CN117353843A

CN117353843A - Communication method and communication device

Info

Publication number: CN117353843A
Application number: CN202210737573.7A
Authority: CN
Inventors: 周保建; 罗嘉金; 彭晓辉; 颜敏; 杨讯
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2024-01-05
Also published as: WO2024001409A1

Abstract

The embodiment of the application discloses a communication method and a communication device, which are used for improving positioning accuracy. The method comprises the following steps: the first communication device receives a first measurement signal transmitted by at least one second communication device; the first communication device determines first signal characteristic information of a first measurement signal received by the first communication device; the first communication device transmits the first signal characteristic information to a third communication device.

Description

Communication method and communication device

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a communication method and a communication device.

Background

The positioning function is one of the main functions of the communication system. At present, a positioning method based on multipath parameters is mainly adopted to position terminal equipment. The following describes a positioning method based on multipath parameters: the transmitting end device transmits the measurement signal. The receiving end device estimates multipath parameters based on the measured signal. The receiver device may locate the transmitter device based on the multipath parameters.

However, how to improve the positioning accuracy is a considerable problem.

Disclosure of Invention

The application provides a communication method and a communication device, which are used for improving positioning accuracy.

A first aspect of the present application provides a communication method, including:

the first communication device receives a first measurement signal transmitted by at least one second communication device; then, the first communication device determines first signal characteristic information of a first measurement signal received by the first communication device; the first communication device transmits the first signal characteristic information to the third communication device.

In the above technical scheme, the first communication device can send the first signal characteristic information to the third communication device, so that the third communication device is facilitated to accurately position the first communication device, and positioning accuracy is improved. For example, the third communication device may determine the accurate location of the first communication device based on the preset map, the coarse location of the first communication device, and the first signal characteristic information to improve positioning accuracy.

In a possible implementation manner, the method further includes:

the first communication device measures a first measurement signal received by the first communication device to obtain measurement information; the first communication device transmits measurement information to the third communication device.

In this implementation, the first communication device may measure the first measurement signal to obtain corresponding measurement information, and send the measurement information to the third communication device. Thereby facilitating the third communication device to initially determine a coarse or approximate location of the first communication device based on the measurement information and facilitating the third communication device to further determine a precise location of the first communication device. In particular, in a complex environment, the first communication device has limited accuracy of the measurement information estimated by the first communication device. Thus, in the solution of the present application, the third communication device may initially determine the coarse position of the first communication device in combination with the measurement information. Then, the third communication device can combine the preset map and the measurement information to realize accurate positioning of the first communication device. Therefore, the problem of lower positioning accuracy due to limited capacity of the first communication device in a complex environment is solved.

In another possible implementation, the at least one second communication device includes a second communication device; the first signal characteristic information comprises N first time-amplitude groups, wherein the N first time-amplitude groups are respectively corresponding to each of N points on a curve for representing the first cross-correlation signal;

wherein the time in the first time-amplitude group corresponding to each of the N points is the time represented by the abscissa corresponding to each point, and the amplitude in the first time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point, or a quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points comprise N points on the curve representing the first cross-correlation signal closest to the point on the curve where the largest peak is located; the first cross-correlation signal is obtained by performing cross-correlation operation on a first measurement signal received by the first communication device and a first measurement signal sent by the second communication device, and N is an integer greater than or equal to 1.

In this implementation, the first communication device extracts, from a time domain perspective, a signal characteristic of the first measurement signal received by the first communication device in the time domain. Thereby being beneficial to the third communication device to accurately position the position of the first communication device by combining the first signal characteristic information and a preset map.

In another possible implementation, the at least one second communication device includes a second communication device; the first signal characteristic information comprises N second time-amplitude groups, wherein the N second time-amplitude groups are respectively corresponding to each of N points on a curve for representing the first time domain signal;

wherein the time in the second time-amplitude group corresponding to each of the N points is the time represented by the abscissa corresponding to each point, and the amplitude in the second time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point, or the quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points comprise N points on the curve representing the first time domain signal nearest to the point on the curve where the largest peak on the curve is located; the first time domain signal is obtained by transforming a first frequency domain signal from a frequency domain to a time domain, the first frequency domain signal is obtained by performing conjugate multiplication operation on a second frequency domain signal and a third frequency domain signal, the second frequency domain signal is obtained by transforming a first measurement signal received by the first communication device from the time domain to the frequency domain, the third frequency domain signal is obtained by transforming a first measurement signal transmitted by the second communication device from the time domain to the frequency domain, and N is an integer greater than or equal to 1.

In this implementation, the first communication device extracts signal characteristics of the first measurement signal received by the first communication device in the frequency domain from the frequency domain perspective. Thereby being beneficial to the third communication device to accurately position the position of the first communication device by combining the first signal characteristic information and a preset map. Further, another form of the first signal characteristic information is also provided, enriching the scheme.

In another possible implementation, the at least one second communication device includes a second communication device; the first signal characteristic information comprises P first angle-amplitude groups, and the P first angle-amplitude groups correspond to P first response values in the first response matrix;

the number of rows of the first response matrix is R, the number of columns is Q, R is the number of values of a first arrival angle, Q is the number of values of a second arrival angle, the first arrival angle is the first angle of the first measurement signal reaching the antenna array of the first communication device, and the second arrival angle is the second angle of the first measurement signal reaching the antenna array of the first communication device; r and Q are integers greater than or equal to 1;

the first response matrix comprises at least one first response value, each first response value corresponds to one first guide matrix, and each first response value is obtained by performing matrix point multiplication operation between the first guide matrix corresponding to the first response value and the conjugate of a first measurement signal received by the first communication device and then performing summation operation;

Each first guide matrix corresponds to a first arrival angle and a second arrival angle, and the first arrival angles and/or the second arrival angles corresponding to different first guide matrices are different;

the P first response values are elements in sub-blocks in the first response matrix, the number of lines of the sub-blocks is X, the number of columns of the sub-blocks is Y, the sub-blocks comprise the largest first response value in the first response matrix, X multiplied by Y is equal to P, and P is an integer greater than or equal to 1;

the amplitude in each first angle-amplitude group in the P first angle-amplitude groups is a first response value corresponding to the first angle-amplitude group, and the angle in each first angle-amplitude group is a first arrival angle and/or a corresponding second arrival angle corresponding to the first response value.

In this implementation, the first communication device extracts, from the spatial domain angle, a signal characteristic of the first measurement signal received by the first communication device in the spatial domain. Thereby being beneficial to the third communication device to accurately position the position of the first communication device by combining the first signal characteristic information and a preset map. Further, another form of the first signal characteristic information is also provided, enriching the scheme.

In another possible implementation, the first angle of arrival is an azimuth angle of arrival of the first measurement signal at the antenna array of the first communication device, and the second angle of arrival is a pitch angle of arrival of the first measurement signal at the antenna array of the first communication device.

A second aspect of the present application provides a communication method, including:

the third communication device receives first signal characteristic information from the first communication device, wherein the first signal characteristic information is signal characteristic information of a first measurement signal sent by at least one second communication device and received by the first communication device; the third communication device determines first position information, wherein the first position information is used for indicating a first position where the first communication device is located; the third communication device determines second position information according to a preset map, the first position information and the first signal characteristic information, wherein the second position information is used for indicating a second position where the first communication device is located, and the precision of the second position is higher than that of the first position.

In the above technical solution, the third communication device receives the first signal characteristic information from the first communication device. The size and material information of the scatterers such as the ground, the building, the vegetation, the moving target and the like in the environment can be modeled with high precision by the preset map, so that the environment condition is fully reflected. The third communication device may accurately estimate the second location where the first communication device is located based on the preset map, the first location (coarse location) where the first communication device is located, and the first signal characteristic information. Thereby improving the positioning accuracy.

In a possible implementation manner, the method further includes:

the third communication device receives measurement information from the first communication device, wherein the measurement information comprises multipath parameters obtained by the first communication device by measuring a first measurement signal sent by at least one second communication device and received by the first communication device;

the third communication device determining first location information of the first communication device, comprising:

the third communication device determines the first location information based on the measurement information.

In this implementation, the third communication device may receive the measurement information and initially determine a coarse location of the first communication device from the measurement information. Thereby facilitating a subsequent third communication device to determine the precise location of the first communication device based on the pre-set map and the coarse location. The accurate positioning of the first communication device is realized.

In another possible implementation manner, the determining, by the third communication device, the second location information of the first communication device according to the preset map, the first location information, and the first signal feature information includes:

the third communication device performs gridding on the area with the distance from the first position within a preset distance range to obtain a plurality of grid areas; the third communication device determines that the first communication device receives a second measurement signal from the second communication device in the position corresponding to each grid region through a preset map and the position corresponding to each grid region in the plurality of grid regions, and the second measurement signal sent by the second communication device is the same signal as the first measurement signal; the third communication device determines second signal characteristic information of second measurement signals received by the first communication device in a position corresponding to each grid area; the third communication device determines a target grid region from the grid regions according to the first signal characteristic information and the second signal characteristic information corresponding to each grid region; the third communication device takes the position corresponding to the target grid area as a second position.

In this implementation, a specific procedure in which the third communication device determines the second location information based on the preset map, the first location information, and the first signal characteristic information is shown. The size and material information of the scatterers such as the ground, the building, the vegetation, the moving target and the like in the environment can be modeled with high precision by the preset map, so that the environment condition is fully reflected. The third communication device can accurately simulate the second measurement signals received in each grid area based on the preset map on the basis of the first position, and extract second signal characteristic information of the second measurement signals received in each grid area. Then, the third communication device matches the first signal characteristic information with the second signal characteristic information. Thereby searching for the precise location of the first communication device. In particular, in a complex environment, the first communication device has limited accuracy of the measurement information estimated by the first communication device. Thus, in the solution of the present application, the third communication device may determine the first location information (i.e. the coarse location of the first communication device) based on the measurement information. Then, the third communication device can combine the preset map and the first position information to realize accurate positioning of the first communication device. Therefore, the problem of lower positioning accuracy due to limited capacity of the first communication device in a complex environment is solved.

wherein, the time in the first time-amplitude group corresponding to each point in the N points is the time represented by the abscissa corresponding to each point, and the amplitude in the first time-amplitude group corresponding to each point in the N points is the amplitude represented by the ordinate corresponding to each point, or the quantized value of the amplitude represented by the ordinate corresponding to each point;

In another possible implementation manner, the second signal characteristic information includes N third time-amplitude groups, where the N third time-amplitude groups are third time-amplitude groups corresponding to each of N points on the curve for representing the second cross-correlation signal;

wherein the time in the third time-amplitude group corresponding to each of the N points is the time represented by the abscissa corresponding to each point; the amplitude in the third time-amplitude group corresponding to each point in the N points is the amplitude represented by the ordinate corresponding to each point or the quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points are N points closest to the point where the maximum peak value on the curve of the second cross-correlation signal is located on the curve; the second cross-correlation signal is obtained by performing cross-correlation operation on a second measurement signal received by the first communication device and a second measurement signal sent by the second communication device, and N is an integer greater than or equal to 1.

In this implementation, the third communication device may extract, from the time domain perspective, the signal characteristics in the time domain of the second measurement signal received by the first communication device. Thereby facilitating the third communication device to match the first signal characteristic information with the second signal characteristic information to determine the precise location of the first communication device.

the N points are N points closest to the point where the maximum peak value on the curve of the first time domain signal is located on the curve; the first time domain signal is obtained by transforming a first frequency domain signal from a frequency domain to a time domain, the first frequency domain signal is obtained by performing conjugate multiplication operation on a second frequency domain signal and a third frequency domain signal, the second frequency domain signal is obtained by transforming a first measurement signal received by the first communication device from the time domain to the frequency domain, the third frequency domain signal is obtained by transforming a first measurement signal transmitted by the second communication device from the time domain to the frequency domain, and N is an integer greater than or equal to 1.

In another possible implementation manner, the second signal characteristic information includes N fourth time-amplitude groups, where the N fourth time-amplitude groups are fourth time-amplitude groups corresponding to each of N points on the curve used to represent the second time-domain signal;

wherein the time in the fourth time-amplitude group corresponding to each of the N points is the time represented by the abscissa corresponding to each point, and the amplitude in the fourth time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point, or the quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points are N points closest to the point where the maximum peak value on the curve of the second time domain signal is located on the curve; the second time domain signal is obtained by transforming a fourth frequency domain signal from a frequency domain to a time domain, the fourth frequency domain signal is obtained by performing conjugate multiplication operation on a fifth frequency domain signal and a sixth frequency domain signal, the fourth frequency domain signal is obtained by transforming a second measurement signal received by the first communication device from the time domain to the frequency domain, the fifth frequency domain signal is obtained by transforming a second measurement signal transmitted by the second communication device from the time domain to the frequency domain, and N is an integer greater than or equal to 1.

In this implementation, the third communication device may extract signal characteristics of the second measurement signal received by the first communication device in the frequency domain from the frequency domain perspective. Thereby facilitating the third communication device to match the first signal characteristic information with the second signal characteristic information to determine the precise location of the first communication device.

In another possible implementation, the second signal characteristic information includes P second angle-amplitude groups; the P second angle-amplitude groups correspond to P second response values in the second response matrix;

The number of rows of the second response matrix is H, the number of columns is V, H is the number of values of a third arrival angle, V is the number of values of a fourth arrival angle, the third arrival angle is the third angle of the second measurement signal reaching the antenna array of the first communication device, and the fourth arrival angle is the fourth angle of the second measurement signal reaching the antenna array of the first communication device; h and V are integers greater than or equal to 1;

the second response matrix comprises at least one second response value, each second response value corresponds to one second guide matrix, and each second response value is obtained by performing matrix point multiplication operation between the second guide matrix corresponding to the second response value and the conjugate of a second measurement signal received by the first communication device and then performing summation operation;

each second guiding matrix corresponds to a third arrival angle and a fourth arrival angle, and the third arrival angles and/or the fourth arrival angles corresponding to different second guiding matrices are different;

the P second response values are elements in sub-blocks in the second response matrix, the number of rows of the sub-blocks is X, the number of columns of the sub-blocks is Y, and the sub-blocks comprise the largest second response value in the second response matrix;

the amplitude in each second angle-amplitude group in the P second angle-amplitude groups is a second response value corresponding to the second angle-amplitude group, and the angle in each second angle-amplitude group is a third arrival angle and/or a fourth arrival angle corresponding to the second response value.

In this implementation, the third communication device may extract, from the spatial domain angle, a signal characteristic of the second measurement signal received by the first communication device in the spatial domain. Thereby facilitating the third communication device to match the first signal characteristic information with the second signal characteristic information to determine the precise location of the first communication device.

In another possible implementation manner, the determining, by the third communication device, the target grid area from the plurality of grid areas according to the first signal characteristic information and the second signal characteristic information corresponding to each grid area includes:

the third communication device determines root mean square error corresponding to each grid region in the grid regions according to a root mean square error algorithm, the first signal characteristic information and the second signal characteristic information; the third communication device selects a grid region with the minimum corresponding root mean square error as a target grid region according to the root mean square error corresponding to each grid region;

or,

the third communication device determines a correlation value corresponding to each grid region in the plurality of grid regions according to a correlation operation algorithm, the first signal characteristic information and the second signal characteristic information; the third communication means selects a grid region having the largest correlation value corresponding to each grid region as a target grid region according to the correlation value corresponding to each grid region.

In this implementation, based on several possible forms of the first signal characteristic information and the second signal characteristic information described above, the third communication device may determine the target mesh region by a corresponding algorithm, thereby determining the precise location of the first communication device. The specific method for gridding searching of the third communication device is shown, so that the accurate positioning of the first communication device is realized. For example, the third communication device selects a mesh region having the smallest root mean square error as the target mesh region. Alternatively, the third communication device selects a mesh region having the largest correlation value as the target mesh region.

A third aspect of the present application provides a first communication apparatus comprising:

a transceiver module for receiving a first measurement signal transmitted by at least one second communication device;

the processing module is used for determining first signal characteristic information of a first measurement signal received by the first communication device;

and the transceiver module is also used for sending the first signal characteristic information to the third communication device.

In a possible implementation manner, the processing module is further configured to:

measuring a first measurement signal received by a first communication device to obtain measurement information;

The transceiver module is also for:

and sending the measurement information to the third communication device.

A fourth aspect of the present application provides a third communication device comprising:

the transceiver module is used for receiving first signal characteristic information from the first communication device, wherein the first signal characteristic information is signal characteristic information of a first measurement signal sent by at least one second communication device and received by the first communication device;

the processing module is used for determining first position information, and the first position information is used for indicating a first position where the first communication device is located; and determining second position information according to the preset map, the first position information and the first signal characteristic information, wherein the second position information is used for indicating a second position where the first communication device is located, and the precision of the second position is higher than that of the first position.

In a possible implementation manner, the transceiver module is further configured to:

receiving measurement information from a first communication device, wherein the measurement information comprises multipath parameters obtained by the first communication device by measuring a first measurement signal sent by at least one second communication device received by the first communication device;

the processing module is specifically used for:

the first location information is determined from the measurement information.

In another possible implementation manner, the processing module is specifically configured to:

gridding the region with the distance from the first position within a preset distance range to obtain a plurality of grid regions;

determining, by the first communication device, that a second measurement signal from the second communication device is received in a position corresponding to each grid region by presetting a map and a position corresponding to each grid region in the plurality of grid regions, wherein the second measurement signal sent by the second communication device is the same signal as the first measurement signal;

determining second signal characteristic information of second measurement signals received by the first communication device in a position corresponding to each grid area;

determining a target grid region from the grid regions according to the first signal characteristic information and the second signal characteristic information corresponding to each grid region;

And taking the position corresponding to the target grid area as a second position.

Wherein the time in the third time-amplitude group corresponding to each of the N points is the time represented by the abscissa corresponding to each point; the amplitude in the third time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point or a quantized value of the amplitude represented by the ordinate corresponding to each point;

In another possible implementation manner, the second signal characteristic information includes P second angle-amplitude groups, where the P second angle-amplitude groups correspond to P second response values in the second response matrix;

each second guiding matrix corresponds to a third arrival angle and a fourth arrival angle, and the third arrival angle and/or the fourth arrival angle corresponding to different second guiding matrixes are different;

determining root mean square errors corresponding to each grid region in the grid regions according to a root mean square error algorithm, the first signal characteristic information and the second signal characteristic information; selecting a grid region with the minimum corresponding root mean square error as a target grid region according to the root mean square error corresponding to each grid region;

or,

determining a correlation value corresponding to each grid region in the plurality of grid regions according to a correlation operation algorithm, the first signal characteristic information and the second signal characteristic information; and selecting the grid region with the maximum corresponding correlation value as the target grid region according to the correlation value corresponding to each grid region.

A fifth aspect of the present application provides a communication device comprising a processor. The processor is configured to invoke and run a computer program stored in a memory, such that the processor implements any implementation of any of the first to second aspects.

Optionally, the communication device further comprises a transceiver; the processor is also used for controlling the transceiver to transmit and receive signals.

Optionally, the communication device comprises a memory, in which the computer program is stored.

A sixth aspect of the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform an implementation of any of the first to second aspects.

A seventh aspect of the present application provides a computer readable storage medium comprising computer instructions which, when run on a computer, cause the computer to perform any one of the implementations of the first to second aspects.

An eighth aspect of the present application provides a chip apparatus, including a processor, configured to be connected to a memory, and call a program stored in the memory, so that the processor performs any implementation manner of the first aspect to the second aspect.

A ninth aspect of the present application provides a communication system comprising the first communication device as in the third aspect and the third communication device as in the fourth aspect.

From the above technical solutions, the embodiments of the present application have the following advantages:

as can be seen from the above technical solution, the first communication device receives a first measurement signal sent by at least one second communication device; the first communication device determines first signal characteristic information of a first measurement signal received by the first communication device; the first communication device transmits the first signal characteristic information to the third communication device. It follows that the first communication device may send the first signal characteristic information to the third communication device. Thereby facilitating the third communication device to determine the accurate position of the first communication device based on the preset map, the rough position of the first communication device and the first signal characteristic information so as to improve the positioning accuracy.

Drawings

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

FIG. 2 is another schematic diagram of a communication system according to an embodiment of the present application;

FIG. 3 is another schematic diagram of a communication system according to an embodiment of the present application;

FIG. 4 is another schematic diagram of a communication system according to an embodiment of the present application;

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

FIG. 6 is a schematic diagram of a first cross-correlation signal according to an embodiment of the present application;

FIG. 7 is a schematic diagram showing an incident angle of a first measurement signal reaching a horizontal direction of an antenna array according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of an incident angle of the first measurement signal reaching the antenna array in a horizontal direction and an incident angle of the first measurement signal reaching the antenna array in a vertical direction according to an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a plurality of grid areas according to an embodiment of the present application;

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

FIG. 11 is a schematic structural diagram of a communication device according to an embodiment of the present application;

fig. 12 is another schematic structural diagram of a communication device according to an embodiment of the present application;

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

fig. 14 is another schematic structural diagram of a communication device according to an embodiment of the present application.

Detailed Description

The embodiment of the application provides a communication method and a communication device, which are used for improving positioning accuracy.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

In the description of the present application, "/" means "or" unless otherwise indicated, for example, a/B may mean a or B. "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. Furthermore, "at least one" means one or more, and "a plurality" means two or more. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c; a and b; a and c; b and c; or a and b and c. Wherein a, b and c can be single or multiple.

Technical terms related to the present application are described below.

1. Presetting a map: the size and material information of scattering bodies such as ground, buildings, vegetation, moving targets and the like in the environment are modeled with high precision, and the map of the environment can be fully described. The preset map may also be referred to as a high-precision map.

On the basis of the preset map, electromagnetic wave propagation between the transmitter and the receiver can be simulated by combining electromagnetic parameters of materials, so that electromagnetic wave signals received by the receiver or channels between the transmitter and the receiver can be accurately simulated. For example, when the electromagnetic wave wavelength is far smaller than the size of a scatterer in the environment, simulation can be approximated using a Ray Tracing (RT) method to reduce simulation complexity. Ray tracing may provide parameter information for each path of a signal arriving from a transmitter to a receiver. Such as power, latency, angle of each path (e.g., azimuth-angle of departure, AOD), elevation-angle of departure, EOD, azimuth-angle of arrival (AOA), elevation-angle of arrival (EOA), etc. Common ray tracing software is WinProp from Altair, volcano from Siradel, etc.

2. A blocking matrix: the method is characterized in that the method is divided into a plurality of small sub-matrixes according to the transverse and vertical directions respectively, and each small sub-matrix can be regarded as an element. Each sub-matrix may be referred to as a sub-block of the matrix and a matrix in the form of sub-blocks as elements may be referred to as a blocking matrix. For example, a blocking matrixIt can be seen that E ₁ 、E ₂ 、E ₃ And E is ₄ Each sub-block of the block matrix a. Wherein (1)>

3. The relevant definitions of mathematical symbols referred to in this application include:

B ^* the conjugate of B is indicated.

The technical scheme of the application can be applied to various communication systems. For example, fifth generation mobile communication (5th generation,5G) systems, new Radio (NR) systems, long term evolution (long term evolution, LTE) systems, LTE frequency division duplex (frequency division duplex, FDD) systems, LTE time division duplex (time division duplex, TDD), universal mobile communication systems (universal mobile telecommunication system, UMTS), mobile communication systems behind 5G networks (e.g., 6G mobile communication systems), internet of vehicles (vehicle to everything, V2X) communication systems, device-to-device (D2D) communication systems, wireless fidelity (wireless fidelity, wiFi) systems, and the like.

Some possible scenarios to which the present application applies are described below in connection with fig. 1 to 4.

Fig. 1 is a schematic diagram of a communication system according to an embodiment of the present application. Referring to fig. 1, the communication system includes a terminal device 101, an access network device 102, an access network device 103, an access network device 104, an access and mobility management function (access and mobility management function, AMF) 105, and a location management function (location management function, LMF) 106.

The terminal device 101 may receive measurement signals transmitted by the access network device 101, the access network device 102, and the access network device 103, respectively. Then, the terminal device 101 obtains measurement information based on the measurement signals and the terminal device 101 can determine signal characteristic information corresponding to the measurement signals received by the terminal device 101, respectively. The terminal device 101 may then send the measurement information and the signal characteristic information to the LMF106 via the access network device 102. Thereby realizing the accurate positioning of the terminal equipment 101 by the LMF106.

Fig. 1 described above only shows an example of the communication system comprising an access network device 102, an access network device 103 and an access network device 104. In practical applications, the communication system may further include at least one access network device, which is not limited in this application.

Fig. 2 is a schematic diagram of another embodiment of a communication system according to an embodiment of the present application. Referring to fig. 2, the communication system includes a terminal device 201 and a terminal device 202. The terminal device 201 communicates with the terminal device 202 via a proximity services communication (proximity service communication, pc 5) interface. The terminal device 201 can realize positioning of the terminal device 202 through the technical scheme of the application.

Fig. 3 is a schematic diagram of another embodiment of a communication system according to an embodiment of the present application. Referring to fig. 3, the communication system includes a terminal device 301, a roadside unit RSU302, an RSU303, and an RSU304. In fig. 3, communication is performed between a terminal device 301 and an RSU through a PC5 interface. The positioning of the terminal device 301 can be realized between the terminal device 301 and the RSU through the technical scheme of the present application.

Note that, in the communication system shown in fig. 3, the form of the RSU is merely an example, and the RSU is not specifically limited in this application. The RSU is a roadside unit deployed at the roadside, supports a side-link communication and positioning-related protocol, and can provide a wireless communication function for terminal devices. The RSUs may be various forms of roadside stations, access points, side-link devices. For access network devices, an RSU is a kind of terminal device. For the terminal device, the RSU may act as an access network device.

Fig. 4 is a schematic diagram of another embodiment of a communication system according to an embodiment of the present application. The communication system comprises a terminal device 401, a terminal device 402, an access network device 403 and an LMF404. Terminal device 401 is located within the signal coverage of access network device 403, while terminal device 402 is not located within the signal coverage of access network device 403. The technical solution of the present application may be executed between the terminal device 401 and the terminal device 402, and the corresponding measurement information and signal characteristic information are sent to the LMF404 through the access network device 403, so as to implement positioning of the terminal device 401 and/or the terminal device 402 by the LMF404.

In the communication systems shown in fig. 1 and fig. 4, the LMF is the name of the present communication system, and in future communication systems, the name of the LMF may change with the evolution of the communication system, and the present application does not limit the name of the LMF. For example, the LMF may be referred to as a location management device for performing location calculation of the location of the terminal device. In the present communication system or the future communication system, as long as a functional network element having other names with functions similar to those of the LMF is provided, it can be understood as the positioning management device in the embodiment of the present application, and is applicable to the communication method provided in the embodiment of the present application.

The communication system to which the present application is applicable is merely an example, and in practical application, the present application may also be applicable to other communication systems with positioning requirements, which is not limited in the present application. The above examples do not limit the technical solutions of the present application.

The following describes a terminal device and an access network device according to the present application.

An access network device is a device deployed in a radio access network to provide wireless communication functionality for terminal devices. The access network device is a base station, and the base station is a macro base station, a micro base station (also referred to as a small station), a relay station, an Access Point (AP), a wearable device, an in-vehicle device, or the like in various forms. The base station may also be a transmission receiving node (transmission and reception point, TRP), a transmission measurement function (transmission measurement function, TMF), etc. Illustratively, the base station to which embodiments of the present application relate may be a base station in a New Radio (NR). Among them, the base station in the new air interface (NR) of 5G may also be called a transmission receiving point (transmission reception point, TRP) or a transmission point (transmission point, TP) or a next generation node B (next generation Node B, ngNB), or an evolved node B (evolutional Node B, eNB or eNodeB) in a long term evolution (long term evolution, LTE) system.

The terminal device may be a wireless terminal device capable of receiving access network device scheduling and indication information. The wireless terminal device may be a device that provides voice and/or data connectivity to a user, or a handheld device with wireless connectivity, or other processing device connected to a wireless modem.

A terminal device, also called a User Equipment (UE), a Mobile Station (MS), a Mobile Terminal (MT), etc., is a device including a wireless communication function (providing voice/data connectivity to a user), such as a handheld device having a wireless connection function, an in-vehicle device, etc. Currently, examples of some terminal devices are: a mobile phone, a tablet, a notebook, a wireless router, a desktop, a palm, a train, an automobile, an airplane, a mobile internet device (mobile internet device, MID), a wearable device, an internet of things (internet of things, ioT) device, a Virtual Reality (VR) device, an augmented reality (augmented reality, AR) device, a wireless terminal in industrial control (industrial control), a wireless terminal in the internet of vehicles, a wireless terminal in the unmanned (self driving), a wireless terminal in the smart grid (smart grid), a wireless terminal in transportation security (transportation safety), a wireless terminal in the smart home, a wireless terminal in the smart city (smart city), and the like. For example, the wireless terminal in the internet of vehicles may be a vehicle-mounted device, a whole vehicle device, a vehicle-mounted module, a vehicle, or the like. The wireless terminal in the industrial control may be a robot or the like. For example, the wireless terminal in the unmanned may be an unmanned aerial vehicle. For example, the wireless terminal in the smart home may be a smart speaker.

The communication system applicable to the application comprises a first communication device, a second communication device and a third communication device. Several possible implementations of the first, second and third communication devices are described below.

In implementation mode 1, the first communication device is a terminal device, at least one second communication device is an access network device, and the third communication device is a positioning management device.

For example, as shown in fig. 1, the first communication device is a terminal device 101, the at least one second communication device includes an access network device 102, an access network device 103, and an access network device 104, and the third communication device is an LMF106. The terminal device 101 may measure measurement signals respectively sent by the access network device 102, the access network device 103, and the access network device 104, and feed back measured measurement information and signal characteristic information corresponding to the measurement signals respectively received by the terminal device 101 to the LMF106. The LMF106 may enable positioning of the terminal device 101 in combination with this information.

The implementation mode 2, the first communication device is a first terminal device, the second communication device is a second terminal device, and the third communication device is a positioning management device; or the first communication device is a first terminal device, the second communication device is an RSU, and the third communication device is a positioning management device.

For example, as shown in fig. 4, the first communication device is a terminal apparatus 401, the second communication device is a terminal apparatus 402, and the third communication device is an LMF404. The terminal device 402 may feed back the measured measurement information and the corresponding signal characteristic information to the terminal device 401, and then the terminal device 401 feeds back the measured measurement information and the corresponding signal characteristic information to the LMF404. The LMF404 may enable location of the terminal device 401 and/or the terminal device 402 in conjunction with such information.

In implementation manner 3, the first communication device is a first terminal device, the second communication device and the third communication device are the same communication device, and the second communication device and the third communication device are second terminal devices; or the first communication device is a first terminal device, the second communication device and the third communication device are the same communication device, and the second communication device and the third communication device are access network devices.

For example, as shown in fig. 2, the first communication apparatus is a terminal device 201, and the second communication apparatus is 202. The terminal device 201 feeds back the measured measurement information and the corresponding signal characteristic information to the terminal device 202. The terminal device 202 can locate the terminal device 1 by means of this information.

In implementation 4, the first communication device is a terminal device, the second communication device and the third communication device are the same communication device, and the second communication device and the third communication device are RSUs.

For example, as shown in fig. 3, the first communication device is a terminal equipment 301, and the second communication device is an RSU302. The terminal device 301 measures the positioning reference signal of the RSU302 and feeds back the measured information and the corresponding signal characteristic information to the RSU302. The RSU302 locates the terminal device 301 according to the information fed back by the terminal device 301.

In implementation 5, the first communication device is a Station (STA), the second communication device is an Access Point (AP), and the third communication device is an AP controller. Alternatively, the first communication device is an STA, the second communication device is the same communication device as the third communication device, and the second communication device is an AP.

The implementation manners of the first communication device, the second communication device, and the third communication device are just some examples, and are not limited to the application. Other implementations of the first communication device, the second communication device, and the third communication device are also possible, and the application is not limited in this application.

The following describes the technical scheme of the present application in connection with specific embodiments.

Fig. 5 is a schematic diagram of another embodiment of a communication method according to an embodiment of the present application. Referring to fig. 5, the communication method includes:

501. at least one second communication device transmits a first measurement signal to the first communication device. Accordingly, the first communication device receives the first measurement signal from the at least one second communication device.

Alternatively, the first measurement signal may be a frame preamble (frame preamble), or a reference signal, or a complete frame containing data. The reference signals may be positioning reference signals (positioning reference signal, PRS), sounding reference signals (sounding reference signal, SRS), demodulation reference signals (demodulation reference signal, DMRS), phase tracking reference signals (phase tracking reference signal, PTRS), or channel state information reference signals (channel state information reference signal, CSI-RS), etc., which are not limited in this application.

Alternatively, the transmission mode of the first measurement signal may be periodic transmission or trigger-based transmission, which is not limited in this application.

502. The first communication device determines first signal characteristic information of a first measurement signal received by the first communication device.

For example, the at least one second communication device comprises a second communication device. The second communication device transmits a first measurement signal denoted x (t). The first measurement signal arrives at the first communication device via the channel. The first measurement signal received by the first communication device is denoted y (t). The first communication device determines the first signal characteristic information by means of a first measurement signal y (t) received by the first communication device.

Alternatively, the first signal characteristic information may be determined by the first communication device from a time domain angle, a frequency domain angle, or a spatial domain angle based on the first measurement signal received by the first communication device.

Several possible implementations of the first signal characteristic information are described below. The first signal characteristic information is described by taking the first measuring signal received by the first communication device and one of the second communication devices as an example. The first signal characteristic information corresponding to the other second communication devices is similar, and is not described in detail herein.

Implementation 1, the first signal characteristic information includes N first time-amplitude groups. The N first time-amplitude groups are N first time-amplitude groups corresponding to each of N points on the curve representing the first cross-correlation signal.

Wherein the time in the first time-amplitude group corresponding to each of the N points is the time represented by the abscissa corresponding to each point. The amplitude in the first time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point or a quantized value of the amplitude represented by the ordinate corresponding to each point.

The N points comprise N points on the curve representing the first cross-correlation signal closest to the point on the curve where the largest peak is located. The first cross-correlation signal is obtained by performing a cross-correlation operation on a first measurement signal received by the first communication device and a first measurement signal transmitted by the second communication device. N is an integer greater than or equal to 1.

For example, the first measurement signal transmitted by the second communication device is denoted as x (t), and the first measurement signal received by the first communication device is denoted as y (t). The first communication device may sample x (t) to obtain x (n). The first communication device samples y (t) to obtain y (n). Then, the first communication device performs a cross-correlation operation on x (n) and y (n) to obtain a first cross-correlation signal r (n). The first cross-correlation signal r (n) may be represented as a curve as shown in fig. 6. As shown in fig. 6, the first communication device may take 2d-1 points around the point where the maximum peak is located on the curve as shown in fig. 6. N=2d_1. First communicationThe device reports the first time-amplitude group corresponding to the 2d-1 points as first signal characteristic information to the third communication device. Further, the first communication device may report, as the arrival time of the first measurement signal at the first communication device, the time corresponding to the point where the maximum peak value is located on the curve representing the first cross-correlation signal r (n) to the third communication device. For example, the ith one of the N first time-amplitude groups may be represented as (t) _i ,f _i ). Wherein i is an integer greater than or equal to 1 and less than or equal to N.

The value of d is related to the distance between the first communication device and the second communication device. The larger the distance between the first communication device and the second communication device, the larger the value of d. The smaller the distance between the first communication device and the second communication device, the smaller the value of d.

Alternatively, the first communication device may implement a cross-correlation operation between x (n) and y (n) using a matched filter. The first communication device is beneficial to improving the signal-to-noise ratio of the first cross correlation signal r (n) and reducing noise in feedback data through the matched filter accumulation operation.

Optionally, before the first communication device reports the first time-amplitude groups corresponding to the 2d-1 points, the first communication device may quantize the amplitude in each of the first time-amplitude groups corresponding to the 2d-1 points.

Specifically, the first communication device may quantize the amplitude in each first time-amplitude group with the first quantization precision, to obtain a quantized value of the amplitude in each first time-amplitude group. The first quantization accuracy represents the number of bits used to indicate the amplitude in each first time-amplitude group.

For example, as shown in table 1, some possible values of the ordinate on the curve are taken along with corresponding bit values.

TABLE 1

For example, if the amplitude in a first time-amplitude group is 2.5, the quantized value of the amplitude is "10".

Thus, the first communication device quantizes the amplitudes in the first time-amplitude group and reports the quantized values. Therefore, the compression of the reported data is realized, and the reporting expense is reduced. In addition, since only a part of the curve representing the first cross-correlation signal r (n) is effective data reflecting multipath information in the environment, most is ineffective data. The first communication device intercepts a first time-amplitude group corresponding to a partial point on the upper part of the curve of the first cross-correlation signal r (n) and reports the first time-amplitude group. The redundancy of the reported data is reduced, and the cost is further reduced.

Implementation 2, the first signal characteristic information includes N second time-amplitude groups. The N second time-amplitude groups are used to represent the second time-amplitude groups corresponding to each of the N points on the curve of the first time domain signal.

Wherein the time in the second time-amplitude group corresponding to each of the N points is a time represented by an abscissa corresponding to each point. The amplitude in the second time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point or a quantized value of the amplitude represented by the ordinate corresponding to each point.

The first time domain signal is obtained by transforming the first frequency domain signal from the frequency domain to the time domain. The first frequency domain signal is obtained by conjugate multiplication operation of the second frequency domain signal and the third frequency domain signal. The second frequency domain signal is a signal obtained by transforming the first measurement signal received by the first communication device from the time domain to the frequency domain. The third frequency domain signal is a signal obtained by transforming the first measurement signal transmitted by the second communication device from the time domain to the frequency domain. N is an integer greater than or equal to 1.

For example, the first measurement signal transmitted by the second communication device is denoted as x (t), and the first measurement signal received by the first communication device is denoted as y (t). The first communication device may sample x (t) to obtain x (n). The first communication device samples y (t) to obtain y (n). The first communication device then transforms Y (n) from the time domain to the frequency domain to obtain a second frequency domain signal Y (n). First, theA communication device transforms X (n) from the time domain to the frequency domain to obtain a third frequency domain signal X (n). A particular first communication device may employ a fourier transform (fourier transform, FFT) to transform the signal from the time domain to the frequency domain. Thus, the first frequency domain signal Z (n) =x (n) ×y (n) ^* . The first communication device may up-convert the first frequency domain signal from the frequency domain to the time domain to obtain the first time domain symbol z (n). The curve representing the first time domain symbol z (n) is similar to the curve representing the first cross-correlation signal r (n) shown in fig. 6 described above. The first communication means may take about 2d-1 points around the point where the maximum peak on the curve representing the first time domain symbol z (n) is located. N=2d_1. The first communication device reports the second time-amplitude group corresponding to the 2d-1 points as the first signal characteristic information to the third communication device.

Further, the first communication device may report, as the arrival time of the first measurement signal at the first communication device, the time corresponding to the point where the maximum peak value is located on the curve representing the first time domain signal z (n) to the third communication device. For example, an ith second time-amplitude group of the N second time-amplitude groups may be represented as (t) _i ,f' _i ). Wherein i is an integer greater than or equal to 1 and less than or equal to N. Reference is made to the relevant description above regarding the value of d.

Specifically, the first communication device may quantize the amplitude in each second time-amplitude group with the second quantization precision, to obtain quantized values of the amplitudes in the second time-amplitude group. Regarding the second quantization accuracy being similar to the first quantization accuracy, reference may be made in particular to the description of the first quantization accuracy.

The first communication device quantizes the amplitude values in the second time-amplitude group and reports the quantized values. Therefore, the compression of the reported data is realized, and the reporting expense is reduced. In addition, since only a part of the curve representing the first time domain signal z (n) is effective data reflecting multipath information in the environment, most is ineffective data. The first communication device intercepts a second time-amplitude group corresponding to a partial point on the upper part of the curve of the first time domain signal z (n) and reports the second time-amplitude group. The redundancy of the reported data is reduced, and the cost is further reduced.

Implementation 3, the first signal characteristic information includes P first angle-amplitude groups. The P first angle-amplitude groups correspond to P first response values in the first response matrix.

The number of rows of the first response matrix is R, the number of columns is Q, R is the number of values of the first arrival angle, and Q is the number of values of the second arrival angle. The first arrival angle is a first angle at which the first measurement signal arrives at the antenna array of the first communication device, and the second arrival angle is a second angle at which the first measurement signal arrives at the antenna array of the first communication device; r and Q are integers greater than or equal to 1.

The element in the first response matrix is a first response value. The first response matrix comprises at least one first response value, each first response value corresponds to one first steering matrix, and each first response value is obtained by performing matrix dot product operation between the first steering matrix corresponding to the first response value and the conjugate of the first measurement signal received by the first communication device and then performing summation operation.

Each first guiding matrix corresponds to a first arrival angle and a second arrival angle, and the first arrival angles and/or the second arrival angles corresponding to different first guiding matrices are different.

The P first response values are elements in sub-blocks in the first response matrix, the number of rows of the sub-blocks is X, the number of columns of the sub-blocks is Y, the sub-blocks comprise the largest first response value in the first response matrix, X multiplied by Y is equal to P, and P is an integer greater than or equal to 1 and smaller than R.

Optionally, when the normal vector of the antenna array of the first communication device is along the horizontal direction, the first angle is an azimuth angle at which the first measurement signal reaches the antenna array of the first communication device, and the second angle is a pitch angle at which the first measurement signal reaches the antenna array of the first communication device.

The orientation of the antenna array may be defined herein in terms of a normal vector of the antenna array of the first communication device, with different orientations of the antenna array, and corresponding first and second angles also being different. The technical scheme of the application is mainly described by taking a first angle as an azimuth angle and a second angle as a pitch angle as an example.

It should be noted that, when the antenna array of the first communication device is a one-dimensional antenna array, the first communication device may measure the first arrival angle or the second arrival angle. In particular in connection with the placement of the antenna array. For example, the j-th first angle-amplitude group of the P first angle-amplitude groups may be expressed as Or->j is an integer greater than or equal to 1 and less than or equal to P, g is an integer greater than or equal to 1 and less than or equal to R, and Q is an integer greater than or equal to Q.

When the antenna array of the first communication device is a two-dimensional antenna array, the first communication device may measure the first arrival angle and the second arrival angle. For example, the j-th first angle-amplitude group of the P first angle-amplitude groups may be expressed asj is an integer greater than or equal to 1 and less than or equal to P, g is an integer greater than or equal to 1 and less than or equal to R, and Q is an integer greater than or equal to Q. />

For example, the antenna array is a one-dimensional antenna array, and in the horizontal direction, the antenna array includes M antenna elements. Thus, the dimension of each first steering matrix is M1. The first angle of arrival may be understood as the angle of arrival or angle of incidence θ of the first measurement signal in the horizontal direction of the antenna array of the first communication device. Each first steering matrix corresponds to a first arrival angle. As for the second angle of arrival, since the antenna array is a one-dimensional antenna array in the horizontal direction, the first communication device cannot measure the angle of arrival or the angle of incidence Φ of the first measurement signal in the vertical direction of the antenna array of the first communication device. The default value of phi is the default value here. The first communication device may report only the first angle of arrival and the magnitude.

For example, as shown in the antenna array of fig. 7, the distance between the antenna elements in the horizontal direction is D, the incident angle (i.e., the first arrival angle) of the first measurement signal in the horizontal direction of the antenna array is θ, and the path difference between the paths of the first measurement signal received by the adjacent antenna elements is Dsin θ. Therefore, the phase difference between the phases of the first measurement signals received by adjacent antenna array elements is 2pi Dsin θ/λ, where λ is the wavelength of the first measurement signals. Taking the antenna array element 0 as a reference point, if the incident angle of the first measurement signal in the horizontal direction of the antenna array of the first communication device is θ, the corresponding first steering matrix may be expressed as:

from this, the number of rows of the first steering matrix is M and the number of columns is 1. Each first arrival angle corresponds to a first guide matrix, the first arrival angles have R possible values, and the total of the first arrival angles is R first guide matrices, each first guide matrix corresponds to one first arrival angle, and different first guide matrices correspond to different first arrival angles.

Wherein the incidence angle of the first measurement signal reaching the horizontal direction of the antenna array (i.e. the first arrival angle) is theta _g The first steering matrix corresponding to the antenna array may be denoted as a (θ _g ). I.e.g is an integer greater than or equal to 1 and less than or equal to R.

The first measurement signal received by the first communication device through the antenna array may be represented as a matrix x, the dimension of the matrix x being M x 1. Moment (V)The matrix x is denoted as [ x ] ₀ ，x ₁ ，....，x _M-1 ] ^T . The first communication device may determine the conjugate of the matrix x. Then, the first communication device transmits the first steering matrix a (θ _g ) Performing matrix point multiplication operation with the conjugate of the matrix x, and then performing summation operation to obtain a first response value b corresponding to the first steering matrix _g . That is, the first communication device transmits the first steering matrix a (θ _g ) Adding elements in the matrix obtained after the matrix point multiplication operation is carried out with the conjugate of the matrix x to obtain a first response value b _g . Or said another way, the first response value b _g And the first arrival angle theta _g Corresponding to the above. Similarly, for other incident angles of the first measurement signal reaching the horizontal direction of the antenna array, the calculation mode of the first response value corresponding to the first guide matrix of the antenna array is similar.

Therefore, the incident angle of the first measurement signal in the horizontal direction of the antenna array (i.e., the first arrival angle) has R possible values, and the dimension of the first response matrix is r×1, that is, the first response matrix includes R first response values, which may be specifically expressed as: Note that b in the first response matrix ₁ ，b ₂ ,...b _R The first angles of arrival respectively corresponding are ordered from small to large or from large to small. For example, the first arrival angle θ may be R values discretized from-pi/2 to pi/2.

The first communication device determines a largest first response value from the first response matrix. The first communication device then determines P first response values, the P first response values including the largest first response value. The P first response values are elements in a sub-block in the first response matrix. The number of lines of the sub-block is X, the number of columns is Y, the sub-block comprises the largest first response value in the first response matrix, X multiplied by Y is equal to P, and P is an integer greater than or equal to 1.

For example, the largest first response value in the first response matrix is b ₂ X is equal to 3, Y is equal to 1, thatThe sub-block can beThe P first response values include b ₁ 、b ₂ And b ₃ The P first angle-amplitude groups comprise three first angle-amplitude groups, wherein the angle in one first angle-amplitude group is a first arrival angle theta ₁ The magnitudes of the magnitudes in the first angle-magnitude set are the first response value b ₁ . The angle in the other first angle-amplitude group is the first arrival angle theta ₂ The magnitudes of the magnitudes in the first angle-magnitude set are the first response value b ₂ . The angle in the first angle-amplitude group is the first arrival angle theta ₃ The magnitudes of the magnitudes in the first angle-magnitude set are the first response value b ₃ . Alternatively, the sub-block may be +.>The P first response values include b ₂ 、b ₃ And b ₄ The P first angle-amplitude groups comprise three first angle-amplitude groups, wherein the angle in one first angle-amplitude group is a first arrival angle theta ₂ And a first response value b ₂ The angle in the other first angle-amplitude group is the first angle of arrival θ ₃ And a first response value b ₃ The angle in the further first angle-amplitude group is the first angle of arrival θ ₄ And a first response value b ₄ 。

For example, the largest first response value in the first response matrix is b ₂ X is equal to 1 and Y is equal to 1, then the sub-block may beThe P first response values include b ₁ And b ₂ The P first angle-amplitude groups comprise two first angle-amplitude groups, wherein the angle in one first angle-amplitude group is a first arrival angle theta ₁ And a first response value b ₁ The angle in the other first angle-amplitude group is the first angle of arrival θ ₂ And (d)A response value b ₂ . Alternatively, the sub-block may be +. >The P first response values include b ₂ And b ₃ The P first angle-amplitude groups comprise two first angle-amplitude groups, wherein the angle in one first angle-amplitude group is a first arrival angle theta ₂ And a first response value b ₂ The angle in the other first angle-amplitude group is the first angle of arrival θ ₃ And a first response value b ₃ 。

It should be noted that the value of X and the value of Y are respectively related to the angular range of the first measurement signal reaching the antenna array. For example, the larger the angular range of the first measurement signal reaching the antenna array, the larger the values of X and Y.

For example, the antenna array is a two-dimensional antenna array, and as can be seen from the above, when the incident angle (i.e., the first arrival angle) of the first measurement signal in the horizontal direction of the antenna array of the first communication device is θ, the steering matrix corresponding to the antenna array is represented by the above formula 1. The first angle of arrival has R possible values, so the antenna array corresponds to R steering matrices in the horizontal direction.

In the vertical direction, the antenna array comprises K antenna elements. As shown in fig. 8, the incident angle (i.e., the second arrival angle) of the first measurement signal in the vertical direction to the antenna array of the first communication device is Φ. The phase difference between the phases of the first measurement signals received by the adjacent antenna array elements is 2 pi Dsin phi/lambda, and the antenna array 0 is taken as a reference point, so that under the condition that the incident angle of the first measurement signals in the vertical direction of the antenna array of the first communication device is phi, the corresponding steering matrix can be expressed as follows:

Therefore, the number of rows of the steering matrix shown in equation 2 is 1, and the number of columns is K. Each second arrival angle corresponds to a guide matrix, the firstThe second arrival angle has Q possible values, so the antenna array corresponds to Q steering matrices in the vertical direction. Wherein the incident angle in the vertical direction of the first measurement signal reaching the antenna array of the first communication device is phi _q The steering matrix for an antenna array may be denoted as c (phi) _q ). I.e.Q is an integer greater than or equal to 1 and less than or equal to Q.

Therefore, the incident angle of the first measurement signal reaching the horizontal direction of the antenna array (i.e., the first arrival angle) is θ _g The incident angle of the first measurement signal reaching the antenna array in the vertical direction (i.e. the second arrival angle) is phi _q Next, a first steering matrix a (θ _g ,φ _q )＝a(θ _g )*c(φ _q ). Wherein the dimension of each steering matrix is M x K. Thus, the antenna array corresponds to the r×q first steering matrices with the R values of the first angle of arrival and the Q values of the second angle of arrival.

The first measurement signal received by the first communication device through the antenna array may be represented as a matrix y, the dimension of the matrix y being M x K. The first communication device may determine the conjugate of the matrix y. Then, the first communication apparatus transmits the first steering matrix a (θ _g ,φ _q ) Performing matrix point multiplication operation with the conjugate of the matrix y, and performing summation operation to obtain a first response value d corresponding to the first steering matrix _g,q That is, the first communication device transmits the first steering matrix a (θ _g ,φ _q ) Adding elements in the matrix obtained by performing matrix point multiplication operation with the conjugate of the matrix y to obtain the first response value d _g,q . Or the first response value d _g,q Incidence angle theta corresponding to horizontal direction _g Angle of incidence phi in the vertical direction _q . Similarly, the other first response values are calculated in a similar manner.

The antenna array corresponds to R.Q first steering matrices, so that the first response matrix has dimensions of R.Q, i.e. the first response matrix includes R.Q first response values, specificallyCan be expressed as

It should be noted that, the first arrival angle corresponding to the element (i.e., the first response value) in each row vector in the first response matrix is ordered from small to large or from large to small. The second angles of arrival corresponding to the elements (i.e., first response values) in each column vector in the first response matrix are ordered from small to large or from large to small. For example, the first arrival angle θ may be R values discretized from-pi/2 to pi/2. The second angle of arrival phi may be of discrete values Q from-pi/2 to pi/2.

The first communication device determines a largest first response value from the first response matrix. The first communication device determines P first response values. The P first response values include the largest first response value, the P first response values being elements in a sub-block in the first response matrix. The number of lines of the sub-block is X, the number of columns is Y, the sub-block comprises the largest first response value in the first response matrix, X multiplied by Y is equal to P, and P is an integer greater than or equal to 1.

For example, the largest first response value in the first response matrix is d _2,2 X is equal to 2 and Y is equal to 2, then the sub-block may beThe P first response values include d _1,1 、d _1,2 、d _2,1 And d _2,2 The P first angle-amplitude groups include four first angle-amplitude groups. The angles in the first angle-amplitude group include a first angle of arrival θ ₁ And a second angle of arrival phi ₁ The magnitudes in the first angle-magnitude set are d _1,1 . The angles in the second first angle-amplitude group include the first angle of arrival θ ₁ And a second angle of arrival phi ₂ The magnitudes in the first angle-magnitude set are d _1,2 . The angles in the first third angle-amplitude group include a first angle of arrival θ ₂ And a second angle of arrival phi ₁ The magnitudes in the first angle-magnitude set are d _2,1 . The angles in the fourth first angle-amplitude group include the first angle of arrival θ ₂ And a second angle of arrival phi ₂ The magnitudes in the first angle-magnitude set are d _2,2 。

503. The first communication device transmits the first signal characteristic information to the third communication device. Accordingly, the third communication device receives the first signal characteristic information from the first communication device.

For the first signal characteristic information, please refer to the related description of the aforementioned step 501.

Optionally, the embodiment shown in fig. 5 further includes step 502a and step 502b. Steps 502a and 502b may be performed after step 501.

502a, the first communication device measures the first measurement signal received by the first communication device, and obtains measurement information.

Wherein the measurement information includes multipath parameters obtained by the first communication device measuring the first measurement signal.

Optionally, the multipath parameter includes a time of arrival or an angle of arrival of the first measurement signal at the first communication device, which is not limited in this application. For example, the first communication device receives the first measurement signals sent by the three second communication devices, and measures the arrival time of the three first measurement signals obtained by receiving the three first measurement signals.

502b, the first communication device sends measurement information to the third communication device. Accordingly, the third communication device receives measurement information from the first communication device.

It should be noted that, the first signal characteristic information in the step 502 and the measurement information in the step 502b may be reported at the same time, or may be reported separately, which is not limited in this application.

504. The third communication device determines the first location information.

The first location information is used for indicating a first location where the first communication device is located. For example, the first location may be an absolute coordinate location or a relative coordinate location where the first communication device is located. The solution of the present application will be described below taking the example that the first position is the absolute coordinate position where the first communication device is located.

Specifically, the third communication device may acquire the first location information. For example, based on the step 502a and the step 502b, the step 504 may specifically include: the third communication device determines the first location information based on the measurement information.

For example, the measurement information includes times of arrival at which the first communication device receives the first measurement signals of the plurality of second communication devices. The third communication device estimates an absolute coordinate position where the first communication device is located by a time difference of arrival (time difference of arrival, TDOA) location method and an arrival time at which the first communication device receives first measurement signals of the plurality of second communication devices.

For example, the measurement information includes an angle of arrival at which the first communication device receives the first measurement signals of the plurality of second communication devices. The third communication device estimates an absolute coordinate position where the first communication device is located by an azimuth of arrival (AOA) positioning method and an angle of arrival at which the first communication device receives first measurement signals of the plurality of second communication devices.

In a complex environment, the first communication device has limited capabilities, and the accuracy of the multipath parameters included in the measurement information, or the multipath parameters included in the measurement information, is limited. The accuracy of the first position estimated by the third communication means from the measurement information is low. That is to say that the error between the first location and the actual location where the first communication device is located is large. It will thus be appreciated that the first location is a coarse location of the first communication device with a lower accuracy.

505. The third communication device determines second position information according to the preset map, the first position information and the first signal characteristic information.

One possible implementation of step 505 is described below in connection with steps 505a to 505 d.

505a, the third communication device performs gridding on the area within a preset distance range from the first position, so as to obtain a plurality of grid areas.

For example, as shown in fig. 9, the area of the third communication device within the preset distance range of the first position is divided into a plurality of mesh areas.

505b, the third communication device determines, by means of the preset map and the position corresponding to each of the plurality of grid areas, the second measurement signal received by the first communication device in the position corresponding to each grid area.

For example, as shown in fig. 9, the third communication device refers to the position where the center point of each mesh region is located as the position corresponding to each mesh region. The third communication device simulates a channel between the first communication device and the at least one second communication device through a preset map. The third communication device may simulate the channel, the position corresponding to each grid area, the position of the second communication device (for transmitting the first measurement signal), and the frequency point for transmitting the first measurement signal, so as to obtain the second measurement signal received by the first communication device in the position corresponding to each grid area. The measurement signal received by the first communication device is referred to herein as a second measurement signal. As shown in fig. 9, the third communication device may determine the second measurement signal received by the first communication device in the location corresponding to each grid region.

505c, the third communication device determines second signal characteristic information of the second measurement signal received by the first communication device in a position corresponding to each grid area.

The process of determining the second signal characteristic information is similar to the process of determining the first signal characteristic information in step 502, and reference is made to the related description.

The second signal characteristic information of the second measurement signal received by the first communication device in the position corresponding to each grid area for one grid area is described below. The second signal characteristic information corresponding to the other grid areas is also similar.

Implementation 1, the second signal characteristic information includes N third time-amplitude groups. The N third time-amplitude groups are third time-amplitude groups corresponding to each of N points on the curve representing the second cross-correlation signal.

Wherein the time in the third time-amplitude group corresponding to each of the N points is a time represented by an abscissa corresponding to each point. The amplitude in the third time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point or a quantized value of the amplitude represented by the ordinate corresponding to each point.

The N points are the N closest points on the curve representing the second cross-correlation signal to the point on the curve where the largest peak is located. The second cross-correlation signal is obtained by performing a cross-correlation operation on the second measurement signal received by the first communication device and the second measurement signal transmitted by the second communication device (it can be understood that the second measurement signal is the first measurement signal transmitted by the second communication device in step 501). N is an integer greater than or equal to 1.

For the N third time-amplitude groups, reference may be made to the description of the correlation of the N first time-amplitude groups, which is not repeated here. For example, the ith third time-amplitude group of the N third time-amplitude groups may be expressed asWherein i is an integer greater than or equal to 1 and less than or equal to N.

Implementation 2, the second signal characteristic information includes N fourth time-amplitude groups. The N fourth time-amplitude groups are fourth time-amplitude groups corresponding to each of N points on the curve representing the second time-domain signal.

Wherein the time in the fourth time-amplitude group corresponding to each of the N points is the time represented by the abscissa corresponding to each point. The amplitude in the fourth time-amplitude group corresponding to each of the N points is the amplitude represented by the ordinate corresponding to each point, or the ordinate corresponding to each point represents a quantized value of the amplitude.

The N points are N points on the curve representing the second time domain signal closest to the point on the curve where the largest peak is located. The second time domain signal is obtained by transforming the fourth frequency domain signal from the frequency domain to the time domain. The fourth frequency domain signal is obtained by conjugate multiplication operation of the fifth frequency domain signal and the sixth frequency domain signal. The fifth frequency domain signal is a signal obtained by transforming the second measurement signal received by the first communication device from the time domain to the frequency domain. The sixth frequency domain signal is a signal obtained by transforming the first measurement signal transmitted by the second communication device from the time domain to the frequency domain. N is an integer greater than or equal to 1.

For the N fourth time-amplitude groups, reference may be made to the description of the N second time-amplitude groups, which is not repeated here. For example, the ith fourth time-amplitude group of the N fourth time-amplitude groups may be expressed asWherein i is an integer greater than or equal to 1 and less than or equal to N.

Implementation 3, the second signal characteristic information includes P second angle-amplitude groups. The P second angle-amplitude groups correspond to P second response values in the second response matrix.

The number of rows of the second response matrix is H, the number of columns is V, H is the number of values of the third arrival angle, and V is the number of values of the fourth arrival angle. H and V are integers greater than or equal to 1. The third angle of arrival is the third angle at which the second measurement signal arrives at the antenna array of the first communication device, and the fourth angle of arrival is the fourth angle at which the second measurement signal arrives at the antenna array of the first communication device.

The second response matrix comprises at least one second response value, each second response value corresponds to one second steering matrix, and each second response value is obtained by performing matrix point multiplication operation between the second steering matrix corresponding to the second response value and the conjugate of the second measurement signal received by the first communication device and then performing summation operation.

Each second guiding matrix corresponds to a third arrival angle and one fourth arrival angle, and the third arrival angle and/or the fourth arrival angle corresponding to different second guiding matrixes are different.

The P second response values are elements in sub-blocks in the second response matrix, the number of rows of the sub-blocks is X, the number of columns of the sub-blocks is Y, and the sub-blocks comprise the largest second response value in the second response matrix; p is an integer greater than or equal to 1.

The amplitude in each second angle-amplitude group in the P second angle-amplitude groups is a second response value corresponding to the second angle-amplitude group, and the angle in each second angle-amplitude group is a third arrival angle and/or a fourth arrival angle corresponding to the second response value. For the P second angle-amplitude groups, similar to the P first angle-amplitude groups, reference may be made specifically to the description of the P first angle-amplitude groups, which is not repeated here.

It should be noted that, optionally, R values of the third arrival angle may be the same as R values of the first arrival angle. The Q values of the fourth angle of arrival are the same as the Q values of the second angle of arrival. I.e., H equals R and V equals Q.

For example, the j-th second angle-amplitude group of the P second angle-amplitude groups may be expressed asOr (b)j is an integer greater than or equal to 1 and less than or equal to P, g is an integer greater than or equal to 1 and less than or equal to R, and Q is an integer greater than or equal to 1 and less than or equal to Q.

For example, the j-th second angle-amplitude group of the P second angle-amplitude groups may be expressed asj is an integer greater than or equal to 1 and less than or equal to P, g is an integer greater than or equal to 1 and less than or equal to R, and Q is an integer greater than or equal to 1 and less than or equal to Q.

For P second angle-amplitude groups similar to the P first angle-amplitude groups described above, reference is made in particular to the description of the related art.

505d, the third communication device determines a target mesh region from the plurality of mesh regions according to the first signal characteristic information and the second signal characteristic information corresponding to each mesh region.

The above step 505d is described below in connection with several possible implementations of the first signal characteristic information and the second signal characteristic information.

In one implementation, the first signal characteristic information includes N first time-amplitude groups, and the second signal characteristic information includes N third time-amplitude groups for each grid region.

In a possible implementation manner, the step 505d specifically includes:

the third communication device determines the root mean square error corresponding to each grid area according to the root mean square error algorithm, the first signal characteristic information and the second signal characteristic information. Then, the third communication device selects a mesh region having the smallest root mean square error as a target mesh region according to the root mean square error corresponding to each mesh region.

For example, the first signal characteristic information comprises N first time-amplitude groups. For a grid region, the second signal characteristic information includes N third time-amplitude groups. The ith one of the N first time-amplitude groups may be denoted as (t) _i ,f _i ). The ith third time-amplitude group of the N third time-amplitude groups may be expressed asWherein i is an integer greater than or equal to 1 and less than or equal to N. The root mean square error corresponding to the grid region is equal toThat is, the third communication means differences the amplitudes in the first time-amplitude group and the third time-amplitude group at the same time, and square root the variances. The third communication means may select a mesh region having the smallest root mean square error as the target mesh region according to the root mean square error corresponding to each mesh region.

In another possible implementation manner, the step 505d specifically includes:

the third communication device determines a correlation value corresponding to each grid region according to the correlation algorithm, the first signal characteristic information and the second signal characteristic information. Then, the third communication means selects, as the target mesh region, the mesh region having the largest correlation value corresponding to the correlation value corresponding to each mesh region.

For example, the first signal characteristic information comprises N first time-amplitude groups. For a grid region, the second signal characteristic information includes N third time-amplitude groups. The ith one of the N first time-amplitude groups may be denoted as (t) _i ,f _i ). The ith third time-amplitude group of the N third time-amplitude groups may be expressed asWherein i is an integer greater than or equal to 1 and less than or equal to N. The corresponding correlation value of the grid area is equal to +.>That is, the third communication means correlates the amplitudes in the second time-amplitude group and the fourth time-amplitude group at the same time and sums the correlation values. The third communication means may select a mesh region having the largest corresponding correlation value as the target mesh region based on the correlation value corresponding to each mesh region.

It should be noted that if the first communication device and the second communication device are not synchronized in time, the third communication device may pair the first time-amplitude group and the second time-amplitude group in combination with the time difference between the first communication device and the second communication device, and then perform a corresponding operation.

Implementation two, the first signal characteristic information includes N second time-amplitude groups. The second signal characteristic information comprises for each grid region N fourth time-amplitude groups.

In a possible implementation manner, the step 505d specifically includes:

the third communication device determines the root mean square error corresponding to each grid region according to the root mean square error algorithm, the N second time-amplitude groups and the N fourth time-amplitude groups. Then, the third communication device selects a mesh region having the smallest root mean square error as a target mesh region according to the root mean square error corresponding to each mesh region.

This implementation may be referred to in the description of the first implementation.

In another possible implementation manner, the step 505d specifically includes:

the third communication device determines a correlation value corresponding to each grid region according to a correlation algorithm, the N second time-amplitude groups and the N fourth time-amplitude groups. Then, the third communication means selects, as the target mesh region, the mesh region having the largest correlation value corresponding to the correlation value corresponding to each mesh region.

It should be noted that if the first communication device and the second communication device are not synchronized in time, the third communication device may pair the second time-amplitude group and the fourth time-amplitude group in combination with the time difference between the first communication device and the second communication device, and then perform a corresponding operation.

3. The first signal characteristic information includes P first angle-amplitude groups. The second signal characteristic information includes P second angle-amplitude groups for each grid region.

In a possible implementation manner, the step 505d specifically includes:

the third communication device determines the root mean square error corresponding to each grid region according to the root mean square error algorithm, the P first angle-amplitude groups and the P second angle-amplitude groups. Then, the third communication device selects a mesh region having the smallest root mean square error as a target mesh region according to the root mean square error corresponding to each mesh region.

For example, the antenna array is a one-dimensional antenna. The j-th first angle-amplitude group of the P first angle-amplitude groups can be expressed asThe j-th second angle-amplitude group among the P second angle-amplitude groups may be expressed as +. >Wherein j is an integer greater than or equal to 1 and less than or equal to P, and g is an integer greater than or equal to 1 and less than or equal to R. Then the root mean square error corresponding to the grid area is equal to +.>That is, the third communication means differences the amplitudes in the first angle-amplitude group and the second angle-amplitude group, which have the same first angle of arrival, and square root the variances. The third communication means may select a mesh region having the smallest root mean square error as the target mesh region according to the root mean square error corresponding to each mesh region.

For example, the antenna array is a two-dimensional antenna. The j-th first angle-amplitude group of the P first angle-amplitude groups can be expressed asThe j-th second angle-amplitude group among the P second angle-amplitude groups may be expressed as +.>Wherein j is an integer of 1 or more and less than or equal to P, g is an integer of 1 or more and less than or equal to R, and Q is an integer of 1 or more and less than or equal to Q. Then the root mean square error corresponding to the grid region, etcThat is, the third communication means makes differences between the amplitudes in the first angle-amplitude group and the second angle-amplitude group, which are the same for both the first angle of arrival and the second angle of arrival, and then square root the differences. The third communication means may select a grid area having the smallest root mean square error according to the root mean square error corresponding to each grid area As a target mesh region.

In another possible implementation manner, the step 505d specifically includes:

the third communication device determines a correlation value corresponding to each grid region according to a correlation algorithm, the P first angle-amplitude groups and the P second angle-amplitude groups. Then, the third communication means selects, as the target mesh region, the mesh region having the largest correlation value corresponding to the correlation value corresponding to each mesh region.

For example, the antenna array is a one-dimensional antenna. The j-th first angle-amplitude group of the P first angle-amplitude groups can be expressed asThe j-th second angle-amplitude group among the P second angle-amplitude groups may be expressed as +.>Wherein j is an integer greater than or equal to 1 and less than or equal to P. Then the corresponding correlation value of the grid area is equal to +.>That is, the third communication means correlates the amplitudes in the first angle-amplitude group and the second angle-amplitude group, which have the same first angle of arrival, and sums the correlation values. The third communication means may select a mesh region having the largest corresponding correlation value as the target mesh region based on the correlation value corresponding to each mesh region.

For example, the antenna array is a two-dimensional antenna. The j-th first angle-amplitude group of the P first angle-amplitude groups can be expressed as The j-th second angle-amplitude group among the P second angle-amplitude groups may be expressed as +.>Wherein j is an integer of 1 or more and P or less. The corresponding correlation value of the grid area is equal to +.>That is, the third communication means correlates the amplitudes in the first angle-amplitude group and the second angle-amplitude group, in which the first angle of arrival and the second angle of arrival are the same, and sums the correlation values. The third communication means may select a mesh region having the largest corresponding correlation value as the target mesh region based on the correlation value corresponding to each mesh region.

It should be noted that if there is an angle difference between the coordinate system adopted by the first communication device and the third communication device. The third communication device can pair the first angle-amplitude group and the second angle-amplitude group by combining the angle difference between the coordinate systems adopted by the first communication device and the third communication device, and then perform corresponding operation.

505e, the third communication device takes a position corresponding to the target mesh area as a second position.

Specifically, the third communication device takes the absolute coordinate position of the center point of the target grid area as the second position. It is known that the third communication device performs a gridding search in the vicinity of the first location based on the preset map. For each searched grid area, the third communication device simulates the second measurement signal received by the first communication device by combining with a preset map. Then, the third communication device determines second signal characteristic information of the second measurement signal, and then determines a target grid area where the first communication device is located by combining the first signal characteristic information and the second signal characteristic information so as to determine the accurate position of the first communication device.

The error between the first position and the actual position of the first communication device is larger than the error between the second position and the actual position of the first communication device. It will thus be appreciated that the first location is a coarse location of the first communication device with a lower accuracy. The second location is the exact location of the first communication device with a high degree of accuracy.

It is known that in a complex environment, when the capability of the first communication apparatus is limited, the accuracy of measurement information estimated by the first communication apparatus is limited. Thus, in the solution of the present application, the third communication device may determine the first location information (i.e. the coarse location of the first communication device) based on the measurement information. Then, the third communication device can combine the preset map and the measurement information to realize accurate positioning of the first communication device. Therefore, the problem of lower positioning accuracy due to limited capacity of the first communication device in a complex environment is solved.

One scenario for achieving accurate ranging through the technical scheme of the present application is described below. For example, as shown in fig. 10, the second communication apparatus is a base station, and the first communication apparatus is a terminal device. A wall exists in the environment. The goal of the positioning is to estimate the distance between the terminal device and the base station. Specifically, the environment and signal configurations are shown in table 1:

TABLE 1

The following results were obtained by simulation by the above three ranging methods. The distance between the base station and the terminal equipment estimated by the time domain correlation peak detection method is 30m, and the error between the base station and the terminal equipment is 8m. The distance between the base station and the terminal device estimated by the maximum likelihood distance search method is 22.91m, and the error from the true value is 0.91m. The distance between the base station and the terminal equipment estimated by the technical scheme is 22.02m, and the error between the base station and the terminal equipment is 0.02m. Therefore, when the technical scheme is applied to the positioning of the weak-capacity receiver in the multipath environment, more positioning accuracy can be provided compared with the traditional method based on parameter estimation (such as a time domain correlation peak value searching method) and a maximum likelihood distance searching method.

It should be noted that, the first signal characteristic information and the second signal characteristic information include amplitude information of the signal, and in practical application, may also include phase information of the signal. The third communication device may perform ranging or the like for the first communication device in conjunction with the phase information.

In the embodiment of the application, a first communication device receives a first measurement signal sent by at least one second communication device; the first communication device determines first signal characteristic information of a first measurement signal received by the first communication device; the first communication device transmits the first signal characteristic information to the third communication device. It follows that the first communication device may send the first signal characteristic information to the third communication device. Thereby facilitating the third communication device to determine the accurate position of the first communication device based on the preset map, the rough position of the first communication device and the first signal characteristic information so as to improve the positioning accuracy.

The above embodiment describes the technical solution of the present application by taking the positioning of the first communication device by the third communication device as an example. In practical applications, the third communication device may also locate the at least one second communication device, which is not limited in this application. In the above embodiment, the first communication device receives the second measurement signal sent by one of the second communication devices, and the third communication device determines the second signal characteristic information, and then determines the position corresponding to the target grid area as the second position based on the first signal characteristic information and the second signal characteristic information. In practice, for each second measurement signal sent by the second communication device, the third communication device may determine a corresponding target grid area. Thus, for a plurality of second communication apparatuses, the third communication apparatus can determine to obtain a plurality of target mesh areas. The third communication device may average the coordinate positions corresponding to the plurality of target grid areas to obtain an average position. The third communication device takes the average position as the accurate position of the first communication device.

Communication devices provided in embodiments of the present application are described below. Referring to fig. 11, fig. 11 is a schematic structural diagram of a communication device according to an embodiment of the present application.

The communication device 1100 comprises a transceiver module 1101 and a processing module 1102.

The transceiver module 1101 may implement a corresponding communication function, and the transceiver module 1101 may also be referred to as a communication interface or a communication unit. The processing module 1102 is used to perform processing operations.

Optionally, the communication device 1100 may further include a storage module, where the storage module may be used to store instructions and/or data, and the processing module 1102 may read the instructions and/or data in the storage module, so that the communication device implements the method embodiment shown in fig. 5.

The communication device 1100 may be used to perform the steps performed by the first communication device in the embodiment shown in fig. 5, and reference is made specifically to the description related to the above-mentioned method embodiment.

The communication device 1100 may be used to perform the actions performed by the first communication device in the method embodiments above. The communication device 1100 may be a first communication device or a component configurable at a first communication device.

The transceiver module 1101 is configured to perform the operations related to the reception on the first communication device side in the above method embodiment, and the processing module 1102 is configured to perform the operations related to the processing on the first communication device side in the above method embodiment.

Alternatively, the transceiver module 1101 may include a transmitting module and a receiving module. The transmitting module is configured to perform the transmitting operation of the first communication device in the method embodiment shown in fig. 5. The receiving module is configured to perform the receiving operation of the first communication device in the method embodiment shown in fig. 5.

It should be noted that, the communication apparatus 1100 may include a transmitting module, and not include a receiving module. Alternatively, the communication device 1100 may include a receiving module instead of a transmitting module. Specifically, it may be determined whether or not the above scheme executed by the communication apparatus 1100 includes a transmission action and a reception action.

Communication devices provided in embodiments of the present application are described below. Referring to fig. 12, fig. 12 is a schematic structural diagram of a communication device according to an embodiment of the present application.

The communication device 1200 includes a transceiver module 1201 and a processing module 1202.

The transceiver module 1201 may implement corresponding communication functions, and the transceiver module 1201 may also be referred to as a communication interface or a communication unit. The processing module 1202 is configured to perform processing operations.

Optionally, the communication device 1200 may further include a storage module, where the storage module may be used to store instructions and/or data, and the processing module 1202 may read the instructions and/or data in the storage module, so that the communication device implements the method embodiment shown in fig. 5.

The communications device 1200 may be configured to perform the steps performed by the third communications device in the embodiment shown in fig. 5, and reference is made specifically to the description of the method embodiment described above.

The communications device 1200 may be configured to perform the actions performed by the third communications device in the method embodiments above. The communication device 1200 may be a third communication device or a component that may be disposed in the third communication device.

The transceiver module 1201 is configured to perform operations related to reception on the third communication apparatus side in the above-described method embodiment, and the processing module 1202 is configured to perform operations related to processing on the third communication apparatus side in the above-described method embodiment.

Alternatively, the transceiver module 1201 may include a transmitting module and a receiving module. The transmitting module is configured to perform the transmitting operation of the third communication device in the method embodiment shown in fig. 5. The receiving module is configured to perform the receiving operation of the third communication device in the method embodiment shown in fig. 5.

Note that the communication apparatus 1200 may include a transmitting module, and not include a receiving module. Alternatively, the communication apparatus 1200 may include a receiving module instead of a transmitting module. Specifically, it may be determined whether or not the above scheme executed by the communication apparatus 1200 includes a transmission action and a reception action.

A possible structural diagram of the terminal device is shown below by means of fig. 13.

Fig. 13 shows a simplified schematic diagram of the structure of a terminal device. For ease of understanding and illustration, in fig. 13, a mobile phone is taken as an example of the terminal device. As shown in fig. 13, the terminal device includes a processor, a memory, a radio frequency circuit, an antenna, and an input-output device.

The processor is mainly used for processing communication protocols and communication data, controlling the terminal equipment, executing software programs, processing data of the software programs and the like.

The memory is mainly used for storing software programs and data.

The radio frequency circuit is mainly used for converting a baseband signal and a radio frequency signal and processing the radio frequency signal.

The antenna is mainly used for receiving and transmitting radio frequency signals in the form of electromagnetic waves.

Input and output devices, such as touch screens, display screens, keyboards, etc., are mainly used for receiving data input by a user and outputting data to the user.

It should be noted that some kinds of terminal apparatuses may not have an input/output device.

When data need to be sent, the processor carries out baseband processing on the data to be sent and then outputs a baseband signal to the radio frequency circuit, and the radio frequency circuit carries out radio frequency processing on the baseband signal and then sends the radio frequency signal outwards in the form of electromagnetic waves through the antenna. When data is sent to the terminal equipment, the radio frequency circuit receives a radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor, and the processor converts the baseband signal into data and processes the data.

For ease of illustration, only one memory and processor is shown in fig. 13. In an actual end device product, there may be one or more processors and one or more memories. The memory may also be referred to as a storage medium or storage device, etc. The memory may be provided separately from the processor or may be integrated with the processor, which is not limited by the embodiments of the present application.

In the embodiment of the present application, the antenna and the radio frequency circuit with the transceiver function may be regarded as a transceiver unit of the terminal device, and the processor with the processing function may be regarded as a processing unit of the terminal device. As shown in fig. 13, the terminal device includes a transceiving unit 1310 and a processing unit 1320. The transceiver unit may also be referred to as a transceiver, transceiver device, etc. The processing unit may also be called a processor, a processing board, a processing module, a processing device, etc.

Alternatively, the device for implementing the receiving function in the transceiver unit 1310 may be regarded as a receiving unit, and the device for implementing the transmitting function in the transceiver unit 1310 may be regarded as a transmitting unit, that is, the transceiver unit 1310 includes a receiving unit and a transmitting unit. The transceiver unit may also be referred to as a transceiver, transceiver circuitry, or the like. The receiving unit may also be referred to as a receiver, or receiving circuit, among others. The transmitting unit may also sometimes be referred to as a transmitter, or a transmitting circuit, etc.

It should be understood that the transceiver unit 1310 is configured to perform the transmitting operation and the receiving operation of the first communication device or the third communication device in the above-described method embodiment, and the processing unit 1320 is configured to perform other operations on the first communication device or the third communication device except for the transmitting operation in the above-described method embodiment.

When the terminal device is a chip, the chip comprises a transceiver unit and a processing unit. The receiving and transmitting unit can be an input and output circuit or a communication interface; the processing unit is an integrated processor or microprocessor or integrated circuit or logic circuit on the chip.

The application further provides a communication device, referring to fig. 14, another schematic structural diagram of the communication device in the embodiment of the application is shown. The communication means may be adapted to perform the steps performed by the third communication means in the embodiment shown in fig. 5, reference being made to the relevant description in the method embodiment described above.

The communication device includes a processor 1401. Optionally, the communication device further comprises a memory 1402 and a transceiver 1403.

In a possible implementation, the processor 1401, the memory 1402 and the transceiver 1403 are connected by a bus, respectively, and the memory stores computer instructions.

Alternatively, the processing module 1202 in the foregoing embodiment may be specifically the processor 1401 in the present embodiment, so that a detailed implementation of the processor 1401 is not described herein. The transceiver module 1201 in the foregoing embodiment may be specifically the transceiver 1403 in this embodiment, so the specific implementation of the transceiver 1403 is not described herein.

The embodiment of the application also provides a communication system which comprises the first communication device and the third communication device. The first communication device is configured to perform all or part of the steps performed by the first communication device in the embodiment shown in fig. 5. The third communication means is arranged to perform all or part of the steps performed by the third communication means in the embodiment shown in fig. 5.

The present embodiments also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the communication method of the embodiment as shown in fig. 5 above.

Embodiments of the present application also provide a computer-readable storage medium comprising computer instructions which, when run on a computer, cause the computer to perform the method of the embodiment shown in fig. 5 described above.

The embodiment of the application further provides a chip device, which comprises a processor, wherein the processor is connected with the memory, and calls the program stored in the memory, so that the processor executes the method of the embodiment shown in fig. 5.

The processor referred to in any of the above may be a general purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the program execution of the method of the embodiment shown in fig. 5. The memory mentioned in any of the above may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM), etc.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, a portion of the technical solution of the present application, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

The above embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of communication, the method comprising:

the first communication device receives a first measurement signal transmitted by at least one second communication device;

the first communication device determines first signal characteristic information of a first measurement signal received by the first communication device;

the first communication device transmits the first signal characteristic information to a third communication device.

2. The method according to claim 1, wherein the method further comprises:

the first communication device measures a first measurement signal received by the first communication device to obtain measurement information;

the first communication device transmits the measurement information to the third communication device.

3. The method according to claim 1 or 2, wherein the at least one second communication device comprises one second communication device; the first signal characteristic information comprises N first time-amplitude groups, wherein the N first time-amplitude groups are first time-amplitude groups respectively corresponding to each of N points on a curve for representing the first cross-correlation signal;

wherein the time in the first time-amplitude group corresponding to each point in the N points is the time represented by the abscissa corresponding to each point, and the amplitude in the first time-amplitude group corresponding to each point in the N points is the amplitude represented by the ordinate corresponding to each point, or the quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points include N points on a curve representing the first cross-correlation signal that are closest to a point on the curve where a maximum peak value on the curve is located; the first cross-correlation signal is obtained by performing cross-correlation operation on a first measurement signal received by the first communication device and a first measurement signal sent by the second communication device, and N is an integer greater than or equal to 1.

4. The method according to claim 1 or 2, wherein the at least one second communication device comprises one second communication device; the first signal characteristic information comprises N second time-amplitude groups, wherein the N second time-amplitude groups are respectively corresponding to each of N points on a curve for representing the first time domain signal;

Wherein the time in the second time-amplitude group corresponding to each point in the N points is the time represented by the abscissa corresponding to each point, and the amplitude in the second time-amplitude group corresponding to each point in the N points is the amplitude represented by the ordinate corresponding to each point, or the quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points include N points on a curve representing the first time domain signal that are closest to a point on the curve where a maximum peak value on the curve is located; the first time domain signal is obtained by transforming a first frequency domain signal from a frequency domain to a time domain, the first frequency domain signal is obtained by performing conjugate multiplication operation on a second frequency domain signal and a third frequency domain signal, the second frequency domain signal is obtained by transforming a first measurement signal received by the first communication device from the time domain to the frequency domain, the third frequency domain signal is obtained by transforming a first measurement signal transmitted by the second communication device from the time domain to the frequency domain, and the N is an integer greater than or equal to 1.

5. The method according to claim 1 or 2, wherein the at least one second communication device comprises one second communication device; the first signal characteristic information comprises P first angle-amplitude groups, and the P first angle-amplitude groups correspond to P first response values in a first response matrix;

The number of rows of the first response matrix is R, the number of columns of the first response matrix is Q, the R is the value number of first arrival angles, the Q is the value number of second arrival angles, the first arrival angles are first angles of the first measurement signals reaching the antenna array of the first communication device, and the second arrival angles are second angles of the first measurement signals reaching the antenna array of the first communication device; r and Q are integers greater than or equal to 1;

each first guiding matrix corresponds to one first arrival angle and one second arrival angle, and the first arrival angles and/or the second arrival angles corresponding to different first guiding matrices are different;

the P first response values are elements in sub-blocks in the first response matrix, the number of rows of the sub-blocks is X, the number of columns of the sub-blocks is Y, the sub-blocks comprise the largest first response value in the first response matrix, the X multiplied by the Y is equal to the P, and the P is an integer greater than or equal to 1;

The amplitude in each first angle-amplitude group in the P first angle-amplitude groups is a first response value corresponding to the first angle-amplitude group, and the angle in each first angle-amplitude group is a first arrival angle and/or a second arrival angle corresponding to the first response value.

6. The method of claim 5, wherein the first angle of arrival is an azimuth angle of the first measurement signal reaching an antenna array of the first communication device and the second angle of arrival is a pitch angle of the first measurement signal reaching the antenna array of the first communication device.

7. A method of communication, the method comprising:

the third communication device receives first signal characteristic information from the first communication device, wherein the first signal characteristic information is signal characteristic information of a first measurement signal sent by at least one second communication device and received by the first communication device;

the third communication device determines first position information, wherein the first position information is used for indicating a first position where the first communication device is located;

the third communication device determines second position information according to a preset map, the first position information and the first signal characteristic information, wherein the second position information is used for indicating a second position where the first communication device is located, and the precision of the second position is higher than that of the first position.

8. The method of claim 7, wherein the method further comprises:

the third communication device receives measurement information from the first communication device, wherein the measurement information comprises multipath parameters obtained by the first communication device measuring a first measurement signal sent by the at least one second communication device and received by the first communication device;

9. The method according to claim 7 or 8, wherein the third communication device determining second location information of the first communication device according to a preset map, the first location information and the first signal characteristic information, comprises:

the third communication device performs gridding on the area with the distance from the first position within a preset distance range to obtain a plurality of grid areas;

the third communication device determines that the first communication device receives a second measurement signal from the second communication device in the position corresponding to each grid area through the preset map and the position corresponding to each grid area in the plurality of grid areas, and the second measurement signal sent by the second communication device is the same signal as the first measurement signal;

The third communication device determines second signal characteristic information of a second measurement signal received by the first communication device in a position corresponding to each grid area;

the third communication device determines a target grid region from the grid regions according to the first signal characteristic information and the second signal characteristic information corresponding to each grid region;

the third communication device takes a position corresponding to the target grid area as the second position.

10. The method of claim 9, wherein the at least one second communication device comprises a second communication device; the first signal characteristic information comprises N first time-amplitude groups, wherein the N first time-amplitude groups are first time-amplitude groups respectively corresponding to each of N points on a curve for representing the first cross-correlation signal;

11. The method of claim 10, wherein the second signal characteristic information comprises N third time-amplitude groups, the N third time-amplitude groups being third time-amplitude groups for each of N points on a curve representing the second cross-correlation signal;

wherein the time in the third time-amplitude group corresponding to each of the N points is a time represented by an abscissa corresponding to each of the N points; the amplitude in the third time-amplitude group corresponding to each point in the N points is the amplitude represented by the ordinate corresponding to each point or the quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points are N points which are used for representing the curve of the second cross-correlation signal and closest to the point where the maximum peak value on the curve is located; the second cross-correlation signal is obtained by performing cross-correlation operation on a second measurement signal received by the first communication device and a second measurement signal sent by the second communication device, and N is an integer greater than or equal to 1.

12. The method of claim 9, wherein the at least one second communication device comprises a second communication device; the first signal characteristic information comprises N second time-amplitude groups, wherein the N second time-amplitude groups are respectively corresponding to each of N points on a curve for representing the first time domain signal;

13. The method of claim 12, wherein the second signal characteristic information comprises N fourth time-amplitude groups, the N fourth time-amplitude groups being fourth time-amplitude groups for each of N points on a curve representing the second time-domain signal;

wherein the time in the fourth time-amplitude group corresponding to each point in the N points is the time represented by the abscissa corresponding to each point, and the amplitude in the fourth time-amplitude group corresponding to each point in the N points is the amplitude represented by the ordinate corresponding to each point, or the quantized value of the amplitude represented by the ordinate corresponding to each point;

the N points include N points on a curve representing the second time domain signal nearest to a point on the curve where a maximum peak value on the curve is located; the second time domain signal is obtained by transforming a fourth frequency domain signal from a frequency domain to a time domain, the fourth frequency domain signal is obtained by performing conjugate multiplication operation on a fifth frequency domain signal and a sixth frequency domain signal, the fifth frequency domain signal is obtained by transforming a second measurement signal received by the first communication device from the time domain to the frequency domain, the sixth frequency domain signal is obtained by transforming a second measurement signal transmitted by the second communication device from the time domain to the frequency domain, and the N is an integer greater than or equal to 1.

14. The method of claim 9, wherein the at least one second communication device comprises a second communication device; the first signal characteristic information comprises P first angle-amplitude groups, and the P first angle-amplitude groups correspond to P first response values in a first response matrix;

each first guiding matrix corresponds to one first arrival angle and one second arrival angle, and the first arrival angles and/or the second arrival angles corresponding to different first guiding matrixes are different;

15. The method of claim 14, wherein the first angle of arrival is an azimuth angle of the first measurement signal reaching an antenna array of the first communication device and the second angle of arrival is a pitch angle of the first measurement signal reaching the antenna array of the first communication device.

16. The method according to claim 14 or 15, wherein the second signal characteristic information comprises P second angle-amplitude groups corresponding to P second response values in a second response matrix;

the number of rows of the second response matrix is H, the number of columns is V, H is the number of values of a third arrival angle, V is the number of values of a fourth arrival angle, the third arrival angle is the third angle at which the second measurement signal arrives at the antenna array of the first communication device, and the fourth arrival angle is the fourth angle at which the second measurement signal arrives at the antenna array of the first communication device; the H and the V are integers greater than or equal to 1;

The second response matrix comprises at least one second response value, each second response value corresponds to one second guide matrix, and each second response value is obtained by performing matrix point multiplication operation between the second guide matrix corresponding to the second response value and the conjugate of the first measurement signal received by the first communication device and then performing summation operation;

each second guiding matrix corresponds to one third arrival angle and one fourth arrival angle, and the third arrival angle and/or the fourth arrival angle corresponding to different second guiding matrixes are different;

the amplitude in each first angle-amplitude group in the P first angle-amplitude groups is a second response value corresponding to the first angle-amplitude group, and the angle in each first angle-amplitude group is a third arrival angle and/or a fourth arrival angle corresponding to the second response value.

17. The method according to any one of claims 9 to 16, wherein the third communication device determining a target mesh region from the plurality of mesh regions based on the first signal characteristic information and the second signal characteristic information corresponding to each mesh region, comprising:

The third communication device determines root mean square error corresponding to each grid region in the plurality of grid regions according to a root mean square error algorithm, the first signal characteristic information and the second signal characteristic information; the third communication device selects a grid region with the minimum corresponding root mean square error as the target grid region according to the root mean square error corresponding to each grid region;

or,

the third communication device determines a correlation value corresponding to each grid region in the plurality of grid regions according to a correlation operation algorithm, the first signal characteristic information and the second signal characteristic information; and the third communication device selects the grid region with the largest corresponding correlation value as the target grid region according to the correlation value corresponding to each grid region.

18. A communication device, comprising a transceiver module and a processing module;

the transceiver module is configured to perform the transceiver operations of any one of claims 1 to 6, and the processing module is configured to perform the processing operations of any one of claims 1 to 6; or,

the transceiver module is configured to perform the transceiving operations of any of claims 7 to 17, and the processing module is configured to perform the processing operations of any of claims 7 to 17.

19. A communication device comprising a processor for executing a computer program or computer instructions in a memory to perform the method of any of claims 1 to 6; or to perform the method of any one of claims 7 to 17.

20. The communication device of claim 19, wherein the communication device further comprises the memory.

21. A computer readable storage medium, having stored thereon a computer program which, when executed by a communication device, causes the communication device to perform the method of any of claims 1 to 6 or causes the communication device to perform the method of any of claims 7 to 17.