CN116709171A - Group positioning method and device and communication equipment - Google Patents

Group positioning method and device and communication equipment Download PDF

Info

Publication number
CN116709171A
CN116709171A CN202210193682.7A CN202210193682A CN116709171A CN 116709171 A CN116709171 A CN 116709171A CN 202210193682 A CN202210193682 A CN 202210193682A CN 116709171 A CN116709171 A CN 116709171A
Authority
CN
China
Prior art keywords
communication device
positioning
propagation delay
group
delay difference
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210193682.7A
Other languages
Chinese (zh)
Inventor
吴建明
袁雁南
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vivo Mobile Communication Co Ltd
Original Assignee
Vivo Mobile Communication Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vivo Mobile Communication Co Ltd filed Critical Vivo Mobile Communication Co Ltd
Priority to CN202210193682.7A priority Critical patent/CN116709171A/en
Priority to PCT/CN2023/078538 priority patent/WO2023160711A1/en
Publication of CN116709171A publication Critical patent/CN116709171A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/364—Delay profiles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H04W4/08—User group management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W40/00—Communication routing or communication path finding
    • H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
    • H04W40/20—Communication route or path selection, e.g. power-based or shortest path routing based on geographic position or location
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The application discloses a group positioning method, a device and communication equipment, belonging to the technical field of wireless communication, wherein the group positioning method of the embodiment of the application comprises the following steps: the method comprises the steps that first communication equipment obtains position related information of each communication equipment in a positioning group and first propagation delay difference quantity; according to the position related information and the first propagation delay difference, the first communication equipment determines target position information of a target reflector; the positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.

Description

Group positioning method and device and communication equipment
Technical Field
The application belongs to the technical field of wireless communication, and particularly relates to a group positioning method, a group positioning device and communication equipment.
Background
In the communication device positioning system provided by the related communication technology, although the positioning of the communication device can be realized through the receiving and transmitting of the positioning reference signal, the related technology is difficult to accurately position the unknown objects around the wireless communication positioning system.
Disclosure of Invention
The embodiment of the application provides a group positioning method, a group positioning device and communication equipment, which can realize the positioning of unknown objects around a wireless communication positioning system and have high positioning precision.
In a first aspect, a group positioning method is provided, including: the method comprises the steps that first communication equipment obtains position related information of each communication equipment in a positioning group and first propagation delay difference quantity; according to the position related information and the first propagation delay difference, the first communication equipment determines target position information of a target reflector; the positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.
In a second aspect, a group positioning method is provided, where a positioning group includes at least a first communication device, a second communication device, and a third communication device, the method includes: the second communication device performs at least one of: transmitting location information of the second communication device to the first communication device or the third communication device; transmitting a target reference signal RS; receiving a target RS sent by the first communication equipment, modulating the target RS according to a first orthogonal modulation sequence, and then sending and reflecting; receiving a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by modulating the target RS by the third communication device according to a first orthogonal modulation sequence, and sending position-related information to the first communication device; receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to a target RS; and transmitting the first propagation delay variance to the first communication device; the first propagation delay difference is a propagation delay difference of a propagation path between the second communication device and any one communication device except the first communication device and the second communication device in the positioning group, and the propagation path is a path reflected by the target reflector.
In a third aspect, a group positioning method is provided, performed by a target device, the method comprising: in a first time unit, the target device as a first communication device, performing the steps of the group positioning method according to any of the first aspects; the target device performs the steps of the group positioning method as described in the second aspect as a second communication device within a second time unit.
In a fourth aspect, there is provided a group positioning device for use with a first communication apparatus, the device comprising: the acquisition module is used for acquiring the position related information of each communication device in the positioning group and the first propagation delay difference; the determining module is used for determining target position information of a target reflector according to the position related information and the first propagation delay difference; the positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.
In a fifth aspect, there is provided a group positioning apparatus, the positioning group comprising at least a first communication device, a second communication device and a third communication device, the apparatus comprising: a first processing module for performing at least one of: transmitting location information of the second communication device to the first communication device or the third communication device; transmitting a target reference signal RS; receiving a target RS sent by the first communication equipment, modulating the target RS according to a first orthogonal modulation sequence, and then sending and reflecting; receiving a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by modulating the target RS by the third communication device according to a first orthogonal modulation sequence, and sending position-related information to the first communication device; receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to a target RS; and transmitting the first propagation delay variance to the first communication device; the first propagation delay difference is a propagation delay difference of a propagation path between the second communication device and any one communication device except the first communication device and the second communication device in the positioning group, and the propagation path is a path reflected by the target reflector.
In a sixth aspect, a group positioning apparatus is provided for application to a target device, the apparatus comprising: a second processing module, configured to perform, in a first time unit, the steps of the group positioning method according to the first aspect, as the first communication device, by the target device; and in a second time unit, the target device performs the steps of the group positioning method as described in the second aspect as a second communication device.
In a seventh aspect, there is provided a communication device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the method according to the first or second or third aspects.
In an eighth aspect, a communication device is provided, comprising a processor and a communication interface, wherein the communication interface and the processor are coupled, the processor being configured to execute a program or instructions, to implement the steps of the method according to the first aspect, or to implement the steps of the method according to the second aspect, or to implement the steps of the method according to the third aspect.
In a ninth aspect, there is provided a wireless communication system including at least: a first communication device operable to perform the steps of the group positioning method as described in the first aspect, a second communication device operable to perform the steps of the group positioning method as described in the second aspect, and a third communication device.
In a tenth aspect, there is provided a readable storage medium having stored thereon a program or instructions which when executed by a processor, perform the steps of the method according to the first aspect, or perform the steps of the method according to the second aspect, or perform the steps of the method according to the third aspect.
In an eleventh aspect, there is provided a chip comprising a processor and a communication interface, the communication interface and the processor being coupled, the processor being adapted to run a program or instructions, to perform the steps of the method according to the first aspect, or to perform the steps of the method according to the second aspect, or to perform the steps of the method according to the third aspect.
In a twelfth aspect, there is provided a computer program product stored in a storage medium, the computer program product being executable by at least one processor to perform the steps of the method as described in the first aspect, or to perform the steps of the method as described in the second aspect, or to perform the steps of the method as described in the third aspect.
In the embodiment of the application, the accurate positioning of the target object, namely the target reflector, is realized by matching with signal reflection in a group positioning mode, and the accurate positioning of the target reflector can be realized under the condition that the transceiver clock of the communication equipment is not calibrated.
Drawings
Fig. 1 is a schematic diagram of a wireless communication system according to an exemplary embodiment of the present application.
Fig. 2 is a flow chart of a group positioning method according to an exemplary embodiment of the present application.
Fig. 3 is a schematic structural diagram of a group positioning system according to an exemplary embodiment of the present application.
Fig. 4 is a flowchart of a group positioning method according to another exemplary embodiment of the present application.
Fig. 5 is a schematic structural view of a group positioning device according to an exemplary embodiment of the present application.
Fig. 6 is a schematic structural view of a group positioning device according to another exemplary embodiment of the present application.
Fig. 7 is a schematic structural view of a group positioning device according to still another exemplary embodiment of the present application.
Fig. 8 is a schematic structural diagram of a communication device according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of a network side device according to an exemplary embodiment of the present application.
Fig. 10 is a schematic structural view of a terminal according to an exemplary embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or otherwise described herein, and that the "first" and "second" distinguishing between objects generally are not limited in number to the extent that the first object may, for example, be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/" generally means a relationship in which the associated object is an "or" before and after.
It is worth noting that the present application is trueThe techniques described in the embodiments are not limited to long term evolution (Long Term Evolution, LTE)/LTE evolution (LTE-Advanced, LTE-a) systems, but may also be used in other wireless communication systems, such as code division multiple access (Code Division Multiple Access, CDMA), time division multiple access (Time Division Multiple Access, TDMA), frequency division multiple access (Frequency Division Multiple Access, FDMA), orthogonal frequency division multiple access (Orthogonal Frequency Division Multiple Access, OFDMA), single-carrier frequency division multiple access (Single-carrier Frequency-Division Multiple Access, SC-FDMA), and other systems. The terms "system" and "network" in embodiments of the application are often used interchangeably, and the techniques described may be used for both the above-mentioned systems and radio technologies, as well as other systems and radio technologies. The following description describes a New air interface (NR) system for purposes of example and uses NR terminology in much of the description that follows, but these techniques are also applicable to applications other than NR system applications, such as generation 6 (6) th Generation, 6G) communication system.
Fig. 1 shows a block diagram of a wireless communication system to which an embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network device 12. The terminal 11 may be a mobile phone, a tablet (Tablet Personal Computer), a Laptop (Laptop Computer) or a terminal-side Device called a notebook, a personal digital assistant (Personal Digital Assistant, PDA), a palm top, a netbook, an ultra-mobile personal Computer (ultra-mobile personal Computer, UMPC), a mobile internet appliance (Mobile Internet Device, MID), an augmented reality (augmented reality, AR)/Virtual Reality (VR) Device, a robot, a Wearable Device (weather Device), a vehicle-mounted Device (VUE), a pedestrian terminal (PUE), a smart home (home Device with a wireless communication function, such as a refrigerator, a television, a washing machine, or a furniture), a game machine, a personal Computer (personal Computer, PC), a teller machine, or a self-service machine, and the Wearable Device includes: intelligent wrist-watch, intelligent bracelet, intelligent earphone, intelligent glasses, intelligent ornament (intelligent bracelet, intelligent ring, intelligent necklace, intelligent anklet, intelligent foot chain etc.), intelligent wrist strap, intelligent clothing etc.. It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network-side device 12 may comprise an access network device or a core network device, wherein the access network device 12 may also be referred to as a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a radio access network element. Access network device 12 may include a base station, a WLAN access point, a WiFi node, or the like, which may be referred to as a node B, an evolved node B (eNB), an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service set (Basic Service Set, BSS), an extended service set (Extended Service Set, ESS), a home node B, a home evolved node B, a transmission and reception point (Transmitting Receiving Point, TRP), or some other suitable terminology in the art, and the base station is not limited to a particular technical vocabulary so long as the same technical effect is achieved, and it should be noted that in the embodiment of the present application, only a base station in the NR system is described as an example, and the specific type of the base station is not limited. The technical scheme provided by the embodiment of the application is described in detail through some embodiments and application scenes thereof by combining the attached drawings.
As shown in fig. 2, a flowchart of a group positioning method 200 according to an exemplary embodiment of the present application may be, but is not limited to, performed by a first communication device (e.g., a terminal or a network-side device), and may specifically be performed by hardware and/or software installed in the first communication device. In this embodiment, the method 200 may at least include the following steps.
S210, the first communication device obtains position related information and a first propagation delay difference of each communication device in the positioning group.
It will be appreciated that the present embodiment enables accurate sensing, locating of a target reflector located therearound by a locating group without the need to calibrate the transceiver clock of the communication device. The target reflector may be a building, a vehicle, etc., without limitation.
The positioning group may include M communication devices including the first communication device, where, according to different positioning processes, the first communication device may be a transmitting end, a receiving end, or a reflecting end of a target reference signal in the positioning process, or may not participate in transmitting, receiving, or reflecting the target reference signal in the positioning process.
Of course, for M communication devices in the positioning group, if M is greater than 3, it may be that all or part of the M communication devices participate in the group positioning process, for which a first rule may be configured by higher layer signaling to define positioning devices participating in the group positioning process, in other words, relevant information (such as device identifiers, reference signals to be transmitted, etc.) of a plurality of positioning device pairs are configured in the first rule, where each positioning device pair includes at least one transmitting end, at least one reflecting end, and at least one receiving end, and one positioning device pair includes at least part of the communication devices in the positioning group.
For example, in case the number of communication devices in the positioning group is larger than 3, the higher layer decides that the group members in the positioning group pair each other, i.e. that part or all of the communication devices in the positioning group are selected to form at least one positioning device pair. In one implementation manner, A, B and C are respectively smaller than or equal to (the number of group members in the positioning device pair is-2) according to the principle of A-B-C, namely, when the number of communication devices included in the positioning device pair is S, the number of transmitting ends, reflecting ends and receiving ends in each positioning device pair is smaller than or equal to S-2, S is larger than or equal to 3, and S is a positive integer. Based on this, assuming that a=2, b=1, and c=2, 2 communication devices transmit the target reference signal at the first resource time, 1 communication device reflects the target reference signal, and 2 communication devices receive the target reference signal, the positioning device-to-interworking principle adopted in the embodiment can reduce delay of positioning sensing of the positioning group and reduce overhead of the reference signal.
It should be noted that a positioning device pair may include one or more first communication devices, one or more second communication devices, and one or more third communication devices. It should be noted that in this embodiment, in the case where there are a plurality of transmitting terminals (the aforementioned second communication device) transmitting reference signals simultaneously or one transmitting terminal transmitting a plurality of reference signals simultaneously on different resources, the reference signals are mutually orthogonal, so that signal interference is avoided and positioning accuracy is improved.
Further, the position-related information of each communication device in the positioning group acquired by the first communication device is used to realize sensing and positioning of the target reflector, so the position-related information may be relative position information between communication devices, absolute position information (such as geographic position) of each communication device, positioning delay parameters between communication devices, and the like, which are not limited herein. It should be noted that, the first communication device may acquire the location related information of each communication device in the positioning group, which may be directly acquiring the location of at least part of the communication devices in each communication device, or may be acquiring location related information for directly or indirectly indicating the location of each communication device.
The number of the N first propagation delay difference amounts acquired by the first communication device is used for realizing positioning of a target reflector. In this embodiment, one of the first propagation delay differences is a propagation delay difference of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay differences correspond to the two communication devices in the positioning group and are not identical, N is a positive integer, M is greater than or equal to N is greater than or equal to 3, and N is configured by a higher layer.
For example, referring to fig. 3 in combination, assuming that the set of setting bits includes the first communication device 1, the second communication device 2, the third communication device 3, and the target reflector j located around the first communication device 1, the second communication device 2, and the third communication device 3, the propagation paths corresponding to the N first propagation delay differences may include: (first communication device 1-target reflector j-second communication device 2), (first communication device 1-target reflector j-third communication device 3), (second communication device 2-target reflector j-third communication device 3). It will be appreciated that, since the propagation delay of the channel between the transmitting end and the receiving end is reciprocal in terms of the physical signal structure, taking (first communication device 1-target reflector j-third communication device 3) as an example, the propagation delay of the channel is the same as (second communication device 3-target reflector j-first communication device 1).
Of course, the foregoing manners of acquiring the position-related information and the differential propagation delay of the seismograph may be various, may be determined by the first communication device itself, or may be transmitted by other communication devices in the positioning group, and are not limited herein.
S220, the first communication device determines target position information of a target reflector according to the position related information and the first propagation delay difference.
It will be appreciated that for the group location procedure provided in this embodiment, it may be decided by a higher layer when to start the location aware procedure. For example, the initiation of the positioning procedure may be performed according to a Periodic event (Periodic-event) trigger mechanism, may be performed according to a persistent event (persistent-event) trigger mechanism, or may be performed according to a dynamic event (dynamic-event) trigger mechanism, which is not limited herein.
It should be noted that, before the positioning procedure starts, the higher layer may determine, through higher layer signaling, information about the communication devices participating in the group positioning, such as the first communication device, the second communication device, and the third communication device. And, the communication devices participating in group positioning may alternately perform different positioning reference signal transmission/reception periods according to the first rule to achieve positioning of the target reflector.
In this embodiment, by matching with signal reflection in a group positioning manner, accurate positioning of the target object, that is, the target reflector, can be achieved, and it can also be ensured that accurate positioning of the target reflector can be achieved even if the transceiver clock of the communication device is not calibrated.
As shown in fig. 4, a flowchart of a group positioning method 400 according to an exemplary embodiment of the present application may be, but is not limited to, performed by a first communication device (e.g., a terminal or a network-side device), and may specifically be performed by hardware and/or software installed in the first communication device. In this embodiment, the method 400 may at least include the following steps.
S410, the first communication device obtains position related information and a first propagation delay difference of each communication device in the positioning group.
The positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.
It is understood that, in addition to the description of the method embodiment 200, as a possible implementation manner, the manner in which the first communication device obtains the position related information and the first propagation delay difference amount of each communication device in the positioning group may be multiple, and the obtaining process will be described below.
(1) Acquisition of position-related information
In this embodiment, according to the difference of the positioning scenarios (or positioning aware scenarios), the communication devices located in the same positioning group may include a mobile communication device (such as a terminal) and/or a fixed communication device (such as an access network device (such as a gNB), a core network device, etc.). Based on this, different localization aware scenarios are described below.
For example, assuming that the group positioning method provided in this embodiment may be used in a group positioning aware scenario of Mobile communication devices having 3 or more group members with unknown location information, i.e., a positioning group is composed of the same Mobile communication devices (Mobile Equipment), each communication device in the positioning group may first perform mutual positioning between the group members to obtain location related information of each communication device, such as location information of each communication device in the positioning group, a second positioning delay parameter between each communication device in the positioning group, and so on.
For another example, assuming that the group positioning method provided in this embodiment may be used in a group positioning aware scenario of fixed communication devices having 3 group members or known location information of more than 3 group members (e.g., communication devices participating in a timing procedure may be placed in fixed locations in advance, etc.), that is, a positioning group is composed of fixed communication devices (e.g., gNB) with the same fixed locations, then each communication device in a positioning group does not need to perform mutual positioning between group members, location related information of each communication device is known, such as location information of each communication device in the positioning group is known, or a second positioning delay parameter between each communication device in the positioning group may be calculated according to the location information of each communication device.
For example, assume that the location information of the fixed communication device 1 and the fixed communication device 2 are respectivelyAndthen the second positioning delay parameter +_ can be calculated simply>As shown in formula (0). Wherein c in the formula (0) represents the light velocity.
For another example, it is assumed that the group positioning method provided in this embodiment may be used in a group positioning aware scenario where mobile communication devices having 3 group members or more unknown location information and fixed communication devices having known location information are combined together, that is, a positioning group is partially formed by the mobile communication devices and another part is formed by the fixed communication devices, and then positioning between the communication devices in the positioning group may refer to the location information of the fixed communication devices to absolutely position the mobile communication devices by location related information of the mobile communication devices, such as the location information of the mobile communication devices, a second positioning delay parameter between the communication devices in the positioning group, and so on.
In this case, the acquisition of the position-related information of each communication device in a positioning group including the mobile communication device of unknown position information will be described below by taking the positioning group as an example. Assuming that the second positioning delay parameter is included in the position-related information, the first communication device may acquire L second propagation delay difference amounts corresponding to different reflection paths, and determine a second positioning delay parameter according to the L second propagation delay difference amounts; the second propagation delay difference amounts are propagation delay difference amounts of propagation paths between any two communication devices in the positioning group, the propagation paths are paths reflected by any one communication device in the positioning group, different first propagation delay difference amounts correspond to incompletely identical communication devices in the three communication devices in the positioning group, L is a positive integer, L is more than or equal to 3, and L is configured by a high layer.
Alternatively, the process of obtaining the L second propagation delay difference amounts corresponding to different reflection paths by the first communication device may include at least one of the following modes 1 to 2.
Mode 1: and under the condition that the first communication equipment is used as a receiving end, acquiring the second propagation delay difference according to the acquired reference signal measurement quantity.
In one implementation manner, when the first communication device is used as a receiving end, the process of obtaining the second propagation delay difference amount according to the reference signal measurement amount obtained by the first communication device may include obtaining a first measurement amount and a second measurement amount by the first communication device, determining a first delay from the second communication device to the first communication device according to the first measurement amount and the second measurement amount, determining a third delay from the second communication device to the first communication device, and reflecting the third delay from the second communication device to the first communication device according to the third delay and the first delay, and finally determining the second propagation delay difference amount.
For simplicity of description, referring to fig. 3 again, assuming that the positioning group includes only 3 communication devices with unknown location information, i.e., a first communication device, a second communication device, and a third communication device, the second communication device may send a first reference signal on a first resource, where the first reference signal may include, but is not limited to: a tracking reference signal (Tracking Reference Signal, TRS), a channel state information reference signal (Channel Status Information Reference Signal, CSI-RS), a positioning reference signal (Positioning Reference Signal, PRS), a sounding reference signal (Sounding Reference Signal, SRS), or other reference signal related to communication awareness integration.
Based on this, for an NR system example, for an NR downlink (Down-Link) reference signal, it may include a physical downlink shared channel (Physical downlink shared channel, PDSCH-DMRS, a physical downlink control channel (Physical downlink control channel, PDCCH) -DMRS, a physical broadcast channel (Physical broadcast channel, PBCH) -DMRS, a Phase-tracking reference signal (Phase-tracking reference signal, PT-RS), CSI-RS, a remote interference management reference signal (Remote Interference Management Reference Signal, RIM-RS), PRS, etc., and for an NR uplink (Up-Link) reference signal, it may include a physical uplink shared channel (Physical Uplink Shared Channel, PUSCH) -DMRS, a physical uplink control channel (Physical Uplink Control Channel, PUCCH) -DMRS, PT-RS, SRS, for an NR side Link (Sidelink) reference signal, it may include a physical side Link shared channel (Physical SideLink Shared Channel, PSSCH) -DMRS, a physical side Link control channel (Physical SideLink Control Channel, PSCCH) -DMRS, PSSCH-PTRS, a physical side Link broadcast channel (Physical SideLink Broadcast Channel, BCH) -DMRS, CSI-DMRS, etc.
Further, the third communication device receives the first reference signal on the first resource, modulates the received first reference signal according to the first orthogonal modulation mode, and then reflects the modulated first reference signal. Wherein the first orthogonal modulation mode includes any one of an on-off keying (OOK) mode, a Binary Phase Shift Keying (BPSK) mode, and a Code Division Multiplexing (CDM) orthogonal code mode.
For example, the modulation matrix corresponding to the OOK method may be:
for another example, the modulation matrix corresponding to the BPSK mode may be:
for another example, the modulation matrix corresponding to the Hadamard orthogonal code mode with CDM characteristics may be:
wherein, M is an integer greater than or equal to 1, and M is related to the number of communication devices participating in the modulation coding of the reference signal in the positioning process. Note that the following description about the first orthogonal modulation sequence is omitted.
Based on this, the reference signal (i.e., the first measurement quantity) received by the first communication device on the first resource may include a first reference signal (i.e., a diameter signal), a second reference signal (a reflected signal), and a third reference signal (a reflected signal), where the first reference signal is transmitted by the second communication device on the first resource, the second reference signal is obtained by modulating the received first reference signal by the third communication device according to the first quadrature modulation scheme, and the third reference signal is obtained by reflecting the received first reference signal by the target reflector.
Similarly to the transmission of the first reference signal, the second communication device transmits a fourth reference signal on the second resource, and the third communication device receives the first reference signal on the second resource, modulates the received first reference signal according to the first quadrature modulation scheme, and then reflects the modulated first reference signal. Based on this, the reference signal (i.e., the second measurement quantity) received by the first communication device on the first resource includes a fourth reference signal (i.e., a diameter signal), a fifth reference signal (a reflected signal), and a sixth reference signal, where the fourth reference signal is transmitted by the second communication device on the second resource, the fifth reference signal is obtained by modulating, by the third communication device, the received fourth reference signal according to the first quadrature modulation scheme, and the sixth reference signal is obtained by reflecting, by the target reflector, the received fourth reference signal. It will be appreciated that the description of the fourth reference signal may refer to the description of the first reference signal, and will not be repeated herein.
For example, assuming that the first resource is a time domain resource, such as symbol n in the mth slot, and the second resource is symbol n in the (m+1) th slot, and that the third communication device does not have any additional processing delay time in performing the orthogonal modulation according to the first orthogonal modulation scheme, that is, the modulation scheme and the reflection scheme belong to a simple power amplification-and-Forward (AF) process for the received signal, the first communication device obtains the first measurement quantity y 2,1,m [n]And a second measurement quantity y 2,1,m+1 [n]As shown in the formula (1) and the formula (2).
Wherein s [ n ]]H is the first reference signal or the fourth reference signal 2,1 (τ 2,1 ) For the channel correspondence between the second communication device and the first communication device, τ 2,1 For a second positioning delay parameter, h, between the second communication device and the first communication device 2,3 (τ 2,3 ) For the channel response between the second communication device and the third communication device, τ 2,3 For a second positioning delay parameter, h, between the second communication device and the third communication device 3,1 (τ 3,1 ) For the channel response between the third communication device and the first communication device,τ 3,1 for a second positioning delay parameter between the third communication device and the first communication device,for the channel response between the second communication device and the target reflector +. >For a first positioning delay parameter between the second communication device and the target reflector +.>For the channel response between the target reflectors and the first communication device, +.>A delay parameter is positioned for a first location between the target reflector and the first communication device. b k,m (e.g. b 3,m+1 、b 3,m ) For the modulation symbol corresponding to the first quadrature modulation mode, w 1,m[n] and w1,m+1 [n]Respectively, additive White Gaussian Noise (AWGN), alpha' 3 Is a complex attenuated backscatter signal coefficient comprising a power amplification factor, alpha, by a third communications device for a received first reference signal j Is the attenuation coefficient of the jth target reflector including the radar cross section (Rader Cross Section, RCS).
Based on this, assuming that the second communication device transmits the first reference signal and the fourth reference signal in the mth slot (i.e., the first resource) and the (m+1) th slot (i.e., the second resource), and the third communication device modulates and power-amplifies-reflects by OOK or BPSK or CDM orthogonal code, the first communication device may perform a simple addition/subtraction operation on the received first measurement quantity and second measurement quantity according to the orthogonal characteristics of OOK or BPSK or CDM orthogonal code modulation, to obtain the following diameter signal and reflected signal, respectively.
Wherein it is assumed that the third communication device performs analog modulation by BPSK (i.e., the first orthogonal modulation sequence), i.e., uses modulation symbol b in the mth slot k,m =1, anduse of modulation symbol b in the (m+1) th slot k,m+1 = -1, then the total signal (i.e. the first measurement quantity, the second measurement quantity) received by the first communication device may be represented by equation (3), equation (4), respectively.
Based on this, the process of the first communication device determining the first time delay from the first measurement quantity and the second measurement quantity, and the third time delay may be as follows.
First, by performing addition operation with respect to the expression (3) and the expression (4), the first communication apparatus can acquire the diameter signal and the reflection signal of the jth target reflector, that is, the first signal calculation amount is as shown in the expression (5).
And by subtracting the expression (3) and the expression (4), the first communication device can acquire the reflected signal by the third communication device, that is, the second signal calculation amount is as shown in the expression (6).
y 2,1,m [n]-y 2,1,m+1 [n]＝2α' 3 h 2,3 (τ 2,3 )h 3,1 (τ 3,1 )s[n]+w” 2,1 [n] (6)
Further, according to the first signal calculation amount shown in the formula (5), the first communication device can estimate the time delay of the diameter signal transmitted from the second communication device to the first communication device, that is, the first time delay by detecting the first arrival signal in the first signal calculation amount, wherein the first time delay can be shown as the formula (7).
Correspondingly, according to the second signal calculation amount represented by the formula (6), the first communication device estimates the time delay of the reflected signal transmitted from the second communication device and simulated-modulated and reflected to the first communication device by the third communication device, that is, the third time delay, wherein the third time delay is represented by the formula (8).
In the formulas (7) and (8),representing the Timing Error (Timing Error) experienced by the second communication device,representing the timing error experienced by the first communication device. It should be noted that, since the Radio Frequency (RF) of the transmitting end (e.g., the second communication device) and the receiving end (e.g., the second communication device) are different, in general, the ∈>
Thus, calculating the reflected signal and the diameter signal delay difference, i.e. the second propagation delay difference amount (which may also be referred to as a first positioning equation) transmitted from the second communication device, reflected by the third communication device, received to the first communication device, may be performed by applying the second signal to the first communication device and />Method acquisition by subtraction, i.e. said second propagation delay difference>As shown in formula (9).
wherein ,representing said third delay, ++>Representing the first delay, τ 2,3 Representing a second positioning delay parameter, τ, between the second communication device and the third communication device 2,1 Representing a second positioning delay parameter, τ, between the second communication device and the first communication device 3,1 A second positioning delay parameter indicative of a delay between the third communication device and the first communication device,/a second positioning delay parameter indicative of a delay between the third communication device and the first communication device>Representing the timing error experienced by said second communication device,/or->Representing a timing error experienced by the first communication device, the second communication device and the third communication device being communication devices of the positioning group.
Notably, in terms of physical signal structure, the propagation delay of the channel between the transmitting and receiving ends is reciprocal, i.eHere, according to the reciprocity of the propagation delay, one can get + ->
Of course, as an implementation manner in this embodiment, in the process of obtaining the second propagation delay difference amount, the first communication device may determine whether the number of the second propagation delay difference amounts is greater than or equal to L. Where L is the minimum required propagation delay difference determined in advance by the higher layers. If the number of second propagation delay differences is smaller than L,
the first communication device, the second communication device, and the third communication device are replaced according to a replacement order (i.e., a first rule) of the first communication device, the second communication device, and the third communication device, which is predetermined by the higher layer signaling, and the transmission, the reception, and the reflection of the target reference signal are performed again by the first communication device, the second communication device, and the third communication device, respectively, to acquire the second propagation delay difference amount again until L second propagation delay difference amounts are acquired.
If the number of the second propagation delay differences is greater than or equal to L, the first communication device may locate the first communication device, the second communication device, and the third communication device with respect to each other by the L second propagation delay differences to obtain location information of each communication device and a second location delay parameter.
For example, continuing the foregoing example, assuming that the L second propagation delay difference amounts are represented by the formula (10), the second propagation delay difference amounts represented by the formula (10) may be represented by the formula (11) by a vector sum matrix method.
In the formulas (10) and (11),representing a second propagation delay difference when the sending end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device, < >>Indicating that the sending end is second communication equipment, the receiving end is third communication equipment and the reflectionSecond propagation delay difference when the terminal is the first communication device, < >>And the second propagation delay difference quantity is represented when the sending end is the first communication equipment, the receiving end is the third communication equipment and the reflecting end is the second communication equipment.
Based on this, the second positioning delay parameter vector x within the positioning group can be obtained by expression (12).
Wherein if the matrix a is a non-square matrix, a vector x corresponding to the second positioning delay parameter between the communication devices in the positioning group can be obtained by the formula (13).
x＝(A T A) -1 A T y (13)
Mode 2: the first communication device receives a second propagation delay difference amount transmitted from other communication devices than the first communication device in the positioning group, in a case where the first communication device does not function as a receiving end.
It is understood that the second propagation delay difference amounts transmitted by the other communication devices except the first communication device in the positioning group are part of the L second propagation delay difference amounts acquired as the first communication device, for calculation of the second timing delay parameter. For example, please refer to equation (10) again, the second propagation delay differenceThe target reflector is positioned by the first communication device after being determined by the third communication device. Of course, the procedure of determining the second propagation delay difference amount by other communication devices except the first communication device in the positioning group is similar to that of the first communication device, and is not repeated here for avoiding repetition.
(2) Acquisition process of first propagation delay difference
Similar to the aforementioned acquisition of the position-related information, the step of the first communication device acquiring N first propagation delay difference amounts corresponding to different reflection paths may also include at least one of the following modes 1 to 2.
Mode 1: the first communication device determines the first propagation delay difference amount according to the reference signal measurement amount acquired by the first communication device under the condition of being used as a receiving end.
In one implementation manner, when the first communication device is used as a receiving end, the process of determining the first propagation delay difference amount according to the reference signal measurement amount acquired by the first communication device may include: the first communication device obtains a first measurement quantity and a second measurement quantity; determining a first time delay from the second communication device to the first communication device and a second time delay when the second communication device transmits and reflects the first communication device through the target reflector according to the first measurement quantity and the second measurement quantity; and finally, determining the first propagation delay difference according to the second time delay and the first time delay.
Wherein, with the above example of the introduction of the position-related information, the acquisition of the first measurement quantity and the second measurement quantity may be as shown in the above (3) and (4), then the first communication device may further estimate a reflected signal delay transmitted from the second communication device and reflected to the first communication device by the jth target reflector, that is, a second delay, by detecting a first arrival signal in the first signal calculation quantity in the equation (5), and the second delay may be as shown in the equation (14).
Based on this, the first communication device calculates a delay difference between the reflected signal of the target reflector and the diameter signal, i.e., a first propagation delay difference amount (i.e.Second positioning equation) may be determined by applying a second time delay toAnd a first delay->The subtraction is performed, and then the first propagation delay difference may be as shown in equation (15).
wherein ,a first positioning delay parameter indicative of a delay between the second communication device and said target reflector,/or->A first positioning delay parameter, τ, representing a delay between the target reflector and the first communication device 2,1 Representing a second positioning delay parameter between said second communication device and said first communication device,/or->Representing the timing error experienced by said second communication device,/or->Representing the timing error experienced by the first communication device.
Notably, in terms of physical signal structure, the propagation delay of the channel between the transmitting and receiving ends is reciprocal, i.eHere, according to the reciprocity of the propagation delay, one can get + ->
Of course, as an implementation manner in this embodiment, in the process of obtaining the first propagation delay difference amount, the first communication device may determine whether the number of the first propagation delay difference amounts is greater than or equal to N. Where N is the minimum required propagation delay difference determined in advance by the higher layers. If the number of the first propagation delay difference amounts is smaller than N, the first communication device, the second communication device, and the third communication device are replaced according to a predetermined (i.e., first rule) by the higher layer signaling, and the transmission, reception, and reflection of the target reference signals are performed again by the first communication device, the second communication device, and the third communication device, respectively, to acquire the first propagation delay difference amounts again until N second propagation delay difference amounts are acquired.
If the number of first propagation delay difference amounts is greater than or equal to N, the first communication device locates the target reflector by N second propagation delay difference amounts.
For example, with the foregoing example, assuming that the N first propagation delay difference amounts are represented by the formula (16), if the second propagation delay difference amount represented by the formula (16) is represented by the vector sum matrix, it can be represented by the formula (17).
y'＝A'x' (17)
wherein , representing a first propagation delay difference when the sender is a second communication device and the receiver is the first communication device,/for>Indicating that the transmitting end is the transmitting endFirst propagation delay difference when the second communication device and the receiving end are the third communication device, < >>Representing a first propagation delay difference amount, τ, when the transmitting end is the first communication device and the receiving end is the third communication device 2,1 Representing a second positioning delay parameter, τ, between the second communication device and the first communication device 2,3 Representing a second positioning delay parameter, τ, between the second communication device and the third communication device 1,3 A second positioning delay parameter indicative of a second positioning delay parameter between said first communication device and said third communication device,/or- >A first positioning delay parameter indicative of a first positioning delay parameter between said second communication device and said target reflector,/or->A first positioning delay parameter indicative of a first positioning delay parameter between said first communication device and said target reflector,/or->A first positioning delay parameter representing a first positioning delay between the target reflector and the third communication device, the second communication device and the third communication device being communication devices in the positioning group.
Further, considering that the position-related information of the first communication device, the second communication device, and the third communication device is known, that is, y 'is known, the first positioning delay parameter vector x' corresponding to the target reflector can be calculated by the equation (18).
x'＝((A') T A') -1 (A') T y' (18)
It should be noted that, when the first positioning delay parameter is acquired and the second positioning delay parameter is acquired in the present application, the first reference signal and the fourth reference signal are transmitted in a time division (in m time slots and m+1 time slots) manner, but when the communication device data in the positioning group is greater than 3, the embodiment may also be based on the transmission of the first reference signal and the fourth reference signal in a frequency division, a code division or a space domain manner. In other words, the first resource and the second resource mentioned above are different time domain resources, or the first resource and the second resource are different frequency domain resources on the same time domain, or the first resource and the second resource are different spatial domain resources on the same time domain, or the first resource and the second resource are different code domain resources on the same time domain.
Mode 2:
the first communication device receives a first propagation delay difference amount transmitted from other communication devices except the first communication device in the positioning group without being a receiving end.
It is understood that the first propagation delay difference amount sent by the other communication devices except the first communication device in the positioning group may be used as part of the N second propagation delay difference amounts acquired by the first communication device for calculating the first delay parameter. For example, please refer to equation (10) again, the first propagation delay differenceThe target reflector is positioned by the first communication device after being determined by the third communication device. Of course, the procedure of determining the second propagation delay difference amount by other communication devices except the first communication device in the positioning group is similar to that of the first communication device, and is not repeated here for avoiding repetition.
S420, the first communication device determines target position information of a target reflector according to the position related information and the first propagation delay difference.
It will be appreciated that, in addition to the description of the method embodiment 200, as a possible implementation manner, please refer to fig. 3 again, the step of determining, by the first communication device, the target location information of the target reflector according to the location related information and the first propagation delay difference amount may include S421 and S422, which are as follows
S421, determining a first positioning time delay parameter between the target reflector and each communication device in the positioning group according to the position related information and the first propagation time delay difference parameter.
If the position-related information includes position information (such as a geographic coordinate position) of each communication device in the positioning group, the first communication device may directly calculate a second positioning delay parameter between each communication device according to the position information of each communication device, and determine a first positioning delay parameter between the target reflector and each communication device in the positioning group based on the second positioning delay parameter between each communication device and the first propagation delay difference parameter.
If the location related information does not include location information of each communication device in a positioning group, but includes a second positioning delay parameter between each communication device in a positioning group, the first communication device may determine a first positioning delay parameter between the target reflector and each communication device in the positioning group directly based on the second positioning delay parameter and the first propagation delay difference parameter between each communication device. Of course, the second positioning delay parameter between the communication devices may be determined by the L second propagation delay differences acquired by the first communication device, and the specific process may refer to the related description in S410, which is not repeated herein.
S422, determining target position information of the target reflector according to the first positioning time delay parameter.
It can be appreciated that the implementation process of S422 may refer to the related description in the method embodiment 200, and will not be repeated here.
Further, in the foregoing group positioning process, it should be noted that, according to the first rule, the first communication device may be used as a transmitting end, a reflecting end, or the like, in addition to the receiving end, so as to obtain N and the first propagation delay differences and L second propagation delay differences, thereby implementing mutual positioning between the communication devices and positioning of the target reflector.
In addition, if the positioning group includes at least the first communication device, the second communication device, and the third communication device, although the implementation of the group positioning procedure by the first communication device is given in this embodiment, in an actual through positioning sensing scenario, the foregoing positioning procedure may be performed by other communication devices in the positioning group except for the first communication device, which is not limited herein.
Correspondingly, similar to the first communication device, the second communication device and the third communication device may switch among a transmitting end, a receiving end, a reflecting end, and a positioning procedure end, for example, the second communication device may perform at least one of the following (11) - (15).
(11) The second communication device sends the position information of the second communication device to the first communication device or the third communication device so as to be used for positioning the first communication device or the third communication device and/or positioning a target reflector.
(12) The second communication device sends a target reference signal, that is, the second communication device is used as a sending end, and the target reference signal can be sent on different resources so that the first communication device or the third communication device can perform signal measurement, and further a first propagation delay difference amount and a second propagation delay difference amount for positioning are obtained.
(13) The second communication device receives the target RS sent by the first communication device, modulates the target RS according to a first orthogonal modulation sequence and then sends a reflection. The second communication device is used as a reflecting end, modulates the received target reference signal according to the first orthogonal modulation sequence and then reflects the modulated target reference signal.
(14) The second communication device receives a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by modulating the target RS by the third communication device according to a first orthogonal modulation sequence, and sends position-related information to the first communication device.
(15) Receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to a target RS; and transmitting the first propagation delay variance to the first communication device; the first propagation delay difference is a propagation delay difference of a propagation path between the second communication device and any one communication device except the first communication device and the second communication device in the positioning group, and the propagation path is a path reflected by the target reflector.
For (14) and (15), the second communication device may be used as a receiving end, and may process the received target reference signal, as in the case of the first communication device described above.
Of course, what roles the aforementioned first communication device, second communication device, and third communication device respectively take may be determined according to the first rule, which is not described herein.
The third communication device is similar to the second communication device, and will not be described herein.
Further, with the group positioning method presented in the foregoing embodiment, one communication device in the positioning group may also perform different actions on different time units. For example, taking the target device in the positioning group as an example, the target device may perform the steps of the group positioning method as set forth in method embodiments 200-400 as the first communication device in a first time unit, and the target device may perform the steps of the group positioning method as set forth in the foregoing (11) - (15) as the second communication device in a second time unit.
Alternatively, the time units mentioned in the first time unit and the second time unit may be time slots, symbols, subframes, and the like, which are not limited herein. In addition, the description of the implementation of the foregoing process by the target device may refer to the descriptions in the method embodiments 200-400, and achieve the same or corresponding technical effects, so that repetition is avoided, and no further description is given here.
In this embodiment, through the mutual positioning between the communication devices in the positioning group, the relative position coordinates between the communication devices in the positioning group and the relative position coordinates of the surrounding reflectors can be accurately obtained without calibrating the clocks of the communication devices, thereby achieving the purpose of high-precision positioning.
Based on the foregoing description of the method embodiments 200-400, if it is assumed that the set of bit groups includes at least the first communication device, the second communication device, and the third communication device, and the location information of the first communication device, the second communication device, and the third communication device is unknown, n=3, and l=3, then the set positioning procedure provided by the present application may include the following S501-S505.
S501, the first communication device is used as a receiving end, the second communication device is used as a transmitting end, and the third communication device is used as a reflecting end, where the second communication device transmits a first reference signal on the time slot m, and the first communication device may receive a first measurement quantity, that is, a first reference signal, a second reference signal, and a third reference signal, and the second communication device transmits a fourth reference signal on the time slot m+1, and the first communication device may receive a second measurement quantity, that is, a fourth reference signal, a fifth reference signal, and a sixth reference signal.
S502, the first communication device determines a second propagation delay difference amount and a first propagation delay difference amount according to the received first measurement amount and second measurement amount.
S503, since 1 is smaller than N and smaller than L, the first communication device continues to function as a receiving end, the second communication device functions as a reflecting end, and the third communication device functions as a transmitting end according to the first rule, and the first communication device determines a second propagation delay difference amount and a first propagation delay difference amount again according to the acquired third measurement amount and fourth measurement amount.
Since the total number of the acquired second propagation delay difference amounts and first propagation delay difference amounts is 2 and less than N, L, the first communication device acts as a transmitting end, the second communication device acts as a reflecting end, and the third communication device acts as a receiving end according to the first rule, and the third communication device determines one second propagation delay difference amount and one first propagation delay difference amount according to the acquired fifth measurement amount and sixth measurement amount S504.
S505 the third communication device transmits the determined 1 second propagation delay difference amount and 1 first propagation delay difference amount to the first communication device, so that the first communication device performs mutual positioning between the communication devices and positioning of the target reflector.
Or the first communication device sends the determined 2 second propagation delay difference amounts and the determined 2 first propagation delay difference amounts to the third communication device, so that the third communication device performs mutual positioning between the communication devices and positioning of the target reflector.
Or the first communication device transmits the determined 2 second propagation delay difference amounts and the determined 2 first propagation delay difference amounts to the second communication device, and the third communication device transmits the determined 1 second propagation delay difference amounts and the determined 1 first propagation delay difference amounts to the first communication device, so that the second communication device performs mutual positioning between the communication devices and positioning of the target reflector.
It can be appreciated that the above-mentioned obtaining processes of the third measurement value, the fourth measurement value, the fifth measurement value, and the sixth measurement value are similar to the above-mentioned obtaining processes of the first measurement value and the second measurement value, and are not repeated here. In addition, the relevant implementation process of S501-S505 may refer to the relevant descriptions in the foregoing method embodiments 200-400, and are not repeated here for avoiding repetition.
Of course, the positioning procedure given in the present embodiment may include, but is not limited to, the foregoing S501-S505, for example, there may be more or fewer steps than the foregoing S501-S505, which is not limited herein.
Further, in the case that the positioning group includes at least a first communication device, a second communication device and a third communication device, an exemplary embodiment of the present application further provides a group positioning method, which may be, but is not limited to, performed by the second communication device (such as a terminal or a network side device), in particular, may be performed by hardware and/or software installed in the second communication device. In this embodiment, the method may at least include the following steps.
The second communication device performs at least one of the following S601-S605.
S601, transmitting location information of the second communication device to the first communication device or the third communication device.
S602, a target reference signal RS is transmitted.
S603, receiving a target RS sent by the first communication device, modulating the target RS according to a first orthogonal modulation sequence, and then sending a reflection.
And S604, receiving a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by modulating the target RS by the third communication device according to a first orthogonal modulation sequence, and sending position-related information to the first communication device.
S605, receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to a target RS; and transmitting the first propagation delay variance to the first communication device; the first propagation delay difference is a propagation delay difference of a propagation path between the second communication device and any one communication device except the first communication device and the second communication device in the positioning group, and the propagation path is a path reflected by the target reflector.
It will be appreciated that the second communication device may perform at least one of the above S601-S602 depending on the location-aware scenario. The implementation process of the second communication device executing the foregoing S601-S605 may refer to the related descriptions in the foregoing method embodiments 200-500, and achieve the same or corresponding technical effects, and in order to avoid repetition, the description is omitted here.
An exemplary embodiment of the present application also provides a group positioning method, which may be performed by, but not limited to, a target device (e.g., a terminal or a network side device), and in particular may be performed by hardware and/or software installed in the target device. In this embodiment, the method may at least include the following steps.
S701, in a first time unit, the target device performs, as a first communication device, the steps of the group positioning method as described in method embodiments 200-500.
S702, in a second time unit, the target device performs, as a second communication device, the steps of the group positioning method as described in method embodiment 600.
The implementation process of S701 and S702 may refer to the related descriptions in the foregoing method embodiments 200-600, and achieve the same or corresponding technical effects, and are not repeated here for avoiding repetition.
According to the group positioning method provided by the embodiment of the application, the execution main body can be a group positioning device. In the embodiment of the application, the group positioning device is described by taking the group positioning method executed by the group positioning device as an example.
As shown in fig. 5, a schematic structural diagram of a group positioning apparatus 500 according to an exemplary embodiment of the present application includes an obtaining module 510 configured to obtain position-related information of each communication device in a positioning group and a first propagation delay difference amount; a determining module 520, configured to determine target position information of a target reflector according to the position related information and the first propagation delay difference amount; the positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.
Optionally, the determining module 520 determines the target position information of the target reflector according to the position related information and the first propagation delay difference, and includes: determining a first positioning delay parameter between the target reflector and each communication device in the positioning group according to the position-related information and the first propagation delay difference parameter; and determining target position information of the target reflector according to the first positioning time delay parameter.
Optionally, the determining module 520 determines a first positioning delay parameter between the target reflector and each communication device in the positioning group according to the position related information and the first propagation delay difference parameter, including: determining a first positioning delay parameter between the target reflector and each communication device in the positioning group according to a second positioning delay parameter and the first propagation delay difference parameter between each communication device in the positioning group; the location related information includes the second positioning delay parameter, or the location related information includes location information of each communication device in the positioning group, where the second positioning delay parameter is determined according to the location information.
Optionally, the N first propagation delay differences are as follows: wherein ,representing a first propagation delay difference when the sender is a second communication device and the receiver is the first communication device,/for>Representing a first propagation delay difference when the sender is the second communication device and the receiver is the third communication device,/v>Representing a first propagation delay difference amount, τ, when the transmitting end is the first communication device and the receiving end is the third communication device 2,1 Representing a second positioning delay parameter, τ, between the second communication device and the first communication device 2,3 Representing a second between the second communication device and the third communication deviceLocating delay parameter τ 1,3 A second positioning delay parameter indicative of a second positioning delay parameter between said first communication device and said third communication device,/or->A first positioning delay parameter indicative of a first positioning delay parameter between said second communication device and said target reflector,/or->A first positioning delay parameter indicative of a first positioning delay parameter between said first communication device and said target reflector,/or->A first positioning delay parameter representing a first positioning delay between the target reflector and the third communication device, the second communication device and the third communication device being communication devices in the positioning group.
Optionally, the vector x' corresponding to the first positioning delay parameter is: x '= ((a') T A') -1 (A') Ty； wherein ,
optionally, the step of acquiring the first propagation delay difference by the acquiring module 510 includes at least one of: the first communication equipment determines the first propagation delay difference according to the reference signal measurement quantity acquired by the first communication equipment under the condition of being used as a receiving end; the first communication device receives a first propagation delay difference amount transmitted from other communication devices except the first communication device in the positioning group without being a receiving end.
Optionally, when the first communication device is used as a receiving end, the step of determining the first propagation delay difference amount by the acquisition module 510 according to the reference signal measurement amount acquired by the first communication device includes: the first communication device obtains a first measurement quantity and a second measurement quantity; the first communication device determines a first time delay from the second communication device to the first communication device and a second time delay when the first communication device transmits from the second communication device and then reflects to the first communication device through the target reflector according to the first measurement quantity and the second measurement quantity; the first communication device determines the first propagation delay difference according to the second time delay and the first time delay; the first measurement quantity at least comprises a first reference signal, a second reference signal and a third reference signal, the first reference signal is sent by the second communication device on a first resource, the second reference signal is obtained by modulating the first reference signal received by the third communication device according to a first orthogonal modulation mode, and the third reference signal is obtained by reflecting the first reference signal received by the target reflector; the second measurement quantity at least comprises a fourth reference signal, a fifth reference signal and a sixth reference signal, the fourth reference signal is sent by the second communication device on a second resource, the fifth reference signal is obtained by modulating the fourth reference signal received by the third communication device according to a first orthogonal modulation mode, and the sixth reference signal is obtained by reflecting the fourth reference signal received by the target reflector.
Optionally, the first propagation delay difference amountThe method comprises the following steps: /> wherein ,/> Representing said first delay,/for>Representing said second delay, +_>Representing a first positioning delay parameter between a second communication device and said target reflector,a first positioning delay parameter, τ, representing a delay between the target reflector and the first communication device 2,1 Representing a second positioning delay parameter between said second communication device and said first communication device,/or->Representing the timing error experienced by said second communication device,/or->Representing the timing error experienced by the first communication device.
Optionally, when the first communication device is used as a receiving end, the determining module 520 determines the first propagation delay difference according to the reference signal measurement value acquired by the first communication device, and further includes: the first communication device replaces the sending end and/or the reflecting end according to a first rule under the condition that the number of the first propagation delay difference amounts does not reach the N, and acquires the first propagation delay difference amounts again based on the replaced sending end and/or reflecting end; the first rule is configured through high-level signaling, and related information of a plurality of positioning device pairs is configured in the first rule, each positioning device pair comprises at least one sending end, at least one reflecting end and at least one receiving end, and one positioning device pair comprises at least part of communication devices in the positioning group.
Optionally, under the condition that the number of communication devices included in the positioning device pairs is S, the number of transmitting ends, reflecting ends and receiving ends in each positioning device pair is smaller than or equal to S-2, S is greater than or equal to 3, and S is a positive integer.
Optionally, the first resource and the second resource are different time domain resources, or the first resource and the second resource are different frequency domain resources on the same time domain, or the first resource and the second resource are different space domain resources on the same time domain, or the first resource and the second resource are different code domain resources on the same time domain.
Optionally, the first reference signal or the fourth reference signal includes any one of a tracking reference signal TRS, a channel state information reference signal CSI-RS, a positioning reference signal PRS, and a positioning reference signal UL-SRS.
Optionally, the first orthogonal modulation mode includes any one of an on-off keying OOK mode, a binary phase shift keying BPSK mode, and a code division multiplexing CDM orthogonal code mode.
Optionally, the step of acquiring, by the acquiring module 510, the location related information of each communication device in the positioning group includes: if the position-related information does not include the second positioning delay parameter, the first communication device acquires L second propagation delay difference amounts corresponding to different reflection paths, and determines a second positioning delay parameter according to the L second propagation delay difference amounts; the second propagation delay difference is a propagation delay difference of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by any one communication device in the positioning group, different first propagation delay differences correspond to the fact that L which is not identical in the three communication devices in the positioning group is a positive integer, and L is more than or equal to 3.
Optionally, the N and the L are configured by a higher layer. 15. The method of claim 14, wherein the step of the first communication device obtaining L second propagation delay differences corresponding to different reflection paths comprises at least one of: acquiring the second propagation delay difference amount according to the acquired reference signal measurement amount under the condition that the first communication equipment is used as a receiving end; the first communication device receives a second propagation delay difference amount transmitted from other communication devices than the first communication device in the positioning group, in a case where the first communication device does not function as a receiving end.
Optionally, in the case that the first communication device is used as a receiving end, the step of acquiring, by the acquiring module 510, the second propagation delay difference amount according to the reference signal measurement amount acquired by the acquiring module includes: the first communication device obtains a first measurement quantity and a second measurement quantity; the first communication device determines a first time delay from the second communication device to the first communication device and a third time delay from the second communication device to the first communication device through the third communication device according to the first measurement quantity and the second measurement quantity; the first communication device determines the second propagation delay difference amount according to the third delay and the first delay.
Optionally, the second propagation delay difference amountThe method comprises the following steps: /> wherein ,/> Representing said third delay, ++>Representing the first delay, τ 2,3 Representing a second positioning delay parameter, τ, between the second communication device and the third communication device 2,1 Representing a second positioning delay parameter, τ, between the second communication device and the first communication device 3,1 A second positioning delay parameter indicative of a delay between the third communication device and the first communication device,/a second positioning delay parameter indicative of a delay between the third communication device and the first communication device>Representing the timing error experienced by said second communication device,/or->Representing a timing error experienced by the first communication device, the second communication device and the third communication device being communication devices of the positioning group. />
Optionally, the L second propagation delay difference amounts are: wherein ,/>Representing a second propagation delay difference when the sending end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device, < >>Indicating a second propagation delay difference when the sending end is a second communication device, the receiving end is a third communication device and the reflecting end is a first communication device, < >>And the second propagation delay difference quantity is represented when the sending end is the first communication equipment, the receiving end is the third communication equipment and the reflecting end is the second communication equipment.
Optionally, the vector x corresponding to the second positioning delay parameter is expressed as: x= (a T A) -1 A Ty； wherein , representing a second propagation delay difference when the sending end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device, < >>Indicating a second propagation delay difference when the sending end is a second communication device, the receiving end is a third communication device and the reflecting end is a first communication device, < >>And the second propagation delay difference quantity is represented when the sending end is the first communication equipment, the receiving end is the third communication equipment and the reflecting end is the second communication equipment.
Optionally, the communication devices located in the same positioning group comprise mobile communication devices and/or fixed communication devices.
Alternatively, in the case that there are multiple transmitting ends that transmit reference signals simultaneously or one transmitting end that transmits multiple reference signals simultaneously on different resources, the reference signals are orthogonal to each other.
As shown in fig. 6, a schematic structural diagram of a group positioning apparatus 600 according to an exemplary embodiment of the present application, a positioning group includes at least a first communication device, a second communication device, and a third communication device, and the apparatus 600 includes a first processing module 610 configured to perform at least one of the following: transmitting location information of the second communication device to the first communication device or the third communication device; transmitting a target reference signal RS; receiving a target RS sent by the first communication equipment, modulating the target RS according to a first orthogonal modulation sequence, and then sending and reflecting; receiving a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by modulating the target RS by the third communication device according to a first orthogonal modulation sequence, and sending position-related information to the first communication device; receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to a target RS; and transmitting the first propagation delay variance to the first communication device; the first propagation delay difference is a propagation delay difference of a propagation path between the second communication device and any one communication device except the first communication device and the second communication device in the positioning group, and the propagation path is a path reflected by the target reflector.
As shown in fig. 7, a schematic structural diagram of a group positioning device 700 according to an exemplary embodiment of the present application is provided, and the device 700 is applied to a target apparatus, and includes: a second processing module 710, configured to perform the steps in method embodiments 200-400, in a first time unit, where the target device is the first communication device; and in a second time unit, the target device performs steps as in method embodiments 200-400 as a second communication device.
The group positioning devices 500-700 in the embodiments of the present application may be terminals or network side devices, the terminals may include, but are not limited to, the types of the terminals 11 listed above, and the network side devices may include, but are not limited to, the types of the network side devices 12 listed above, and the embodiments of the present application are not particularly limited.
The group positioning devices 500-700 provided in the embodiments of the present application can implement each process implemented by the embodiments of the methods of fig. 2 to fig. 4, and achieve the same technical effects, and are not repeated here.
Optionally, as shown in fig. 8, the embodiment of the present application further provides a communication device 800, including a processor 801 and a memory 802, where the memory 802 stores a program or instructions that can be executed on the processor 801, for example, when the communication device 800 is a terminal, the program or instructions implement the steps of the above-mentioned group positioning method embodiment when executed by the processor 801, and achieve the same technical effects. When the communication device 800 is a network side device, the program or the instruction, when executed by the processor 801, implements the steps of the above embodiment of the group positioning method, and the same technical effects can be achieved, so that repetition is avoided, and no further description is given here.
In one implementation, the communication device 800 may be a network-side device, which may include a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute programs or instructions to implement the steps of the methods described in embodiments 200-400. The network side device embodiment corresponds to the network side device method embodiment, and each implementation process and implementation manner of the method embodiment can be applied to the network side device embodiment, and the same technical effects can be achieved.
Specifically, the embodiment of the application also provides network side equipment. As shown in fig. 9, the network side device 900 includes: an antenna 901, a radio frequency device 902, a baseband device 903, a processor 904, and a memory 905. The antenna 901 is connected to a radio frequency device 902. In the uplink direction, the radio frequency device 902 receives information via the antenna 901, and transmits the received information to the baseband device 903 for processing. In the downlink direction, the baseband device 903 processes information to be transmitted, and transmits the processed information to the radio frequency device 902, and the radio frequency device 902 processes the received information and transmits the processed information through the antenna 901.
The method performed by the network-side device in the above embodiment may be implemented in the baseband apparatus 903, and the baseband apparatus 903 includes a baseband processor.
The baseband apparatus 903 may, for example, include at least one baseband board, where a plurality of chips are disposed, as shown in fig. 9, where one chip, for example, a baseband processor, is connected to the memory 905 through a bus interface, so as to call a program in the memory 905 to perform the network device operation shown in the above method embodiment.
The network-side device may also include a network interface 906, such as a common public radio interface (common public radio interface, CPRI).
Specifically, the network side device 900 of the embodiment of the present application further includes: instructions or programs stored in the memory 905 and executable on the processor 904, the processor 904 calls the instructions or programs in the memory 905 to perform the methods performed by the modules shown in fig. 5-7, and achieve the same technical effects, and are not repeated here.
In another implementation, the communication device 800 may be a terminal, which may include a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute programs or instructions to implement the steps of the methods as described in method embodiments 200-400. The terminal embodiment corresponds to the terminal-side method embodiment, and each implementation process and implementation manner of the method embodiment are applicable to the terminal embodiment and can achieve the same technical effects. Specifically, fig. 10 is a schematic diagram of a hardware structure of a terminal for implementing an embodiment of the present application.
The terminal 1000 includes, but is not limited to: at least some of the components of the radio frequency unit 1001, the network module 1002, the audio output unit 1003, the input unit 1004, the sensor 1005, the display unit 1006, the user input unit 1007, the interface unit 1008, the memory 1009, and the processor 1010, etc.
Those skilled in the art will appreciate that terminal 1000 can also include a power source (e.g., a battery) for powering the various components, which can be logically connected to processor 1010 by a power management system so as to perform functions such as managing charge, discharge, and power consumption by the power management system. The terminal structure shown in fig. 10 does not constitute a limitation of the terminal, and the terminal may include more or less components than shown, or may combine some components, or may be arranged in different components, which will not be described in detail herein.
It should be appreciated that in embodiments of the present application, the input unit 1004 may include a graphics processing unit (Graphics Processing Unit, GPU) 1041 and a microphone 10042, and the graphics processor 10041 processes image data of still pictures or video obtained by an image capturing device (e.g., a camera) in a video capturing mode or an image capturing mode. The display unit 1006 may include a display panel 10061, and the display panel 10061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072. The touch panel 10071 is also referred to as a touch screen. The touch panel 10071 can include two portions, a touch detection device and a touch controller. Other input devices 10072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and so forth, which are not described in detail herein.
In the embodiment of the present application, after receiving downlink data from the network side device, the radio frequency unit 1001 may transmit the downlink data to the processor 1010 for processing; in addition, the radio frequency unit 1001 may send uplink data to the network side device. In general, the radio frequency unit 1001 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
The memory 1009 may be used to store software programs or instructions and various data. The memory 1009 may mainly include a first memory area storing programs or instructions and a second memory area storing data, wherein the first memory area may store an operating system, application programs or instructions (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like. Further, the memory 1009 may include volatile memory or nonvolatile memory, or the memory 1009 may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM), static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (ddr SDRAM), enhanced SDRAM (Enhanced SDRAM), synchronous DRAM (SLDRAM), and Direct RAM (DRRAM). Memory 1009 in embodiments of the application includes, but is not limited to, these and any other suitable types of memory.
The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor that primarily processes operations involving an operating system, user interface, application programs, and the like, and a modem processor that primarily processes wireless communication signals, such as a baseband processor. It will be appreciated that the modem processor described above may not be integrated into the processor 1010.
The radio frequency unit 1001 is configured to obtain position related information and a first propagation delay difference of each communication device in the positioning group; a processor 1010 configured to determine target location information of a target reflector according to the location-related information and the first propagation delay difference amount; the positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.
It can be appreciated that the implementation process of each implementation manner mentioned in this embodiment may refer to the related descriptions in the foregoing method embodiments 200-400, and achieve the same or corresponding technical effects, and are not repeated herein for avoiding repetition.
In this embodiment, by matching with signal reflection in a group positioning manner, accurate positioning of the target object, that is, the target reflector, can be achieved, and it can also be ensured that accurate positioning of the target reflector can be achieved even if the transceiver clock of the communication device is not calibrated.
The embodiment of the application also provides a readable storage medium, on which a program or an instruction is stored, which when executed by a processor, implements each process of the above-mentioned group positioning method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
Wherein the processor is a processor in the terminal described in the above embodiment. The readable storage medium includes computer readable storage medium such as computer readable memory ROM, random access memory RAM, magnetic or optical disk, etc.
The embodiment of the application further provides a chip, the chip comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running a network side equipment program or instruction, the processes of the above set of positioning method embodiments can be realized, the same technical effects can be achieved, and the repetition is avoided, and the description is omitted here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, or the like.
The embodiment of the application also provides a computer program which is stored in a readable memory, and when the computer program is executed by a processor, the processes of the above embodiment of the group positioning method are realized, and the same technical effects can be achieved, so that repetition is avoided, and the description is omitted here.
The embodiment of the application also provides a computer program product, which comprises a processor, a memory and a program or an instruction stored in the memory and capable of running on the processor, wherein when the program or the instruction is executed by the processor, the processes of the above group positioning method embodiment are realized, the same technical effects can be achieved, and the repetition is avoided, so that the description is omitted.
The embodiment of the application also provides a wireless communication system, which comprises: at least a first communication device, a second communication device and a third communication device, the first communication device being operable to perform the steps of the method as described in method embodiments 200-400 above, the second communication device being operable to perform the steps of the method as described in method embodiment 600 above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present application and the scope of the claims, which are to be protected by the present application.

Claims (29)

1. A group positioning method, comprising:
the method comprises the steps that first communication equipment obtains position related information of each communication equipment in a positioning group and first propagation delay difference quantity;
according to the position related information and the first propagation delay difference, the first communication equipment determines target position information of a target reflector;
the positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.
2. The method of claim 1, wherein the step of the first communication device determining target location information for a target reflector based on the location related information and the first propagation delay difference amount comprises:
determining a first positioning delay parameter between the target reflector and each communication device in the positioning group according to the position-related information and the first propagation delay difference parameter;
and determining target position information of the target reflector according to the first positioning time delay parameter.
3. The method of claim 2, wherein determining a first positioning delay parameter between the target reflector and each communication device in the positioning group based on the position-related information and the first propagation delay difference parameter comprises:
determining a first positioning delay parameter between the target reflector and each communication device in the positioning group according to a second positioning delay parameter and the first propagation delay difference parameter between each communication device in the positioning group;
the location related information includes the second positioning delay parameter, or the location related information includes location information of each communication device in the positioning group, where the second positioning delay parameter is determined according to the location information.
4. A method according to any one of claims 1-3, wherein N of said first propagation delay differences are as follows:
wherein ,representing a first propagation delay difference when the sender is a second communication device and the receiver is the first communication device,/for>Representing a first propagation delay difference when the sender is the second communication device and the receiver is the third communication device,/v>Representing a first propagation delay difference amount, τ, when the transmitting end is the first communication device and the receiving end is the third communication device 2,1 Representing a second positioning delay parameter, τ, between the second communication device and the first communication device 2,3 Representing a second positioning delay parameter, τ, between the second communication device and the third communication device 1,3 A second positioning delay parameter indicative of a second positioning delay parameter between said first communication device and said third communication device,/or->A first positioning delay parameter indicative of a first positioning delay parameter between said second communication device and said target reflector,/or->A first positioning delay parameter representing a distance between the first communication device and the target reflectorCount (n)/(l)>A first positioning delay parameter representing a first positioning delay between the target reflector and the third communication device, the second communication device and the third communication device being communication devices in the positioning group.
5. The method of claim 4, wherein the vector x' corresponding to the first positioning delay parameter is:
x'＝((A') T A') -1 (A') T y'；
wherein ,
6. the method according to any of claims 1-5, wherein the step of the first communication device obtaining the first propagation delay difference amount comprises at least one of:
the first communication equipment determines the first propagation delay difference according to the reference signal measurement quantity acquired by the first communication equipment under the condition of being used as a receiving end;
the first communication device receives a first propagation delay difference amount transmitted from other communication devices except the first communication device in the positioning group without being a receiving end.
7. The method of claim 6, wherein the step of the first communication device determining the first propagation delay difference amount from the reference signal measurement amount acquired by the first communication device itself in the case of being a receiving end, comprises:
the first communication device obtains a first measurement quantity and a second measurement quantity;
the first communication device determines a first time delay from the second communication device to the first communication device and a second time delay when the first communication device transmits from the second communication device and then reflects to the first communication device through the target reflector according to the first measurement quantity and the second measurement quantity;
The first communication device determines the first propagation delay difference according to the second time delay and the first time delay;
the first measurement quantity at least comprises a first reference signal, a second reference signal and a third reference signal, the first reference signal is sent by the second communication device on a first resource, the second reference signal is obtained by modulating the first reference signal received by the third communication device according to a first orthogonal modulation mode, and the third reference signal is obtained by reflecting the first reference signal received by the target reflector;
the second measurement quantity at least comprises a fourth reference signal, a fifth reference signal and a sixth reference signal, the fourth reference signal is sent by the second communication device on a second resource, the fifth reference signal is obtained by modulating the fourth reference signal received by the third communication device according to a first orthogonal modulation mode, and the sixth reference signal is obtained by reflecting the fourth reference signal received by the target reflector.
8. The method of claim 7, wherein the first propagation delay difference amount The method comprises the following steps:
wherein , the first time delay is indicated and the first time delay is indicated,representing said second delay, +_>A first positioning delay parameter indicative of a delay between the second communication device and said target reflector,/or->A first positioning delay parameter, τ, representing a delay between the target reflector and the first communication device 2,1 Representing a second positioning delay parameter between said second communication device and said first communication device,/or->Representing the timing error experienced by said second communication device,/or->Representing the timing error experienced by the first communication device.
9. The method of claim 7, wherein the step of the first communication device determining the first propagation delay difference amount from the reference signal measurement amount acquired by the first communication device itself in the case of being a receiving end, further comprises:
the first communication device replaces the sending end and/or the reflecting end according to a first rule under the condition that the number of the first propagation delay difference amounts does not reach the N, and acquires the first propagation delay difference amounts again based on the replaced sending end and/or reflecting end;
the first rule is configured through high-level signaling, and related information of a plurality of positioning device pairs is configured in the first rule, each positioning device pair comprises at least one sending end, at least one reflecting end and at least one receiving end, and one positioning device pair comprises at least part of communication devices in the positioning group.
10. The method of claim 9, wherein in the case where the number of communication devices included in the pair of positioning devices is S, the number of transmitting, reflecting, and receiving ends in each of the pairs of positioning devices is less than or equal to S-2, S is greater than or equal to 3, and S is a positive integer.
11. The method of claim 7, wherein the first resource and the second resource are different time domain resources, or the first resource and the second resource are different frequency domain resources on the same time domain, or the first resource and the second resource are different spatial domain resources on the same time domain, or the first resource and the second resource are different code domain resources on the same time domain.
12. The method of claim 7, wherein the first reference signal or the fourth reference signal comprises any one of a tracking reference signal TRS, a channel state information reference signal CSI-RS, a positioning reference signal PRS, a positioning reference signal UL-SRS.
13. The method of claim 7, wherein the first orthogonal modulation scheme comprises any one of an on-off keying OOK scheme, a binary phase shift keying BPSK scheme, and a code division multiplexing CDM orthogonal code scheme.
14. The method according to any of claims 3-13, wherein the step of the first communication device obtaining location related information of each communication device in the positioning group comprises:
if the position-related information does not include the second positioning delay parameter, the first communication device acquires L second propagation delay difference amounts corresponding to different reflection paths, and determines a second positioning delay parameter according to the L second propagation delay difference amounts;
the second propagation delay difference is a propagation delay difference of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by any one communication device in the positioning group, different first propagation delay differences correspond to the fact that L which is not identical in the three communication devices in the positioning group is a positive integer, and L is more than or equal to 3.
15. The method of any one of claims 1-14, wherein the N and the L are configured by a higher layer.
16. The method of claim 14, wherein the step of the first communication device obtaining L second propagation delay differences corresponding to different reflection paths comprises at least one of:
Acquiring the second propagation delay difference amount according to the acquired reference signal measurement amount under the condition that the first communication equipment is used as a receiving end;
the first communication device receives a second propagation delay difference amount transmitted from other communication devices than the first communication device in the positioning group, in a case where the first communication device does not function as a receiving end.
17. The method of claim 16, wherein the step of obtaining the second propagation delay difference amount from the reference signal measurement amount obtained by itself in the case where the first communication device is the receiving end, comprises:
the first communication device obtains a first measurement quantity and a second measurement quantity;
the first communication device determines a first time delay from the second communication device to the first communication device and a third time delay from the second communication device to the first communication device through the third communication device according to the first measurement quantity and the second measurement quantity;
the first communication device determines the second propagation delay difference amount according to the third delay and the first delay.
18. The method of claim 17, wherein the second propagation delay difference amountThe method comprises the following steps:
wherein , representing said third delay, ++>Representing the first delay, τ 2,3 Representing a second positioning delay parameter, τ, between the second communication device and the third communication device 2,1 Representing a second positioning delay parameter, τ, between the second communication device and the first communication device 3,1 A second positioning delay parameter indicative of a delay between the third communication device and the first communication device,/a second positioning delay parameter indicative of a delay between the third communication device and the first communication device>Representing the timing error experienced by said second communication device,/or->Representing a timing error experienced by the first communication device, the second communication device and the third communication device being communication devices of the positioning group.
19. The method of claim 18, wherein the L second propagation delay differences are:
wherein ,representing a second propagation delay difference when the sending end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device, < >>Indicating a second propagation delay difference when the sending end is a second communication device, the receiving end is a third communication device and the reflecting end is a first communication device, < > >And the second propagation delay difference quantity is represented when the sending end is the first communication equipment, the receiving end is the third communication equipment and the reflecting end is the second communication equipment.
20. The method of claim 17, wherein the vector x corresponding to the second positioning delay parameter is expressed as:
x＝(A T A) -1 A T y；
wherein , representing a second propagation delay difference when the sending end is a second communication device, the receiving end is a first communication device, and the reflecting end is a third communication device, < >>Indicating a second propagation delay difference when the sending end is a second communication device, the receiving end is a third communication device and the reflecting end is a first communication device, < >>And the second propagation delay difference quantity is represented when the sending end is the first communication equipment, the receiving end is the third communication equipment and the reflecting end is the second communication equipment.
21. The method according to any of claims 1-20, wherein communication devices located in the same positioning group comprise mobile communication devices and/or fixed communication devices.
22. The method according to any of claims 1-20, wherein the reference signals are mutually orthogonal in case there are multiple transmitting ends transmitting reference signals simultaneously or one transmitting end transmitting multiple reference signals simultaneously on different resources.
23. A group positioning method, wherein a positioning group includes at least a first communication device, a second communication device, and a third communication device, the method comprising:
the second communication device performs at least one of:
transmitting location information of the second communication device to the first communication device or the third communication device;
transmitting a target reference signal RS;
receiving a target RS sent by the first communication equipment, modulating the target RS according to a first orthogonal modulation sequence, and then sending and reflecting;
receiving a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by modulating the target RS by the third communication device according to a first orthogonal modulation sequence, and sending position-related information to the first communication device;
receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to a target RS; and transmitting the first propagation delay variance to the first communication device; the first propagation delay difference is a propagation delay difference of a propagation path between the second communication device and any one communication device except the first communication device and the second communication device in the positioning group, and the propagation path is a path reflected by the target reflector.
24. A group positioning method performed by a target device, the method comprising:
within a first time unit, the target device performing as a first communication device the group positioning method of any of claims 1 to 22;
in a second time unit, the target device performs the group positioning method as claimed in claim 23 as a second communication device.
25. A group positioning apparatus for use with a first communication device, the apparatus comprising:
the acquisition module is used for acquiring the position related information of each communication device in the positioning group and the first propagation delay difference;
the determining module is used for determining target position information of a target reflector according to the position related information and the first propagation delay difference;
the positioning group comprises M communication devices including the first communication devices, the number of the first propagation delay difference amounts is N, one first propagation delay difference amount is the propagation delay difference amount of a propagation path between any two communication devices in the positioning group, the propagation path is a path reflected by the target reflector, different first propagation delay difference amounts correspond to the two communication devices in the positioning group and are not completely identical, N, M is a positive integer, and M is more than or equal to N is more than or equal to 3.
26. A group positioning apparatus, wherein a positioning group includes at least a first communication device, a second communication device, and a third communication device, the apparatus comprising:
a first processing module for performing at least one of:
transmitting location information of the second communication device to the first communication device or the third communication device;
transmitting a target reference signal RS;
receiving a target RS sent by the first communication equipment, modulating the target RS according to a first orthogonal modulation sequence, and then sending and reflecting;
receiving a target RS sent by the first communication device and a reflected signal sent by the third communication device, wherein the reflected signal is obtained by modulating the target RS by the third communication device according to a first orthogonal modulation sequence, and sending position-related information to the first communication device;
receiving a reflected signal reflected by a target reflector, wherein the reflected signal corresponds to a target RS; and transmitting the first propagation delay variance to the first communication device; the first propagation delay difference is a propagation delay difference of a propagation path between the second communication device and any one communication device except the first communication device and the second communication device in the positioning group, and the propagation path is a path reflected by the target reflector.
27. A group positioning apparatus for application to a target device, the apparatus comprising:
a second processing module for performing, within a first time unit, the group positioning method as claimed in any one of claims 1 to 22, with the target device as a first communication device; and
in a second time unit, the target device performs the group positioning method as claimed in claim 23 as a second communication device.
28. A communication device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, performs the steps of the group positioning method of any one of claims 1 to 22, or performs the steps of the group positioning method of claim 23, or performs the steps of the group positioning method of claim 24.
29. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the group positioning method according to any one of claims 1 to 22, or the steps of the group positioning method according to claim 23, or the steps of the group positioning method according to claim 24.
CN202210193682.7A 2022-02-28 2022-02-28 Group positioning method and device and communication equipment Pending CN116709171A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202210193682.7A CN116709171A (en) 2022-02-28 2022-02-28 Group positioning method and device and communication equipment
PCT/CN2023/078538 WO2023160711A1 (en) 2022-02-28 2023-02-27 Group positioning methods and apparatus, and communication device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210193682.7A CN116709171A (en) 2022-02-28 2022-02-28 Group positioning method and device and communication equipment

Publications (1)

Publication Number Publication Date
CN116709171A true CN116709171A (en) 2023-09-05

Family

ID=87764890

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210193682.7A Pending CN116709171A (en) 2022-02-28 2022-02-28 Group positioning method and device and communication equipment

Country Status (2)

Country Link
CN (1) CN116709171A (en)
WO (1) WO2023160711A1 (en)

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007192575A (en) * 2006-01-17 2007-08-02 Mitsubishi Electric Corp Target positioning apparatus
JP2007192573A (en) * 2006-01-17 2007-08-02 Mitsubishi Electric Corp Target positioning apparatus
CN103298098A (en) * 2012-02-24 2013-09-11 中兴通讯股份有限公司 Data synchronization adjusting method and system in multi-base-station cooperation
CN103379427B (en) * 2012-04-13 2016-06-15 华为技术有限公司 A kind of localization method, equipment and system

Also Published As

Publication number Publication date
WO2023160711A1 (en) 2023-08-31

Similar Documents

Publication Publication Date Title
Zaidi et al. Cooperative scheme ToA‐RSSI and variable anchor positions for sensors localization in 2D environments
WO2022179499A1 (en) Channel information acquisition method and apparatus, and communication device
CN116709171A (en) Group positioning method and device and communication equipment
CN116567806A (en) Positioning method and communication equipment based on artificial intelligence AI model
WO2023138673A1 (en) Timing calibration method and apparatus, and communication device
WO2023125986A1 (en) Positioning method and apparatus, and communication device
WO2023151590A1 (en) Group positioning method and apparatus, user equipment, and storage medium
WO2023151657A1 (en) Information processing method and communication device
WO2023151555A1 (en) Positioning methods and apparatuses, user equipment and storage medium
WO2023246919A1 (en) Channel estimation method and apparatus, communication device, system and storage medium
WO2023125997A1 (en) Positioning methods and apparatuses, and communication devices
CN116939636A (en) Model effectiveness feedback method and device, terminal and network side equipment
CN117412245A (en) SL positioning method, device and readable storage medium
WO2024027664A1 (en) Carrier phase positioning method and apparatus, and device and medium
CN116634555A (en) Positioning method, device and readable storage medium
CN118175503A (en) Model supervision method, device, terminal, network equipment and readable storage medium
CN116847456A (en) Positioning method, positioning device, terminal and network side equipment
CN116170871A (en) Positioning method, positioning device, terminal and network side equipment
CN116266961A (en) PRACH transmission method, device and terminal
CN116419140A (en) Positioning method and device, terminal and first network element
CN117560301A (en) Event information transmission method, LMF, access network equipment and terminal
CN116828428A (en) Auxiliary terminal-based measurement method, device, communication equipment and readable storage medium
CN118214993A (en) Positioning method, positioning device and communication equipment
CN117560708A (en) Performance supervision method and device of intelligent AI network model and communication equipment
CN117411600A (en) Method for transmitting or receiving positioning reference signal, terminal and network side equipment

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination