CN117440503A

CN117440503A - Positioning method and device and computer readable storage medium

Info

Publication number: CN117440503A
Application number: CN202210833755.4A
Authority: CN
Inventors: 范慧芳
Original assignee: Spreadtrum Semiconductor Nanjing Co Ltd
Current assignee: Spreadtrum Semiconductor Nanjing Co Ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2024-01-23
Also published as: WO2024012509A1

Abstract

A positioning method and device, a computer readable storage medium, the positioning method comprising: detecting that the first trigger event is met, and triggering to execute second positioning; the first trigger event is used for representing that the requirement cannot be met based on the first positioning; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device; determining a positioning estimation result of the first terminal device, wherein the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning. By adopting the scheme, the accuracy of the positioning estimation result can be improved.

Description

Positioning method and device and computer readable storage medium

Technical Field

The present invention relates to the field of wireless communications technologies, and in particular, to a positioning method and apparatus, and a computer readable storage medium.

Background

In the prior art, the positioning method based on the mobile communication network includes the positioning method based on the wireless access network, such as observing the time difference of arrival (Observe Time Difference of Arrival, OTDoA), enhanced Cell ID (E-CID) based on Cell ID, uplink time difference of arrival (Uplink Time Difference of Arrival, UL-TDoA), uplink depth angle (Uplink Angle of Departure, UL-AoD), and the like, and also includes the positioning method independent of the wireless access network, such as bluetooth positioning, WIFI positioning, barometric sensor positioning, inertial measurement unit positioning, global navigation satellite system (Global Navigation Satellite System, GNSS) positioning, and the like.

However, when positioning the terminal device, only a certain positioning method is generally used, and the accuracy of the positioning estimation result of the terminal device is low.

Disclosure of Invention

The embodiment of the invention solves the problem that the accuracy of the positioning estimation result obtained by adopting a single positioning method is lower.

In order to solve the above technical problems, an embodiment of the present invention provides a positioning method, including: detecting that the first trigger event is met, and triggering to execute second positioning; the first trigger event is used for representing that the requirement cannot be met based on the first positioning; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device; determining a positioning estimation result of the first terminal device, wherein the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

Therefore, when the first trigger event is detected to be met, the second positioning is triggered and executed, and the second positioning can be started more accurately, so that the positioning precision is improved, and meanwhile, the positioning time delay and the system overhead are reduced.

Optionally, determining the positioning estimation result of the first terminal device includes any one of the following: determining a first positioning estimation result of the first terminal equipment based on the measurement result obtained by the first positioning and/or the measurement result obtained by the second positioning, and taking the first positioning estimation result as a positioning estimation result of the first terminal equipment; or determining the positioning estimation result of the first terminal device based on the first positioning estimation result obtained by the first positioning and/or the second positioning estimation result obtained by the second positioning.

Therefore, the positioning estimation result of the first terminal equipment is determined by combining the first positioning and the second positioning, so that the positioning precision of the first terminal equipment can be improved.

Optionally, the first trigger event includes any one of the following: detecting that a first positioning estimation result corresponding to the first positioning cannot be obtained; or detecting that the first positioning estimation result cannot meet the preset positioning service quality precision requirement; or detecting that the first positioning estimation result is about to fail to meet the preset positioning service quality precision requirement.

Therefore, the first trigger event considers the channel condition of the first link or the first positioning estimation result, can accurately judge whether the first positioning cannot meet the requirement, and starts the second positioning process when the first positioning cannot meet the requirement.

Optionally, the detecting that the first positioning estimation result corresponding to the first positioning cannot be obtained includes: detecting that the total number of direct diameters of the first links from different transmission points is smaller than a first threshold value; the first threshold is a positive integer.

Optionally, the detecting that the first positioning estimation result cannot meet the preset positioning quality of service precision requirement includes: and detecting that the first positioning estimation results obtained in the last N times are all greater than or equal to the positioning service quality precision requirement, wherein N is more than or equal to 1.

Optionally, the detecting that the first positioning estimation result is about to fail to meet a preset positioning quality of service precision requirement includes any one of the following: detecting that the difference between the positioning service quality precision requirement and the last N times of obtained first positioning estimation results is smaller than a preset second threshold value; detecting that the difference between two adjacent positioning estimation results is gradually increased in the first positioning estimation results obtained by N times recently; the second threshold is greater than zero, and N is greater than or equal to 1.

Therefore, the first condition considers the current channel condition of the first terminal equipment and the first positioning estimation result, and can start the second positioning more accurately, so that the positioning accuracy is improved, and the positioning time delay and the system overhead are reduced.

Optionally, the performing the second positioning includes at least one of: determining a second terminal device; or carrying out positioning capability information interaction with the second terminal equipment; or acquiring positioning reference signal configuration information and measurement configuration information; or performing a second positioning based on the positioning reference signal configuration information and the measurement configuration information.

Optionally, after determining the positioning estimation result of the first terminal device, the method further includes: detecting that a second trigger event is met, and stopping executing the second positioning; the second trigger event is used to characterize meeting a demand based on the first location.

Therefore, the second positioning stop condition is added, so that unnecessary positioning processes can be reduced, and the system overhead is reduced.

Optionally, the second triggering event includes: detecting that a first positioning estimation result corresponding to the first positioning can be obtained; or detecting that the first positioning estimation result meets the preset positioning service quality precision requirement; or detecting that the first positioning estimation results obtained within a period of time can meet the preset positioning service quality precision requirement.

Therefore, the second trigger event considers the channel condition of the first link or the first positioning estimation result, can accurately judge whether the first positioning meets the requirement, and closes the second positioning process when the first positioning meets the requirement.

Optionally, the detecting that the first positioning estimation result meets a preset positioning quality of service precision requirement includes: detecting that the total number of direct diameters of the first links from different transmission points is greater than a third threshold; the third threshold is a positive integer.

Optionally, detecting that the first positioning estimation results obtained within a period of time can meet a preset positioning quality of service precision requirement includes: detecting that the first positioning estimation results obtained in the last N times are smaller than the preset positioning service quality precision requirement; n is more than or equal to 1.

Optionally, the first positioning estimation result obtained within the detected period of time can meet a preset positioning quality of service precision requirement, which includes any one of the following: detecting that the difference between the positioning service quality precision requirement and the last N times of first positioning estimation results is larger than a preset fourth threshold value; or detecting that the difference between two adjacent positioning estimation results is gradually reduced in the first positioning estimation results obtained by N times recently; the fourth threshold is greater than zero, and N is greater than or equal to 1.

Therefore, the second positioning can be closed more accurately by considering the current channel condition of the first terminal equipment and the first positioning estimation result, so that the second positioning is closed when the positioning accuracy of the first positioning can meet the requirement, and the system overhead is reduced.

Optionally, the positioning method further includes: acquiring positioning reference signal configuration information and/or measurement configuration information; reporting positioning information to the access network equipment, wherein the positioning information comprises at least one of the following: the method comprises the steps of directly counting the total number of the diameters of first links from different transmission points, first positioning estimation results, N latest first positioning estimation results obtained based on first positioning, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements; n is more than or equal to 1.

Therefore, the reporting of the positioning information can help the access network device to acquire the link condition and the first positioning condition of the first terminal device more accurately, so that the access network device can judge whether to start the second positioning process more accurately.

The embodiment of the invention also provides another positioning method, which comprises the following steps: triggering to execute the second positioning when the first positioning is detected to be incapable of meeting the requirement; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device; determining a positioning estimation result of the first terminal device, wherein the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

Therefore, the positioning estimation result of the first terminal equipment is determined jointly through the first positioning and the second positioning by triggering the second positioning, so that the positioning precision is improved.

Optionally, the determining the positioning estimation result of the first terminal device includes any one of the following: determining a first positioning estimation result of the first terminal equipment based on the measurement result obtained by the first positioning and/or the measurement result obtained by the second positioning, and taking the first positioning estimation result as a positioning estimation result of the first terminal equipment; or determining the positioning estimation result of the first terminal device based on the first positioning estimation result obtained by the first positioning and/or the second positioning estimation result obtained by the second positioning.

Optionally, the positioning method further includes: and sending positioning reference signal configuration information and/or measurement configuration information to the first terminal equipment.

Optionally, positioning reference signal configuration information and/or measurement configuration information is sent to the first terminal device. Receiving positioning information of the first terminal equipment, wherein the positioning information comprises at least one of the following components: the method comprises the steps of directly reducing total number of first links from different transmission points, first positioning estimation results, N nearest first positioning estimation results obtained based on first positioning, wherein N is more than or equal to 1, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements; and triggering and executing the second positioning according to the positioning information.

It can be seen that receiving the positioning information can help the access network device to obtain the link condition and the first positioning condition of the first terminal device more accurately, so that the access network device can judge whether to start the second positioning process more accurately.

Optionally, the triggering performs the second positioning, further comprising: performing the second positioning according to at least one of the following triggers: the positioning information, the network load state and the network resource use state.

Therefore, the access network equipment can be combined with the self load condition and the resource use condition to more accurately start the second positioning, so that the conditions of overload and insufficient resources of the access network equipment are avoided.

Optionally, after triggering to perform the second positioning, the method further includes: triggering the second positioning to be turned off.

Optionally, the triggering turns off the second positioning, including: receiving positioning information of the first terminal equipment, wherein the positioning information comprises at least one of the following components: the method comprises the steps of directly reducing total number of first links from different transmission points, first positioning estimation results, N nearest first positioning estimation results obtained based on first positioning, wherein N is more than or equal to 1, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements; and closing the second positioning according to the positioning information.

It can be seen that, by receiving the positioning information, the access network device can trigger to close the second positioning in combination with the first positioning condition of the first terminal device, so that unnecessary positioning processes can be reduced, and system overhead can be reduced.

Optionally, the closing performs the second positioning, further comprising: the second positioning is turned off according to at least one of the following triggers: the positioning information, the network load state and the network resource use state.

Therefore, the access network equipment can combine the self load condition and the resource use condition, close the second positioning more accurately, and avoid the conditions of overload and insufficient resources of the access network equipment.

The embodiment of the invention also provides a positioning device, which comprises: the first trigger unit is used for detecting that the first trigger event is met and triggering the second positioning; the first trigger event is used for representing that the requirement cannot be met based on the first positioning; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device; a first positioning estimation result determining unit, configured to determine a positioning estimation result of the first terminal device, where the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

The embodiment of the invention also provides another positioning device, which comprises: the second trigger unit is used for triggering and executing second positioning when the first positioning cannot meet the requirement; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device; and the first positioning estimation result information determining unit is used for determining positioning estimation result information of the first terminal equipment, and the positioning estimation result of the first terminal equipment is determined based on the first positioning and/or the second positioning.

The embodiment of the invention also provides a computer readable storage medium which is a nonvolatile storage medium or a non-transient storage medium and is stored with a computer program, and the computer program executes the steps of any of the multi-screen display control positioning methods when being run by a processor.

The embodiment of the invention also provides another positioning device, which comprises a memory and a processor, wherein the memory stores a computer program which can be run on the processor, and the processor executes the steps of any one of the positioning methods when running the computer program.

Compared with the prior art, the technical scheme of the embodiment of the invention has the following beneficial effects:

when the first trigger event is detected to be met, the fact that the preset positioning requirement cannot be met based on the first positioning is determined, and at the moment, the second positioning is triggered to be executed. And determining a positioning estimation result of the first terminal equipment according to the first positioning and the second positioning. Because the combined positioning of the first positioning and the second positioning is adopted, compared with the method which only adopts one positioning method, the method can effectively improve the positioning precision, simultaneously, the second positioning process is started in advance, the positioning time delay is reduced, and the second positioning can be closed when the first positioning meets the requirement, so that the system overhead is reduced.

Drawings

FIG. 1 is a flow chart of a positioning method in an embodiment of the invention;

FIG. 2 is a schematic diagram of a communication system architecture in an embodiment of the present invention;

FIG. 3 is a flow chart of a direct link positioning method in an embodiment of the invention;

FIG. 4 is a flow chart of another positioning method in an embodiment of the invention;

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

fig. 6 is a schematic structural view of another positioning device according to an embodiment of the present invention.

Detailed Description

In the prior art, the positioning of the Uu interface (Uu interface refers to the air interface between the terminal and the base station) is taken as an example. In many scenarios, cellular network based positioning techniques are not capable of implementing positioning functions. For example, the current Uu interface wireless environment is worse, and the Line of Sight (LoS) path between the terminal device and the access network device is too small to realize the positioning function. In addition, in a specific application, a positioning technology based on a cellular network only may also have situations where the accuracy requirement of positioning cannot be met, for example, the bandwidth of a positioning reference signal is insufficient, the channel environment is poor, and the like.

In the embodiment of the invention, when the first trigger event is detected to be satisfied, the fact that the preset positioning requirement cannot be satisfied based on the first positioning is determined, and at the moment, the second positioning is triggered and executed. And determining a positioning estimation result of the first terminal equipment according to the first positioning and the second positioning. Because the combined positioning of the first positioning and the second positioning is adopted, compared with the method which only adopts one positioning method, the method can effectively improve the positioning precision, simultaneously, the second positioning process is started in advance, the positioning time delay is reduced, and the second positioning can be closed when the first positioning meets the requirement, so that the system overhead is reduced.

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

The UE in the embodiments of the present invention is a device with a wireless communication function, and may be referred to as a terminal (terminal), a Mobile Station (MS), a Mobile Terminal (MT), an access terminal device, a vehicle-mounted terminal device, an industrial control terminal device, a UE unit, a UE station, a mobile station, a remote terminal device, a mobile device, a UE terminal device, a wireless communication device, a UE agent, or a UE apparatus. The user equipment may be fixed or mobile. It should be noted that the ue may support at least one wireless communication technology, such as LTE, new radio, NR, etc. For example, the user device may be a mobile phone, tablet, desktop, notebook, all-in-one, in-vehicle, virtual Reality (VR) user device, augmented reality (augmented reality, AR) user device, a wireless terminal in industrial control (industrial control), a wireless terminal in unmanned (self-driving), a wireless terminal in tele-surgery (remote medical surgery), a wireless terminal in smart grid, a wireless terminal in transportation security (transportation safety), a wireless terminal in smart city, a wireless terminal in smart home (PLMN), a cellular phone, a cordless phone, a session initiation protocol (session initiation protocol, SIP) phone, a wireless local loop (wireless local loop, WLL) station, a personal digital assistant (personal digital assistant, PDA), a handheld device with wireless communication capabilities, a computing device or other processing device connected to a wireless modem, a wearable device, a user device in a future mobile communication network, or a user device in a future public land mobile network (public land mobile network), etc. In some embodiments of the present application, the user equipment may also be a device with a transceiving function, such as a chip system. The chip system may include a chip and may also include other discrete devices.

In the embodiment of the present invention, the access network device is a device that provides a wireless communication function for the terminal device, and may also be referred to as a radio access network (radio access network, RAN) device, or an access network element, etc. Wherein the access network device may support at least one wireless communication technology, e.g., LTE, NR, etc. By way of example, access network devices include, but are not limited to: next generation base stations (gnbs), evolved node bs (enbs), radio network controllers (radio network controller, RNCs), node bs (node bs, NB), base station controllers (base station controller, BSC), base transceiver stations (base transceiver station, BTS), home base stations (e.g., home evolved node B, or home node B, HNB), baseband units (BBUs), transceiving points (transmitting and receiving point, TRPs), transmitting points (transmitting point, TP), mobile switching centers, and the like in a fifth generation mobile communication system (5 th-generation, 5G). The access network device may also be a wireless controller, a Centralized Unit (CU), and/or a Distributed Unit (DU) in the cloud wireless access network (cloud radio access network, CRAN) scenario, or the access network device may be a relay station, an access point, a vehicle-mounted device, a terminal device, a wearable device, and an access network device in future mobile communications or an access network device in a future evolved PLMN, etc. In some embodiments, the access network device may also be a device, such as a system-on-a-chip, having the functionality to provide wireless communication for the terminal device. By way of example, the chip system may include a chip, and may also include other discrete devices.

In some embodiments, the access network device may also communicate with an internet protocol (Internet Protocol, IP) network, such as the internet, a private IP network, or other data network, among others.

The embodiment of the invention provides a positioning method, and the detailed description is given below through specific steps with reference to fig. 1.

In a specific implementation, the positioning methods corresponding to the steps 101 to 102 may be executed by a chip with data processing capability in the terminal device, or a chip module including the chip with data processing capability in the terminal device. The following description will take the first terminal device as an execution body as an example. The positioning method provided in the following embodiments of the present invention is used for obtaining the position information of the first terminal device.

The location information of the first terminal device may include geographical location information of the first terminal device, and the geographical location information of the first terminal device may include longitude and latitude information and altitude information of the first terminal device.

Step 101, triggering and executing the second positioning when the first triggering event is detected to be met.

In implementations, the first trigger event may be used to characterize that the demand cannot be met based on the first location. In the embodiment of the invention, the first positioning failure can be the failure to acquire the first positioning estimation result corresponding to the first positioning, the failure to acquire the first positioning estimation result can be the failure to meet the preset positioning quality of service precision requirement, and the failure to acquire the first positioning estimation result can be the failure to meet the preset positioning quality of service precision requirement.

In the embodiment of the present invention, the first positioning estimation result is that the preset positioning quality of service accuracy requirement cannot be met, which means that: the current first positioning estimation result can meet the preset positioning quality of service accuracy requirement, but can determine that the current first link is continuously deteriorating, or can determine that the difference between the first positioning estimation result and the positioning quality of service accuracy requirement is smaller than a certain threshold (a second threshold provided in the following embodiments).

In a specific implementation, the preset positioning quality of service accuracy requirement refers to accuracy requirement information in quality of service (Quality of Service, qoS) information carried in the positioning request signaling, and may include horizontal accuracy information and vertical accuracy information. For example, the horizontal accuracy requirement of QoS is 10m.

In a specific implementation, the first positioning corresponds to a positioning implemented using a first link reference signal, the first link reference signal being a positioning reference signal between the first terminal device and the access network device; the second positioning corresponds to a positioning achieved using a second link reference signal, which is a positioning reference signal between the first terminal device and the second terminal device.

In the embodiment of the present invention, the first positioning and the second positioning may be two positioning of different types. Specifically, the first positioning and the second positioning may adopt different positioning principles and/or different positioning procedures to obtain the position information of the terminal device.

In the embodiment of the present invention, the first location may be a location based on a Uu interface, and the second location may be a location of a direct link (SL) interface.

In a specific application, the link between the conventional terminal device and the access network device includes an Uplink (UL) and a Downlink (DL), and the interface between the terminal device and the access network device is called Uu interface.

Specifically, the positioning based on the Uu port may be a positioning method independent of the radio access network, or may be a positioning method based on the radio access network. The positioning method independent of the wireless access network comprises the following steps: bluetooth positioning, WIFI positioning, air pressure sensor positioning, inertial measurement unit positioning, global navigation satellite system (Global Navigation Satellite System, GNSS) positioning and other positioning methods.

The radio access network based positioning method may include uplink sounding reference signal (Sounding Reference Signal, SRS) based positioning, downlink positioning reference signal (Positioning Reference Signal, PRS) based positioning, and so on.

In the prior art, based on downlink PRS positioning, an access network device sends PRS to realize positioning of a terminal device. Common downlink PRS-based positioning methods include downlink time difference of arrival (Downlink Time Difference of Arrival, DL-TDoA), downlink depth angle (Downlink Angle of Departure, DL-AoD), and the like.

Based on the uplink SRS positioning, the terminal equipment transmits the SRS to realize the positioning of the terminal equipment. Common uplink Uu interface based positioning methods include uplink time difference of arrival (Uplink Time Difference of Arrival, UL-TDoA), uplink depth angle (Uplink Angle of Departure, UL-AoD), etc.

Specifically, the specific implementation principle and process of the positioning method based on the radio access network can refer to the existing protocol, and the embodiment of the present invention is not described herein.

In the object direct communication, communication is directly performed between terminal devices, and a link between a terminal device and a terminal device is called a direct link, which is also called a through link, an edge link, a side link, a direct link, an auxiliary link, or a PC5 link.

As shown in fig. 2, a communication system architecture diagram in an embodiment of the present invention is presented. The interface between the access network device and the terminal device 1 is Uu interface. The interface between the terminal device 1 and the terminal device 2 is a PC5 interface, i.e. the terminal device 1 and the terminal device 2 communicate via a direct link.

In the embodiment of the present invention, if the first trigger event is detected to be satisfied, the first terminal device may trigger to execute the second positioning. At this time, the first terminal device may perform the first positioning and the second positioning at the same time.

In a specific implementation, detecting that the first positioning estimation result corresponding to the first positioning cannot be obtained may mean that the total number of direct diameters of the first links from different Transmission points (Transmission/Reception points (TRP) is detected to be smaller than a first threshold.

In the embodiment of the present invention, the different TRPs may be TRPs corresponding to different access network devices, or may be different TRPs corresponding to the same access network device. The first threshold may be a positive integer. The specific value of the first threshold may be set according to an actual application scenario. For example, the first threshold is set to 3. As another example, the first threshold is set to 5.

Taking the first positioning as Uu interface positioning as an example, when a Line of Sight (LoS) path between the first terminal device and a different access network device is smaller than a first threshold, the first terminal device may not implement the positioning function. At this time, the first terminal device may turn on the second positioning.

In the embodiment of the present invention, the detection that the first positioning estimation result cannot meet the preset positioning quality of service precision requirement may be: detecting that the first positioning estimation results obtained in the last N times are all greater than or equal to the preset positioning service quality precision requirement; n is more than or equal to 1.

For example, the preset positioning qos accuracy requirements are: the positioning accuracy is 10 meters. The positioning accuracy corresponding to the first positioning estimation result is 12 meters. It can be seen that the first positioning estimation result cannot meet the positioning quality of service accuracy requirement.

In a specific implementation, all of the most recent N first positioning estimation results cannot meet the preset positioning quality of service accuracy requirement, which may mean that the accuracy corresponding to the most recent N first positioning estimation results is lower than the positioning quality of service accuracy requirement. The purpose of this condition is to reduce the possibility of the second positioning being erroneously opened.

For example, an error event may occur in a short time in the positioning system, which may result in poor accuracy of a certain first positioning estimation result, and according to the second positioning starting condition provided in the embodiment of the present invention, this error event may trigger starting the second positioning process. Therefore, in order to avoid the occurrence of the erroneous determination, a determination condition for determining the last N times of the obtained first positioning estimation results is added.

The preset positioning qos accuracy requirements are as follows: the positioning accuracy is 10 meters, n=3. The positioning accuracy corresponding to the first positioning estimation result is 12 meters, 11 meters and 13 meters. It can be seen that the last 3 first positioning estimation results cannot meet the positioning quality of service accuracy requirement.

In the embodiment of the present invention, the detection that the first positioning estimation result is about to fail to meet the preset positioning quality of service precision requirement may be: the difference between the positioning service quality precision requirement and the last N times of obtained first positioning estimation results is detected to be smaller than a second threshold value, wherein the second threshold value is larger than zero, and N is more than or equal to 1.

In a specific implementation, the difference between the positioning quality of service accuracy requirement and the first positioning estimation result is smaller than the second threshold value may refer to: although the accuracy corresponding to the first positioning estimation result is higher than the positioning quality of service accuracy requirement, the accuracy corresponding to the first positioning estimation result is relatively close to the positioning quality of service accuracy requirement, the first positioning estimation result may become unable to meet the positioning quality of service accuracy requirement in a short time (i.e. the first positioning estimation result is unable to meet the positioning quality of service accuracy requirement), the purpose of setting the condition is to start the second positioning before the first positioning estimation result is unable to meet the positioning quality of service accuracy requirement, and not to wait until the first positioning estimation result is unable to meet the positioning quality of service accuracy requirement. The method can start the second positioning in advance, and reduce the possibility of interruption of positioning service while improving the positioning accuracy.

For example, the preset positioning qos accuracy requirements are: the positioning accuracy is 10 meters. The positioning accuracy corresponding to the first positioning estimation result is 8 meters. The second threshold is 2.5 meters. At this time, it may be determined that the first positioning estimation result may become unable to meet the positioning quality of service accuracy requirement in a short time. That is, the first terminal device may determine that the first condition is satisfied.

The difference between the positioning quality of service accuracy requirement and the last N times of the first positioning estimation results is smaller than the second threshold, which may be: the difference between the first positioning estimation result obtained through the first positioning for the last N times and the positioning service quality precision requirement is smaller than a second threshold value. The purpose of this condition is to reduce the possibility of the second positioning being erroneously opened.

For example, an error event may occur in a short time in the positioning system, which may result in poor accuracy of a certain first positioning estimation result, and according to the second positioning starting condition provided in the embodiment of the present invention, this error event may trigger starting the second positioning process. Therefore, in order to avoid the occurrence of the erroneous judgment, the judgment condition that the difference between the positioning service quality precision requirement and the last N times of the obtained first positioning estimation results is smaller than the second threshold value is increased.

For example, the preset positioning qos accuracy requirements are: the positioning accuracy is 10 meters, n=3. The accuracy corresponding to the first positioning estimation result obtained 3 times recently is 8 meters, 9 meters and 8 meters respectively, at this time, it can be determined that the first positioning estimation result may become unable to meet the positioning service quality accuracy requirement in a short time. That is, the first terminal device may determine that the first condition is satisfied.

In the embodiment of the present invention, detecting that the first positioning estimation result is about to fail to meet the preset positioning quality of service precision requirement may also refer to: in the first positioning estimation results obtained in the last N times, the difference between two adjacent positioning estimation results gradually increases.

For example, n=3. The accuracy of the first positioning estimation result obtained for the first time is 7 meters, the accuracy of the first positioning estimation result obtained for the second time is 8 meters, and the accuracy of the first positioning estimation result obtained for the third time (i.e., the last time) is 10 meters. It can be seen that the difference between the accuracy of the first positioning estimation result obtained for the third time and the accuracy of the first positioning estimation result obtained for the second time is greater than the difference between the accuracy of the first positioning estimation result obtained for the second time and the accuracy of the first positioning estimation result obtained for the first time. Thus, the difference between the adjacent two positioning estimation results among the first positioning estimation results obtained 3 times recently gradually increases. At this time, it may be determined that the first positioning estimation result is about to fail to meet the preset positioning quality of service accuracy requirement.

The purpose of this condition is to be able to determine whether the first positioning estimation result is continuously deteriorating. And starting the second positioning under the condition that the estimation results of the first positioning are continuously deteriorated in N times of continuous judgment. This may result in the current first positioning estimate, while still meeting the positioning quality of service accuracy requirements, turning on the second positioning with the first positioning result continually deteriorating. The method can start the second positioning in advance, and reduce the possibility of interruption of positioning service while improving the positioning accuracy.

In a specific implementation, the specific values of the first threshold and the second threshold may be configured by the access network device, or preconfigured, or determined by a protocol specifying manner. In the embodiment of the invention, the specific value ranges of the first threshold and the second threshold and the magnitude relation between the two are not limited.

Step 102, determining a positioning estimation result of the first terminal device.

In the embodiment of the present invention, after triggering the second positioning, the first terminal device may determine the positioning estimation result of the first terminal device based on the first positioning and/or the second positioning.

In the embodiment of the invention, the first terminal equipment can determine the positioning estimation result of the first terminal equipment based on the measurement result obtained by the first positioning and the measurement result obtained by the second positioning. Alternatively, the first terminal device may determine the positioning estimation result of the first terminal device based on the first positioning estimation result obtained by the first positioning and the second positioning estimation result obtained by the second positioning.

That is, the terminal device may implement joint positioning according to the first positioning and the second positioning, and jointly determine a final positioning estimation result. Compared with a single positioning method, the combined positioning method can effectively improve the positioning precision of the terminal equipment.

In a specific implementation, before the second positioning is started, the first terminal device may obtain a first positioning estimation result based on a measurement result obtained by the first positioning, and use the first positioning estimation result as a positioning estimation result of the first terminal device.

In the embodiment of the present invention, the second positioning is taken as a direct link positioning as an example. Referring to fig. 3, a flowchart of a direct link positioning method in an embodiment of the present invention is provided.

In step 301, the first terminal device determines a second terminal device.

In a specific implementation, the first terminal device may perform a discovery procedure to discover if there are suitable terminal devices in the surroundings. Suitable terminal devices may be referred to as: the terminal equipment can assist the first terminal equipment to locate. A suitable terminal device may also be referred to as an anchor (anchor) device. Hereinafter, a suitable terminal device will be simply referred to as a second terminal device.

In step 302, the first terminal device performs positioning capability information interaction with the second terminal device.

In the embodiment of the invention, the first terminal equipment can perform positioning capability information interaction with the second terminal equipment. The positioning capability information may include a positioning method supported by the terminal device.

In a specific implementation, the first terminal device and the second terminal device may support multiple positioning methods respectively, but there may be an intersection of the positioning methods supported by the two.

That is, there is at least one positioning method supported simultaneously by the first terminal device and the second terminal device.

For example, both the first terminal device and the second terminal device support Uu interface positioning and SL interface positioning.

In step 303, the first terminal device sends positioning reference signal configuration information to the second terminal device.

In a specific implementation, the first terminal device and/or the second terminal device need to send Positioning Reference Signals (PRS) to achieve positioning. The positioning reference signal between the first terminal device and the second terminal device may be referred to as SL-PRS, SPRS, or SL PRS, etc. for the first terminal device, configuration information of the positioning reference signal may be determined by the first terminal device, or may also be configured and issued by the access network device. The first terminal device may send the obtained positioning reference signal configuration to the second terminal device.

Step 304, the first terminal device sends measurement configuration information to the second terminal device.

Because the first terminal device and the second terminal device may both transmit the positioning reference signal and perform the second positioning, the first terminal device and the second terminal device may both transmit measurement configuration information, which is configuration information required for the terminal device to perform the measurement.

In step 305, the second terminal device performs a measurement operation based on the positioning reference signal configuration information and the measurement configuration information.

In a specific implementation, the second terminal device may perform SL positioning measurement based on the positioning reference signal configuration information and the measurement configuration information, and perform a positioning settlement process, to obtain a measurement result.

Step 306, the second terminal device sends the measurement result to the first terminal device.

Step 307, the first terminal device performs settlement of the positioning result according to the measurement result sent by the second terminal device.

In the embodiment of the invention, the first terminal equipment can execute the settlement of the positioning result based on the direct link measurement result executed by the first terminal equipment and the measurement result sent by the second terminal equipment.

In a specific implementation, although the joint positioning can effectively improve the positioning precision of the terminal equipment, the joint positioning can correspondingly increase the power consumption of the terminal equipment. In some scenarios, a second positioning may not be necessary.

In order to reduce the power consumption of the first terminal device, after determining the positioning estimation result of the first terminal device, if the second trigger event is detected to be satisfied, the execution of the second positioning may also be stopped. In an embodiment of the present invention, the second trigger event may be used to characterize that the demand can be met based on the first location.

That is, the first terminal device may stop performing the second positioning after detecting that the requirement can be satisfied based on the first positioning. At this time, the first terminal device may perform only the first positioning. Or if there is no positioning requirement, the first terminal device may also stop executing the first positioning.

In the embodiment of the invention, the first positioning can meet the requirement, which means that the first positioning estimation result corresponding to the first positioning can be obtained; or the obtained first positioning estimation result can meet the preset positioning service quality precision requirement; alternatively, the first positioning estimation result is obtained within a period of time.

In a specific implementation, the detection by the first terminal device that the first positioning estimation result corresponding to the first positioning can be obtained may be: it is detected that the total number of direct diameters of the first link from the different TRPs is greater than a third threshold.

Taking the first positioning as Uu interface positioning as an example, when the total number of direct view (LoS) paths between the first terminal device and different access network devices is greater than a third threshold, it can be characterized that the first terminal device can realize the positioning function. At this time, the first terminal device may turn off the second positioning.

For example, the first threshold is 3 and the third threshold is 5. If the total number of LOS paths of the Uu links from different TRPs is detected to be 4, the total number of LOS paths of the Uu links from different TRPs is larger than a first threshold and smaller than a third threshold. Thus, it is determined that the first terminal device still fails to satisfy the second trigger event.

That is, whether the first terminal device closes the second positioning during the process of executing the first positioning and the second positioning is determined by the condition corresponding to the second trigger event.

In implementations, the third threshold may be a positive integer. The specific value of the third threshold may be set according to an actual application scenario. The third threshold may be greater than or equal to the first threshold.

In the embodiment of the present invention, detecting that the first positioning estimation result meets the preset positioning quality of service precision requirement may refer to: detecting that the first positioning estimation results obtained in the last N times are smaller than the preset positioning service quality precision requirement; n is more than or equal to 1.

For example, the preset positioning qos accuracy requirements are: the positioning accuracy is 10 meters. The positioning accuracy corresponding to the first positioning estimation result is 5 meters. The fourth threshold is 1.5 meters. At this time, it may be determined that the first positioning estimation result can still continue to meet the positioning quality of service accuracy requirement in a short time. That is, the first terminal device may determine that the second condition is satisfied.

In a specific implementation, the most recent N first positioning estimation results all meet the preset positioning quality of service precision requirement, which may mean that the precision corresponding to the most recent N first positioning estimation results is higher than the positioning quality of service precision requirement. The purpose of this condition is to reduce the possibility of false shut-down of the second orientation.

For example, an error event may occur in a short time of the positioning system, which may result in a better accuracy of the first positioning estimation result, and according to the second positioning closing condition provided in the embodiment of the present invention, this error event may trigger closing the second positioning process. Therefore, in order to avoid the occurrence of the erroneous determination, a determination condition for determining the last N times of the obtained first positioning estimation results is added.

The preset positioning qos accuracy requirements are as follows: the positioning accuracy is 10 meters, n=3. The positioning accuracy corresponding to the first positioning estimation result is 7 meters, 6 meters and 5 meters. It can be seen that the last 3 first positioning estimation results all meet the positioning service quality precision requirement.

In the embodiment of the present invention, the detection that the first positioning estimation result obtained in the preset time period can meet the preset positioning quality of service precision requirement may be: detecting that the difference between the positioning service quality precision requirement and the first positioning estimation result obtained by the last N times is larger than a fourth threshold value; the fourth threshold is greater than zero, and N is greater than or equal to 1.

In a specific implementation, the difference between the positioning quality of service accuracy requirement and the first positioning estimation result is greater than the fourth threshold value may refer to: the accuracy corresponding to the first positioning estimation result is higher than the positioning service quality accuracy requirement, and the first positioning estimation result obtained in a short time can still continuously meet the positioning service quality accuracy requirement.

Accordingly, the difference between the positioning quality of service accuracy requirement and the last N times of the first positioning estimation results is greater than the fourth threshold, which may be: the difference between the first positioning estimation result obtained through the first positioning for the last N times and the positioning service quality precision requirement is larger than a fourth threshold value. The purpose of this condition is to reduce the possibility of false shut-down of the second orientation.

For example, an error event may occur in a short time of the positioning system, which may result in a better accuracy of the first positioning estimation result, and according to the second positioning closing condition provided in the embodiment of the present invention, this error event may trigger closing the second positioning process. Therefore, in order to avoid the occurrence of the erroneous judgment, the judgment condition that the difference between the positioning service quality accuracy requirement and the last N times of the obtained first positioning estimation results is larger than the fourth threshold value is increased.

For example, the preset positioning qos accuracy requirements are: the positioning accuracy is 10 meters, the fourth threshold is 2.5 meters, and n=3. The accuracy corresponding to the first positioning estimation result obtained 3 times recently is 3 meters, 4 meters and 5 meters respectively, and at this time, it can be determined that the first positioning estimation result obtained in a short time can still meet the positioning service quality accuracy requirement.

In the embodiment of the present invention, detecting that the first positioning estimation result is about to fail to meet the preset positioning quality of service precision requirement may also refer to: in the first positioning estimation results obtained in the last N times, the difference between two adjacent positioning estimation results is gradually reduced.

For example, n=3. The accuracy of the first positioning estimation result obtained for the first time is 7 meters, the accuracy of the first positioning estimation result obtained for the second time is 6 meters, and the accuracy of the first positioning estimation result obtained for the third time (i.e., the last time) is 4 meters. It can be seen that the difference between the accuracy of the first positioning estimation result obtained for the third time and the accuracy of the first positioning estimation result obtained for the second time is smaller than the difference between the accuracy of the first positioning estimation result obtained for the second time and the accuracy of the first positioning estimation result obtained for the first time. Thus, the difference between the adjacent two positioning estimation results is gradually reduced in the first positioning estimation results obtained 3 times recently. At this time, it can be determined that the first positioning estimation result obtained in a short time can still continue to meet the positioning quality of service accuracy requirement.

The specific values of the third threshold and the fourth threshold may be configured by the access network device, or be preconfigured, or be determined by a protocol specifying manner. In the embodiment of the invention, the specific value ranges of the third threshold and the fourth threshold and the magnitude relation between the two are not limited. In addition, in the embodiment of the present invention, the relative relationship between the first threshold value, the second threshold value, the third threshold value, and the fourth threshold value is not limited.

In a specific implementation, the access network device may configure reference signal configuration information and/or measurement configuration information corresponding to the first location for the first terminal device. After receiving the reference signal configuration information and/or the measurement configuration information corresponding to the first positioning, the first terminal device may perform a corresponding measurement operation, and report positioning information to the access network device, where the positioning information may include at least one of the following: the method comprises the steps of directly counting the total number of the diameters of first links from different transmission points, first positioning estimation results, N latest first positioning estimation results obtained based on first positioning, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements; n is more than or equal to 1.

Therefore, the positioning accuracy of the terminal equipment can be effectively improved by carrying out combined positioning through the first positioning and the second positioning. In the process of combined positioning, if the first positioning can meet the requirement, the second positioning can be closed, so that the power consumption of the terminal equipment is saved.

Referring to fig. 4, another positioning method according to an embodiment of the present invention is shown, and will be described in detail by specific steps.

In a specific implementation, the positioning methods corresponding to the steps 401 to 402 may be executed by a chip with data processing capability in the access network device, or by a chip module including the chip with data processing capability in the access network device. The following description will take the first access network device as an implementation body as an example. The positioning method provided in the following embodiments of the present invention is used to obtain the location information of the first access network device.

Step 401, triggering the execution of a second positioning.

In a specific implementation, the first positioning corresponds to positioning implemented by using a first link reference signal, where the first link reference signal is a positioning reference signal between the first terminal device and the access network device, and may be a DL PRS reference signal issued by the access network device or an UL SRS reference signal sent by the first terminal device; the second positioning corresponds to a positioning achieved using a second link reference signal, which is a positioning reference signal between the first terminal device and the second terminal device.

In an embodiment of the present invention, in the present invention,

the first location may be a Uu interface based location and the second location may be a direct link (SL) interface location.

In the embodiment of the present invention, before executing the first positioning, the access network device may send positioning reference signal configuration information corresponding to the first positioning (hereinafter referred to as a first positioning reference signal) and/or measurement configuration information corresponding to the first positioning (hereinafter referred to as a first measurement configuration information) to the first terminal device.

Correspondingly, before the access network device performs the second positioning, the access network device may also send positioning reference signal configuration information corresponding to the second positioning (hereinafter referred to as second positioning reference signal) and/or measurement configuration information corresponding to the second positioning (hereinafter referred to as second measurement configuration information) to the first terminal device.

After receiving the first reference signal configuration information and/or the first measurement configuration information, the first terminal device may perform a corresponding measurement operation and report positioning information to the access network device, where the positioning information may include at least one of the following: the method comprises the steps of directly counting the total number of the diameters of first links from different transmission points, first positioning estimation results, N latest first positioning estimation results obtained based on first positioning, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements; n is more than or equal to 1.

Wherein whether the first terminal device has a known location information indication may be indicated by a dedicated bit field. The dedicated bit field may be 1 bit in length. For example, the value of the dedicated bit field is "0", indicating that the first terminal device has known location information; the value of the dedicated bit field is "1", indicating that the first terminal device has no known location information.

The location information of the first terminal device may be a specific location of the first terminal device represented by latitude and longitude coordinates and/or altitude information.

The preset positioning quality of service accuracy requirement refers to accuracy requirement information in quality of service (Quality of Service, qoS) information carried in the positioning request signaling, and may include horizontal accuracy information and vertical accuracy information. For example, the horizontal accuracy requirement of QoS is 10m.

After receiving the positioning information of the first terminal device, the access network device can determine whether to start the second positioning only according to the positioning information of the first terminal device. Or, the access network device may determine whether to start triggering to execute the second positioning according to the network load state, the network resource usage state, and/or the positioning information of the first terminal device.

Step 402, determining a positioning estimation result of the first terminal device.

In the embodiment of the invention, the positioning estimation result of the first terminal equipment is determined to have two nodes, one is the terminal equipment and the other is the positioning function network element. The positioning function network element is responsible for positioning the terminal device, and can also be described as a positioning management network element, a positioning management device, a positioning device, a position server and the like. The location function network element may be a location management function (location management function, LMF) in the 5G core network, or may be a network element having the same function as the LMF in the future communication system, for example, a network element having the same function as the LMF in the 6G system.

The access network device may perform DL PRS transmission or UL SRS measurement, and feed back the measurement result to the LMF, where the LMF performs position calculation. In the embodiment of the present invention, it is determined that the positioning estimation result of the first terminal device may be determined by two cases: the method comprises the steps that first terminal equipment performs resolving to obtain a positioning estimation result of the first terminal equipment, and the other one is that the first terminal equipment and access network equipment report a first positioning measurement result and/or a second positioning measurement result to an LMF, and the LMF performs resolving to obtain the positioning estimation result of the first terminal equipment.

At this time, the positioning estimation result of the first terminal device may determine a first positioning estimation result of the first terminal device based on the measurement result obtained by the first positioning, and use the first positioning estimation result as the positioning estimation result of the first terminal device. That is, the positioning estimation result of the first terminal device may be determined only by the first positioning.

The first terminal device and/or the LMF may also determine a second positioning estimation result of the first terminal device based on the measurement result obtained by the second positioning, and use the second positioning estimation result as the positioning estimation result of the first terminal device. That is, the location estimation result of the first terminal device may be determined only by the second location.

The first terminal device and/or the LMF may further determine a location estimate of the first terminal device based on the determined first location estimate and the second location estimate. That is, the positioning estimation result of the first terminal device may be jointly determined by the first positioning and the second positioning.

Compared with the positioning estimation result obtained by adopting a single positioning method, the positioning estimation result obtained by adopting the combined positioning method is more accurate, namely the positioning accuracy is higher.

In a specific implementation, when the access network device performs joint positioning, although the joint positioning can effectively improve the positioning precision of the terminal device, the joint positioning can correspondingly increase the power consumption of the access network device. In some scenarios, the second positioning may not be necessary at this time, if the positioning accuracy of the first positioning after a period of time is sufficient.

In order to reduce the power consumption of the access network device, the access network device may further determine whether to stop performing the second positioning after determining the positioning estimation result of the first terminal device.

The access network device may send the first reference signal configuration information and/or the first measurement configuration information to the first terminal device in the process of performing the joint positioning. After receiving the first reference signal configuration information and/or the first measurement configuration information, the first terminal device may perform a corresponding measurement operation and report positioning information to the access network device, where the positioning information may include at least one of the following: the method comprises the steps of directly counting the total number of the diameters of first links from different transmission points, first positioning estimation results, N latest first positioning estimation results obtained based on first positioning, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements; n is more than or equal to 1.

After receiving the positioning information of the first terminal device, the access network device may determine whether to close the second positioning only according to the positioning information of the first terminal device. Or, the access network device may determine whether to open or close the second positioning according to the network load state, the network resource usage state, the positioning information of the first terminal device, and the like.

That is, the access network device may determine whether to turn on the second positioning according to at least one of its own network load status, network resource usage status, positioning information of the first terminal device, and the like. In the process of performing the joint positioning, whether to close the second positioning may be determined according to at least one of a network load state, a network resource usage state, positioning information of the first terminal device, and the like.

The access network device may only perform the first positioning if the access network device determines to stop performing the second positioning. Or if there is no positioning requirement, the access network device may also stop executing the first positioning.

Therefore, the positioning accuracy of the terminal equipment can be effectively improved by carrying out combined positioning through the first positioning and the second positioning. In the process of joint positioning, if the first positioning can meet the requirement, the second positioning can be closed, so that the power consumption of the access network equipment is saved.

Referring to fig. 5, a positioning device 50 according to an embodiment of the present invention is provided, including: a first trigger unit 501 and a first positioning estimation result determining unit 502, wherein:

a first trigger unit 501, configured to trigger to perform the second positioning when a first trigger event is detected to be satisfied; the first trigger event is used for representing that the requirement cannot be met based on the first positioning; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device;

a first positioning estimation result determining unit 502, configured to determine a positioning estimation result of the first terminal device, where the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

In specific implementation, the specific execution process of the first trigger unit 501 and the first positioning estimation result determining unit 502 may correspond to the reference steps 101 to 102, which are not described herein.

In a specific implementation, the positioning device 50 may correspond to a chip with a data processing function in the terminal device; or corresponds to a chip module including a chip having a data processing function in the terminal device, or corresponds to the terminal device.

Referring to fig. 6, another positioning device 60 in an embodiment of the present invention is provided, comprising: a second trigger unit 601 and a first positioning estimation result information determining unit 602, wherein:

a second trigger unit 601, configured to trigger to execute a second positioning when it is detected that the first positioning cannot meet the requirement; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device;

a first positioning estimation result information determining unit 602, configured to determine positioning estimation result information of the first terminal device, where the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

In a specific implementation, the positioning device 60 may correspond to a chip with a data processing function in the access network device; or corresponds to a chip module in the access network device comprising a chip with data processing functions, or corresponds to the access network device.

In a specific implementation, regarding each apparatus and each module/unit included in each product described in the above embodiments, it may be a software module/unit, or a hardware module/unit, or may be a software module/unit partially, or a hardware module/unit partially.

For example, for each device or product applied to or integrated on a chip, each module/unit included in the device or product may be implemented in hardware such as a circuit, or at least part of the modules/units may be implemented in software program, where the software program runs on a processor integrated inside the chip, and the rest (if any) of the modules/units may be implemented in hardware such as a circuit; for each device and product applied to or integrated in the chip module, each module/unit contained in the device and product can be realized in a hardware manner such as a circuit, different modules/units can be located in the same component (such as a chip, a circuit module and the like) or different components of the chip module, or at least part of the modules/units can be realized in a software program, the software program runs on a processor integrated in the chip module, and the rest (if any) of the modules/units can be realized in a hardware manner such as a circuit; for each device, product, or application to or integrated with the terminal, each module/unit included in the device, product, or application may be implemented by using hardware such as a circuit, different modules/units may be located in the same component (for example, a chip, a circuit module, or the like) or different components in the terminal, or at least part of the modules/units may be implemented by using a software program, where the software program runs on a processor integrated inside the terminal, and the remaining (if any) part of the modules/units may be implemented by using hardware such as a circuit.

The embodiment of the invention also provides a computer readable storage medium, which is a non-volatile storage medium or a non-transient storage medium, and a computer program is stored on the computer readable storage medium, and the computer program executes the steps of the positioning method provided by the steps 101 to 102 or the steps of the positioning method provided by the steps 401 to 402 when being executed by a processor.

The embodiment of the invention also provides a positioning device, which comprises a memory and a processor, wherein the memory stores a computer program which can be run on the processor, and the processor executes the steps of the positioning method provided by the steps 101-102 or the steps of the positioning method provided by the steps 401-402 when running the computer program.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs related hardware, the program may be stored on a computer readable storage medium, and the storage medium may include: ROM, RAM, magnetic or optical disks, etc.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.

Claims

1. A positioning method, comprising:

detecting that the first trigger event is met, and triggering to execute second positioning; the first trigger event is used for representing that the requirement cannot be met based on the first positioning; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device; determining a positioning estimation result of the first terminal device, wherein the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

2. The positioning method of claim 1, wherein determining the positioning estimation result of the first terminal device comprises any one of:

determining a first positioning estimation result of the first terminal equipment based on the measurement result obtained by the first positioning and/or the measurement result obtained by the second positioning, and taking the first positioning estimation result as a positioning estimation result of the first terminal equipment; or,

And determining the positioning estimation result of the first terminal equipment based on the first positioning estimation result obtained by the first positioning and/or the second positioning estimation result obtained by the second positioning.

3. The positioning method according to claim 1 or 2, wherein the first trigger event comprises any one of:

detecting that a first positioning estimation result corresponding to the first positioning cannot be obtained; or alternatively, the first and second heat exchangers may be,

detecting that the first positioning estimation result cannot meet the preset positioning service quality precision requirement; or detecting that the first positioning estimation result is about to fail to meet the preset positioning service quality precision requirement.

4. The positioning method according to claim 3, wherein the detecting that the first positioning estimation result corresponding to the first positioning cannot be obtained includes:

detecting that the total number of direct diameters of the first links from different transmission points is smaller than a first threshold value; the first threshold is a positive integer.

5. The positioning method according to claim 3, wherein said detecting that the first positioning estimation result fails to meet a preset positioning quality of service accuracy requirement comprises:

and detecting that the first positioning estimation results obtained in the last N times are all greater than or equal to the positioning service quality precision requirement, wherein N is more than or equal to 1.

6. The positioning method according to claim 3, wherein the detecting that the first positioning estimation result is about to fail to meet a preset positioning quality of service accuracy requirement includes any one of the following:

detecting that the difference between the positioning service quality precision requirement and the last N times of obtained first positioning estimation results is smaller than a preset second threshold value;

detecting that the difference between two adjacent positioning estimation results is gradually increased in the first positioning estimation results obtained by N times recently; the second threshold is greater than zero, and N is greater than or equal to 1.

7. The positioning method of claim 1, wherein the performing the second positioning comprises at least one of:

determining a second terminal device; or (b)

Performing positioning capability information interaction with the second terminal equipment; or (b)

Acquiring positioning reference signal configuration information and measurement configuration information; or (b)

And performing a second positioning based on the positioning reference signal configuration information and the measurement configuration information.

8. The positioning method of claim 1, further comprising, after determining the positioning estimation result of the first terminal device:

detecting that a second trigger event is met, and stopping executing the second positioning; the second trigger event is used to characterize meeting a demand based on the first location.

9. The positioning method of claim 8, wherein the second trigger event comprises any one of:

detecting that a first positioning estimation result corresponding to the first positioning can be obtained; or alternatively, the first and second heat exchangers may be,

detecting that the first positioning estimation result meets the preset positioning service quality precision requirement; or alternatively, the first and second heat exchangers may be,

and detecting that the first positioning estimation results obtained within a period of time can meet the preset positioning service quality precision requirement.

10. The positioning method as set forth in claim 9, wherein said detecting that a first positioning estimation result corresponding to the first positioning can be obtained includes:

detecting that the total number of direct diameters of the first links from different transmission points is greater than a third threshold; the third threshold is a positive integer.

11. The positioning method according to claim 9, wherein said detecting that the first positioning estimation result meets a preset positioning quality of service accuracy requirement comprises:

detecting that the first positioning estimation results obtained in the last N times are smaller than the preset positioning service quality precision requirement; n is more than or equal to 1.

12. The positioning method as set forth in claim 9, wherein the detecting that the first positioning estimation results obtained within a period of time can meet a preset positioning quality of service accuracy requirement includes:

Detecting that the difference between the positioning service quality precision requirement and the last N times of first positioning estimation results is larger than a preset fourth threshold value; or alternatively, the first and second heat exchangers may be,

detecting that the difference between two adjacent positioning estimation results is gradually reduced in the first positioning estimation results obtained by N times recently;

the fourth threshold is greater than zero, and N is greater than or equal to 1.

13. The positioning method as set forth in claim 1, further comprising:

acquiring positioning reference signal configuration information and/or measurement configuration information;

reporting positioning information to the access network equipment, wherein the positioning information comprises at least one of the following: the method comprises the steps of directly counting the total number of the diameters of first links from different transmission points, first positioning estimation results, N latest first positioning estimation results obtained based on first positioning, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements; n is more than or equal to 1.

14. A positioning method, comprising:

triggering to execute the second positioning when the first positioning is detected to be incapable of meeting the requirement; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device;

Determining a positioning estimation result of the first terminal device, wherein the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

15. The positioning method of claim 14, wherein the determining the positioning estimation result of the first terminal device comprises any one of the following:

16. The positioning method as set forth in claim 14, further comprising:

and sending positioning reference signal configuration information and/or measurement configuration information to the first terminal equipment.

17. The positioning method of claim 14, wherein the triggering performs a second positioning, comprising:

receiving positioning information of the first terminal equipment, wherein the positioning information comprises at least one of the following components: the method comprises the steps of directly reducing total number of first links from different transmission points, first positioning estimation results, N nearest first positioning estimation results obtained based on first positioning, wherein N is more than or equal to 1, whether first terminal equipment has known position information indication, geographical position information of the first terminal equipment and preset positioning service quality precision requirements;

And triggering and executing the second positioning according to the positioning information.

18. The positioning method of claim 17, wherein the triggering performs a second positioning, further comprising:

performing the second positioning according to at least one of the following triggers: the positioning information, the network load state and the network resource use state.

19. The positioning method of claim 14, wherein after triggering the execution of the second positioning, further comprising:

triggering the second positioning to be turned off.

20. The positioning method of claim 19, wherein the triggering of the second positioning to be closed comprises:

and closing the second positioning according to the positioning information.

21. The positioning method of claim 20, wherein the closing the second positioning further comprises:

The second positioning is turned off according to at least one of the following triggers: the positioning information, the network load state and the network resource use state.

22. A positioning device, comprising:

the first trigger unit is used for detecting that the first trigger event is met and triggering the second positioning; the first trigger event is used for representing that the requirement cannot be met based on the first positioning; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device;

a first positioning estimation result determining unit, configured to determine a positioning estimation result of the first terminal device, where the positioning estimation result of the first terminal device is determined based on the first positioning and/or the second positioning.

23. A positioning device, comprising:

the second trigger unit is used for triggering and executing second positioning when the first positioning cannot meet the requirement; the first positioning corresponds to positioning implemented by using a first link reference signal, wherein the first link reference signal is a positioning reference signal between a first terminal device and an access network device; the second positioning corresponds to positioning achieved using a second link reference signal, the second link reference signal being a positioning reference signal between the first terminal device and a second terminal device;

And the first positioning estimation result information determining unit is used for determining positioning estimation result information of the first terminal equipment, and the positioning estimation result of the first terminal equipment is determined based on the first positioning and/or the second positioning.

24. A computer readable storage medium, the computer readable storage medium being a non-volatile storage medium or a non-transitory storage medium, having stored thereon a computer program, characterized in that the computer program when executed by a processor performs the steps of the method according to any of claims 1-13; alternatively, the steps of the method of any one of claims 14 to 21 are performed.

25. A positioning device comprising a memory and a processor, said memory having stored thereon a computer program executable on said processor, characterized in that said processor executes the steps of the method according to any of claims 1-13 when said computer program is executed; alternatively, the steps of the method of any one of claims 14 to 21 are performed.