CN116634555A - Positioning method, device and readable storage medium - Google Patents

Abstract

The present application discloses a positioning method, device, and readable storage medium, which belong to the field of communication technology. The method includes: a terminal receives a first message; the terminal determines positioning information according to the first message; wherein, the first A message includes at least one item 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 present application belongs to the field of communication technology, and specifically relates to a positioning method, device and readable storage medium.

Background Art

During positioning, there are synchronization errors, device group delays, and angle errors between network-side devices and between network devices and terminal devices. For terminal-autonomous (UE-based) positioning methods, there is no corresponding conclusion on how to enable the UE to alleviate the above errors when positioning itself. In particular, even if the UE receives the signal from the same base station, there is no corresponding solution for how to effectively eliminate the above errors as the environment or channel conditions between the base station and the UE change.

Summary of the invention

The embodiments of the present application provide a positioning method, a device, and a readable storage medium, which can solve the problem that there is currently no way to alleviate errors when UE positions itself.

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

The terminal receives the first message;

The terminal determines positioning information according to the first message;

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, comprising:

The LMF determines a first message, where the first message is used by the terminal to determine positioning information

The LMF sends a first message to the terminal;

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

A third aspect provides a positioning method, including:

The PRU determines a first message, where the first message is used by the terminal to determine positioning information;

The PRU sends a first message to the terminal;

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

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

A first receiving module, used for a terminal to receive a first message;

A first determining module, configured for the terminal to determine positioning information according to the first message;

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

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

The second determination module is used for LMF to determine the first message, and the first message is used by the terminal to determine the positioning information

A first sending module, used for the LMF to send a first message to the terminal;

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

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

A third determination module, used for the PRU to determine a first message, where the first message is used by the terminal to determine positioning information;

A second sending module, configured for the PRU to send a first message to the terminal;

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

In a seventh aspect, a terminal is provided, comprising a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented.

In an eighth aspect, a terminal is provided, comprising a processor and a communication interface, wherein the communication interface is used for the terminal to receive a first message; the processor is used for the terminal to determine positioning information based on 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 the ninth aspect, a network side device is provided, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the second aspect or the third aspect are implemented.

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

Alternatively, the processor is used for the PRU to determine a first message, and the first message is used for the terminal to determine positioning information; 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 the eleventh aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented, or the steps of the method described in the third aspect are implemented.

In the twelfth aspect, a chip is provided, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or instructions to implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

In the thirteenth aspect, a computer program/program product is provided, wherein the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

In an embodiment of the present application, the terminal receives a first message including LOS indication information and/or NLOS indication information, as well as correction information, and determines positioning information based on the first message, so that the terminal can perform error correction according to the LOS and NLOS states of the terminal when positioning itself, thereby achieving accurate positioning.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a flow chart of a positioning method according to an embodiment of the present application;

FIG2 is a second flow chart of the positioning method provided in an embodiment of the present application;

FIG3 is a third flow chart of the positioning method provided in an embodiment of the present application;

FIG4a is one of the flowcharts of the implementation examples provided in the embodiments of the present application;

FIG4b is a second flow chart of an implementation example provided in an embodiment of the present application;

FIG5 is a schematic diagram of a structure of a positioning device provided in an embodiment of the present application;

FIG6 is a second schematic diagram of the structure of the positioning device provided in an embodiment of the present application;

FIG7 is a third structural schematic diagram of the positioning device provided in an embodiment of the present application;

FIG8 is a schematic diagram of the structure of a communication device provided in an embodiment of the present application;

FIG9 is a schematic diagram of the structure of a terminal provided in an embodiment of the present application;

FIG10 is a schematic diagram of the structure of a network side device provided in an embodiment of the present application;

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of this application.

The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally represents that the objects associated with each other are in an "or" relationship.

It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE)/LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency Division Multiple Access (SC-FDMA) and other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the described technology can be used for the above-mentioned systems and radio technologies as well as other systems and radio technologies. The following description describes a new radio (NR) system for example purposes, and NR terms are used in most of the following descriptions, but these technologies can also be applied to applications other than NR system applications, such as the ^6th 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 computer (Laptop Computer) or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a handheld computer, a netbook, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a mobile Internet device (Mobile Internet Device, MID), an augmented reality (augmentedreality, AR)/virtual reality (virtual reality, VR) device, a robot, a wearable device (WearableDevice), a vehicle-mounted device (VUE), a pedestrian terminal (PUE), a smart home (a home appliance with wireless communication function, such as a refrigerator, a television, a washing machine or furniture, etc.), a game console, a personal computer (personal computer, PC), a teller machine or a self-service machine and other terminal side devices, and the wearable device includes: a smart watch, a smart bracelet, a smart headset, a smart glasses, smart jewelry (smart bracelet, smart bracelet, smart ring, smart necklace, smart anklet, smart anklet, etc.), a smart wristband, a smart clothing, etc. It should be noted that the specific type of the terminal is not limited in the embodiment of the present application. The network side device may include 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 (RAN), a radio access network function or a radio access network unit. The access network device may include a base station, a WLAN access point or a WiFi node, etc. The base station may be referred to as a node B, an evolved node B (eNB), an access point, a base transceiver station (BTS), a radio base station, a radio transceiver, a basic service set (BSS), an extended service set (ESS), a home B node, a home evolved B node, a transmitting receiving point (TRP) or some other suitable term in the field, as long as the same technical effect is achieved, the base station is not limited to a specific technical vocabulary, it should be noted that in the embodiment of the present application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited. The core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (Mobility Management Entity, MME), access mobility management function (Access and Mobility Management Function, AMF), session management function (Session Management Function, SMF), user plane function (User Plane Function, UPF), policy control function (Policy Control Function, PCF), policy and charging rules function unit (Policy and Charging Rules Function, PCRF), edge application service discovery function (Edge Application Server Discovery Function, EASDF), unified data management (Unified Data Management, UDM), unified data storage (Unified Data Repository, UDR), home user server (Home Subscriber Server, HSS), centralized network configuration (CNC), network storage function (Network Repository Function, NRF), network exposure function (Network Exposure Function, NEF), local NEF (Local NEF, or L-NEF), binding support function (Binding Support Function, BSF), application function (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 introduced as an example, and the specific type of the core network device is not limited.

In order to better understand the technical solution of this application, the following contents are first introduced:

NR Positioning

1.NR positioning is Uu port, which is based on the signal measurement between the base station and the UE;

2. In the Rel-17 NR positioning enhancement stage, support for reporting of line-of-sight (LOS) and non-line-of-sight (NLOS) indication information, and reporting of multipath measurement results;

During positioning, there are synchronization errors, device group delays, and angle errors between network-side devices and between network devices and terminal devices. Rel-17 plans to introduce a Positioning Reference Unit (PRU) to alleviate the errors. However, for UE-based positioning methods, there is no corresponding conclusion on how to enable ordinary UEs to alleviate the errors when positioning themselves and take into account the channel conditions (such as LOS or NLOS) in which the UE is located.

In addition, Rel-17 introduces the Positioning Reference Unit (PRU), which only considers the reporting of measurement information or position information, but does not consider that the correction information calculated by the PRU in LOS based on its own position information and measurement information and the correction information calculated by the PRU in NLOS based on its own position information and measurement information have different corresponding errors.

For example, in one case:

Correction information or error sources in the LOS state include: synchronization error, device group delay (TRP's Tx TEG, Rx TEG, RxTx TEG) and angle error

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

The solution of the present invention further considers combining the information reported by the PRU with the LOS situation, and/or the relationship between the correction information and the LOS situation, to further alleviate the positioning error caused by synchronization errors, device group delays and angle errors between network-side devices and terminal devices.

Explanation of noun terms:

Group delay information (also called time error group (TEG): The same group delay (or difference less than a certain threshold) of sending or receiving one or more signals can be understood as a TEG; this error information can also be called panel information;

TEG may include Tx TEG, Rx TEG, RxTx TEG, or {Rx TEG, Tx TEG};

Tx timing error: From the perspective of signal transmission, there is a time delay from the time the digital signal is generated in the baseband to the time the RF signal is sent from the Tx antenna. To support positioning, the UE/TRP can implement internal calibration/compensation of the Tx time delay for the transmission of DL PRS/UL SRS signals. The remaining Tx time delay or uncalibrated Tx time delay after calibration is defined as the Tx timing error. The Tx timing error on the UE side can be understood as the time from the baseband (BB) to the antenna (Ant).

Rx timing error: From the perspective of signal reception, there is a time delay from the reception of the RF signal by the Rx antenna to the baseband processing. To support positioning, the UE/TRP can perform internal calibration/compensation of the Rx time delay on the measurement results of the DL PRS/UL SRS before reporting the measurement. The remaining Rx time delay after calibration or the uncalibrated Rx time delay is defined as the Rx time error. The Rx timing error on the UE side can be understood as the time from Ant to BB.

UE Tx ‘timing error group’ (UE Tx TEG) : A UE Tx TEG is associated with the transmission of one or more UL SRS resources used for positioning, and the Tx timing errors of these resources are within a certain range. It is considered that the SRS sent by the same Tx panel can be associated with the same UE Tx TEG.

TRP Tx ‘timing error group’ (TRP Tx TEG): TRP Tx TEG is associated with the transmission of one or more DL PRS resources whose Tx timing errors are within a certain range. It can be considered that PRSs sent by the same Tx panel can be associated with the same TRP Tx TEG.

UE Rx ‘timing error group’ (UE Rx TEG): A UE Rx TEG is associated with one or more DL measurements whose Rx timing errors are within a certain range. PRS measurements are considered to be from the same Rx panel and can be associated with the same UE Rx TEG.

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

UE RxTx ‘timing error group’ (UE RxTx TEG) : A UE RxTx TEG is associated with one or more UE Rx-Tx time difference measurements and one or more UL SRS resources whose “Rx timing error + Tx timing error” is within a certain range.

TRP RxTx ‘timing error group’ (TRP RxTx TEG): A TRP RxTx TEG is associated with one or more gNB Rx-Tx time difference measurements and one or more DL PRS resources whose “Rx timing error + Tx timing error” is within a certain range.

The positioning method provided in the embodiment of the present application is described in detail below through some embodiments and their application scenarios in combination with the accompanying drawings.

Referring to FIG. 1 , an embodiment of the present application provides a positioning method, the execution subject 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 message includes at least one of first LOS indication information, first NLOS indication information and first correction information.

The first LOS indication information and the first NLOS indication information are used to indicate the LOS and NLOS states of the terminal, and the first correction information is used for the terminal to correct the obtained location information.

The information included in the above-mentioned first message may also be referred to as positioning assistance information.

In an embodiment of the present application, the terminal receives a first message including LOS indication information and/or NLOS indication information, as well as correction information, and determines positioning information based on the first message, so that the terminal can perform error correction according to the LOS and NLOS states of the terminal when positioning itself, thereby achieving accurate positioning.

It should be noted that in an embodiment of the present application, the source of the first message received by the terminal may be a location management function (LMF) or a PRU. For example, if the PRU is deployed close to the terminal location, the PRU provides the terminal with LOS indication information/or NLOS indication information, as well as correction information, which can make the terminal positioning more accurate.

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

(1) Group delay information (or TEG);

(2) Synchronization information (such as RTD, synchronization error between base stations or TRP, etc.)

(3) Absolute delay information introduced by NLOS (such as absolute time, the absolute delay introduced by NLOS relative to LOS, or further, the relationship between the absolute delay introduced by NLOS relative to LOS and the UE position (such as the relationship between the UE and the PRU position, the relationship between the UE and the TRP or reference cell position));

(4) Ranging error information.

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

(1) Reference Signal Time Difference (RSTD) measurement correction information; for example, RSTD error or RSTD compensation value;

(2) Rx-Tx time difference measurement correction information; for example, Rx-Tx time difference error or Rx-Tx time difference compensation value;

(3) Time of arrival (TOA) measurement correction information; for example, TOA error or TOA compensation value;

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

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

(1) Time error group identification information, such as TEG ID, including but not limited to Rx TEG ID, Tx TEG ID, Rx TxTEG ID;

(2) Transmission receiving point identification information, such as TRP ID, base station identification information, and Absolute Radio Frequency Channel Number (ARFCN).

Further, the time error group identifier is associated with positioning reference signal identification information, wherein the positioning reference signal includes at least one of a downlink positioning reference signal and an uplink positioning reference signal.

In one possible implementation, the first correction information includes: correction information corresponding to LOS, and/or correction information corresponding to NLOS, that is, the terminal can receive two kinds of first correction information, one is the first correction information a corresponding to the LOS case, and the other is the first correction information b corresponding to the NLOS case, and the information content of the first correction information a and the first correction information b is as described above.

It is worth noting that the contents of the first correction information a carried by the LOS situation and the first correction information b carried by the NLOS situation may be different. For example, the first correction information a carries at least one of the group delay and the synchronization error; while the first correction information b carries the absolute delay introduced by NLOS, and/or the relationship between the absolute delay introduced by NLOS and the UE position/or ranging.

For 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 one or more of reference signal time difference RSTD measurement correction information, sending and receiving time difference measurement correction information, arrival time TOA measurement correction information and angle error information.

In another embodiment, the first correction information a carried in the LOS situation and the first correction information b carried in the NLOS situation have the same content but different values. For example, in the LOS situation, the absolute delay introduced by NLOS is 0, while in the NLOS situation it is other values.

In a possible implementation manner, 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 used to correct measurement results between the terminal and multiple TRPs, that is, the terminal receives the first correction information corresponding to the multiple TRPs, and corrects the measurement results between the terminal and the multiple TRPs through the first correction information, so as to make the positioning more accurate;

Alternatively, the first correction information is correction information used to correct the measurement results between multiple neighboring TRPs of the terminal and a reference TRP, that is, the terminal receives the first correction information between multiple neighboring TRPs and a reference TRP, and corrects the measurement results between the neighboring TRP and the reference TRP through the first correction information. Specifically, it can be correction of the difference in measurement results between the neighboring TRP and the reference TRP, thereby making the positioning more accurate.

Specifically, in the embodiment of the present application, the TRP ID is the ID of the neighboring TRP. It is worth noting that the TRP ID is used to identify the network device associated with a specific location. The specific information of the TRP ID can be local identification information (such as dl-PRS-ID, with 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 the correction information corresponding to the LOS;

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

Further, in a possible implementation manner, the first correction information is correction information corresponding to a measurement result of one or more positioning reference signal resources (PRS resource) of the terminal and each of the multiple TRPs, that is, the measurement result of the PRS resource specifically corrected by the first correction information;

Alternatively, the first correction information is correction information used to correct the measurement results of one or more PRS resources of each pair of TRPs in multiple adjacent TRPs of the terminal and the reference TRP.

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

or,

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;

Specifically, in the embodiment of the present application, the first correction information includes PRS resource identification information (such as PRSresource ID, PRS resource set ID);

Specifically, the TEG ID is related to the 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 the LOS.

In a possible implementation manner, the terminal receiving the first message includes: the terminal receiving the first message from the LMF;

The first correction information is determined by the LMF based on the location information and/or measurement information reported by one or more PRUs, or the first correction information is determined by the LMF based on the second correction information reported by one or more PRUs, and the second LOS and/or second NLOS indication information.

In an embodiment of the present application, one method is: LMF determines the first correction information based on the location information and/or measurement information obtained from the PRU and provides it to the terminal; another method is: PRU first reports the second correction information, as well as the second LOS and/or second NLOS indication information to the LMF, and then the LMF determines the first correction information based on the information reported by the PRU; 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 and the correction information finally provided by the LMF to the terminal may be different or the same, depending on the determination and processing on the LMF side.

In a possible implementation manner, 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, including specific group delay value, group delay variance and mean;

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

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

The terminal sends capability information to the LMF or PRU;

The capability information is used to indicate whether the terminal supports receiving the first correction information.

Further, 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 a possible implementation manner, the terminal determines the positioning information according to the first message, including:

The terminal determines the positioning information according to the correction information corresponding to LOS; or the terminal determines the positioning information according to the correction information corresponding to NLOS. That is, the terminal selects the corresponding correction information for positioning correction according to the LOS or NLOS state.

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

A compensation flag, used to indicate whether the positioning information is obtained by compensation based on the first correction information. The compensation flag is used to instruct the terminal to determine the accuracy of the positioning information. If the positioning information is compensated based on the first correction information, the positioning information obtained by the terminal is more accurate.

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

(1) Absolute position information;

(2) relative position information;

(3) Position information error value;

(4) Signal measurement information error value;

(5) A compensation flag, which is used to indicate whether the positioning information is obtained by compensation based on the first correction information. That is, the compensation flag can be included in both the first message and the positioning information.

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

RSTD measurement results;

Round-trip time (RTT) measurements;

Angle Of Arrival (AOA) measurement results;

Angel Of Departure (AOD) measurement results;

Reference Signal Receiving Power (RSRP);

Multipath measurement information;

LOS indication information;

The multipath measurement information includes one or more of the following:

The power of the first path or multipath;

The delay of the first path or multipath;

TOA of the first path or multipath;

RSTD of the first path or multipath;

Antenna subcarrier phase difference of the first path or multipath;

Antenna subcarrier phase of the first path or multipath.

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

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

The request message is used to request the first message.

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

Step 201: LMF determines a first message, where the first message is used by the terminal to determine positioning information;

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

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

In an embodiment of the present application, the terminal receives a first message including LOS indication information and/or NLOS indication information, as well as correction information, and determines positioning information based on the first message, so that the terminal can perform error correction according to the LOS and NLOS states of the terminal when positioning itself, thereby achieving accurate positioning.

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

(1) Group delay information;

(2) Synchronous information;

(3) Absolute delay information introduced by NLOS;

(4) Ranging error information.

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

(1) RSTD measurement correction information;

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

(3) TOA measurement correction information;

(4) Angle error information.

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

(1) Time error group identification information;

(2) Transmit receiving point identification information.

In a possible implementation manner, the time error group identifier is associated with the positioning reference signal identification information.

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

In a possible implementation manner, 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 used to correct measurement results between the terminal and a plurality of TRPs;

Alternatively, the first correction information is correction information used to correct measurement results between multiple neighboring TRPs of the terminal and a reference TRP.

In a possible implementation manner, the first correction information is correction information used to correct measurement results of one or more positioning reference signal resources PRS resource between the terminal and each of the multiple TRPs;

or,

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

or,

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;

or,

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.

In a possible implementation manner, the LMF determines the first message, including:

The LMF determines first correction information according to the location 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 between the actual measurement value and the ideal measurement value of the PRU, and the ideal measurement value is determined according to the location information of the PRU and the location information of the TRP;

Alternatively, the LMF determines the first correction information based on the second correction information reported by one or more PRUs, and the second LOS and/or second NLOS indication information, wherein the second correction information is determined by the PRU based on the difference between the actual measurement value of the PRU and the ideal measurement value, and the ideal measurement value is determined based on the location information of the PRU and the location information of the TRP.

In a possible implementation manner, 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;

(5) Group delay threshold.

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

LMF receives capability information from the terminal;

The capability information is used to indicate whether the terminal supports receiving the first correction information.

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

RSTD measurement results;

RTT measurement results;

AOA measurement results;

AOD measurement results;

RSRP;

Multipath measurement information;

LOS indication information;

The multipath measurement information includes one or more of the following:

The power of the first path or multipath;

The delay of the first path or multipath;

TOA of the first path or multipath;

RSTD of the first path or multipath;

Antenna subcarrier phase difference of the first path or multipath;

Antenna subcarrier phase of the first path or multipath.

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

LMF receives a request message from the terminal;

The request message is used to request the first message.

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

Step 301: The PRU determines a first message, where the first message is used by the terminal to determine positioning information;

Step 302: The PRU sends a first message to the terminal;

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

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

The PRU receives capability information from the terminal;

The capability information is used to indicate whether the terminal supports receiving the first correction information.

In a possible implementation, the method further includes:

The PRU sends the location information and/or measurement information to the terminal, so that the terminal can determine the first correction information;

Alternatively, the second correction information and the second LOS and/or second NLOS indication information sent by the PRU to the terminal are used by the terminal to determine the first correction information.

In an embodiment of the present application, the PRU directly sends location information and/or measurement information to the terminal, or the PRU directly sends second correction information, and second LOS and/or second NLOS indication information to the terminal to assist the terminal in autonomous positioning.

The information content of the above-mentioned first message and first correction information can refer to the corresponding description on the terminal and LMF side, which will not be repeated here.

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

The PRU receives a request message from the terminal;

The request message is used to request the first message.

The technical solution of this application is described below in conjunction with specific implementation examples:

Example 1, see Figure 4a;

Step 0. PRU location & measurement result request information;

NR-DL-TDOA-RequestLocationInformation

The location server requests NR DL-TDOA location measurements from the target device using the IE NR-DL-TDOA-RequestLocationInformation as follows:

The above (1) means: when reporting the measurement results, they are reported together with the panel information;

The above (2) means: when reporting the measurement result, the group delay group information is reported together;

The above (3) means: 1. There is information indicating a simultaneous request to report the location and measurement information; further, when this information unit appears, it is a simultaneous request 2. There is information indicating that the location and/or measurement information is reported when UE-based positioning is performed; further, when this information unit appears, it is a simultaneous request;

The above (4) indicates: location information quality request;

The above (5) indicates: dynamic state, motion trajectory reporting;

The above (6) and (7) indicate: measuring or sending the panel or TEG configuration used; 1. It can be a quantity; further, when it is 1, the panel or TEG used is determined according to a rule; the rule can be a reference panel, or a panel for receiving QCL signals, a panel with the largest energy, etc. 2. It can be a specific identifier;

Location reporting information

As shown in Table 1:

Table 1

Reporting location information, the location information includes at least one of the following:

(1) Panel identification information;

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

(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 location information is higher than a first threshold or the reported location error is lower than a second threshold;

(6) The reported location information includes:

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

(8) reporting location information, wherein the location information includes at least one of the following:

(8.1) Reporting angle positioning information;

(8.2) Reporting Rat-independent positioning information;

NR-DL-TDOA-SignalMeasurementInformation (measurement information)

The target device uses the IE NR DL TDOA signal measurement information to provide NR DL-TDOA measurements to the positioning server.

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

2. 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 zero values for nr-RSTD and nr-RSTDResultDiff for the “RSTD Reference” TRP in nr-DL-TDOA-MeasList.

Example 2, see Figure 4b, which is different from Example 1 in that the PRU provides the LMF with the second correction information and the LOS and/or NLOS indication information, and the LMF determines the first correction information based on the second correction information and the LOS and/or NLOS indication information. The specific process is shown in Example 1 and will not be repeated here.

The positioning method provided in the embodiment of the present application can be executed by a positioning device. In the embodiment of the present application, the positioning method executed by the positioning device is taken as an example to illustrate the positioning device provided in the embodiment of the present application.

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;

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

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

Group delay information;

Synchronize information;

Absolute delay information introduced by NLOS;

Ranging error information.

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

Reference signal time difference RSTD measurement correction information;

Send and receive time difference measurement correction information;

Time of arrival TOA measurement 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;

Transmits the receiving point identification information.

In a possible implementation manner, the time error group identifier is associated with positioning reference signal identification information.

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

In a possible implementation manner, 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 used to correct measurement results between the terminal and a plurality of TRPs;

Alternatively, the first correction information is correction information used to correct measurement results between multiple neighboring TRPs of the terminal and a reference TRP.

In a possible implementation manner, the first correction information is correction information used to correct measurement results of one or more positioning reference signal resources PRS resource between the terminal and each of the multiple TRPs;

or,

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

or,

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;

or,

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.

In a possible implementation manner, the first receiving module is used to:

Receiving a first message from a location management function LMF;

The first correction information is determined by the LMF based on the position information and/or measurement information reported by one or more positioning reference units PRU, or the first correction information is determined by the LMF based on the second correction information reported by one or more PRUs, and the 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 a possible implementation, the device further includes:

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

The capability information is used to indicate whether receiving the first correction information is supported.

In a possible implementation manner, 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 a possible implementation manner, the first determining module is configured to:

Determine positioning information based on correction information corresponding to the LOS;

or,

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

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

A compensation flag, used to indicate whether the positioning information is obtained by compensation based on the first correction information;

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

Absolute position information;

Relative position information;

Position information error value;

Signal measurement information error value;

A compensation flag is used to indicate whether the positioning information is obtained by compensation based on the first correction information.

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

RSTD measurement results;

Round Trip Time (RTT) measurement results;

Angle of arrival AOA measurement results;

Departure angle AOD measurement results;

Reference signal received power RSRP;

Multipath measurement information;

LOS indication information;

The multipath measurement information includes one or more of the following:

The power of the first path or multipath;

The delay of the first path or multipath;

TOA of the first path or multipath;

RSTD of the first path or multipath;

Antenna subcarrier phase difference of the first path or multipath;

Antenna subcarrier phase of the first path or multipath.

In a possible implementation, the device further includes:

A second receiving module, used for sending a request message to the LMF or PRU before receiving the first message;

The request message is used to request the first message.

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

The second determination module 601 is used to determine a first message, where the first message is used by the terminal to determine the positioning information

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

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

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

Group delay information;

Synchronize information;

Absolute delay information introduced by NLOS;

Ranging error information.

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

RSTD measurement correction information;

Send and receive time difference measurement correction information;

TOA measurement 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;

Transmits the receiving point identification information.

In a possible implementation manner, the time error group identifier is associated with positioning reference signal identification information.

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

In a possible implementation manner, 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 used to correct measurement results between the terminal and a plurality of TRPs;

Alternatively, the first correction information is correction information used to correct measurement results between multiple neighboring TRPs of the terminal and a reference TRP.

In a possible implementation manner, the first correction information is correction information used to correct measurement results of one or more positioning reference signal resources PRS resource between the terminal and each of the multiple TRPs;

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

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 measurement results between one or more TEGs of each of a plurality of neighboring TRPs of the terminal and a reference TRP.

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

The first correction information is determined according to the 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 the TRP;

or,

The first correction information is determined 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 between an actual measurement value and an 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.

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 a possible implementation, the device further includes:

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

The capability information is used to indicate whether the terminal supports receiving the first correction information.

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

RSTD measurement results;

RTT measurement results;

AOA measurement results;

AOD measurement results;

RSRP;

Multipath measurement information;

LOS indication information;

The multipath measurement information includes one or more of the following:

The power of the first path or multipath;

The delay of the first path or multipath;

TOA of the first path or multipath;

RSTD of the first path or multipath;

Antenna subcarrier phase difference of the first path or multipath;

Antenna subcarrier phase of the first path or multipath.

In a possible implementation, the device further includes:

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 to request the first message.

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

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

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

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

In a possible implementation, the device further includes:

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

The capability information is used to indicate whether the terminal supports receiving the first correction information.

In a possible implementation, the device further includes:

The fourth sending module is used for:

Sending location information and/or measurement information to a terminal, for the terminal to determine the first correction information;

Alternatively, the second correction information and the second LOS and/or second NLOS indication information sent to the terminal are used by the terminal to determine the first correction information.

In a possible implementation, the device further includes:

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 to request the first message.

The positioning device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be other devices other than a terminal. Exemplarily, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiment of the present application.

The positioning device provided in the embodiment of the present application can implement each process implemented in the method embodiments of Figures 1 to 3 and achieve the same technical effect. To avoid repetition, it will not be described here.

Optionally, as shown in FIG8 , the embodiment of the present application further provides a communication device 800, including a processor 801 and a memory 802, the memory 802 storing programs or instructions that can be run on the processor 801, for example, when the communication device 800 is a terminal, the program or instruction is executed by the processor 801 to implement the various steps of the above positioning method embodiment, and can achieve the same technical effect. When the communication device 800 is a network side device, the program or instruction is executed by the processor 801 to implement the various steps of the above positioning method embodiment, and can achieve the same technical effect, to avoid repetition, it will not be repeated here.

The embodiment of the present application also provides a terminal, including a processor and a communication interface, the processor is used for the terminal to determine the positioning information according to the first message, and the communication interface is used for the terminal to receive the first message. The terminal embodiment corresponds to the above-mentioned terminal side method embodiment, and each implementation process and implementation method of the above-mentioned method embodiment can be applied to the terminal embodiment and can achieve the same technical effect. Specifically, Figure 9 is a schematic diagram of the hardware structure of a terminal implementing the embodiment of the present application.

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

Those skilled in the art will appreciate that the terminal 900 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 910 through a power management system, so as to implement functions such as managing charging, discharging, and power consumption management through the power management system. The terminal structure shown in FIG9 does not constitute a limitation on the terminal, and the terminal may include more or fewer components than shown, or combine certain components, or arrange components differently, which will not be described in detail here.

It should be understood that in the embodiment of the present application, the input unit 904 may include a graphics processing unit (GPU) 9041 and a microphone 9042, and the graphics processor 9041 processes the image data of a static picture or video obtained by an image capture device (such as 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, etc. The user input unit 907 includes a touch panel 9071 and at least one of other input devices 9072. The touch panel 9071 is also called 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 (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

In the embodiment of the present application, after receiving downlink data from the network side device, the RF unit 901 can transmit the data to the processor 910 for processing; in addition, the RF unit 901 can send uplink data to the network side device. Generally, the RF unit 901 includes but is not limited to an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.

The memory 909 can be used to store software programs or instructions and various data. The memory 909 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instruction required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 909 may include a volatile memory or a non-volatile memory, or the memory 909 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 909 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

The processor 910 may include one or more processing units; optionally, the processor 910 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 910.

Among them, the radio frequency unit 901 is used for the terminal to receive the first message

Processor 910, configured for the terminal to determine positioning information according to the first message;

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

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

Group delay information;

Synchronize information;

Absolute delay information introduced by NLOS;

Ranging error information.

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

Reference signal time difference RSTD measurement correction information;

Send and receive time difference measurement correction information;

Time of arrival TOA measurement correction information;

Angle error information.

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

Time error group identification information;

Transmits the receiving point identification information.

Optionally, the time error group identifier 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 used to correct measurement results between the terminal and multiple TRPs;

Alternatively, the first correction information is correction information used to correct measurement results between multiple neighboring TRPs of the terminal and a reference TRP.

Optionally, the first correction information is correction information used to correct measurement results of one or more positioning reference signal resources PRS resource between the terminal and each of the multiple TRPs;

Alternatively, the first correction information is correction information used to correct measurement results of one or more PRS resources of each pair of TRPs in the plurality of neighboring TRPs of the terminal and the reference TRP;

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 measurement results 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;

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

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 the LMF or PRU;

The capability information is used to indicate whether the terminal supports receiving the first correction information.

Optionally, 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.

Optionally, the processor 910 is configured to:

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

or,

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

Optionally, the first message also includes:

A compensation flag, used to indicate whether the positioning information is obtained by compensation based on the first correction information;

The positioning information includes one or more of the following:

Absolute position information;

Relative position information;

Position information error value;

Signal measurement information error value;

A compensation flag is used to indicate whether the positioning information is obtained by compensation based on the first correction information.

Optionally, the measurement information includes one or more of the following:

RSTD measurement results;

Round Trip Time (RTT) measurement results;

Angle of arrival AOA measurement results;

Departure angle AOD measurement results;

Reference signal received power RSRP;

Multipath measurement information;

LOS indication information;

The multipath measurement information includes one or more of the following:

The power of the first path or multipath;

The delay of the first path or multipath;

TOA of the first path or multipath;

RSTD of the first path or multipath;

Antenna subcarrier phase difference of the first path or multipath;

Antenna subcarrier 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 the LMF or PRU;

The request message is used to request the first message.

The embodiment of the present application also provides a network side device, which may be a LMF or a PRU. As shown in FIG10 , 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 (CPRI).

Specifically, the network side device 1000 of the embodiment of the present invention also includes: instructions or programs stored in the memory 1003 and executable on the processor 1001. The processor 1001 calls the instructions or programs in the memory 1003 to execute the methods executed by the modules shown in Figures 6 and 7, and achieves the same technical effect. To avoid repetition, it will not be repeated here.

An embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned positioning method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

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

An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned positioning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

The embodiment of the present application further provides a computer program/program product, which is stored in a storage medium. The computer program/program product is executed by at least one processor to implement the various processes of the above-mentioned positioning method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises one..." does not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be noted that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims (43)

1. A positioning method, characterized in that, comprising: The terminal receives the first message; The terminal determines positioning information according to the first message; Wherein, the first message includes at least one item 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 according to claim 1, wherein the first correction information includes one or more of the following: Group delay information; Synchronization information; Absolute delay information introduced by NLOS; Ranging error information. 3. The method according to claim 1, wherein the first correction information includes one or more of the following: Reference signal time difference RSTD measurement correction information; Sending and receiving time difference measurement correction information; time-of-arrival TOA measurement correction information; Angle error information. 4. The method according to claim 2 or 3, wherein the first correction information further includes one or more of the following: Time error group TEG identification information; Transmission receiving point TRP identification information. 5. The method according to claim 4, wherein the time error group identifier is associated with positioning reference signal identification information. 6. The method according to 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 according to claim 1, wherein the first LOS indication information and/or the first NLOS indication information are carried in the first correction information. 8. The method according to any one of claims 1 to 5, characterized in that, The first correction information is correction information for correcting measurement results between the terminal and multiple TRPs; or, The first correction information is correction information for correcting measurement results between multiple adjacent TRPs of the terminal and a reference TRP. 9. The method of claim 8, wherein The first correction information is correction information for correcting the measurement results of the terminal and one or more positioning reference signal resources PRS resource of each of the multiple TRPs; or, The first correction information is correction information for correcting the measurement results of one or more PRS resource of each pair of TRPs among the plurality of neighboring TRPs and reference TRPs 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 a measurement result between one or more TEGs of each of the plurality of adjacent TRPs of the terminal and a reference TRP. 10. The method according to claim 1, wherein the terminal receiving the first message comprises: The terminal receives a first message from a location management function LMF; Wherein, the first correction information is determined by the LMF according to the position information and/or measurement information reported by one or more positioning reference units PRU, or the first correction information is determined by the LMF according to one or more The second correction information reported by the PRU, and the second LOS and/or second NLOS indication information are determined. 11. The method according to claim 2, wherein 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. 12. The method according to claim 6, wherein before the terminal receives the first message, the method further comprises: The terminal sends capability information to the LMF or PRU; Wherein, the capability information is used to indicate whether the terminal supports receiving the first correction information. 13. The method of claim 12, wherein, 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. 14. The method according to claim 6, wherein the terminal determines positioning information according to the first message, comprising: 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. 15. The method according to any one of claims 1 to 14, characterized in that, The first message also includes: A compensation flag, used to indicate whether the positioning information is compensated based on the first correction information. 16. A 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 location information; Position information error value; Signal measurement information error value; A compensation flag, used to indicate whether the positioning information is compensated based on the first correction information. 17. The method of claim 10, wherein, The measurement information includes one or more of the following: RSTD measurement results; Round trip time RTT measurement results; Angle of Arrival AOA measurement results; Angle of departure AOD measurement results; Reference signal received power RSRP; Multipath measurement information; LOS indication information; Wherein, the multipath measurement information includes one or more of the following: Headpath or multipath power; The delay of the first path or multipath; TOA of head path or multipath; RSTD of first path or multipath; Antenna subcarrier phase difference of first path or multipath; Antenna subcarrier phase for the first path or multipath. 18. The method according to claim 1, wherein before the terminal receives the first message, the method further comprises: The terminal sends a request message to the LMF or PRU; Wherein, the request message is used to request the first message. 19. A positioning method, characterized in that, comprising: The LMF determines a first message, and the first message is used for the terminal to determine positioning information; The LMF sends a first message to the terminal; Wherein, the first message includes at least one item of first LOS indication information, first NLOS indication information, and first correction information. 20. The method according to claim 19, wherein the first correction information includes one or more of the following: Group delay information; Synchronization information; Absolute delay information introduced by NLOS; Ranging error information. 21. The method according to claim 19, wherein the first correction information includes one or more of the following: RSTD measurement correction information; Sending and receiving time difference measurement correction information; TOA measurement correction information; Angle error information. 22. The method according to claim 20 or 21, wherein the first correction information further includes one or more of the following: time error group identification information; Transmission receiving point identification information. 23. The method according to claim 22, wherein the time error group identifier is associated with positioning reference signal identification information. 24. The method according to claim 19, wherein the first correction information comprises: correction information corresponding to LOS, and/or correction information corresponding to NLOS. 25. The method according to claim 19, wherein the first LOS indication information and/or the first NLOS indication information are carried in the first correction information. 26. A method according to any one of claims 19 to 24, wherein The first correction information is correction information for correcting measurement results between the terminal and multiple TRPs; or, The first correction information is correction information for correcting measurement results between multiple adjacent TRPs of the terminal and a reference TRP. 27. The method of claim 26, wherein, The first correction information is correction information for correcting the measurement results of the terminal and one or more positioning reference signal resources PRS resource of each of the multiple TRPs; or, The first correction information is correction information for correcting the measurement results of one or more PRS resource of each pair of TRPs among the plurality of neighboring TRPs and reference TRPs 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 a measurement result between one or more TEGs of each of the plurality of adjacent TRPs of the terminal and a reference TRP. 28. The method according to claim 19, wherein the determining the first message by the LMF comprises: The first correction information determined by the LMF according to the position information and/or measurement information reported by one or more PRUs, wherein the first correction information is the actual measurement value and the ideal measurement value of the PRU according to the LMF The difference is determined, 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 the second correction information reported by one or more PRUs, and the second LOS and/or second NLOS indication information, wherein the second correction information is the PRU according to the The difference between the actual measurement value of the PRU and the ideal measurement value is determined, and the ideal measurement value is determined according to the position information of the PRU and the position information of the TRP. 29. The method according to claim 20, wherein 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. 30. The method according to claim 25, wherein before the LMF sends the first message to the terminal, the method further comprises: The LMF receives capability information from the terminal; Wherein, the capability information is used to indicate whether the terminal supports receiving the first correction information. 31. The method of claim 30, wherein, 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. 32. The method of claim 28, wherein, The measurement information includes one or more of the following: RSTD measurement results; RTT measurement results; AOA measurement results; AOD measurement results; RSRP; Multipath measurement information; LOS indication information; Wherein, the multipath measurement information includes one or more of the following: Headpath or multipath power; The delay of the first path or multipath; Headpath or multipath TOA; RSTD of first path or multipath; Antenna subcarrier phase difference of first path or multipath; Antenna subcarrier phase for the first path or multipath. 33. The method according to claim 19, wherein before the LMF sends the first message to the terminal, the method further comprises: The LMF receives a request message from the terminal; Wherein, the request message is used to request the first message. 34. A positioning method, characterized in that it comprises: The PRU determines the first message, and the first message is used for the terminal to determine the positioning information; The PRU sends a first message to the terminal; Wherein, the first message includes at least one item of first LOS indication information, first NLOS indication information, and first correction information. 35. The method according to claim 34, wherein before the PRU sends the first message to the terminal, the method further comprises: The PRU receives capability information from the terminal; Wherein, the capability information is used to indicate whether the terminal supports receiving the first correction information. 36. The method of claim 34, further comprising: The PRU sends location information and/or measurement information to the terminal, for the terminal to determine the first correction information; or, The second correction information and the second LOS and/or second NLOS indication information sent by the PRU to the terminal are used by the terminal to determine the first correction information. 37. The method according to claim 34, wherein before the PRU sends the first message to the terminal, the method further comprises: The PRU receives a request message from the terminal; Wherein, the request message is used to request the first message. 38. A positioning device, characterized in that it comprises: a first receiving module, configured to receive a first message; A first determining module, configured to determine positioning information according to the first message; Wherein, the first message includes at least one item of first LOS indication information, first NLOS indication information, and first correction information. 39. A positioning device, characterized in that it comprises: The second determining module is configured to determine the first message, and the first message is used for the terminal to determine the positioning information a first sending module, configured to send a first message to the terminal; Wherein, the first message includes at least one item of first LOS indication information, first NLOS indication information, and first correction information. 40. A positioning device, characterized in that it comprises: A third determining module, configured to determine a first message, where the first message is used by the terminal to determine positioning information; a second sending module, configured to send a first message to the terminal; Wherein, the first message includes at least one item of first LOS indication information, first NLOS indication information, and first correction information. 41. A terminal, characterized by comprising a processor and a memory, the memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, the implementation of claim 1 Steps of the positioning method described in any one of to 18. 42. A network side device, characterized by comprising a processor and a memory, the memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, the The steps of the positioning method described in any one of claims 19 to 33, or the steps of the positioning method described in any one of claims 34 to 37. 43. A readable storage medium, characterized in that the readable storage medium stores programs or instructions, and when the programs or instructions are executed by a processor, the positioning method according to any one of claims 1 to 18 is implemented or realize the steps of the positioning method according to any one of claims 19 to 33, or realize the steps of the positioning method according to any one of claims 34 to 37.