CN116634555A

CN116634555A - Positioning method, device and readable storage medium

Info

Publication number: CN116634555A
Application number: CN202210135593.7A
Authority: CN
Inventors: 王园园; 司晔; 邬华明
Original assignee: Vivo Mobile Communication Co Ltd
Current assignee: Vivo Mobile Communication Co Ltd
Priority date: 2022-02-14
Filing date: 2022-02-14
Publication date: 2023-08-22

Abstract

The application discloses a positioning method, equipment and a readable storage medium, belonging to the technical field of communication, wherein the method comprises the following steps: the terminal receives a first message; the terminal determines positioning information according to the first message; wherein the first message includes at least one of first line-of-sight transmission LOS indication information, first non-line-of-sight transmission NLOS indication information, and first correction information.

Description

Positioning method, device and readable storage medium

Technical Field

The application belongs to the technical field of communication, and particularly relates to a positioning method, positioning equipment and a readable storage medium.

Background

In the positioning, synchronization errors, equipment group delay, angle errors and the like exist between network side equipment and between the network equipment and terminal equipment, and a corresponding conclusion does not exist on how to enable UE to alleviate the errors when the UE is self-positioned in a positioning method of terminal autonomous (UE-based), and particularly, how to effectively eliminate the errors along with the change of the environment or channel conditions between the base station and the UE even though the UE receives signals of the same base station, and a corresponding solution does not exist.

Disclosure of Invention

The embodiment of the application provides a positioning method, positioning equipment and a readable storage medium, which can solve the problem that no way for relieving errors exists in the self-positioning process of UE at present.

In a first aspect, a positioning method is provided, including:

the terminal receives a first message;

the terminal determines positioning information according to the first message;

wherein the first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

In a second aspect, a positioning method is provided, including:

the LMF determines a first message for determining positioning information by the terminal

The LMF sends a first message to the terminal;

In a third aspect, a positioning method is provided, including:

the PRU determines a first message, wherein the first message is used for determining positioning information by a terminal;

the PRU sends a first message to the terminal;

In a fourth aspect, there is provided a positioning device comprising:

the first receiving module is used for receiving the first message by the terminal;

the first determining module is used for determining positioning information according to the first message by the terminal;

In a fifth aspect, there is provided a positioning device comprising:

a second determining module, configured to determine a first message by using the LMF, where the first message is used for determining positioning information by using the terminal

The first sending module is used for sending a first message to the terminal by the LMF;

In a sixth aspect, there is provided a positioning device comprising:

a third determining module, configured to determine a first message by using a PRU, where the first message is used for determining positioning information by using a terminal;

a second sending module, configured to send a first message to the terminal by using the PRU;

In a seventh aspect, there is provided a terminal comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the method as described in the first aspect.

An eighth aspect provides a terminal, including a processor and a communication interface, where the communication interface is configured to receive a first message by the terminal; the processor is used for determining positioning information according to the first message by the terminal; wherein the first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

In a ninth aspect, a network side device is provided, comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the method according to the second or third aspect.

In a tenth aspect, a network side device is provided, including a processor and a communication interface, where the processor is configured to determine a first message by using an LMF, where the first message is used for determining positioning information by using a terminal, and the communication interface is configured to send the first message to the terminal by using the LMF; wherein the first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

Or the processor is used for determining a first message by the PRU, wherein the first message is used for determining positioning information by the terminal; the communication interface is used for the PRU to send a first message to the terminal; wherein the first message includes at least one of first LOS indication information, first NLOS indication information, and first correction information.

In an eleventh aspect, there is provided a readable storage medium having stored thereon a program or instructions which when executed by a processor, performs the steps of the method according to the first aspect, or performs the steps of the method according to the second aspect, or performs the steps of the method according to the third aspect.

In a twelfth aspect, there is provided a chip comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being adapted to run a program or instructions, to perform the steps of the method according to the first aspect, or to perform the steps of the method according to the second aspect, or to perform the steps of the method according to the third aspect.

In a thirteenth aspect, there is provided a computer program/program product stored in a storage medium, the computer program/program product being executable by at least one processor to perform the steps of the method according to the first aspect, or to perform the steps of the method according to the second aspect, or to perform the steps of the method according to the third aspect.

In the embodiment of the application, the terminal receives the first message containing LOS indication information and/or NLOS indication information and correction information, and determines the positioning information according to the first message, so that the terminal can correct errors according to the LOS and NLOS states of the terminal when the terminal is positioned by itself, and accurate positioning is realized.

Drawings

FIG. 1 is a schematic flow chart of a positioning method according to an embodiment of the present application;

FIG. 2 is a second flow chart of a positioning method according to the embodiment of the application;

FIG. 3 is a third flow chart of a positioning method according to an embodiment of the application;

FIG. 4a is one of the flow diagrams of an implementation example provided by an embodiment of the present application;

FIG. 4b is a second flow chart of an embodiment of the present application;

FIG. 5 is a schematic diagram of a positioning device according to an embodiment of the present application;

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

FIG. 7 is a third schematic diagram of a positioning device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a communication device according to an embodiment of the present application;

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

fig. 10 is a schematic structural diagram of a network side device 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 claims, "and/or" means at least one of the connected objects, and the character "/" generally means a relationship in which the associated object is an "or" before and after.

It is worth noting that the present application is implementedThe techniques described in the examples 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 (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.

In the embodiment of the present application, the terminal may be a mobile phone, a tablet Computer (Tablet Personal Computer), a Laptop (lapop Computer) or a terminal-side Device called a notebook, a personal digital assistant (Personal Digital Assistant, PDA), a palm top, a netbook, an ultra-mobile personal Computer (um-mobile personal Computer, UMPC), a mobile internet appliance (Mobile Internet Device, MID), an augmented reality (augmented reality, AR)/Virtual Reality (VR) Device, a robot, a Wearable Device (weather), a vehicle-mounted Device (VUE), a pedestrian terminal (PUE), a smart home (home Device with a wireless communication function, such as a refrigerator, a television, a washing machine, or furniture), a game machine, a personal Computer (personal Computer, a PC), a teller machine, or a self-service machine, and the Wearable Device includes: intelligent wrist-watch, intelligent bracelet, intelligent earphone, intelligent glasses, intelligent ornament (intelligent bracelet, intelligent ring, intelligent necklace, intelligent anklet, intelligent foot chain etc.), intelligent wrist strap, intelligent clothing etc.. It should be noted that, the embodiment of the present application is not limited to a specific type of terminal. The network-side device may comprise an access network device or a core network device, wherein the access network device may also be referred to as a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a radio access network element. The access network device may include a base station, a WLAN access point, a WiFi node, or the like, where the base station may be referred to as a node B, an evolved node B (eNB), 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 home node B, a home evolved node B, a transmission receiving 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 described by way of example, and the specific type of the base station is not limited. The core network device may include, but is not limited to, at least one of: core network nodes, core network functions, mobility management entities (Mobility Management Entity, MME), access mobility management functions (Access and Mobility Management Function, AMF), session management functions (Session Management Function, SMF), user plane functions (User Plane Function, UPF), policy control functions (Policy Control Function, PCF), policy and charging rules function units (Policy and Charging Rules Function, PCRF), edge application service discovery functions (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data repository (Unified Data Repository, UDR), home subscriber server (Home Subscriber Server, HSS), centralized network configuration (Centralized network configuration, CNC), network storage functions (Network Repository Function, NRF), network opening functions (Network Exposure Function, NEF), local NEF (or L-NEF), binding support functions (Binding Support Function, BSF), application functions (Application Function, AF), LMF, E-SMLC, etc. It should be noted that, in the embodiment of the present application, only the core network device in the NR system is described as an example, and the specific type of the core network device is not limited.

For a better understanding of the technical solution of the present application, the following description will be given first:

NR localization

NR positioning is the Uu port, positioning based on signal measurements between the base station and the UE;

2. in the Rel-17 NR positioning enhancement stage, line of sight (LOS) and non-Line of sight (Not Line of sight, NLOS) indication information reporting and multi-path measurement result reporting are supported;

in positioning, synchronization errors, equipment group delay, angle errors and the like exist between network side equipment and between the network equipment and the terminal equipment, rel-17 prepares to introduce a positioning reference unit (Positioning Reference Unit, PRU) to relieve the errors, but for a positioning method of UE-based, how to enable common UE to relieve the errors when the UE is self-positioned, and the channel conditions (such as LOS or NLOS) where the UE is located are considered, and no corresponding conclusion exists.

In addition, rel-17 introduces a positioning reference unit (Positioning Reference Unit, PRU), only reporting measurement information or position information is considered, correction information calculated by the PRU in LOS according to self position information and measurement information is not considered, and corresponding errors are different from correction information calculated by the PRU in NLOS state according to self position information and measurement information.

For example, in one case:

the correction information or error sources in the LOS state include: synchronization error, device group delay (Tx TEG, rx TEG, rxTx TEG) and angle error

Correction information or error sources in NLOS state: synchronization errors, device group delay (Tx TEG, rx TEG, rxTx TEG of TRP) and angle errors, and ranging errors introduced by NLOS;

the proposal of the invention further considers the combination of the information reported by the PRU and the LOS condition and/or corrects the relation between the information and the LOS condition, thereby further relieving the positioning error caused by the synchronization error, the equipment group delay and the angle error of the network side equipment and the terminal equipment.

Interpretation of noun terms:

group delay information (also referred to as Time Error Group (TEG)) that is the same as (or less than a certain threshold by) the group delay of transmitting or receiving one or more signals can be understood as a TEG;

the TEG may include Tx TEG, rx TEG, rxTx TEG, or { Rx TEG, tx TEG };

tx time error (Tx timing error) there is a time delay from the time the digital signal is generated at baseband to the time the RF signal is transmitted from the Tx antenna from the point of view of signal transmission. To support positioning, the UE/TRP may implement internal calibration/compensation of Tx time delay (Tx time delay) for transmission of DL PRS/UL SRS signals. The Tx time delay remaining after calibration or the uncalibrated Tx time delay is defined as Tx time error. The Tx timing error at the UE side can be understood as the time from Baseband (BB) to Antenna (Ant).

Rx time error (Rx timing error) there is a time delay from the reception of the RF signal from the Rx antenna to baseband processing from the point of view of signal reception. To support positioning, the UE/TRP may perform internal calibration/compensation of Rx time delay (Rx time delay) on the measurement results of DL PRS/UL SRS before making a measurement report. The Rx time delay remaining after calibration or the un-calibrated Rx time delay is defined as the Rx time error. The Rx timing error at the UE side can be understood as the time from Ant to BB.

UE Tx time error group (UE Tx 'timing error group' (UE Tx TEG)): the UE Tx TEG is associated with the transmission of one or more UL SRS resources for positioning, the Tx time error of which is within a certain range. It is considered that the SRS transmitted by the same Tx panel may be associated with the same UE Tx TEG.

TRP Tx time error group (TRP Tx 'timing error group' (TRP Tx TEG)): the TRP Tx TEG is associated with the transmission of one or more DL PRS resources whose Tx time error is within a certain range. PRS transmitted by the same Tx panel can be considered to be associated with the same TRP Tx TEG.

UE Rx time error group (UE Rx 'timing error group' (UE Rx TEG)): the UE Rx TEG is associated with one or more DL measurements whose Rx time errors are within a certain range. The PRS for the same Rx panel measurement is considered, and the PRS measurement results may be associated with the same UE Rx TEG.

TRP Rx time error group (TRP Rx 'timing error group' (TRP Rx TEG)): the TRP Rx TEG is associated with one or more UL measurements whose Rx time errors are within a certain range. It can be considered that SRS of the same Rx panel measurement, SRS measurement results can be associated with the same TRP Tx TEG.

UE RxTx time error group (UE RxTx 'timing error group' (UE RxTx TEG)): the UE RxTx TEG is associated with one or more UE Rx-Tx time difference measurements and one or more UL SRS resources, the "Rx timing error + Tx timing error" of which are within a certain range.

TRP RxTx time error group (TRP RxTx 'timing error group' (TRP RxTx TEG)): the TRP RxTx TEG is associated with one or more gNB Rx-Tx time difference measurements and one or more DL PRS resources, which are within a range of "Rx timing error + Tx timing error".

The positioning method provided by the embodiment of the application is described in detail through some embodiments and application scenes thereof by combining the attached drawings.

Referring to fig. 1, an embodiment of the present application provides a positioning method, where an execution body of the method is a terminal, and the method includes:

step 101: the terminal receives a first message;

step 102: the terminal determines positioning information according to the first message;

The first LOS indication information and the first NLOS indication information are used for indicating LOS and NLOS states of the terminal, and the first correction information is used for correcting the obtained position information by the terminal.

The information contained in the first message may also be referred to as positioning assistance information.

It should be noted that, in the embodiment of the present application, the source of the first message received by the terminal may be a location management function (Location Management Function, LMF), or may also be a PRU, for example: if the PRU deployment location is relatively close to the terminal location, the PRU provides LOS indication information and/or NLOS indication information and correction information for the terminal, so that the positioning of the terminal can be more accurate.

In one possible implementation, the first correction information includes one or more of the following:

(1) Group delay information (or TEG);

(2) Synchronization information; (e.g., RTD, synchronization error between base stations or TRPs, etc.)

(3) Absolute delay information introduced by NLOS; (e.g., absolute time, NLOS versus LOS introduced, or further, absolute time, NLOS versus LOS introduced versus UE location (e.g., UE versus PRU location, UE versus TRP or reference cell location);

(4) Ranging error information.

(1) -reference signal time difference (Reference Signal Time Difference, RSTD) measurement correction information; such as RSTD error or RSTD offset;

(2) Transmitting and receiving time difference (Rx-Tx time difference) measurement correction information; such as Rx-Tx time difference error or Rx-Tx time difference offset;

(3) Time of arrival (TOA) measures correction information; such as TOA error or TOA offset;

(4) Angle error information; such as AOA, or AOD error or correction, or antenna center point offset, antenna firing angle offset.

In one possible implementation, the first correction information further includes one or more of the following:

(1) Time error group identification information, such as: TEG IDs including, but not limited to, rx TEG ID, tx TEG ID, rx Tx TEG ID;

(2) Transmitting receiving point identification information, e.g., TRP ID, base station identification information, absolute radio channel number (Absolute Radio Frequency Channel Number, ARFCN).

Further, the time error group identity is associated with positioning reference signal identification information, wherein the positioning reference signals comprise at least one of downlink positioning reference signals and uplink positioning reference signals.

In one possible implementation, the first correction information includes: the correction information corresponding to LOS and/or the correction information corresponding to NLOS, i.e. the terminal may receive two kinds of first correction information, one is the first correction information a corresponding to LOS and the other is the first correction information b corresponding to NLOS, the information contents of the first correction information a and the first correction information b are as described above.

It should be noted that the content of the first correction information a carried by the LOS case and the content of the first correction information b carried by the NLOS case may be different, for example, the first correction information a carries at least one of group delay and synchronization error; the first correction information b carries absolute delay introduced by the NLOS and/or relation of absolute delay introduced by the NLOS and UE position/or ranging.

For another example, the first correction information a carries at least one of group delay, synchronization error and ranging error; and the first correction information b carries reference signal time difference RSTD measurement correction information, transmit and receive time difference measurement correction information, and one or more of arrival time TOA measurement correction information and angle error information.

In another embodiment, the content of the first correction information a carried in the LOS case is the same as that of the first correction information b carried in the NLOS case, and the values are different, for example, the absolute time delay introduced by the NLOS is 0 in the LOS case, and the absolute time delay introduced by the NLOS is other values in the NLOS case.

In one possible implementation, the first LOS indication information and/or the first NLOS indication information is carried in the first correction information.

In a possible implementation manner, the first correction information is correction information for correcting measurement results between the terminal and the plurality of TRPs, that is, the terminal receives the first correction information corresponding to the plurality of TRPs, and the measurement results between the terminal and the plurality of TRPs are corrected through the first correction information, so that positioning is more accurate;

alternatively, the first correction information is correction information for correcting measurement results between a plurality of neighboring TRPs and a reference TRP of the terminal, that is, the terminal receives the first correction information between the plurality of neighboring TRPs and the reference TRP, and the measurement results between the neighboring TRP and the reference TRP, specifically, the measurement result difference between the neighboring TRP and the reference TRP is corrected by the first correction information, so that the positioning is more accurate.

Specifically, in the embodiment of the present application, the TRP ID is an ID adjacent to the TRP, and it is noted that, the TRP ID is used to identify a network device associated with a specific location, and specific information of the TRP ID may be local identification information (for example, dl-PRS-ID, which has a value of 0 to 255, such as PCI) or base station identification information;

further, the LOS indication information indicates that the first correction information corresponding to the TRP ID is correction information corresponding to LOS;

optionally, the terminal also needs to receive identification information of the reference TRP.

Further, in one possible embodiment, the first correction information is correction information for correcting a terminal corresponding to a measurement result of one or more positioning reference signal resources (PRS resources) of each of the plurality of TRPs, that is, a measurement result of PRS resources specifically corrected by the first correction information;

alternatively, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of the plurality of neighboring TRPs and the reference TRP of the terminal.

Alternatively, the first correction information is correction information for correcting a measurement result between the terminal and one or more TEGs of each of the plurality of TRPs. Since one TRP may have one or more TEGs, the first correction information specifically corrects the measurement result of one or more TEGs of the TRP;

Or,

the first correction information is correction information for correcting measurement results between one or more TEGs of each of a plurality of neighboring TRPs of the terminal and a reference TRP;

specifically, in the embodiment of the present application, the first correction information includes PRS resource identification information (e.g., PRS resource ID, PRS resource set ID);

specifically, the TEG ID is related to PRS resource identification information; for example, one TEG ID is associated with one or more PRS resources.

Further, the LOS indication information indicates that the first correction information corresponding to the PRS resource is correction information corresponding to LOS.

In one possible implementation, the terminal receives a first message, including: the terminal receives a first message from the LMF;

the first correction information is determined by the LMF according to position information and/or measurement information reported by one or more PRUs, or the first correction information is determined by the LMF according to second correction information reported by one or more PRUs and second LOS and/or second NLOS indication information.

In the embodiment of the application, one mode is as follows: the LMF determines first correction information according to the position information and/or measurement information obtained from the PRU and provides the first correction information to the terminal; another way is: the PRU reports second correction information and second LOS and/or second NLOS indication information to the LMF, and the LMF determines first correction information based on the PRU report information; it should be noted that the second correction information may be the same as or different from the first correction information, that is, the correction information provided by the PRU may be different from or the same as the correction information finally provided by the LMF to the terminal, depending on the determination process on the LMF side.

In one possible implementation, the group delay information includes one or more of the following:

(1) Group delay group identification information;

(2) Group delay difference information;

(3) Reference group delay identification information;

(4) Group delay value information; the method comprises specific group delay values, group delay variance and mean value;

(5) Group delay threshold. There may be one or more group delay thresholds.

In one possible implementation, before the terminal receives the first message, the method further includes:

the terminal sends capability information to the LMF or the PRU;

the capability information is used for indicating whether the terminal supports receiving the first correction information.

Further, the capability information is used to instruct the terminal to support receiving the correction information corresponding to LOS, or the capability information is used to instruct the terminal to support receiving the correction information corresponding to NLOS.

In one possible implementation, the determining, by the terminal, positioning information according to the first message includes:

the terminal determines positioning information according to the correction information corresponding to the LOS; alternatively, the terminal determines the positioning information based on the correction information corresponding to the NLOS. Namely, the terminal selects corresponding correction information to perform positioning correction according to the LOS or NLOS state.

In one possible implementation, the first message further includes:

the compensation mark is used for indicating whether the positioning information is obtained by compensation based on the first correction information, the accuracy of the positioning information is determined by the terminal through the compensation mark, and if the positioning information is obtained by compensation based on the first correction information, the accuracy of the positioning information obtained by the terminal is higher;

in one possible implementation, the positioning information includes one or more of the following:

(1) Absolute position information;

(2) Relative position information;

(3) A position information error value;

(4) Signal measurement information error values;

(5) And the compensation identifier is used for indicating whether the positioning information is compensated based on the first correction information. I.e. the offset identity may be included in both the first message and the positioning information.

In one possible implementation, the measurement information reported by the PRU to the LMF includes one or more of the following:

RSTD measurement;

round-trip time (RTT) measurements;

angle Of Arrival (AOA) measurements;

angle of departure (Angel Of Departure, AOD) measurements;

reference signal received power (Reference Signal Receiving Power, RSRP);

Multipath measurement information;

LOS indication information;

wherein the multipath measurement information includes one or more of:

the power of the first path or multipath;

time delay of first path or multipath;

TOA of first path or multipath;

RSTD or multipath RSTD;

antenna sub-carrier phase differences of first paths or multipaths;

the antenna sub-carrier phase of the first path or multipath.

the terminal sends a request message to the LMF or the PRU;

wherein the request message is used for requesting the first message.

Referring to fig. 2, an embodiment of the present application provides a positioning method, where an execution body of the method is an LMF, and the method includes:

step 201: the LMF determines a first message, wherein the first message is used for determining positioning information by the terminal;

step 202: the LMF sends a first message to the terminal;

(1) Group delay information;

(2) Synchronization information;

(3) Absolute delay information introduced by NLOS;

(4) Ranging error information.

(1) RSTD measures correction information;

(2) Transmitting and receiving time difference measurement correction information;

(3) TOA measures correction information;

(4) Angle error information.

(1) Time error group identification information;

(2) And transmitting the identification information of the receiving point.

In one possible implementation, the time error group identity is associated with positioning reference signal identification information.

In one possible implementation, the first correction information includes: correction information corresponding to LOS, and/or correction information corresponding to NLOS.

In one possible embodiment, the first correction information is correction information for correcting measurement results between the terminal and the plurality of TRPs;

Alternatively, the first correction information is correction information for correcting measurement results between a plurality of neighboring TRPs of the terminal and the reference TRP.

In one possible embodiment, the first correction information is correction information for correcting measurement results of one or more positioning reference signal resources PRS resources of the terminal and each of the plurality of TRPs;

or,

the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of a plurality of neighboring TRPs and a reference TRP of the terminal;

or,

the first correction information is correction information for correcting measurement results between the terminal and one or more TEGs of each of the plurality of TRPs;

or,

the first correction information is correction information for correcting measurement results between one or more TEGs of each of a plurality of neighboring TRPs of the terminal and the reference TRP.

In one possible implementation, the LMF determines the first message comprising:

the LMF determines first correction information according to position information and/or measurement information reported by one or more PRUs, wherein the first correction information is determined by the LMF according to the difference value between the actual measurement value and the ideal measurement value of the PRU, and the ideal measurement value is determined according to the position information of the PRU and the position information of the TRP;

Or, the LMF determines the first correction information according to second correction information reported by one or more PRUs and second LOS and/or second NLOS indication information, wherein the second correction information is determined by the PRU according to the difference value between the actual measured value of the PRU and the ideal measured value, and the ideal measured value is determined according to the position information of the PRU and the position information of TRP.

(1) Group delay group identification information;

(2) Group delay difference information;

(3) Reference group delay identification information;

(4) Group delay value information;

(5) Group delay threshold.

In one possible implementation, before the LMF sends the first message to the terminal, the method further includes:

the LMF receives capability information from the terminal;

In one possible implementation, the capability information is used to indicate that the terminal supports receiving correction information corresponding to LOS, or the capability information is used to indicate that the terminal supports receiving correction information corresponding to NLOS.

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

RSTD measurement;

RTT measurement;

AOA measurement;

AOD measurements;

RSRP；

multipath measurement information;

LOS indication information;

wherein the multipath measurement information includes one or more of:

the power of the first path or multipath;

time delay of first path or multipath;

TOA of first path or multipath;

RSTD or multipath RSTD;

antenna sub-carrier phase differences of first paths or multipaths;

the antenna sub-carrier phase of the first path or multipath.

the LMF receives a request message from the terminal;

wherein the request message is used for requesting the first message.

Referring to fig. 3, an embodiment of the present application provides a positioning method, where an execution body of the method is a PRU, and the method includes:

step 301: the PRU determines a first message, wherein the first message is used for determining positioning information by a terminal;

step 302: the PRU sends a first message to the terminal;

In one possible implementation, before the PRU sends the first message to the terminal, the method further includes:

the PRU receives capability information from the terminal;

In one possible embodiment, the method further comprises:

the PRU sends position information and/or measurement information to the terminal, and the PRU is used for determining first correction information by the terminal;

or, the PRU sends second correction information and second LOS and/or second NLOS indication information to the terminal, which are used for determining the first correction information by the terminal.

In the embodiment of the application, the PRU directly sends the position information and/or the measurement information to the terminal, or the PRU directly sends the second correction information and the second LOS and/or the second NLOS indication information to the terminal, so as to assist the terminal to perform autonomous positioning.

The information content of the first message and the first correction information may refer to the corresponding descriptions of the terminal and the LMF side, which are not described herein again.

the PRU receives a request message from a terminal;

wherein the request message is used for requesting the first message.

The following describes the technical scheme of the present application with reference to specific embodiments:

example one, see fig. 4a;

step 0, PRU position & measurement result request information;

NR-DL-TDOA-RequestLocationInformation

The location server requests NR DL-TDOA location measurement from the target device using IE NR-DL-TDOA-RequestLocationInformationAs follows:

the above (1) represents: when the measurement result is reported, reporting the measurement result together with the panel information;

the above (2) represents: when reporting the measurement result, reporting the group delay group information together;

the above (3) represents: 1. the presence information indicates that the reporting of the position and the measurement information is simultaneously requested; further, when the information unit appears, 2. When the presence information indicates the UE-based positioning, reporting the position and/or measurement information; further, when the information unit appears, it is a simultaneous request;

the above (4) represents: a location information quality request;

the above (5) represents: reporting the motion state and the motion trail;

the above (6) and (7) represent: measuring or transmitting the panel or TEG configuration used; 1. may be a number; further, when the panel is 1, determining a panel or a TEG to be used according to rules; the rule may be a reference panel, or a panel for receiving QCL signals, a panel with the greatest energy, etc. 2. May be a specific identification;

reporting information of position

As shown in table 1:

TABLE 1

Reporting location information, wherein the location information comprises at least one of the following:

(1) Panel identification information;

(2) Group delay identifying information (PS: the group delay identifying information is the same when the group delay difference of the two transmitted or measured reference signals is less than a threshold value of 4);

(3) Reporting absolute or relative position information and/or first signal measurement information;

(4) Reporting absolute or relative position information and/or second signal measurement information;

(5) The quality of the reported position information is higher than a first threshold value or the reported position error is smaller than a second threshold value;

(6) Reporting position information comprises;

(7) One or more of error information, group delay information, error compensation information;

(8) Reporting location information, wherein the location information comprises at least one of the following:

(8.1) reporting angle positioning information;

(8.2) reporting the Rat-independent positioning information;

NR-DL-TDOA-SignalMeasementInformation

The target device provides the NR DL-TDOA measurements to the location server using the IE NR DL TDOA signal measurement information.

dl-PRS-reference info defines "RSTD reference" TRP. The nr-RSTD's and nr-RSTD-ResultDiff's in the nr-DL-TDOA-MeasList are provided relative to "RSTD reference" TRP.

The "RSTD reference" TRP may or may not be the same as the "assistance data reference" TRP provided by NR-DL-PRS-referenceInfo in IE NR-DL-PRS-AssistanceData

3. The target device includes the zeros of nr-RSTD and nr-RSTD ResultDiff of the "RSTD reference" TRP in the nr-DL-TDOA-MeasList.

For example two, see fig. 4b, which differs from example one in that the PRU provides the LMF with second correction information and LOS and/or NLOS indication information, from which the LMF determines the first correction information. The specific process is referred to as example one, and will not be described herein.

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.

Referring to fig. 5, an embodiment of the present application provides a positioning device 500, including:

a first receiving module 501, configured to receive a first message;

a first determining module 502, configured to determine positioning information according to the first message;

group delay information;

synchronization information;

Absolute delay information introduced by NLOS;

ranging error information.

measuring correction information by reference signal time difference RSTD;

transmitting and receiving time difference measurement correction information;

time of arrival TOA measures correction information;

angle error information.

In a possible implementation manner, the first correction information further includes one or more of the following:

time error group identification information;

and transmitting the identification information of the receiving point.

In a possible implementation manner, the first LOS indication information and/or the first NLOS indication information are/is carried in the first correction information.

or,

In one possible embodiment, the first receiving module is configured to:

receiving a first message from a location management function, LMF;

the first correction information is determined by the LMF according to position information and/or measurement information reported by one or more positioning reference units PRUs, or the first correction information is determined by the LMF according to second correction information reported by one or more PRUs, and second LOS and/or second NLOS indication information.

In a possible implementation manner, the group delay information includes one or more of the following:

group delay group identification information;

group delay difference information;

reference group delay identification information;

group delay value information;

group delay threshold.

In one possible embodiment, the apparatus further comprises:

a third sending module, configured to send capability information to the LMF or the PRU before receiving the first message;

wherein the capability information is used to indicate whether the first correction information is supported to be received.

In one possible implementation, the capability information is used to indicate support for receiving correction information corresponding to LOS, or the capability information is used to indicate support for receiving correction information corresponding to NLOS.

In one possible embodiment, the first determining module is configured to:

determining positioning information according to the correction information corresponding to the LOS;

or,

positioning information is determined based on correction information corresponding to the NLOS.

In one possible implementation manner, the first message further includes:

the compensation identifier is used for indicating whether the positioning information is compensated based on the first correction information;

Absolute position information;

relative position information;

a position information error value;

signal measurement information error values;

and the compensation identifier is used for indicating whether the positioning information is compensated based on the first correction information.

RSTD measurement;

round trip time RTT measurement;

angle of arrival, AOA, measurements;

angle of departure AOD measurement;

reference signal received power RSRP;

multipath measurement information;

LOS indication information;

wherein the multipath measurement information includes one or more of:

the power of the first path or multipath;

time delay of first path or multipath;

TOA of first path or multipath;

RSTD or multipath RSTD;

antenna sub-carrier phase differences of first paths or multipaths;

the antenna sub-carrier phase of the first path or multipath.

In one possible embodiment, the apparatus further comprises:

a second receiving module, configured to send a request message to the LMF or the PRU before receiving the first message;

the request message is used for requesting the first message.

Referring to fig. 6, an embodiment of the present application provides a positioning device 600, including:

a second determining module 601, configured to determine a first message, where the first message is used for determining positioning information by a terminal

A first sending module 602, configured to send a first message to the terminal;

group delay information;

synchronization information;

absolute delay information introduced by NLOS;

ranging error information.

RSTD measures correction information;

transmitting and receiving time difference measurement correction information;

TOA measures correction information;

angle error information.

time error group identification information;

and transmitting the identification information of the receiving point.

alternatively, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of the plurality of neighboring TRPs and the reference TRP of the terminal;

alternatively, the first correction information is correction information for correcting a measurement result between the terminal and one or more TEGs of each of the plurality of TRPs;

alternatively, the first correction information is correction information for correcting a measurement result between one or more TEGs of each of a plurality of neighboring TRPs of the terminal and the reference TRP.

In a possible embodiment, the second determining module is configured to:

the first correction information is determined according to position information and/or measurement information reported by one or more PRUs, wherein the first correction information is determined according to the difference between an actual measurement value of the PRU and an ideal measurement value, and the ideal measurement value is determined according to the position information of the PRU and the position information of TRP;

Or,

and determining the first correction information according to second correction information reported by one or more PRUs and second LOS and/or second NLOS indication information, wherein the second correction information is determined by the PRU according to the difference value between the actual measured value of the PRU and an ideal measured value, and the ideal measured value is determined according to the position information of the PRU and the position information of TRP.

group delay group identification information;

group delay difference information;

reference group delay identification information;

group delay value information;

group delay threshold.

In one possible embodiment, the apparatus further comprises:

a third receiving module, configured to receive capability information from a terminal before sending a first message to the terminal;

wherein the capability information is used for indicating whether the terminal supports receiving the first correction information.

In a possible implementation manner, the capability information is used for indicating that the terminal supports receiving the correction information corresponding to the LOS, or the capability information is used for indicating that the terminal supports receiving the correction information corresponding to the NLOS.

RSTD measurement;

RTT measurement;

AOA measurement;

AOD measurements;

RSRP；

multipath measurement information;

LOS indication information;

wherein the multipath measurement information includes one or more of:

the power of the first path or multipath;

time delay of first path or multipath;

TOA of first path or multipath;

RSTD or multipath RSTD;

antenna sub-carrier phase differences of first paths or multipaths;

the antenna sub-carrier phase of the first path or multipath.

In one possible embodiment, the apparatus further comprises:

a third receiving module, configured to receive a request message from the terminal before sending the first message to the terminal;

the request message is used for requesting the first message.

Referring to fig. 7, an embodiment of the present application provides a positioning method, including:

a third determining module 701, configured to determine a first message, where the first message is used for determining positioning information by a terminal;

a second sending module 702, configured to send a first message to the terminal;

In one possible embodiment, the apparatus further comprises:

a fourth receiving module, configured to receive capability information from a terminal before sending a first message to the terminal;

In one possible embodiment, the apparatus further comprises:

a fourth transmitting module, configured to:

transmitting position information and/or measurement information to a terminal for the terminal to determine the first correction information;

or, second correction information, and second LOS and/or second NLOS indication information, sent to a terminal, for the terminal to determine the first correction information.

In one possible embodiment, the apparatus further comprises:

a fifth receiving module, configured to receive a request message from the terminal before sending the first message to the terminal;

the request message is used for requesting the first message.

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 embodiments of the methods of fig. 1 to 3 and achieve the same technical effects, and in order to avoid repetition, the description is omitted here.

Optionally, as shown in fig. 8, the embodiment of the present application further provides a communication device 800, including a processor 801 and a memory 802, where the memory 802 stores a program or instructions that can be executed on the processor 801, for example, when the communication device 800 is a terminal, the program or instructions implement the steps of the positioning method embodiment when executed by the processor 801, and achieve the same technical effects. When the communication device 800 is a network side device, the program or the instruction, when executed by the processor 801, implements the steps of the above positioning method embodiment, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.

The embodiment of the application also provides a terminal, which comprises a processor and a communication interface, wherein the processor is used for determining positioning information according to the first message by the terminal, and the communication interface is used for receiving the first message by the terminal. 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. 9 is a schematic diagram of a hardware structure of a terminal for implementing an embodiment of the present application.

The terminal 900 includes, but is not limited to: at least some of the components of the radio frequency unit 901, the network module 902, the audio output unit 903, the input unit 904, the sensor 905, the display unit 906, the user input unit 907, the interface unit 908, the memory 909, and the processor 910, etc.

Those skilled in the art will appreciate that the terminal 900 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 910 by a power management system so as to perform functions such as managing charging, discharging, and power consumption by the power management system. The terminal structure shown in fig. 9 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 904 may include a graphics processing unit (Graphics Processing Unit, GPU) 9041 and a microphone 9042, with the graphics processor 9041 processing image data of still pictures or video obtained by an image capture device (e.g., a camera) in a video capture mode or an image capture mode. The display unit 906 may include a display panel 9061, and the display panel 9061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 907 includes at least one of a touch panel 9071 and other input devices 9072. Touch panel 9071, also referred to as a touch screen. The touch panel 9071 may include two parts, a touch detection device and a touch controller. Other input devices 9072 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 901 may transmit the downlink data to the processor 910 for processing; in addition, the radio frequency unit 901 may send uplink data to the network side device. Typically, the radio frequency unit 901 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.

The memory 909 may be used to store software programs or instructions as well as various data. The memory 909 may mainly include a first storage area storing programs or instructions and a second storage area storing data, wherein the first storage 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 909 may include a volatile memory or a nonvolatile memory, or the memory 909 may include both volatile and nonvolatile memories. 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 909 in embodiments of the application includes, but is not limited to, these and any other suitable types of memory.

Processor 910 may include one or more processing units; optionally, the processor 910 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 910.

Wherein, the radio frequency unit 901 is configured to receive a first message by a terminal

A processor 910, configured to determine positioning information according to the first message by the terminal;

Optionally, the first correction information includes one or more of:

group delay information;

synchronization information;

absolute delay information introduced by NLOS;

ranging error information.

Optionally, the first correction information includes one or more of:

measuring correction information by reference signal time difference RSTD;

transmitting and receiving time difference measurement correction information;

time of arrival TOA measures correction information;

angle error information.

Optionally, the first correction information further includes one or more of:

time error group identification information;

and transmitting the identification information of the receiving point.

Optionally, the time error group identity is associated with positioning reference signal identification information.

Optionally, the first correction information includes: correction information corresponding to LOS, and/or correction information corresponding to NLOS.

Optionally, the first LOS indication information and/or the first NLOS indication information is carried in the first correction information.

Optionally, the first correction information is correction information for correcting measurement results between the terminal and a plurality of TRPs;

alternatively, the first correction information is correction information for correcting measurement results between a plurality of neighboring TRPs of the terminal and a reference TRP.

Optionally, the first correction information is correction information for correcting measurement results of one or more positioning reference signal resources PRS resources of the terminal and each of the plurality of TRPs;

alternatively, the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of the plurality of neighboring TRPs and a reference TRP of the terminal;

alternatively, the first correction information is correction information for correcting a measurement result between one or more TEGs of each of a plurality of neighboring TRPs of the terminal and a reference TRP.

Optionally, the radio frequency unit 901 is configured to:

the terminal receives a first message from a Location Management Function (LMF);

Optionally, the group delay information includes one or more of the following:

group delay group identification information;

group delay difference information;

reference group delay identification information;

group delay value information;

group delay threshold.

Optionally, the radio frequency unit 901 is configured to:

before the terminal receives the first message, the terminal sends capability information to an LMF or PRU;

Optionally, the capability information is used to indicate that the terminal supports receiving the correction information corresponding to the LOS, or the capability information is used to indicate that the terminal supports receiving the correction information corresponding to the NLOS.

Optionally, the processor 910 is configured to:

the terminal determines positioning information according to the correction information corresponding to the LOS;

or,

the terminal determines positioning information according to the correction information corresponding to the NLOS.

Optionally, the first message further includes:

the positioning information includes one or more of the following:

absolute position information;

relative position information;

a position information error value;

signal measurement information error values;

Optionally, the measurement information includes one or more of:

RSTD measurement;

round trip time RTT measurement;

angle of arrival, AOA, measurements;

angle of departure AOD measurement;

Reference signal received power RSRP;

multipath measurement information;

LOS indication information;

wherein the multipath measurement information includes one or more of:

the power of the first path or multipath;

time delay of first path or multipath;

TOA of first path or multipath;

RSTD or multipath RSTD;

antenna sub-carrier phase differences of first paths or multipaths;

the antenna sub-carrier phase of the first path or multipath.

Optionally, the radio frequency unit 901 is configured to: before the terminal receives the first message, the terminal sends a request message to an LMF or PRU;

the request message is used for requesting the first message.

The embodiment of the present application further provides a network side device, where the network side device may be an LMF or a PRU, as shown in fig. 10, and the network side device 1000 includes: a processor 1001, a network interface 1002, and a memory 1003. The network interface 1002 is, for example, a common public radio interface (common public radio interface, CPRI).

Specifically, the network side device 1000 of the embodiment of the present application further includes: instructions or programs stored in the memory 1003 and executable on the processor 1001, the processor 1001 invokes the instructions or programs in the memory 1003 to perform the methods performed by the modules shown in fig. 6 and 7, and achieve the same technical effects, so that repetition is avoided and thus are not described herein.

The embodiment of the application also provides a readable storage medium, on which a program or an instruction is stored, which when executed by a processor, implements each process of the above positioning method embodiment, and can achieve 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 processor to implement each process of the above positioning method embodiment, and achieve the same technical effects, and are not repeated herein.

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, comprising:

the terminal receives a first message;

the terminal determines positioning information according to the first message;

wherein the first message includes at least one of first line-of-sight transmission LOS indication information, first non-line-of-sight transmission NLOS indication information, and first correction information.

2. The method of claim 1, wherein the first correction information comprises one or more of:

group delay information;

synchronization information;

absolute delay information introduced by NLOS;

ranging error information.

3. The method of claim 1, wherein the first correction information comprises one or more of:

measuring correction information by reference signal time difference RSTD;

Transmitting and receiving time difference measurement correction information;

time of arrival TOA measures correction information;

angle error information.

4. A method according to claim 2 or 3, wherein the first correction information further comprises one or more of:

time error group TEG identification information;

the reception point TRP identification information is transmitted.

5. The method of claim 4, wherein the time error group identification is associated with positioning reference signal identification information.

6. The method of any one of claims 1 to 5, wherein the first correction information comprises: correction information corresponding to LOS, and/or correction information corresponding to NLOS.

7. The method of claim 1, wherein the first LOS indication information and/or first NLOS indication information is carried in the first correction information.

8. The method according to any one of claim 1 to 5, wherein,

the first correction information is correction information for correcting measurement results between the terminal and a plurality of TRPs;

or,

the first correction information is correction information for correcting measurement results between a plurality of neighboring TRPs of the terminal and a reference TRP.

9. The method of claim 8, wherein the step of determining the position of the first electrode is performed,

the first correction information is correction information for correcting measurement results of one or more positioning reference signal resources PRS resource of the terminal and each of the plurality of TRPs;

or,

the first correction information is correction information for correcting measurement results of one or more PRS resources of each pair of the plurality of neighboring TRPs and a reference TRP of the terminal;

or,

the first correction information is correction information for correcting measurement results between one or more TEGs of each of a plurality of neighboring TRPs of the terminal and a reference TRP.

10. The method of claim 1, wherein the terminal receiving the first message comprises:

11. The method of claim 2, wherein the group delay information comprises one or more of:

group delay group identification information;

group delay difference information;

reference group delay identification information;

group delay value information;

group delay threshold.

12. The method of claim 6, wherein prior to the terminal receiving the first message, the method further comprises:

the terminal sends capability information to an LMF or PRU;

13. The method of claim 12, wherein the step of determining the position of the probe is performed,

the capability information is used for indicating that the terminal supports to receive the correction information corresponding to the LOS, or the capability information is used for indicating that the terminal supports to receive the correction information corresponding to the NLOS.

14. The method of claim 6, wherein the determining, by the terminal, positioning information based on the first message comprises:

or,

15. The method according to any one of claims 1 to 14, wherein,

the first message further includes:

16. The method according to any one of claims 1 to 14, wherein,

the positioning information includes one or more of the following:

absolute position information;

relative position information;

a position information error value;

signal measurement information error values;

17. The method of claim 10, wherein the step of determining the position of the first electrode is performed,

the measurement information includes one or more of the following:

RSTD measurement;

round trip time RTT measurement;

angle of arrival, AOA, measurements;

angle of departure AOD measurement;

reference signal received power RSRP;

multipath measurement information;

LOS indication information;

wherein the multipath measurement information includes one or more of:

the power of the first path or multipath;

time delay of first path or multipath;

TOA of first path or multipath;

RSTD or multipath RSTD;

antenna sub-carrier phase differences of first paths or multipaths;

The antenna sub-carrier phase of the first path or multipath.

18. The method of claim 1, wherein prior to the terminal receiving the first message, the method further comprises:

the terminal sends a request message to an LMF or PRU;

the request message is used for requesting the first message.

19. A positioning method, comprising:

the LMF determines a first message, wherein the first message is used for determining positioning information by a terminal;

the LMF sends a first message to the terminal;

20. The method of claim 19, wherein the first correction information comprises one or more of:

group delay information;

synchronization information;

absolute delay information introduced by NLOS;

ranging error information.

21. The method of claim 19, wherein the first correction information comprises one or more of:

RSTD measures correction information;

transmitting and receiving time difference measurement correction information;

TOA measures correction information;

angle error information.

22. The method of claim 20 or 21, wherein the first correction information further comprises one or more of:

Time error group identification information;

and transmitting the identification information of the receiving point.

23. The method of claim 22, wherein the time error group identity is associated with positioning reference signal identification information.

24. The method of claim 19, wherein the first correction information comprises: correction information corresponding to LOS, and/or correction information corresponding to NLOS.

25. The method of claim 19, wherein the first LOS indication information and/or first NLOS indication information is carried in the first correction information.

26. The method according to any one of claims 19 to 24, wherein,

or,

27. The method of claim 26, wherein the step of determining the position of the probe is performed,

Or,

or,

28. The method of claim 19, wherein the LMF determining the first message comprises:

the LMF determines the first correction information according to the position information and/or measurement information reported by one or more PRUs, wherein the first correction information is determined by the LMF according to the difference value between the actual measurement value and the ideal measurement value of the PRU, and the ideal measurement value is determined according to the position information of the PRU and the position information of TRP;

or,

the LMF determines the first correction information according to second correction information reported by one or more PRUs and second LOS and/or second NLOS indication information, wherein the second correction information is determined by the PRU according to the difference value between the actual measured value of the PRU and an ideal measured value, and the ideal measured value is determined according to the position information of the PRU and the position information of TRP.

29. The method of claim 20, wherein the group delay information comprises one or more of:

group delay group identification information;

group delay difference information;

reference group delay identification information;

group delay value information;

group delay threshold.

30. A method as recited in claim 25, wherein prior to the LMF sending the first message to the terminal, the method further comprises:

the LMF receives capability information from the terminal;

31. The method of claim 30, wherein the step of determining the position of the probe is performed,

32. The method of claim 28, wherein the step of providing the first information comprises,

the measurement information includes one or more of the following:

RSTD measurement;

RTT measurement;

AOA measurement;

AOD measurements;

RSRP；

multipath measurement information;

LOS indication information;

wherein the multipath measurement information includes one or more of:

The power of the first path or multipath;

time delay of first path or multipath;

TOA of first path or multipath;

RSTD or multipath RSTD;

antenna sub-carrier phase differences of first paths or multipaths;

the antenna sub-carrier phase of the first path or multipath.

33. The method of claim 19, wherein prior to the LMF sending the first message to the terminal, the method further comprises:

the LMF receives a request message from the terminal;

the request message is used for requesting the first message.

34. A positioning method, comprising:

the PRU sends a first message to the terminal;

35. The method of claim 34, wherein prior to the PRU sending the first message to the terminal, the method further comprises:

the PRU receives capability information from the terminal;

36. The method of claim 34, wherein the method further comprises:

The PRU sends position information and/or measurement information to a terminal, and the PRU is used for determining the first correction information by the terminal;

or,

and the PRU transmits second correction information and second LOS and/or second NLOS indication information to the terminal, and the second LOS and/or second NLOS indication information are used for determining the first correction information by the terminal.

37. The method of claim 34, wherein prior to the PRU sending the first message to the terminal, the method further comprises:

the PRU receives a request message from the terminal;

the request message is used for requesting the first message.

38. A positioning device, comprising:

the first receiving module is used for receiving the first message;

the first determining module is used for determining positioning information according to the first message;

39. A positioning device, comprising:

a second determining module for determining a first message for determining positioning information by the terminal

The first sending module is used for sending a first message to the terminal;

40. A positioning device, comprising:

a third determining module, configured to determine a first message, where the first message is used for determining positioning information by a terminal;

the second sending module is used for sending the first message to the terminal;

41. 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 18.

42. A network side device 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 of any of claims 19 to 33, or performs the steps of the positioning method of any of claims 34 to 37.

43. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the positioning method according to any of claims 1 to 18, or the steps of the positioning method according to any of claims 19 to 33, or the steps of the positioning method according to any of claims 34 to 37.