CN117322094A

CN117322094A - Positioning method, device, equipment and storage medium

Info

Publication number: CN117322094A
Application number: CN202280001440.1A
Authority: CN
Inventors: 李明菊; 赵群; 李小龙; 辜寂; 屈添添; 张欣; 韦再雪
Original assignee: Beijing University of Posts and Telecommunications; Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing University of Posts and Telecommunications; Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2023-12-29
Also published as: WO2023206173A1

Abstract

The application discloses a positioning method, a positioning device, positioning equipment and a storage medium, and relates to the field of mobile communication. The method comprises the following steps: the terminal receives configuration information sent by the network equipment, the configuration information is used for configuring resource information for transmitting positioning reference signals for the terminal, the positioning reference signals are used for positioning the terminal, a resource configuration mode is provided, the resource configuration is guaranteed, the method for transmitting the positioning reference signals between the network equipment and the terminal to position the terminal is provided, the terminal positioning mode is expanded, positioning accuracy is improved through positioning through the mode of transmitting the positioning reference signals between the network equipment and the terminal.

Description

Positioning method, device, equipment and storage medium

Technical Field

The present invention relates to the field of mobile communications, and in particular, to a positioning method, apparatus, device, and storage medium.

Background

In the positioning technology, the positioning can be performed by using an inertial navigation system, and the inertial navigation system estimates the position information and the speed information of the terminal by using an inertial sensor according to the movement direction and the initial position information.

Disclosure of Invention

The embodiment of the application provides a positioning method, a device, equipment and a storage medium, provides a resource configuration mode, ensures resource configuration, and provides a method for transmitting positioning reference signals between network equipment and a terminal to position the terminal, which expands the terminal positioning mode, positions the terminal in a mode of transmitting the positioning reference signals between the network equipment and the terminal, and improves positioning accuracy. The technical scheme is as follows:

according to one aspect of the present application, there is provided a positioning method, the method being performed by a terminal, the method comprising:

and receiving configuration information sent by network equipment, wherein the configuration information is used for configuring resource information for transmitting a positioning reference signal for the terminal, and the positioning reference signal is used for positioning the terminal.

According to one aspect of the present application, there is provided a positioning method, the method being performed by a network device, the method comprising:

and sending configuration information to a terminal, wherein the configuration information is used for configuring resource information for transmitting a positioning reference signal for the terminal, and the positioning reference signal is used for positioning the terminal.

According to one aspect of the present application, there is provided a positioning device, the device comprising:

the receiving module is used for receiving configuration information sent by the network equipment, the configuration information is used for configuring resource information for transmitting positioning reference signals for the terminal, and the positioning reference signals are used for positioning the terminal.

the terminal comprises a sending module, a positioning reference signal and a receiving module, wherein the sending module is used for sending configuration information to the terminal, the configuration information is used for configuring resource information for transmitting the positioning reference signal for the terminal, and the positioning reference signal is used for positioning the terminal.

According to an aspect of the present application, there is provided a terminal including: a processor; a transceiver coupled to the processor; a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the positioning method as described above.

According to one aspect of the present application, there is provided a network device comprising: a processor; a transceiver coupled to the processor; a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the positioning method as described above.

According to one aspect of the present application, there is provided a computer readable storage medium having executable program code stored therein, the executable program code being loaded and executed by a processor to implement a positioning method as described above.

According to one aspect of the present application, there is provided a chip comprising programmable logic circuitry and/or program instructions for implementing the positioning method of the above aspect when the chip is run on a terminal or network device.

According to an aspect of the present application, there is provided a computer program product for implementing the positioning method of the above aspect, when the computer program product is executed by a processor of a terminal or network device.

In the positioning scheme provided by the embodiment of the application, the network equipment configures the resources for transmitting the positioning reference signals for the terminal, the positioning reference signals can be transmitted between the network equipment and the terminal, and then the terminal is positioned based on the carrier phase difference corresponding to the positioning reference signals, so that a resource configuration mode is provided, the resource configuration is ensured, the method for transmitting the positioning reference signals between the network equipment and the terminal to position the terminal is provided, the terminal positioning mode is expanded, the positioning accuracy is improved through the positioning mode for transmitting the positioning reference signals between the network equipment and the terminal.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 illustrates a block diagram of a communication system provided by an exemplary embodiment of the present application;

FIG. 2 illustrates a flow chart of a positioning method provided by an exemplary embodiment of the present application;

FIG. 3 illustrates a flow chart of a positioning method provided by an exemplary embodiment of the present application;

FIG. 4 illustrates a flow chart of a positioning method provided by an exemplary embodiment of the present application;

fig. 5 shows a flowchart of a bandwidth adjustment method provided in an exemplary embodiment of the present application;

FIG. 6 illustrates a flow chart of a positioning method provided by an exemplary embodiment of the present application;

fig. 7 is a schematic diagram illustrating a location of a network device during a terminal moving process according to an exemplary embodiment of the present application;

FIG. 8 is a schematic diagram illustrating a location with a network device during a movement of another terminal according to an exemplary embodiment of the present application;

FIG. 9 illustrates a flow chart of a positioning method provided by an exemplary embodiment of the present application;

FIG. 10 illustrates a flow chart of a positioning method provided by an exemplary embodiment of the present application;

FIG. 11 illustrates a flowchart of a positioning method provided by an exemplary embodiment of the present application;

FIG. 12 illustrates a flowchart of a positioning method provided by an exemplary embodiment of the present application;

FIG. 13 illustrates a block diagram of a positioning device provided in an exemplary embodiment of the present application;

FIG. 14 illustrates a block diagram of another positioning device provided in an exemplary embodiment of the present application;

FIG. 15 illustrates a block diagram of a positioning device provided in an exemplary embodiment of the present application;

FIG. 16 illustrates a block diagram of another positioning device provided in an exemplary embodiment of the present application;

fig. 17 shows a schematic structural diagram of a communication device according to an exemplary embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description, when taken in conjunction with the accompanying drawings, refers to the same or similar elements in different drawings, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Depending on the context, for example, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination".

It should be noted that, information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals referred to in this application are all authorized by the user or are fully authorized by the parties, and the collection, use, and processing of relevant data is required to comply with relevant laws and regulations and standards of relevant countries and regions.

Next, application scenarios of the present application are described:

fig. 1 shows a block diagram of a communication system provided in an exemplary embodiment of the present application, which may include: a terminal 10 and a network device 20.

The number of terminals 10 is typically plural and one or more terminals 10 may be distributed within a cell managed by each network device 20. The terminal 10 may include various handheld devices, vehicle mount devices, wearable devices, computing devices, or other processing devices connected to a wireless modem, as well as various forms of User Equipment (UE), mobile Station (MS), and the like, having wireless communication capabilities. For convenience of description, in the embodiment of the present application, the above-mentioned devices are collectively referred to as a terminal.

Network device 20 is a means deployed in an access network to provide wireless communication functionality for terminal 10. For convenience of description, in the embodiments of the present application, the above-mentioned devices for providing the wireless communication function for the terminal 10 are collectively referred to as a network device. A connection may be established between the network device 20 and the terminal 10 over an air interface so that communication, including interaction of signaling and data, may take place over the connection. The number of network devices 20 may be plural, and two adjacent network devices 20 may communicate with each other by wired or wireless means. The terminal 10 may switch between different network devices 20, i.e. establish a connection with different network devices 20.

The network device 20 may include various forms of macro base stations, micro base stations, relay stations, access points, transmission and reception points (Transmission Reception Point, TRP), and so forth. The names of network device-capable devices may vary in systems employing different Radio access technologies, for example in 5G NR (New Radio) systems, called gnob or gNB. As communication technology evolves, the name "network device" may change.

Next, an inertial navigation system according to the present application will be described. The inertial navigation system is a navigation positioning system based on Newton classical mechanics, and the working principle is to estimate the information such as carrier position, speed and the like by utilizing an inertial sensor (a gyroscope and an accelerometer) according to the reference direction and initial position information. The inertial navigation system has autonomous navigation capability, does not need any external electromagnetic signals, and has strong anti-interference capability. Therefore, the inertial navigation system has advantages that are incomparable with navigation systems such as satellite navigation, radio navigation, astronomical navigation, etc. Among other things, inertial navigation system's advantage lies in:

(1) Because the inertial navigation system does not depend on external information and does not radiate energy outwards when in operation, the inertial navigation system has strong autonomy and good confidentiality when in operation. In operation, the inertial navigation system can calculate the required navigation parameters by only integrating and solving the data output by the own IMU (Inertial Measurement Unit ).

(2) The inertial navigation system is capable of providing the navigational coefficients of the carrier from various aspects due to the inclusion of different inertial measurement elements, such as gyroscopes, accelerometers, etc. By solving the integral of the IMU output data, we can obtain position, velocity, acceleration, attitude and heading, etc.

(3) The operation of the inertial navigation system is not limited by the meteorological conditions, and because the inertial navigation system can operate completely autonomously, the external meteorological environment can not influence the navigation result of inertial navigation.

(4) The inertial navigation system has strong anti-interference capability and is insensitive to the influence of waves, fields and lines formed by electricity, magnetism, light and the like. Hardly radiates electromagnetic waves outwards and does not need to receive electromagnetic waves, so that the electromagnetic wave shielding device has extremely strong anti-interference capability.

Gyroscopes and accelerometers are the most important two inertial sensors in inertial navigation systems, in which there are typically three gyroscopes and three accelerometers mounted on three mutually perpendicular axes, one on each axis. Each of the three axes points in one direction for measuring the rotational angular velocity and the movement acceleration in that direction. After the IMU acquires the data of the gyroscope and the accelerometer, six degrees of freedom variables of the carrier in space can be determined through integration, namely: three spatial position coordinate components and three operational attitude angles. The operational attitude angles generally include Yaw angle (Yaw), pitch angle (pitch), and Roll angle (Roll). For an aircraft, the yaw angle determines the heading of the aircraft projected on the horizontal plane, and the pitch angle and roll angle reflect whether the aircraft is in stable flight. For other land traveling carriers such as automobiles, the front-rear gradient and the left-right gradient of the road surface are generally smaller, so that the inertial navigation system in part and application only considers the traveling azimuth angle of the carrier.

Accelerometers are used to measure specific force in a certain direction. Common accelerometers include pendulum integral accelerometers, flexible pendulum accelerometers, electrostatic accelerometers, and the like. In recent years, along with the continuous development of computing technology, the accelerometer using the MEMS technology has small volume, light weight and low price, is widely used in smart phones, vehicle navigation, unmanned aerial vehicles and robots at present, and greatly expands the application prospect and application range of the IMU. A gyroscope refers to an object mounted in a frame that rotates at high speed about the axis of symmetry of a rotator. The gyroscope has stability and precession. The gyroscope is sensitive to angular velocity due to its characteristic of being sensitive to angular velocity, and can be used for measuring angular velocity and angular deviation.

Fig. 2 shows a flowchart of a positioning method according to an exemplary embodiment of the present application, which may be exemplarily applied to a terminal and a network device as shown in fig. 1, where the method includes at least some of the following contents:

step 201: the network device sends configuration information to the terminal, the configuration information is used for configuring resource information for transmitting positioning reference signals for the terminal, and the positioning reference signals are used for positioning the terminal.

Step 202: the terminal receives configuration information sent by the network equipment, wherein the configuration information is used for configuring resource information for transmitting positioning reference signals for the terminal, and the positioning reference signals are used for positioning the terminal.

The resource information is used for transmitting positioning reference signals between the network equipment and the terminal. In this embodiment, the terminal or the network device may determine the carrier phase difference according to the positioning reference signal, and further position the terminal according to the carrier phase difference corresponding to the positioning reference signal.

In the embodiment of the application, a positioning reference signal can be transmitted between the network equipment and the terminal, so that the network equipment or the terminal can conveniently position the terminal and determine the current position information of the terminal. The network device configures the resource information for the terminal to transmit the positioning reference signal through the configuration information, so that the terminal is positioned through the transmitted positioning reference signal.

It should be noted that, the steps performed by the network device may be separately formed into one embodiment, or the steps performed by the terminal may be separately formed into one embodiment, which is not limited in this application.

In the scheme provided by the embodiment of the application, the network equipment configures resources for the terminal to transmit the positioning reference signal, the positioning reference signal can be transmitted between the network equipment and the terminal, and then the terminal is positioned based on the carrier phase difference corresponding to the positioning reference signal, so that a resource configuration mode is provided, the resource configuration is ensured, the method for transmitting the positioning reference signal between the network equipment and the terminal to position the terminal is provided, the terminal positioning mode is expanded, the positioning accuracy is improved through the positioning mode of transmitting the positioning reference signal between the network equipment and the terminal.

The embodiment shown in fig. 2 illustrates an example in which the network device configures resource information for the terminal. And for the resource information, the resource information is determined according to at least one of motion information, carrier parameter information, and positioning information.

The motion information refers to information generated by the terminal in the moving process. Such as the moving speed and acceleration of the terminal. The motion information may be measured by a measuring instrument that the terminal itself has. The carrier parameter information refers to the relevant parameters of the terminal transmitting the carrier signal. The positioning information refers to information required for positioning the terminal.

In this embodiment of the present application, the motion information of the terminal is actually measured by the terminal itself, and the carrier parameter information and the positioning information of the terminal actually refer to information related to carrier phase positioning, that is, the resource information configured by the network device for the terminal is determined according to the information measured by the terminal itself and the information related to carrier phase.

In the scheme provided by the embodiment of the application, the resource information configured for the terminal can ensure that the terminal transmits the positioning reference signal under the condition of matching with the state of the terminal, so that the positioning accuracy is improved, that is, the method for configuring the resource is provided, the resource configuration is ensured, the positioning based on the measurement of the terminal and the carrier phase is further ensured, the positioning is performed through the combination mode of the measurement of the terminal and the carrier phase, and the positioning accuracy is improved.

On the basis of the embodiment shown in fig. 2, the terminal may send its own information to the network device, and the network device determines the resource information according to the received information. Referring to fig. 3, the method includes:

step 301: the terminal transmits at least one of motion information, carrier parameter information, and positioning information to the network device.

Step 302: the network device receives at least one of motion information, carrier parameter information and positioning information sent by the terminal.

In the embodiment of the application, after the terminal determines the motion information, the carrier parameter information and the positioning information, the determined information can be sent to the network device, and the network device further receives at least one of the motion information, the carrier parameter information and the positioning information sent by the terminal.

Step 303: the network device determines resource information based on at least one of the motion information, carrier parameter information, and positioning information.

In the embodiment of the present application, the information of the terminal itself is continuously changed in the moving process, and due to the change of the information of the terminal, the matched resource information needs to be determined according to the changed information.

In some embodiments, the resource information is determined from at least one of motion information, carrier parameter information, and positioning information. That is, in the embodiment of the present application, the network device receives at least one of the motion information, the carrier parameter information, and the positioning information sent by the terminal, and then the network device may execute step 303 to determine the resource information.

The resource information configured by the network device for the terminal is determined according to at least one of motion information, carrier parameter information and positioning information. It should also be understood that the motion information of the terminal is actually measured by the terminal itself, and the carrier parameter information and the positioning information of the terminal actually refer to information related to carrier phase positioning, that is, the resource information configured by the network device for the terminal is determined according to the information measured by the terminal itself and the information related to carrier phase.

The network device receives at least one of the motion information, the carrier parameter information and the positioning information sent by the terminal, and then the network device can determine the resource information according to the received information, and then the determined resource information is configured for the terminal through the configuration information.

In some embodiments, the network device includes a correspondence between at least one of motion information, carrier parameter information, and positioning information and resource information, and the resource information is determined based on the correspondence.

In this embodiment of the present application, the correspondence relationship included in the network device includes multiple types, where each correspondence relationship includes at least one of motion information, carrier parameter information, and positioning information, that is, one correspondence relationship includes a correspondence relationship between motion information and resource information, and another correspondence relationship includes a correspondence relationship between motion information, carrier parameter information, and resource information, or other correspondence relationships exist.

For example, if the network device includes a correspondence between motion information, carrier parameter information, and positioning information and resource information, the correspondence may be understood as including different motion information, different carrier parameter information, and different positioning information, and corresponding to different resource information. That is, the motion information, carrier information, and positioning information of different values correspond to different resource information.

For example, if the motion information of the terminal includes a velocity of 30 km/h, the acceleration is 5m/s ² The carrier parameter information includes carrier frequency 3GHz (gigahertz), and when the positioning accuracy is 1 dm, the network device determines that the corresponding resource information is that the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 8:2, that is, the ratio of downlink time domain resources is minimum 20%.

Or if the motion information of the terminal comprises a speed of 80 km/h and an acceleration of 5m/s ² The carrier parameter information includes carrier frequency 3GHz (gigahertz), and when the positioning accuracy is 1 dm, the network device determines that the corresponding resource information is that the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 7:3, that is, the ratio of downlink time domain resources is at least 30%.

In the embodiment of the present application, the correspondence between the motion information, the carrier parameter information, the positioning information and the resource information is described by way of example, and the correspondence may be other manners, which is not limited by the embodiment of the present application.

Optionally, the correspondence between at least one of the motion information, the carrier parameter information and the positioning information and the resource information is stored in an information correspondence table, and the network device determines the corresponding resource information by querying the information correspondence table.

It should be noted that the embodiment of the present application is described by taking directly performing steps 301 to 303 as an example. In yet another embodiment, steps 301-303 need to be performed under certain conditions.

In some embodiments, the terminal transmits at least one of motion information, carrier parameter information, and positioning information to the network device in response to the bandwidth of the phase locked loop of the terminal not supporting the adjustment.

The terminal includes a phase-locked loop, the phase-locked loop generates a carrier with a fixed phase through a set bandwidth, and for the change of motion information of the terminal itself, carrier parameter information of the terminal and positioning information of the terminal, the bandwidth of the phase-locked loop cannot be adjusted at this time, but the configured resource information can be adjusted, so that the steps 301-303 are executed, and the configuration of the resource information is further completed.

It should be noted that, in the embodiment of the present application, steps 301 to 303 are taken as examples to describe the present application. In another embodiment, the steps performed by the terminal may be separately formed into one embodiment, or the steps performed by the network device may be separately formed into one embodiment, which is not limited in this application.

In the scheme provided by the embodiment of the application, the terminal reports the information of the terminal to the network equipment, the network equipment further determines the resource information corresponding to the information of the terminal, the resource information is configured for the terminal, the resource information configured for the terminal can ensure that the terminal transmits the positioning reference signal under the condition of matching with the state of the terminal, and the positioning accuracy is improved.

Based on the embodiment shown in fig. 2, the terminal may determine the required resource information by itself, and then request the determined resource information from the network device. Referring to fig. 4, the method includes:

Step 401: the terminal determines request information according to at least one of motion information, carrier parameter information and positioning information.

In the embodiment of the present application, the information of the terminal itself is continuously changed in the moving process, and due to the change of the information of the terminal, the matched resource information needs to be determined according to the changed information. The terminal determines the motion information, carrier parameter information and positioning information of the terminal, and then the terminal can determine the request information according to the determined information of the terminal, and further execute the subsequent process to request the network equipment for obtaining the resource information corresponding to the request information.

In some embodiments, the terminal includes a correspondence between at least one of motion information, carrier parameter information, and positioning information and the request information, and the request information is determined based on the correspondence.

In this embodiment of the present application, the correspondence relationship included in the terminal includes multiple types, where each correspondence relationship includes at least one of motion information, carrier parameter information, and positioning information, that is, one correspondence relationship includes a correspondence relationship between motion information and request information, and another correspondence relationship includes a correspondence relationship between motion information, carrier parameter information, and request information, or other correspondence relationships exist.

For example, if the terminal includes correspondence between motion information, carrier parameter information, and positioning information and request information, the correspondence may be understood as including different motion information, different carrier parameter information, and different positioning information, and corresponding to different request information. That is, the motion information, carrier information, and positioning information of different values correspond to different request information.

For example, if the motion information of the terminal includes a velocity of 30 km/h, the acceleration is 5m/s ² The carrier parameter information includes carrier frequency 3GHz (gigahertz), and when the positioning accuracy is 1 dm, the network device determines that the corresponding request information is that the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 8:2, that is, the ratio of downlink time domain resources is minimum 20%.

Or if the motion information of the terminal comprises a speed of 80 km/h and an acceleration of 5m/s ² The carrier parameter information includes carrier frequency 3GHz (gigahertz), and when the positioning accuracy is 1 dm, the network device determines that the corresponding request information is that the ratio of uplink time domain resources to downlink time domain resources is less than or equal to 7:3, that is, the ratio of downlink time domain resources is at least 30%.

The embodiment of the present application is described by way of example, and the correspondence between the motion information, the carrier parameter information, and the positioning information and the request information may be other manners, which is not limited by the embodiment of the present application.

Optionally, the correspondence between at least one of the motion information, the carrier parameter information and the positioning information and the request information is stored in an information correspondence table, and the terminal determines the corresponding request information by querying the information correspondence table.

Step 402: the terminal sends request information to the network equipment, wherein the request information is used for acquiring resource information.

Step 403: the network device receives request information sent by the terminal, wherein the request information is used for acquiring resource information, and the request information is determined by the terminal according to at least one of motion information, carrier parameter information and positioning information.

In the embodiment of the application, after the terminal determines the resource information required by the terminal, the network device sends request information to the network device to request the resource information to the network device, and the network device configures the resource information for the terminal according to the request information.

It should be noted that, in the embodiment of the present application, the steps 401 to 403 are directly performed as an example. In yet another embodiment, steps 401-403 need to be performed under certain conditions.

In some embodiments, the request information is determined based on at least one of motion information, carrier parameter information, and positioning information in response to the bandwidth of the phase locked loop of the terminal not supporting the adjustment.

The terminal includes a phase-locked loop, the phase-locked loop generates a carrier with a fixed phase through a set bandwidth, and for the change of motion information, carrier parameter information and positioning information of the terminal, the bandwidth of the phase-locked loop cannot be adjusted at this time, but the configured resource information can be adjusted, so that the steps 301-303 are executed, and the configuration of the resource information is further completed.

In the scheme provided by the embodiment of the application, the terminal requests the network equipment for the resource information determined according to the information of the terminal, the network equipment configures the resource information for the terminal, the resource information configured for the terminal can ensure that the terminal transmits the positioning reference signal under the condition of matching with the state of the terminal, and the positioning accuracy is improved.

On the basis of the embodiments shown in fig. 3 and 4, the information associated with the terminal includes various cases, and the motion information, carrier parameter information, and positioning information are described below, respectively.

In some embodiments, the motion information includes at least one of:

(1) Speed information relative to the network device.

Wherein the speed information is relative speed information of the terminal with respect to the network device. In addition, the location of the network device is unchanged, i.e., the speed information of the terminal.

For example, the speed information is 30 km/h, 60 km/h, or other values.

In some embodiments, an inertial sensor is included in the terminal through which the terminal can measure velocity information of the terminal relative to the network device.

Optionally, the inertial sensor includes a gyroscope and an accelerometer from which the velocity information of the terminal can be determined.

(2) Acceleration information of the terminal.

The acceleration information refers to the acceleration of the terminal. If the acceleration information of the terminal is not zero and the acceleration information is positive, it is indicated that the speed of the terminal increases with the passage of time. If the acceleration information of the terminal is not zero and the acceleration information is negative, it means that the speed of the terminal decreases with the passage of time.

For example, the acceleration information of the terminal is 5m/s ² (m/s) ² )，-10m/s ² Or other numerical values.

Optionally, the inertial sensor includes a gyroscope and an accelerometer from which the acceleration information of the terminal can be determined.

It should be noted that, in the embodiment of the present application, the terminal actually completes measurement of the speed information and the acceleration information of the terminal through the inertial navigation system, so as to obtain the speed information and the acceleration information of the terminal.

In other embodiments, the carrier parameter information includes at least one of:

(1) The proportion of uplink time domain resources and downlink time domain resources supported by the terminal.

The uplink time domain resource is used for the terminal to send uplink transmission to the network equipment. The downlink time domain resource is used for the network device to send downlink transmission to the terminal. The ratio of uplink time domain resource to downlink time domain resource refers to the ratio of time domain resource for uplink transmission to time domain resource for downlink transmission in a certain subframe. The time domain resources herein may include at least one of subframes, slots, and symbols. For example, for the downlink positioning signal, the ratio of uplink time domain resources and downlink time domain resources supported by the terminal cannot be greater than a threshold, for example, the threshold is 6:8. For example, the ratio of uplink symbols to downlink symbols in a slot cannot be greater than 6:8, i.e. the number of downlink symbols in 14 symbols in a slot is greater than or equal to 8. For example, for the uplink positioning signal, the ratio of uplink time domain resources and downlink time domain resources supported by the terminal cannot be smaller than a threshold value, for example, the threshold value is 6:8. For example, the ratio of uplink symbols to downlink symbols in a slot cannot be less than 6:8, i.e. the number of uplink symbols in 14 symbols in a slot is greater than or equal to 6.

For example, the ratio of uplink domain resources to downlink domain resources is not greater than 7:3, or the ratio of uplink domain resources to downlink domain resources is not less than 8:2, or other values, which are not limited in the embodiments of the present application.

(2) Time-frequency resource information for phase tracking measurements.

The resource information not only can be used for phase tracking measurement, but also can be used for other transmission, and the time-frequency resource information is used for the terminal to carry out phase tracking measurement.

(3) Carrier frequency for phase tracking.

Wherein the phase of the carrier signal may be used for positioning and the carrier frequency used for phase tracking refers to the frequency of the carrier signal used for positioning.

(4) And the frequency point range of the carrier phase supported by the terminal.

The terminal supports different frequency point ranges due to configuration of the terminal, so that positioning based on carrier phase is conveniently performed in the supported frequency point ranges.

(5) Whether the bandwidth of the phase locked loop of the terminal supports adjustment.

Wherein the terminal comprises a phase locked loop by which the phase of the signal is adjusted in a locked condition. Whether the bandwidth of the phase-locked loop of the terminal supports adjustment refers to whether the terminal can adjust the bandwidth of the phase-locked loop.

In some embodiments, a preset number of bits is employed to indicate whether the bandwidth of the phase locked loop of the terminal supports adjustment.

For example, if the preset number of bits is the first bit, the bandwidth support adjustment of the pll of the terminal is indicated. And if the second bit of the preset number of bits indicates that the bandwidth of the phase-locked loop of the terminal does not support adjustment.

In other embodiments, the positioning information includes at least one of:

(1) Positioning accuracy of the terminal.

The positioning accuracy refers to an error range when positioning the terminal. For example, the positioning accuracy is 1 decimeter, or the positioning accuracy is 1 meter, or other numerical values.

(2) Sampling frequency of the terminal.

The sampling frequency refers to the number of times that the terminal samples in a unit time length. For example, the sampling frequency is 50 times per 1 minute, or 60 times per 1 minute, or other values.

(3) Measurement error of the terminal.

The measurement error refers to an error of speed information measured by the terminal.

In the scheme provided by the embodiment of the application, the terminal determines a plurality of parameter information according to configuration or self-measurement so as to determine resource information configured by the network equipment for the terminal according to the parameter information of the terminal, and determines the resource information through the various parameter information of the terminal, thereby improving the accuracy of the determined resource information.

In the embodiment of the present application, motion information of a terminal, carrier parameter information of the terminal, and positioning information of the terminal are taken as examples and described. In other embodiments, the resource information also includes a variety of information.

In some embodiments, the resource information includes a ratio of uplink time domain resources to downlink time domain resources and a subframe density for transmitting the positioning reference signal.

The uplink time domain resource is used for the terminal to send uplink transmission to the network equipment. The downlink time domain resource is used for the network device to send downlink transmission to the terminal. The ratio of uplink time domain resource to downlink time domain resource refers to the ratio of time domain resource for uplink transmission to time domain resource for downlink transmission in a certain subframe.

The subframe density used for transmitting the positioning reference signal refers to the proportion of subframes used for transmitting the positioning reference signal in the resource information to a certain number of subframes.

The above embodiments are described taking the network device as the terminal to configure the resource information as an example. In another embodiment, the network device may not be able to determine the satisfactory resource information, in which case the network device may return an error message to the terminal. Referring to fig. 5, the method includes:

Step 501: the network device sends error information to the terminal in response to the undetermined resource information, the error information indicating that the network device does not configure the resource information.

Step 502: and the terminal receives error information sent by the network equipment in response to the fact that the network equipment does not determine the resource information, and the error information indicates that the network equipment does not configure the resource information.

In the embodiment of the present application, if the network device further has resource information that cannot be configured for the terminal and meets the transmission requirement, in this case, the network device does not send configuration information to the terminal, but sends error information to the terminal, and informs the terminal that the resource information cannot be configured through the error information, and after receiving the error information, the terminal can determine that the network device does not configure corresponding resource information based on information measured by the terminal itself.

In some embodiments, if the terminal determines that the current motion information causes a severe change in doppler bias, or that the ratio of the current uplink time domain resource to the downlink time domain resource is large, so that the network device cannot configure the resource information for the terminal, the above-mentioned step 501 is started to be executed.

Step 503: the terminal adjusts the bandwidth of the phase-locked loop in the terminal.

In the embodiment of the present application, if the network device does not configure resource information for the terminal, in order to ensure the subsequent normal operation of positioning based on the positioning reference signal, the terminal may adjust the bandwidth of the phase-locked loop in the terminal, so that the phase-locked loop after bandwidth adjustment meets the requirement.

In some embodiments, when the bandwidth of the phase-locked loop is increased, the duration required by the phase-locked loop to lock is reduced, so that the cycle slip is reduced, and the accuracy of subsequent positioning based on the positioning reference signal is ensured.

It should be noted that, in the embodiment of the present application, the steps 501 to 503 are directly performed as an example. In yet another embodiment, steps 501-503 need to be performed under certain conditions.

In some embodiments, the bandwidth of the phase-locked loop in the terminal is adjusted in response to a bandwidth support adjustment of the phase-locked loop of the terminal.

In the embodiment of the application, the terminal comprises a phase-locked loop, the phase-locked loop generates a carrier wave with a fixed phase through the set bandwidth, and the terminal can adjust the bandwidth of the phase-locked loop under the condition that the network equipment cannot configure resource information for the terminal and the terminal supports adjustment of the bandwidth of the phase-locked loop.

In the scheme provided by the embodiment of the application, the network equipment responds to the unconfigured resource information, and the terminal adjusts the bandwidth of the phase-locked loop so as to reduce the time required by the phase-locked loop to perform the phase-locked loop, further avoid the occurrence of cycle slip, and improve the accuracy of subsequent positioning based on the positioning reference signal.

The above embodiments are described taking the network device as the terminal to configure the resource information as an example. In another embodiment, the terminal needs to start its own positioning function first, and then execute the above scheme of configuring resource information and positioning.

In some embodiments, the terminal initiates an IMU-assisted carrier phase measurement function in response to the velocity of movement of the terminal being greater than the first velocity, the IMU-assisted carrier phase measurement function directing the terminal to determine current location information of the terminal based on the phase information and the motion information of the terminal.

The first speed is set by the terminal, or is agreed by a communication protocol, or is configured in other manners, which are not limited in the embodiments of the present application.

In this embodiment of the present application, if the moving speed of the terminal is greater than the first speed, the IMU auxiliary carrier phase measurement function may be used when the terminal is located, that is, the terminal may start the IMU auxiliary carrier phase measurement function, so that the terminal determines the current location information of the terminal according to the phase information of the terminal and the motion information of the terminal.

In some embodiments, the speed of movement of the terminal is determined by the IMU function of the terminal. Therefore, the terminal needs to start the IMU function first, and determine whether to start the IMU auxiliary carrier phase measurement function based on the measurement result of the IMU function.

Alternatively, the IMU function may be started by the terminal, or may be started by the network device controlling the terminal, or may be started in another manner, which is not limited in the embodiments of the present application.

In the scheme provided by the embodiment of the application, the terminal starts the IMU auxiliary carrier phase measurement function, and then the configuration of the resource information can be finished firstly based on the IMU auxiliary carrier phase measurement function, and then the positioning is performed based on the resource information, so that the positioning based on the measurement of the terminal and the carrier phase is ensured, the positioning is performed in a combined mode of the measurement of the terminal and the carrier phase, and the positioning accuracy is improved.

Fig. 6 shows a flowchart of a positioning method according to an exemplary embodiment of the present application, which may be exemplarily applied to the terminal and the network device shown in fig. 1, where the method includes at least some of the following contents:

step 601: and the network equipment sends a downlink positioning reference signal to the terminal based on the resource information.

The downlink positioning reference signal is a signal for positioning, which is sent by the network device to the terminal.

In some embodiments, the downlink positioning reference signal includes PRS (Positioning Reference Signal ), or includes other types of signals, embodiments of the present application not being limited.

Step 602: and the terminal receives a downlink positioning reference signal sent by the network equipment based on the resource information.

In this embodiment of the present application, after the network device configures resource information for the terminal, both the network device and the terminal may determine resources for transmitting the positioning reference signal, where the network device may send a downlink positioning reference signal to the terminal based on the resource information, and the terminal receives the downlink positioning reference signal sent by the network device based on the resource information.

Step 603: the terminal determines phase information of the terminal at different positions based on the downlink positioning reference signals.

In this embodiment of the present application, the terminal may receive the downlink positioning reference signal at different positions, and then the terminal may determine phase information of the terminal at different positions according to the downlink positioning reference signal received at different positions.

In some embodiments, the terminal determines carrier phase differences of the terminal at different positions based on the downlink positioning reference signal, the carrier phase differences being determined by the phase between the carrier signal generated by the terminal itself and the received downlink positioning reference signal.

In the embodiment of the application, the terminal generates the carrier signal and also receives the downlink positioning reference signal sent by the network device, so that the terminal can determine the carrier phase differences of the terminal at different positions according to the carrier signal generated by the terminal and the received downlink positioning reference signal.

For example, as shown in fig. 7, the location of the network device is point O, and then the terminal moves from point a to point B during the movement, and finally to point C, where the carrier phase difference between the terminal and the network device at point a isThe carrier phase difference between the terminal and the network equipment at the point B isThe carrier phase difference between the terminal and the network equipment at the point C isWherein,as a fractional part of the carrier phase difference,andincluding the fractional part of the carrier phase difference and may also include the integer part of the carrier phase difference.

Step 604: and the terminal determines the current position information of the terminal according to the phase information of the terminal at different positions and the motion information of the terminal, and the motion information is determined by terminal measurement.

In the embodiment of the application, after the terminal determines the phase information of the terminal at different positions and the motion information of the terminal, the current position information of the terminal can be determined so as to realize positioning of the terminal.

In some embodiments, the distance between two adjacent positions of the terminal is determined according to the motion information of the terminal, the initial integer ambiguity is determined according to the phase information of the terminal at different positions and the distance between the two adjacent positions of the terminal, and the current position information of the terminal is determined according to the initial integer ambiguity.

In the embodiment of the application, the motion information of the terminal indicates the speed and the acceleration of the motion of the terminal, the moving distance of the terminal in a certain time period can be determined according to the motion information, that is, the distance between two adjacent positions in the moving process of the terminal can be determined when the terminal is at different positions.

Optionally, the phase information of the terminal at different positions, the distance of the terminal between two adjacent positions and the initial integer ambiguity satisfy the following relationship:

Wherein N is the initial integer ambiguityA is the distance between the first and second positions of the terminal, b is the distance between the second and third positions of the terminal,for the carrier phase difference of the terminal at the first location,for the carrier phase difference of the terminal at the second location,and lambda is the wavelength of the downlink positioning reference signal for the carrier phase difference of the terminal at the third position.

For example, on the basis of fig. 7, fig. 7 is simplified to fig. 8, referring to fig. 8, the distance between the terminal at point a and point B is a, the distance between the terminal at point B and point C is B, and the phase of the network device and the terminal at position a is r, and the phase of the network device and the terminal at position B is r+d ₁ The phase of the network device and the terminal at the position C is r+d ₂ 。

Next, how to determine the initial integer ambiguity is explained.

Wherein, referring to FIG. 8, r, r+d can be determined separately ₁ And r+d ₂ The expression mode of (a):

next, from the geometric relationship of fig. 8, the following relationship can be determined:

then according to the relation, solving can obtain:

wherein,

in the embodiment of the present application, the terminal directly determines the integer ambiguity is taken as an example to be described. In yet another embodiment, the terminal performs the above steps under certain conditions.

In some embodiments, the terminal determines a distance between two adjacent locations of the terminal based on motion information of the terminal in response to not acquiring the initial integer ambiguity.

In this embodiment of the present application, if the terminal does not acquire the initial integer ambiguity, the terminal cannot be located at this time, so it is necessary to determine the initial integer ambiguity first, and then locate the terminal based on the determined initial integer ambiguity, so in response to the terminal not acquiring the initial integer ambiguity, the distance between two adjacent positions of the terminal is determined according to the motion information of the terminal, and further, the subsequent steps are continuously executed according to the determined distance.

According to the method provided by the embodiment of the application, the downlink positioning reference signal is received through the resource information configured for the terminal, and the terminal is positioned based on the downlink positioning reference signal, so that the positioning based on the measurement of the terminal and the carrier phase is ensured, the positioning is performed in a combined mode of the measurement of the terminal and the carrier phase, and the positioning accuracy is improved.

And the initial integer ambiguity is determined by the phase of the carrier wave and the motion information of the terminal, and the fixed integer ambiguity is not required to be searched, so that the process of determining the initial integer ambiguity is simplified, the calculated amount is saved, and the efficiency of positioning the terminal is improved.

Fig. 9 shows a flowchart of a positioning method according to an exemplary embodiment of the present application, which may be exemplarily applied to the terminal and the network device shown in fig. 1, where the method includes at least some of the following contents:

step 901: and the terminal determines the predicted phase information of the terminal at the next position according to the initial integer ambiguity and the phase information of the terminal at different positions.

In the embodiment of the present application, when the terminal knows the initial integer ambiguity, the terminal may receive the downlink positioning reference signal sent by the network device at different positions, and because the terminal knows its own motion information, the terminal may determine in advance the position reached by the subsequent terminal, so the terminal may determine, according to the initial integer ambiguity and the phase information of the terminal at different positions, the predicted phase information of the terminal at the next position.

The initial integer ambiguity is a preconfigured initial integer ambiguity, or an initial integer ambiguity determined by the embodiment shown in fig. 6, or an initial integer ambiguity determined by other manners, which are not limited in this embodiment of the present application.

Step 902: and under the condition that the predicted phase information is different from the phase of the phase-locked loop of the terminal, the terminal updates the phase of the phase-locked loop of the terminal by adopting the predicted phase information.

In the embodiment of the application, under the condition that the interruption time length of the phase-locked loop of the terminal exceeds a certain time length, the situation of cycle skip occurs, and at this time, the terminal determines whether the cycle skip phenomenon occurs by comparing whether the predicted phase information of the next position is identical with the phase of the phase-locked loop or not because the terminal determines the predicted phase information of the next position. If the predicted phase information is different from the phase of the phase-locked loop of the terminal, the terminal updates the phase of the phase-locked loop of the terminal by using the predicted phase information.

Step 903: and the terminal determines the current position information of the terminal according to the updated phase of the phase-locked loop.

In the embodiment of the application, the terminal updates the phase of the phase-locked loop, so that the occurrence of the condition of skip can be prevented, the current position information of the terminal is further determined by the terminal according to the updated phase of the phase-locked loop, and the accuracy of the determined current position information is ensured.

It should be noted that, the embodiment of the present application is described by taking steps 901-903 as an example. In another embodiment, in response to the terminal acquiring the initial integer ambiguity, the predicted phase information of the terminal at the next position is determined according to the initial integer ambiguity and the phase information of the terminal at different positions.

In this embodiment of the present application, in response to the terminal having acquired the initial integer ambiguity, the phase information may be predicted according to the initial integer ambiguity, and if the terminal has not acquired the initial integer ambiguity, the terminal needs to perform the step of acquiring the initial integer ambiguity first, and then perform steps 901-903.

In the embodiment of the application, the terminal predicts the predicted phase information of the terminal moving to the next position through the initial whole-cycle ambiguity and the phase information at different positions, so that the phase of the phase-locked loop is adjusted based on the predicted phase information, the occurrence of the cycle skip condition is prevented, and the accuracy of positioning the terminal is ensured.

Fig. 10 shows a flowchart of a positioning method according to an exemplary embodiment of the present application, which may be exemplarily applied to the terminal and the network device shown in fig. 1, where the method includes at least some of the following contents:

step 1001: the terminal sends an uplink positioning reference signal and motion information of the terminal to the network equipment based on the resource information, and the network equipment is used for determining current position information of the terminal according to the uplink positioning reference signal and the motion information.

Step 1002: the network equipment receives an uplink positioning reference signal and motion information of the terminal, which are sent by the terminal, based on the resource information.

In the embodiment of the application, the network device configures resource information for the terminal, and the resource information includes resources for uplink transmission, so that the terminal can send an uplink positioning reference signal to the network device through the resource information, and further position the terminal based on the uplink positioning reference signal.

Step 1003: and the network equipment determines the current position information of the terminal according to the uplink positioning reference signal and the motion information.

In some embodiments, based on the uplink positioning reference signal, phase information of the terminal at different positions is determined, and current position information of the terminal is determined according to the phase information of the terminal at different positions and the motion information of the terminal.

Optionally, the network device determines carrier phase differences of the terminal at different positions based on the uplink positioning reference signal, where the carrier phase differences are determined by a phase between a carrier signal generated by the network device itself and the received uplink positioning reference signal.

Optionally, the distance between two adjacent positions of the terminal is determined according to the motion information of the terminal, the initial integer ambiguity is determined according to the phase information of the terminal at different positions and the distance between the two adjacent positions of the terminal, and the current position information of the terminal is determined according to the initial integer ambiguity.

The phase information of the terminal at different positions, the distance between two adjacent positions of the terminal and the initial integer ambiguity meet the following relation:

where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, b is the distance between the terminal at the second position and the third position,for the carrier phase difference of the terminal at the first location,for the carrier phase difference of the terminal at the second location,and lambda is the wavelength of the uplink positioning reference signal for the carrier phase difference of the terminal at the third position.

Step 1003 is similar to steps 603-604 described above, and will not be described again.

It should be noted that, in response to the terminal not acquiring the initial integer ambiguity, a distance between two adjacent positions of the terminal is determined according to the motion information of the terminal.

According to the method provided by the embodiment of the application, the network equipment receives the uplink positioning reference signal through the resource information configured for the terminal, and further positions the terminal based on the uplink positioning reference signal, so that the positioning based on the measurement of the terminal and the carrier phase is ensured, the positioning is performed in a combined mode of the measurement of the terminal and the carrier phase, and the positioning accuracy is improved.

It should be noted that the above embodiments may be split into new embodiments, or combined with other embodiments to form new embodiments, and the combination between the embodiments is not limited in this application.

Fig. 11 shows a flowchart of a positioning method according to an exemplary embodiment of the present application, which may be exemplarily applied to the terminal shown in fig. 1, where the method includes at least some of the following:

step 1101: the terminal receives configuration information sent by the network equipment, wherein the configuration information is used for configuring resource information for transmitting positioning reference signals for the terminal, and the positioning reference signals are used for positioning the terminal.

The embodiment shown in fig. 11 illustrates an example in which the network device configures resource information for the terminal. And for the resource information, the resource information is determined according to at least one of motion information, carrier parameter information, and positioning information.

On the basis of the embodiment shown in fig. 11, the terminal may transmit its own information to the network device, and the network device determines resource information according to the received information.

The terminal sends at least one of motion information, carrier parameter information and positioning information to the network device.

The motion information of the terminal refers to information generated in the moving process of the terminal. Such as the moving speed and acceleration of the terminal. The motion information of the terminal can be measured by a measuring instrument of the terminal itself. The carrier parameter information of the terminal refers to the relevant parameters of the terminal transmitting the carrier signal. The positioning information of the terminal refers to information required for positioning the terminal.

The terminal comprises a phase-locked loop, the phase-locked loop generates carrier waves with fixed phases through the set bandwidth, and the bandwidth of the phase-locked loop cannot be adjusted at the moment for the change of the motion information of the terminal, the carrier parameter information of the terminal and the positioning information of the terminal, so that the configured resource information can be adjusted, and the configuration of the resource information is further completed.

Based on the embodiment shown in fig. 11, the terminal may determine the required resource information by itself, and then request the determined resource information from the network device.

And the terminal determines request information according to at least one of the motion information, the carrier parameter information and the positioning information, and sends the request information to the network equipment, wherein the request information is used for acquiring the resource information.

In the embodiment of the present application, the information of the terminal itself is continuously changed in the moving process, and due to the change of the information of the terminal, the matched resource information needs to be determined according to the changed information. The terminal determines the motion information, carrier parameter information and positioning information of the terminal, and then the terminal can determine the request information according to the determined information of the terminal, and further execute the subsequent process to request the determined resource information from the network equipment.

On the basis of the above-described embodiments, the information associated with the terminal includes various cases, and the motion information, carrier parameter information, and positioning information are described below, respectively.

In some embodiments, the motion information includes at least one of:

(1) Speed information relative to the network device.

For example, the speed information is 30 km/h, 60 km/h, or other values.

(2) Acceleration information of the terminal.

(2) Time-frequency resource information for phase tracking measurements.

(3) Carrier frequency for phase tracking.

In other embodiments, the positioning information includes at least one of:

(1) Positioning accuracy of the terminal.

(2) Sampling frequency of the terminal.

(3) Measurement error of the terminal.

The above embodiments are described taking the network device as the terminal to configure the resource information as an example. In another embodiment, the network device may not be able to determine the satisfactory resource information, in which case the network device may return an error message to the terminal.

In some embodiments, the terminal receives error information sent by the network device in response to the network device not determining the resource information, the error information indicating that the network device is not configured with the resource information, and adjusts a bandwidth of a phase-locked loop in the terminal.

In the embodiment of the present application, if the network device does not configure the resource information for the terminal, in order to ensure the subsequent normal operation of positioning based on the positioning reference signal, the terminal may adjust the bandwidth of the phase-locked loop in the terminal, so that the phase-locked loop after the bandwidth adjustment meets the requirement.

In the scheme provided by the embodiment of the application, the terminal adjusts the bandwidth of the phase-locked loop in response to the non-configuration resource information of the network equipment so as to reduce the time required by the phase-locked loop for carrying out the phase-locked loop, further avoid the occurrence of cycle slip, and improve the accuracy of the subsequent positioning based on the positioning reference signal.

In some embodiments, the terminal receives a downlink positioning reference signal sent by the network device based on the resource information, determines phase information of the terminal at different positions based on the downlink positioning reference signal, and determines current position information of the terminal according to the phase information of the terminal at different positions and motion information of the terminal, wherein the motion information is determined by terminal measurement.

The terminal can receive the downlink positioning reference signals at different positions, and then the terminal can determine the phase information of the terminal at different positions according to the downlink positioning reference signals received at different positions.

where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, b is the distance between the terminal at the second position and the third position,for the carrier phase difference of the terminal at the first location,for the carrier phase difference of the terminal at the second location,and lambda is the wavelength of the downlink positioning reference signal for the carrier phase difference of the terminal at the third position.

Next, how to determine the initial integer ambiguity is explained.

then according to the relation, solving can obtain:

wherein,

In some embodiments, in response to the terminal not acquiring the initial integer ambiguity, a distance between two adjacent locations of the terminal is determined from motion information of the terminal.

In some embodiments, the terminal determines predicted phase information of the terminal at a next position according to the initial integer ambiguity and phase information of the terminal at different positions, and updates the phase of the phase-locked loop of the terminal by using the predicted phase information when the predicted phase information is different from the phase of the phase-locked loop of the terminal, and determines current position information of the terminal according to the updated phase of the phase-locked loop.

Under the condition that the interruption time length of the phase-locked loop of the terminal exceeds a certain time length, the situation of cycle skip can be caused, and at the moment, the terminal determines whether the cycle skip phenomenon occurs by comparing whether the predicted phase information is identical with the phase of the phase-locked loop or not because the terminal determines the predicted phase information of the next position. If the predicted phase information is different from the phase of the phase-locked loop of the terminal, the terminal updates the phase of the phase-locked loop of the terminal by using the predicted phase information.

The terminal updates the phase of the phase-locked loop, so that the occurrence of the skip situation can be prevented, the current position information of the terminal is further determined according to the updated phase of the phase-locked loop, and the accuracy of the determined current position information is guaranteed.

In some embodiments, in response to the terminal acquiring the initial integer ambiguity, the terminal determines predicted phase information for the terminal at a next location based on the initial integer ambiguity and the phase information for the terminal at a different location.

In some embodiments, the terminal sends an uplink positioning reference signal and motion information of the terminal to the network device based on the resource information, and the network device is configured to determine current location information of the terminal according to the uplink positioning reference signal and the motion information.

Fig. 12 is a flowchart of a positioning method according to an exemplary embodiment of the present application, which may be exemplarily applied to the network device shown in fig. 1, where the method includes at least some of the following:

step 1201: the network device sends configuration information to the terminal, the configuration information is used for configuring resource information for transmitting positioning reference signals for the terminal, and the positioning reference signals are used for positioning the terminal.

The embodiment shown in fig. 12 illustrates an example in which the network device configures resource information for the terminal. And for the resource information, the resource information is determined according to at least one of motion information, carrier parameter information, and positioning information.

On the basis of the embodiment shown in fig. 12, the terminal may transmit its own information to the network device, and the network device determines resource information according to the received information.

In some embodiments, the network device receives at least one of motion information, carrier parameter information, and positioning information sent by the terminal, and determines the resource information according to the at least one of motion information, carrier parameter information, and positioning information.

The resource information configured by the network device for the terminal is determined according to at least one of motion information, carrier parameter information and positioning information. It should also be understood that the motion information of the terminal is actually measured by the terminal itself, and the carrier parameter information and the positioning information of the terminal actually refer to information positioned according to the carrier phase, that is, the resource information configured by the network device for the terminal is determined according to the information measured by the terminal itself and the carrier phase.

In some embodiments, at least one of the motion information, carrier parameter information, and positioning information is sent by the terminal in response to a bandwidth of a phase locked loop of the terminal not supporting adjustment.

Based on the embodiment shown in fig. 12, the terminal may determine the required resource information by itself, and then send request information for requesting the determined resource information to the network device.

In some embodiments, the network device receives request information sent by the terminal, the request information being used to obtain resource information, the request information being determined by the terminal according to at least one of motion information, carrier parameter information, and positioning information.

In some embodiments, the request information is determined by the terminal in response to a bandwidth of a phase locked loop of the terminal not supporting adjustment, based on at least one of motion information, carrier parameter information, and positioning information.

In some embodiments, the motion information includes at least one of:

(1) Speed information relative to the network device.

For example, the speed information is 30 km/h, 60 km/h, or other values.

(2) Acceleration information of the terminal.

(2) Time-frequency resource information for phase tracking measurements.

(3) Carrier frequency for phase tracking.

In other embodiments, the positioning information includes at least one of:

(1) Positioning accuracy of the terminal.

(2) Sampling frequency of the terminal.

(3) Measurement error of the terminal.

In some embodiments, the network device sends error information to the terminal in response to the undetermined resource information, the error information indicating that the network device is not configured with the resource information.

In some embodiments, if the terminal determines that the current motion information causes a severe change in doppler bias, or the ratio of the current uplink time domain resource to the downlink time domain resource is large, the network device cannot configure the resource information for the terminal.

In the scheme provided by the embodiment of the application, under the condition that the network equipment is not configured with the resource information, the terminal adjusts the bandwidth of the phase-locked loop so as to reduce the time required by the phase-locked loop to perform the phase-locked loop, further avoid the occurrence of the cycle slip condition and improve the accuracy of the subsequent positioning based on the positioning reference signal.

In some embodiments, the network device sends a downlink positioning reference signal to the terminal based on the resource information.

In some embodiments, the downlink positioning reference signal includes PRS, or includes other types of signals, and embodiments of the present application are not limited.

In some embodiments, the network device receives an uplink positioning reference signal and motion information of the terminal, which are sent by the terminal, based on the resource information, and determines current location information of the terminal according to the uplink positioning reference signal and the motion information.

Optionally, the distance between two adjacent positions of the terminal is determined according to the motion information of the terminal, the initial whole-cycle ambiguity is determined according to the phase information of the terminal at different positions and the distance between two adjacent positions of the terminal, and the current position information of the terminal is determined according to the initial whole-cycle ambiguity.

where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, b is the distance between the terminal at the second position and the third position,for the carrier phase difference of the terminal at the first position,for the carrier phase difference of the terminal at the second location,and lambda is the wavelength of the uplink positioning reference signal for the carrier phase difference of the terminal at the third position.

Fig. 13 shows a block diagram of a positioning device according to an exemplary embodiment of the present application, see fig. 13, the device comprising:

a receiving module 1301, configured to receive configuration information sent by a network device, where the configuration information is used to configure resource information for transmitting a positioning reference signal for a terminal, and the positioning reference signal is used to position the terminal.

In some embodiments, the resource information is determined from at least one of motion information, carrier parameter information, and positioning information.

In some embodiments, referring to fig. 14, the apparatus further comprises:

a sending module 1302, configured to send at least one of motion information, carrier parameter information, and positioning information to a network device.

In some embodiments, the sending module 1302 is configured to send at least one of the motion information, the carrier parameter information, and the positioning information to the network device in response to the bandwidth of the phase locked loop of the terminal not supporting the adjustment.

In some embodiments, the apparatus further comprises:

a determining module 1303, configured to determine request information according to at least one of motion information, carrier parameter information, and positioning information;

the sending module 1302 is configured to send request information to a network device, where the request information is used to obtain resource information.

In some embodiments, the determining module 1303 is configured to determine resource information according to at least one of motion information, carrier parameter information, and positioning information in response to the bandwidth of the phase-locked loop of the terminal not supporting adjustment.

In some embodiments, the motion information includes at least one of:

speed information relative to the network device;

acceleration information of the terminal.

In some embodiments, the carrier parameter information includes at least one of:

the proportion of uplink time domain resources and downlink time domain resources supported by the terminal;

time-frequency resource information for phase tracking measurement;

carrier frequency for phase tracking;

a frequency point range of a carrier phase supported by a terminal;

whether the bandwidth of the phase locked loop of the terminal supports adjustment.

In some embodiments, the positioning information includes at least one of:

positioning accuracy of the terminal;

Sampling frequency of the terminal;

measurement error of the terminal.

In some embodiments, the receiving module 1301 is further configured to receive, in response to the network device not determining the resource information, error information sent by the network device, where the error information indicates that the network device is not configured with the resource information;

an adjustment module 1304 is configured to adjust a bandwidth of a phase-locked loop in the terminal.

In some embodiments, the adjustment module 1304 is configured to adjust a bandwidth of a phase-locked loop in the terminal in response to a bandwidth support adjustment of the phase-locked loop of the terminal.

In some embodiments, the apparatus further comprises:

and the starting module 1305 is used for responding to the fact that the moving speed of the terminal is greater than the first speed, starting an IMU auxiliary carrier phase measuring function, and enabling the terminal to determine the current position information of the terminal according to the phase information and the movement information of the terminal through the IMU auxiliary carrier phase measuring function.

In some embodiments, the apparatus further comprises:

a receiving module 1301, configured to receive a downlink positioning reference signal sent by a network device based on resource information;

A determining module 1303, configured to determine phase information of the terminal at different positions based on the downlink positioning reference signal;

the determining module 1303 is further configured to determine current location information of the terminal according to phase information of the terminal at different locations and motion information of the terminal, where the motion information is determined by terminal measurement.

In some embodiments, the determining module 1303 is further configured to determine carrier phase differences of the terminal at different locations based on the downlink positioning reference signal, where the carrier phase differences are determined by phases between a carrier signal generated by the terminal itself and the received downlink positioning reference signal.

In some embodiments, the determining module 1303 is further configured to:

determining the distance between two adjacent positions of the terminal according to the motion information of the terminal;

determining initial integer ambiguity according to phase information of the terminal at different positions and the distance between the two adjacent positions;

and determining the current position information of the terminal according to the initial integer ambiguity.

In some embodiments, the phase information of the terminal at different locations, the distance of the terminal between two adjacent locations, and the initial integer ambiguity satisfy the following relationship:

where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, b is the distance between the terminal at the second position and the third position, For the carrier phase difference of the terminal at the first location,for the carrier phase difference of the terminal at the second location,for the carrier phase difference of the terminal in the third position,lambda is the wavelength of the downlink positioning reference signal.

In some embodiments, the determining module 1303 is further configured to determine, according to the motion information of the terminal, a distance between two adjacent positions of the terminal in response to the terminal not obtaining the initial integer ambiguity.

In some embodiments, the determining module 1303 is further configured to:

according to the initial integer ambiguity and the phase information of the terminal at different positions, determining the predicted phase information of the terminal at the next position;

under the condition that the predicted phase information is different from the phase of the phase-locked loop of the terminal, updating the phase of the phase-locked loop of the terminal by adopting the predicted phase information;

and determining the current position information of the terminal according to the updated phase of the phase-locked loop.

In some embodiments, the determining module 1303 is further configured to determine, in response to the terminal acquiring the initial integer ambiguity, predicted phase information of the terminal at a next position according to the initial integer ambiguity and phase information of the terminal at different positions.

In some embodiments, the apparatus further comprises:

the sending module 1302 is configured to send, based on the resource information, the uplink positioning reference signal and the motion information of the terminal to a network device, where the network device is configured to determine current location information of the terminal according to the uplink positioning reference signal and the motion information.

It should be noted that, in the apparatus provided in the foregoing embodiment, when implementing the functions thereof, only the division of the foregoing functional modules is used as an example, in practical application, the foregoing functional allocation may be implemented by different functional modules, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the apparatus and the method embodiments are detailed in the method embodiments and are not repeated herein.

Fig. 15 shows a block diagram of a positioning device according to an exemplary embodiment of the present application, see fig. 15, the device comprising:

a sending module 1501, configured to send configuration information to a terminal, where the configuration information is used to configure resource information for the terminal to transmit positioning reference signals, and the positioning reference signals are used to position the terminal.

In some embodiments, referring to fig. 16, the apparatus further comprises:

the receiving module 1502 is configured to receive at least one of motion information, carrier parameter information, and positioning information sent by a terminal.

In some embodiments, at least one of the motion information, the carrier parameter information, and the positioning information is sent by the terminal in response to a bandwidth of a phase locked loop of the terminal not supporting adjustment.

In some embodiments, the apparatus further comprises:

the receiving module 1502 is configured to receive request information sent by a terminal, where the request information is used to obtain resource information, and the request information is determined by the terminal according to at least one of motion information, carrier parameter information, and positioning information.

In some embodiments, the motion information includes at least one of:

speed information relative to the network device;

acceleration information of the terminal.

time-frequency resource information for phase tracking measurement;

carrier frequency for phase tracking;

a frequency point range of a carrier phase supported by a terminal;

In some embodiments, the positioning information includes at least one of:

positioning accuracy of the terminal;

sampling frequency of the terminal;

measurement error of the terminal.

In some embodiments, the apparatus further comprises:

a sending module 1501, configured to send error information to the terminal in response to the undetermined resource information, the error information indicating that the network device is not configured with the resource information.

In some embodiments, the apparatus further comprises:

a sending module 1501, configured to send a downlink positioning reference signal to a terminal based on resource information;

the terminal is used for determining the phase information of the terminal at different positions based on the downlink positioning reference signals, and determining the current position information of the terminal according to the phase information of the terminal at different positions and the motion information of the terminal, wherein the motion information is determined by terminal measurement.

In some embodiments, the apparatus further comprises:

a receiving module 1502, configured to receive, based on the resource information, an uplink positioning reference signal sent by a terminal and motion information of the terminal;

A determining module 1503, configured to determine current location information of the terminal according to the uplink positioning reference signal and the motion information.

In some embodiments, a determination module 1503 is used to:

determining phase information of the terminal at different positions based on the uplink positioning reference signals;

and determining the current position information of the terminal according to the phase information of the terminal at different positions and the motion information of the terminal.

In some embodiments, a determination module 1503 is used to:

and determining carrier wave phase differences of the terminal at different positions based on the uplink positioning reference signals, wherein the carrier wave phase differences are determined by the phases between the carrier wave signals generated by the network equipment and the received uplink positioning reference signals.

In some embodiments, a determination module 1503 is used to:

Where N is the initial integer ambiguity, a is the distance between the terminal at the first position and the second position, b is the distance between the terminal at the second position and the third position,for the carrier phase difference of the terminal at the first location,for the carrier phase difference of the terminal at the second location,for the carrier phase difference of the terminal at the third position, lambda isThe wavelength of the downlink positioning reference signal.

In some embodiments, the determining module 1503 is configured to determine, in response to the terminal not acquiring the initial integer ambiguity, a distance between two adjacent positions of the terminal according to motion information of the terminal.

Fig. 17 is a schematic structural diagram of a communication device according to an exemplary embodiment of the present application, where the communication device includes: a processor 1701, a receiver 1702, a transmitter 1703, a memory 1704 and a bus 1705.

The processor 1701 includes one or more processing cores, and the processor 1701 executes various functional applications and information processing by running software programs and modules.

The receiver 1702 and the transmitter 1703 may be implemented as one communication component, which may be a communication chip.

The memory 1704 is coupled to the processor 1701 by a bus 1705.

The memory 1704 may be used for storing at least one program code and the processor 1701 is used for executing the at least one program code to implement the steps of the above-described method embodiments.

Furthermore, the communication device may be a terminal or a network device. The memory 1704 may be implemented by any type of volatile or nonvolatile storage device or combination thereof, including but not limited to: magnetic or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static Random Access Memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, programmable read-only memory (PROM).

In an exemplary embodiment, there is also provided a computer readable storage medium having stored therein executable program code loaded and executed by a processor to implement the positioning method performed by a communication device provided by the above respective method embodiments.

In an exemplary embodiment, a chip is provided, which includes programmable logic circuits and/or program instructions for implementing a positioning method as provided by the various method embodiments when the chip is run on a terminal or network device.

In an exemplary embodiment, a computer program product is provided for implementing the positioning method provided by the above-described respective method embodiments, when said computer program product is executed by a processor of a terminal or network device.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments is merely exemplary in nature and is in no way intended to limit the invention, since it is intended that all modifications, equivalents, improvements, etc. that fall within the spirit and scope of the invention.

Claims

A positioning method, wherein the method is performed by a terminal, the method comprising:

And receiving configuration information sent by network equipment, wherein the configuration information is used for configuring resource information for transmitting a positioning reference signal for the terminal, and the positioning reference signal is used for positioning the terminal.
The method of claim 1, wherein the resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.
The method according to claim 1, wherein the method further comprises:

and sending at least one of motion information, carrier parameter information and positioning information to the network equipment.
The method of claim 3, wherein the transmitting at least one of motion information, carrier parameter information, and positioning information to the network device comprises:

and transmitting at least one of the motion information, the carrier parameter information and the positioning information to the network device in response to the bandwidth of the phase-locked loop of the terminal not supporting adjustment.
The method according to claim 1, wherein the method further comprises:

determining request information according to at least one of motion information, carrier parameter information and positioning information;

And sending the request information to the network equipment, wherein the request information is used for acquiring the resource information.
The method of claim 5, wherein determining the request information based on at least one of motion information, carrier parameter information, and positioning information comprises:

and determining the request information according to at least one of the motion information, the carrier parameter information and the positioning information in response to the bandwidth of the phase-locked loop of the terminal not supporting adjustment.
The method of claim 2, wherein the motion information comprises at least one of:

speed information relative to the network device;

acceleration information of the terminal.
The method of claim 2, wherein the carrier parameter information comprises at least one of:

the proportion of uplink time domain resources and downlink time domain resources supported by the terminal;

time-frequency resource information for phase tracking measurement;

carrier frequency for phase tracking;

the frequency point range of the carrier phase supported by the terminal;

whether the bandwidth of the phase-locked loop of the terminal supports adjustment.
The method of claim 2, wherein the positioning information comprises at least one of:

Positioning accuracy of the terminal;

sampling frequency of the terminal;

and measuring errors of the terminal.
The method of claim 1, wherein the resource information comprises a ratio of uplink time domain resources to downlink time domain resources and a subframe density for transmitting the positioning reference signal.
The method according to claim 1, wherein the method further comprises:

receiving error information sent by the network device in response to the network device not determining the resource information, wherein the error information indicates that the network device does not configure the resource information;

and adjusting the bandwidth of the phase-locked loop in the terminal.
The method of claim 11, wherein said adjusting the bandwidth of the phase locked loop in the terminal comprises:

and adjusting the bandwidth of the phase-locked loop in the terminal in response to the bandwidth support adjustment of the phase-locked loop of the terminal.
The method according to claim 1, wherein the method further comprises:

and in response to the movement speed of the terminal being greater than the first speed, starting an Inertial Measurement Unit (IMU) auxiliary carrier phase measurement function, wherein the IMU auxiliary carrier phase measurement function indicates the terminal to determine the current position information of the terminal according to the phase information and the movement information of the terminal.
The method according to claim 1, wherein the method further comprises:

based on the resource information, receiving a downlink positioning reference signal sent by the network equipment;

determining phase information of the terminal at different positions based on the downlink positioning reference signals;

and determining the current position information of the terminal according to the phase information of the terminal at different positions and the motion information of the terminal, wherein the motion information is determined by the measurement of the terminal.
The method of claim 14, wherein the determining phase information of the terminal at different locations based on the downlink positioning reference signal comprises:

and determining carrier wave phase differences of the terminal at different positions based on the downlink positioning reference signals, wherein the carrier wave phase differences are determined by the phases between carrier wave signals generated by the terminal and the received downlink positioning reference signals.
The method of claim 14, wherein the determining the current location information of the terminal according to the phase information of the terminal at different locations and the motion information of the terminal comprises:

determining the distance between two adjacent positions of the terminal according to the motion information of the terminal;

Determining initial integer ambiguity according to the phase information of the terminal at different positions and the distance between the two adjacent positions;

and determining the current position information of the terminal according to the initial whole-cycle ambiguity.
The method of claim 16, wherein the phase information of the terminal at different locations, the distance of the terminal between two adjacent locations, and the initial integer ambiguity satisfy the following relationship:

wherein N is an initial integer ambiguity, a is a distance between the first position and the second position of the terminal, b is a distance between the second position and the third position of the terminal,for the carrier phase difference of the terminal at the first location,for the carrier phase difference of the terminal at the second location,and lambda is the wavelength of the downlink positioning reference signal for the carrier phase difference of the terminal at the third position.
The method of claim 16, wherein determining the distance between two adjacent locations of the terminal based on the motion information of the terminal comprises:

and determining the distance between two adjacent positions of the terminal according to the motion information of the terminal in response to the terminal not acquiring the initial integer ambiguity.
The method of claim 14, wherein the determining the current location information of the terminal according to the phase information of the terminal at different locations and the motion information of the terminal comprises:

according to the initial integer ambiguity and the phase information of the terminal at different positions, determining the predicted phase information of the terminal at the next position;

updating the phase of the phase-locked loop of the terminal by adopting the predicted phase information under the condition that the predicted phase information is different from the phase of the phase-locked loop of the terminal;

and determining the current position information of the terminal according to the updated phase of the phase-locked loop.
The method of claim 19, wherein the determining the predicted phase information of the terminal at the next location based on the initial integer ambiguity and the phase information of the terminal at the different locations comprises:

and responding to the initial integer ambiguity acquired by the terminal, and determining the predicted phase information of the terminal at the next position according to the initial integer ambiguity and the phase information of the terminal at different positions.
The method according to claim 1, wherein the method further comprises:

And based on the resource information, sending an uplink positioning reference signal and the motion information of the terminal to the network equipment, wherein the network equipment is used for determining the current position information of the terminal according to the uplink positioning reference signal and the motion information.
A positioning method, the method performed by a network device, the method comprising:

and sending configuration information to a terminal, wherein the configuration information is used for configuring resource information for transmitting a positioning reference signal for the terminal, and the positioning reference signal is used for positioning the terminal.
The method of claim 22, wherein the resource information is determined based on at least one of motion information, carrier parameter information, and positioning information.
The method of claim 22, wherein the method further comprises:

and receiving at least one of motion information, carrier parameter information and positioning information sent by the terminal.
The method of claim 24, wherein at least one of the motion information, the carrier parameter information, and the positioning information is transmitted by the terminal in response to a bandwidth of a phase locked loop of the terminal not supporting adjustment.
The method of claim 22, wherein the method further comprises:

and receiving request information sent by the terminal, wherein the request information is used for acquiring the resource information, and the request information is determined by the terminal according to at least one of motion information, carrier parameter information and positioning information.
The method of claim 26, wherein the request information is determined by the terminal in response to a bandwidth of a phase locked loop of the terminal not supporting adjustment, based on at least one of the motion information, the carrier parameter information, and the positioning information.
The method of claim 23, wherein the motion information comprises at least one of:

speed information relative to the network device;

acceleration information of the terminal.
The method of claim 23, wherein the carrier parameter information comprises at least one of:

the proportion of uplink time domain resources and downlink time domain resources supported by the terminal;

time-frequency resource information for phase tracking measurement;

carrier frequency for phase tracking;

the frequency point range of the carrier phase supported by the terminal;

Whether the bandwidth of the phase-locked loop of the terminal supports adjustment.
The method of claim 23, wherein the positioning information comprises at least one of:

positioning accuracy of the terminal;

sampling frequency of the terminal;

and measuring errors of the terminal.
The method of claim 22, wherein the resource information comprises a ratio of uplink time domain resources to downlink time domain resources and a subframe density for transmitting the positioning reference signal.
The method of claim 22, wherein the method further comprises:

and transmitting error information to the terminal in response to the resource information being not determined, wherein the error information indicates that the network equipment is not configured with the resource information.
The method of claim 22, wherein the method further comprises:

based on the resource information, transmitting a downlink positioning reference signal to the terminal;

the terminal is used for determining the phase information of the terminal at different positions based on the downlink positioning reference signal, and determining the current position information of the terminal according to the phase information of the terminal at different positions and the motion information of the terminal, wherein the motion information is determined by the terminal measurement.
The method of claim 22, wherein the method further comprises:

based on the resource information, receiving an uplink positioning reference signal sent by the terminal and the motion information of the terminal;

and determining the current position information of the terminal according to the uplink positioning reference signal and the motion information.
The method of claim 34, wherein the determining the current location information of the terminal based on the uplink positioning reference signal and the motion information comprises:

determining phase information of the terminal at different positions based on the uplink positioning reference signal;

and determining the current position information of the terminal according to the phase information of the terminal at different positions and the motion information of the terminal.
The method of claim 35, wherein the determining phase information of the terminal at different locations based on the uplink positioning reference signal comprises:

and determining carrier wave phase differences of the terminal at different positions based on the uplink positioning reference signals, wherein the carrier wave phase differences are determined by the phases between carrier wave signals generated by the network equipment and the received uplink positioning reference signals.
The method of claim 35, wherein the determining the current location information of the terminal based on the phase information of the terminal at different locations and the motion information of the terminal comprises:

determining the distance between two adjacent positions of the terminal according to the motion information of the terminal;

determining initial integer ambiguity according to the phase information of the terminal at different positions and the distance between the two adjacent positions;

and determining the current position information of the terminal according to the initial whole-cycle ambiguity.
The method of claim 37, wherein the phase information of the terminal at different locations, the distance of the terminal between two adjacent locations, and the initial integer ambiguity satisfy the following relationship:

wherein N is an initial integer ambiguity, a is a distance between the first position and the second position of the terminal, b is a distance between the second position and the third position of the terminal,for the carrier phase difference of the terminal at the first location,for the carrier phase difference of the terminal at the second location,and lambda is the wavelength of the uplink positioning reference signal for the carrier phase difference of the terminal at the third position.
The method of claim 37, wherein determining the distance between two adjacent locations of the terminal based on the motion information of the terminal comprises:

and determining the distance between two adjacent positions of the terminal according to the motion information of the terminal in response to the terminal not acquiring the initial integer ambiguity.
A positioning device, the device comprising:

the receiving module is used for receiving configuration information sent by the network equipment, the configuration information is used for configuring resource information for transmitting positioning reference signals for the terminal, and the positioning reference signals are used for positioning the terminal.
A positioning device, the device comprising:

the terminal comprises a sending module, a positioning reference signal and a receiving module, wherein the sending module is used for sending configuration information to the terminal, the configuration information is used for configuring resource information for transmitting the positioning reference signal for the terminal, and the positioning reference signal is used for positioning the terminal.
A terminal, the terminal comprising:

a processor;

a transceiver coupled to the processor;

wherein the processor is configured to load and execute executable instructions to implement the positioning method of any of claims 1 to 21.
A network device, the network device comprising:

a processor;

a transceiver coupled to the processor;

wherein the processor is configured to load and execute executable instructions to implement the positioning method of any of claims 22 to 39.
A computer readable storage medium having stored therein executable program code that is loaded and executed by a processor to implement the positioning method of any of claims 1 to 39.