video capturing mode or an image capturing mode. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 107 includes at least one of a touch panel 1071 and other input devices 1072. The touch panel 1071 is also referred to as a touch screen. The touch panel 1071 may include two parts of a touch detection device and a touch controller. Other input devices 1072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and so forth, which are not described in detail herein.

In the embodiment of the present application, after receiving downlink data from a network side device, the radio frequency unit 101 may transmit the downlink data to the processor 110 for processing; in addition, the radio frequency unit 101 may send uplink data to the network side device. Typically, the radio frequency unit 101 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.

Memory 109 may be used to store software programs or instructions and various data. The memory 109 may mainly include a first memory area storing programs or instructions and a second memory area storing data, wherein the first memory area may store an operating system, application programs or instructions (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the memory 109 may include volatile memory or nonvolatile memory, or the memory 109 may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM), static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (ddr SDRAM), enhanced SDRAM (Enhanced SDRAM), synchronous DRAM (SLDRAM), and Direct RAM (DRRAM). Memory 109 in embodiments of the present application includes, but is not limited to, these and any other suitable types of memory.

Processor 110 may include one or more processing units; optionally, the processor 110 integrates an application processor that primarily processes operations involving an operating system, user interface, application programs, etc., and a modem processor that primarily processes wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor 110.

In the case where the terminal 100 is the terminal described in the first embodiment,

the radio frequency unit 101 is configured to receive a target reference signal RS sent by the second wireless communication device. And transmitting a first signal to the third wireless communication device, the first signal being a reflected signal corresponding to the target RS, the first signal being used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

The embodiment of the application provides a terminal, because a first wireless communication device can receive a target RS sent by a second wireless communication device and send a reflected signal corresponding to the target RS, namely a first signal, to a third wireless communication device, wherein the first signal is used for indicating positioning related information of the first wireless communication device and the second wireless communication device, and therefore, the wireless communication device can be accurately positioned without introducing a calibration UE or gNB.

Optionally, in an embodiment of the present application, the processor 110 is configured to modulate the target RS by modulating the sequence signal before sending the first signal to the third wireless communication device, to obtain the first signal.

In the case where the terminal 100 is the terminal described in the second embodiment,

the radio frequency unit 101 is configured to send a first reference signal RS to a third wireless communication device, and send a target RS to the first wireless communication device. Wherein the first RS and the target RS are used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

The embodiment of the application provides a terminal, a second wireless communication device sends a first Reference Signal (RS) to a third wireless communication device and sends a target RS to a first wireless communication device, and because the first RS and the target RS comprise positioning related information for indicating the first wireless communication device and the second wireless communication device, the wireless communication device can be accurately positioned without introducing a calibration UE or gNB.

Optionally, in the embodiment of the present application, the radio frequency unit 101 is specifically configured to send the first RS to the third wireless communication device at a first time, and send the target RS to the first wireless communication device at a second time. Alternatively, the first RS is transmitted to the third wireless communication device at the third time, and the target RS is simultaneously transmitted to the first wireless communication device.

In the case where the terminal 100 is the terminal described in the third embodiment,

wherein, the radio frequency unit 101 is configured to receive a first reference signal RS sent by a second wireless communication device; and receiving a first signal sent by the first wireless communication device, wherein the first signal is a reflected signal corresponding to a target RS, and the target RS is an RS sent by the second wireless communication device to the first wireless communication device. A processor 110 for locating the first wireless communication device and the second wireless communication device based on the first RS and the first signal.

The embodiment of the application provides a terminal, wherein a third wireless communication device can position the first wireless communication device and the second wireless communication device according to a first RS sent by the second wireless communication device through a direct path and a first signal modulated and reflected by the first wireless communication device, so that the wireless communication device can be accurately positioned without introducing a calibration UE or gNB.

Optionally, in an embodiment of the present application, the processor 110 is specifically configured to determine the diameter signal according to the first RS; determining a reflection path signal according to the first signal; and locating the first wireless communication device and the second wireless communication device based on the diameter signal and the reflected diameter signal.

Optionally, in the embodiment of the present application, the processor 110 is specifically configured to determine the first time delay according to the diameter signal, and determine the second time delay according to the reflected diameter signal; and locating the first wireless communication device and the second wireless communication device based on the first time delay and the second time delay. The first time delay is the time delay of a diameter signal sent by the second wireless communication device to the third wireless communication device; the second delay is a delay of a reflected path signal transmitted by the second wireless communication device to the third wireless communication device via the first wireless communication device.

Optionally, in the embodiment of the present application, the processor 110 is specifically configured to determine a first propagation delay difference according to the first time delay and the second time delay, where the propagation delay difference is a difference between a propagation time of the first RS and a propagation time of the target RS, and locate the first wireless communication device and the second wireless communication device according to the first propagation delay difference.

Optionally, in the embodiment of the present application, the radio frequency unit 101 is further configured to receive, before positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal, second information sent by the first wireless communication device; and/or receiving third information sent by the second wireless communication device. The first information comprises a third time delay and a fourth time delay, and the third time delay and the fourth time delay are respectively determined by the third wireless communication device according to the diameter signal and the reflection path signal under the condition that the second wireless communication device and the first wireless communication device are mutually in first conversion. The third time delay is the time delay of the diameter signal sent to the third wireless communication device by the second wireless communication device after the first conversion; the fourth delay is a delay of a reflection path signal transmitted from the first converted second wireless communication device to the third wireless communication device via the first converted first wireless communication device. The second information includes a fifth time delay and a sixth time delay, and the fifth time delay and the sixth time delay are respectively determined by the second wireless communication device according to the diameter signal and the reflection path signal under the condition that the third wireless communication device and the first wireless communication device are mutually in second conversion. The fifth time delay is the time delay of the diameter signal sent by the first wireless communication device after the second conversion to the third wireless communication device after the second conversion; the sixth delay is a delay of a reflected path signal transmitted by the second converted third wireless communication device to the second converted third wireless communication device via the second wireless communication device.

Optionally, in an embodiment of the present application, the processor 110 is further configured to, after receiving the second information sent by the first wireless communication device, locate the first wireless communication device and the second wireless communication device according to the third delay and the fourth delay. The processor is further configured to locate the third wireless communication device and the first wireless communication device after receiving the third information transmitted by the first wireless communication device, the fifth delay and the sixth delay.

Optionally, in the embodiment of the present application, the processor 110 is specifically configured to determine a second propagation delay difference according to the third delay and the fourth delay, where the second propagation delay difference is a difference between a propagation time of the first RS sent by the second wireless communication device after the first conversion and a propagation time of the target RS after the first conversion; and determining a second propagation delay difference according to the fifth time delay and the sixth time delay, wherein the third propagation delay difference is a difference between the propagation time of the first RS sent by the second wireless communication device after the second conversion and the propagation time of the target RS after the second conversion.

Optionally, in the embodiment of the present application, the processor 110 is specifically configured to determine the target distance according to the first propagation delay difference amount, the second propagation delay difference amount, and the third propagation delay difference amount. The target distance includes a first distance, a second distance, and a third distance; the first distance is a distance between the third wireless communication device and the first wireless communication device, the second distance is a distance between the third wireless communication device and the second wireless communication device, and the third distance is a distance between the first wireless communication device and the second wireless communication device.

Optionally, in an embodiment of the present application, the processor 110 is specifically configured to obtain at least three positioning equations, determine a target number of positioning equations from the at least three positioning equations, and determine the target distance according to the target number of positioning equations. Wherein, the positioning equation is: y=ax, y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector arex is a positioning delay parameter vector, and the element of the positioning delay parameter vector is tau _2,3 ＝[x] _2,3 A is a positioning equation matrix, and is determined according to the first propagation delay difference amount, the second propagation delay difference amount and the third propagation delay difference amount.

Optionally, in an embodiment of the present application, the number of at least three positioning equations is a first number; the processor 110 is specifically configured to obtain the second number if the location of the third wireless communication device is a fixed location, and determine the target number according to the second number and the number of positioning equations related to the reflection path of the third wireless communication device. Wherein the first number is:the second number is: />The target number is less than or equal to->K is the number of wireless communication devices in the positioning group.

In the case where the terminal 100 is the terminal described in the fourth embodiment,

Optionally, in the embodiment of the present application, the radio frequency unit 101 is configured to, in a first time slot, serve as a first wireless communication device, receive a target reference signal RS sent by a second wireless communication device, and send a first signal to a third wireless communication device, where the first signal is a reflected signal corresponding to the target RS; in the second time slot, the second wireless communication device sends a first reference signal RS to the third wireless communication device and sends a target RS to the first wireless communication device; and in the third time slot, the first RS sent by the second wireless communication device is received as the third wireless communication device, and the first signal sent by the first wireless communication device is received. A processor 110 for locating the first wireless communication device and the second wireless communication device based on the first RS and the first signal. Wherein the first wireless communication device is used for the terminal performing the positioning method as in step 201 and step 202, the second wireless communication device is used for the terminal performing the positioning method as in step 401, and the third communication device is used for the terminal performing the positioning method as in step 501 to step 503.

The embodiment of the application provides a terminal, because in different time slots, a first wireless communication device, a second wireless communication device and a third wireless communication device can exchange each other, acquire at least one measurement quantity in a RS (reference signal) sending mode, and send the acquired measurement quantity to the third wireless communication device, the third wireless communication device can collect and calculate all data, and position the first wireless communication device and the second wireless communication device. In this way, the wireless communication device can be accurately positioned without introducing calibration UE or gNB.

The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored, where the program or the instruction implements each process of the above positioning method embodiment when executed by at least one of a processor of the first communication device, a processor of the second communication device, a processor of the third communication device, and a processor of the target device, and the process is capable of achieving the same technical effects, so that repetition is avoided and no further description is given here.

Wherein the processor is a processor in the terminal described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.

The embodiment of the application further provides a chip, which comprises a processor and a communication interface, wherein the communication interface is coupled with the processor, and the processor is used for running programs or instructions to realize the processes of the positioning method embodiment, and can achieve the same technical effects, so that repetition is avoided, and the description is omitted.

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

The embodiments of the present application further provide a computer program/program product stored in a storage medium, where the computer program/program product is executed by at least one of a processor of a first communication device, a processor of a second communication device, a processor of a third communication device, and a processor of a target device to implement the respective processes of the above positioning method embodiments, and the same technical effects can be achieved, and are not repeated herein.

The embodiment of the application also provides a positioning system, which comprises the first wireless communication device, the second wireless communication device, the third communication device and/or the target device, wherein the positioning system is used for executing and realizing the processes of the positioning method embodiments in the application, and can achieve the same technical effects, so that repetition is avoided and repeated description is omitted.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.

The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims

1. A positioning method performed by a first wireless communication device, the method comprising:

the first wireless communication device receives a target Reference Signal (RS) sent by the second wireless communication device;

the first wireless communication device sends a first signal to a third wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS, and the first signal is used for indicating positioning related information of the first wireless communication device and the second wireless communication device.

2. The method of claim 1, wherein prior to the first wireless communication device transmitting the first signal to the third wireless communication device, the method further comprises:

the first wireless communication device modulates the target RS through a modulation sequence signal to obtain the first signal.

3. The method of claim 2, wherein the modulation sequence signal is determined by any one of: on-off keying OOK mode, binary phase shift keying BPSK mode, code division multiplexing CDM orthogonal code mode.

4. A method according to any of claims 1 to 3, wherein the first wireless communication device, the second wireless communication device and the third wireless communication device are different communication devices within the same time slot;

Or the first wireless communication device, the second wireless communication device and the third wireless communication device are different communication devices in different time slots;

or, in different time slots, the first wireless communication device, the second wireless communication device, and the third wireless communication device are mutually switched.

5. The method of claim 1, wherein the target RS comprises at least one of: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS.

6. The method of any one of claims 1 to 5, the location of the first wireless communication device being fixed or the location of the first wireless communication device moving along a first trajectory; wherein the location of the first wireless communication device is known information of the third wireless communication device.

7. A positioning method performed by a second wireless communication device, the method comprising:

the second wireless communication device sends a first reference signal RS to the third wireless communication device and sends a target RS to the first wireless communication device;

8. The method of claim 7, wherein the step of determining the position of the probe is performed,

the second wireless communication device transmitting the first RS to the third wireless communication device and transmitting the target RS to the first wireless communication device, comprising:

the second wireless communication device sends the first RS to the third wireless communication device at a first time and sends the target RS to the first wireless communication device at a second time;

or ,

the second wireless communication device transmits the first RS to the third wireless communication device at a third time and simultaneously transmits the target RS to the first wireless communication device.

9. The method according to claim 7 or 8, wherein the first RS and the target RS are the same physical signal, or different physical signals;

the first RS and/or the target RS include at least one of: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS.

10. A positioning method performed by a third wireless communication device, the method comprising:

the third wireless communication device receives a first reference signal RS sent by the second wireless communication device;

The third wireless communication device receives a first signal sent by a first wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS, and the target RS is an RS sent by the second wireless communication device to the first wireless communication device;

the third wireless communication device locates the first wireless communication device and the second wireless communication device based on the first RS and the first signal.

11. The method of claim 10, wherein the third wireless communication device locating the first wireless communication device and the second wireless communication device based on the first RS and the first signal, comprises:

the third wireless communication device determines a diameter signal according to the first RS;

the third wireless communication device determines a reflection path signal according to the first signal;

the third wireless communication device locates the first wireless communication device and the second wireless communication device based on the diameter signal and the reflected diameter signal.

12. The method of claim 11, wherein the third wireless communication device locating the first wireless communication device and the second wireless communication device based on the diameter signal and the reflected path signal comprises:

The third wireless communication device determines a first time delay according to the diameter signal and determines a second time delay according to the reflected diameter signal;

wherein the first delay is a delay of the diameter signal transmitted by the second wireless communication device to the third wireless communication device;

the second delay is the delay of the reflected path signal sent by the second wireless communication device to the third wireless communication device through the first wireless communication device;

the third wireless communication device locates the first wireless communication device and the second wireless communication device according to the first time delay and the second time delay.

13. The method of claim 12, wherein the third wireless communication device locating the first wireless communication device and the second wireless communication device according to the first time delay and the second time delay, comprising:

the third wireless communication device determines a first propagation delay difference amount according to the first time delay and the second time delay, wherein the first propagation delay difference amount is the difference amount between the propagation time of the first RS and the propagation time of the target RS;

the third wireless communication device locates the first wireless communication device and the second wireless communication device based on the first propagation delay difference.

14. The method according to any of claims 10 to 13, wherein before the third wireless communication device locates the first wireless communication device and the second wireless communication device from the first RS and the first signal, the method further comprises:

the third wireless communication device receives second information sent by the first wireless communication device; and/or the number of the groups of groups,

the third wireless communication device receives third information sent by the second wireless communication device;

the first information comprises a third time delay and a fourth time delay, and the third time delay and the fourth time delay are respectively determined by the third wireless communication equipment according to a diameter signal and the reflection path signal under the condition that the second wireless communication equipment and the first wireless communication equipment are mutually in first conversion;

the third time delay is the time delay of a diameter signal sent to the third wireless communication device by the second wireless communication device after the first conversion; the fourth delay is the delay of the reflected path signal sent by the first converted second wireless communication device to the third wireless communication device through the first converted first wireless communication device;

The second information comprises a fifth time delay and a sixth time delay, and the fifth time delay and the sixth time delay are respectively determined by the second wireless communication equipment according to a diameter signal and the reflected diameter signal under the condition that the third wireless communication equipment and the first wireless communication equipment are mutually in second conversion;

the fifth time delay is the time delay of the diameter signal sent by the second converted first wireless communication device to the second converted third wireless communication device; the sixth delay is a delay of the reflected path signal sent by the second converted third wireless communication device to the second converted third wireless communication device via the second wireless communication device.

15. The method of claim 14, wherein after the third wireless communication device receives the second information sent by the first wireless communication device, the method further comprises:

the third wireless communication device locates the first wireless communication device and the second wireless communication device according to the third time delay and the fourth time delay;

after the third wireless communication device receives the third information sent by the first wireless communication device, the method further includes:

The third wireless communication device locates the third wireless communication device and the first wireless communication device according to the fifth delay and the sixth delay.

16. The method of claim 15, wherein the third wireless communication device locating the first wireless communication device and the second wireless communication device according to the third time delay and the fourth time delay comprises:

the third wireless communication device determines a second propagation delay difference amount according to the third time delay and the fourth time delay, wherein the second propagation delay difference amount is the difference amount between the propagation time of the first RS sent by the second wireless communication device after the first conversion and the propagation time of the target RS after the first conversion;

the third wireless communication device locating the third wireless communication device and the first wireless communication device according to the fifth delay and the sixth delay, comprising:

the third wireless communication device determines a second propagation delay difference amount according to the fifth time delay and the sixth time delay, wherein the third propagation delay difference amount is a difference amount between the propagation time of the first RS sent by the second wireless communication device after the second conversion and the propagation time of the target RS after the second conversion.

17. The method of any of claims 13 to 16, wherein the third wireless communication device locates the first wireless communication device and the second wireless communication device based on the diameter signal and the reflected diameter signal, comprising:

the third wireless communication device determines a target distance according to the first propagation delay difference amount, the second propagation delay difference amount and the third propagation delay difference amount;

the target distance includes a first distance, a second distance, and a third distance;

the first distance is a distance between the third wireless communication device and the first wireless communication device, the second distance is a distance between the third wireless communication device and the second wireless communication device, and the third distance is a distance between the first wireless communication device and the second wireless communication device.

18. The method of any one of claims 11 to 17, wherein the diameter signal is:

wherein ,A₂ Determined by the signal gain of the modulated sequence signal, w' _2,3 [n]And respectively, the additive white gaussian noise AWGN received by the second wireless communication device in the nth symbol, wherein the AWGN includes an interference signal.

19. The method of any one of claims 11 to 17, wherein the reflected path signal is:

wherein ,A₁ Determined by the signal gain of the modulated sequence signal, and w _2.3 [n]And respectively, the additive white gaussian noise AWGN received by the second wireless communication device in the nth symbol, wherein the AWGN includes an interference signal.

20. The method according to any one of claims 12 to 19, wherein,

the first time delay is:

wherein ,for delaying from the first time->Time offset, τ, of transmitting diameter signal for second wireless communication device _2,3 For the total propagation time of the diameter signal transmitted from the second wireless communication device to the third wireless communication device +.>A time offset for receiving a diameter signal for a third wireless communication device;

the second delay is:

wherein ,for the second time delay, +.>Time offset τ for transmitting reflected path signals for a second wireless communication device _2,1 For the propagation time of a target RS signal transmitted from a second wireless communication device to a first wireless communication device, τ _1,3 For the propagation time of the reflection path signal transmitted from the first wireless communication device to the third wireless communication device, and (2)>Receiving a time offset of the reflected path signal for the third wireless communication device;

Wherein the timing errors experienced by the transmitting end and the receiving end are respectively and />

The radio frequency signals RF of the transmitting end and the receiving end are different,

21. the method according to any one of claims 13 to 20, wherein,

the first propagation delay difference amount is:

wherein ,for the propagation delay difference amount, +.>For the second delay, +.>Is the first delay.

22. The method according to any one of claims 16 to 21, wherein,

the third wireless communication device determining a target distance from the first propagation delay difference amount, the second propagation delay difference amount, and the third propagation delay difference amount, comprising:

the third wireless communication equipment acquires at least three positioning equations, determines the positioning equations of the target number from the at least three positioning equations, and determines the target distance according to the positioning equations of the target number;

wherein, the positioning equation is: y=ax, y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector arex is the positioning delay parameter vector, and the elements of the positioning delay parameter vector are tau _2,3 ＝[x] _2,3 A is the positioning equation matrix and is determined according to the first propagation delay difference quantity, the second propagation delay difference quantity and the third propagation delay difference quantity.

23. The method of claim 22, wherein the step of determining the position of the probe is performed,

the positioning delay parameter vector passes x= (a) ^T A) ^-1 A ^T And y is determined.

24. The method of claim 22, wherein the number of the at least three positioning equations is a first number;

the determining the location equation of the target number from the at least three location equations includes:

the third wireless communication device obtains a second number and determines the target number according to the second number and the number of positioning equations related to the reflection path of the third wireless communication device when the position of the third wireless communication device is a fixed position;

wherein the first number is:the second number is: />The target number is less than or equal to +.>K is the number of wireless communication devices in the positioning group.

25. A positioning method performed by a target device, the method comprising:

in a first time slot, the target device is used as a first wireless communication device, receives a target Reference Signal (RS) sent by a second wireless communication device, and sends a first signal to a third wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS;

In a second time slot, the target device sends a first Reference Signal (RS) to the third wireless communication device as the second wireless communication device, and sends the target RS to the first wireless communication device;

in a third time slot, the target device receives the first signal sent by the first wireless communication device as the first RS sent by the second wireless communication device by using the third wireless communication device;

locating the first and second wireless communication devices according to the first RS and the first signal;

wherein the first wireless communication device is configured to perform the positioning method according to any one of claims 1 to 6, the second wireless communication device is configured to perform the positioning method according to any one of claims 7 to 9, and the third wireless communication device is configured to perform the positioning method according to any one of claims 10 to 24.

26. A positioning device, the device comprising: a receiving module and a transmitting module;

the receiving module is used for receiving a target reference signal RS sent by the second wireless communication equipment;

the sending module is configured to send a first signal to a third wireless communication device, where the first signal is a reflected signal corresponding to the target RS, and the first signal is used to indicate positioning related information of the first wireless communication device and the second wireless communication device.

27. The apparatus of claim 26, wherein the apparatus further comprises: a modulation module;

the modulating module is configured to modulate the target RS by modulating a sequence signal before the transmitting module transmits a first signal to a third wireless communication device, so as to obtain the first signal.

28. The apparatus of claim 27, wherein the modulation sequence signal is determined by any one of: on-off keying OOK mode, binary phase shift keying BPSK mode, code division multiplexing CDM orthogonal code mode.

29. The apparatus according to any one of claims 26 to 28, wherein the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices within the same time slot;

30. The apparatus of claim 26, wherein the target RS comprises at least one of: tracking reference signal TRS, channel state information reference signal CSI-RS, positioning reference signal PRS.

31. The apparatus of any of claims 26 to 30, the location of the first wireless communication device being fixed or the location of the first wireless communication device moving along a first trajectory; wherein the location of the first wireless communication device is known information of the third wireless communication device.

32. A positioning device, the device comprising: a transmitting module;

the sending module is used for sending a first reference signal RS to the third wireless communication equipment and sending a target RS to the first wireless communication equipment;

33. The apparatus of claim 32, wherein the device comprises a plurality of sensors,

the sending module is specifically configured to send the first RS to the third wireless communication device at a first time, and send the target RS to the first wireless communication device at a second time;

or, transmitting the first RS to the third wireless communication device at a third time, and simultaneously transmitting the target RS to the first wireless communication device.

34. The apparatus of claim 31 or 32, wherein the first RS and the target RS are the same physical signal, or different physical signals;

35. A positioning device, the device comprising: a receiving module and a positioning module;

the receiving module is used for receiving a first reference signal RS sent by the second wireless communication equipment; receiving a first signal sent by a first wireless communication device, wherein the first signal is a reflected signal corresponding to the target RS, and the target RS is an RS sent by a second wireless communication device to the first wireless communication device;

the positioning module is configured to perform positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module.

36. The apparatus of claim 35, wherein the device comprises a plurality of sensors,

the positioning module is specifically configured to determine a diameter signal according to the first RS; determining a reflection path signal according to the first signal; and locating the first wireless communication device and the second wireless communication device based on the diameter signal and the reflected diameter signal.

37. The apparatus of claim 36, wherein the device comprises a plurality of sensors,

the positioning module is specifically configured to determine a first time delay according to the diameter signal, and determine a second time delay according to the reflected diameter signal; and locating the first wireless communication device and the second wireless communication device based on the first time delay and the second time delay

the second delay is a delay of the reflected path signal transmitted by the second wireless communication device to a third wireless communication device via the first wireless communication device.

38. The apparatus of claim 37, wherein the device comprises a plurality of sensors,

the positioning module is specifically configured to determine a first propagation delay difference amount according to the first delay and the second delay, where the first propagation delay difference amount is a difference amount between a propagation time of the first RS and a propagation time of the target RS; and locating the first wireless communication device and the second wireless communication device based on the first propagation delay difference.

39. The device according to any one of claims 35 to 38, wherein,

The receiving module is further configured to receive second information sent by the first wireless communication device before the positioning module performs positioning for the first wireless communication device and the second wireless communication device according to the first RS and the first signal; and/or the number of the groups of groups,

receiving third information sent by the second wireless communication device;

40. The apparatus of claim 39, wherein the positioning module is further for positioning the first wireless communication device and the second wireless communication device according to the third delay and the fourth delay after the receiving module receives the second information sent by the first wireless communication device;

the positioning module is further configured to, after the receiving module receives the third information sent by the first wireless communication device, position the third wireless communication device and the first wireless communication device with the fifth delay and the sixth delay.

41. The apparatus of claim 40, wherein the device comprises,

the positioning module is specifically configured to determine a second propagation delay difference amount according to the third delay and the fourth delay, where the second propagation delay difference amount is a difference amount between a propagation time of the first RS sent by the first converted second wireless communication device and a propagation time of the first converted target RS;

The positioning module is specifically configured to determine a second propagation delay difference amount according to the fifth time delay and the sixth time delay, where the third propagation delay difference amount is a difference amount between a propagation time of the first RS sent by the second converted second wireless communication device and a propagation time of the second converted target RS.

42. The apparatus of any one of claims 38 to 41, wherein,

the positioning module is specifically configured to determine a target distance according to the first propagation delay difference amount, the second propagation delay difference amount, and the third propagation delay difference amount;

43. The apparatus of any one of claims 36 to 42, wherein the diameter signal is:

44. The apparatus of any one of claims 36 to 42, wherein the reflected path signal is:

wherein ,A₁ Determined by the signal gain of the modulated sequence signal, and w _2.3 [n]Respectively isAnd an Additive White Gaussian Noise (AWGN) received by the second wireless communication device in an nth symbol, the AWGN including an interfering signal therein.

45. The apparatus of any one of claims 37 to 44, wherein,

the first time delay is:

the second delay is:

wherein ,for the second time delay, +.>Time offset τ for transmitting reflected path signals for a second wireless communication device _2,1 For the propagation time of a target RS signal transmitted from a second wireless communication device to a first wireless communication device, τ _1,3 For transmission from the first to the third wireless communication devicePropagation time of the reflection path signal, +.>Receiving a time offset of the reflected path signal for the third wireless communication device;

46. the apparatus of any one of claims 38 to 45, wherein,

the first propagation delay difference amount is:

47. The apparatus of any one of claims 41 to 46, wherein,

the positioning module is specifically configured to obtain at least three positioning equations, determine a target number of positioning equations from the at least three positioning equations, and determine a target distance according to the target number of positioning equations;

48. The apparatus of claim 47, wherein the device comprises,

49. The apparatus of claim 47, wherein the number of the at least three positioning equations is a first number;

the positioning module is specifically configured to obtain a second number when the position of the third wireless communication device is a fixed position, and determine the target number according to the second number and the number of positioning equations related to the reflection path of the third wireless communication device;

50. A positioning device, the device comprising: the device comprises a receiving module, a sending module and a positioning module;

the receiving module is configured to receive, as a first wireless communication device, a target reference signal RS sent by a second wireless communication device in a first time slot, and send a first signal to a third wireless communication device, where the first signal is a reflected signal corresponding to the target RS;

the sending module is configured to send, as the second wireless communication device, a first reference signal RS to the third wireless communication device and send the target RS to the first wireless communication device in a second time slot;

The receiving module is further configured to receive, as the third wireless communication device, the first RS sent by the second wireless communication device, and receive the first signal sent by the first wireless communication device in a third time slot;

the positioning module is used for positioning the first wireless communication device and the second wireless communication device according to the first RS and the first signal received by the receiving module;

wherein the first wireless communication device is configured to perform the positioning apparatus of any of claims 26 to 31, the second wireless communication device is configured to perform the positioning apparatus of any of claims 32 to 34, and the third wireless communication device is configured to perform the positioning apparatus of any of claims 35 to 49.

51. A terminal comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, performs the steps of the positioning method according to any one of claims 1 to 25.

52. A readable storage medium having stored thereon a program or instructions that satisfy at least one of:

The steps of the positioning method according to any of claims 1 to 6 when executed by a processor of a first communication device;

the steps of implementing the positioning method according to any of claims 7 to 9 when executed by a processor of a second communication device;

the steps of implementing the positioning method according to any of claims 10 to 24 when executed by a processor of a third communication device;

the steps of the positioning method according to claim 25 being implemented when executed by a processor of the target device.