WO2022022341A1

WO2022022341A1 - Positioning means triggering method and communication device

Info

Publication number: WO2022022341A1
Application number: PCT/CN2021/107442
Authority: WO
Inventors: 黄伟; 李雪茹
Original assignee: 华为技术有限公司
Priority date: 2020-07-28
Filing date: 2021-07-20
Publication date: 2022-02-03
Also published as: CN116406520A; CN114007183A; CN114007183B

Abstract

Embodiments of the present application relate to the technical field of positioning, and provided therein are a positioning means triggering method and a communication device. The triggering method comprises: sending a first positioning measurement reference signal to a target node; receiving a positioning feedback message sent by the target node, the positioning feedback message comprising first indication information, and the first indication information being used to indicate whether a line-of-sight (LOS) condition is satisfied between a source node and the target node; and determining a positioning means between the source node and the target node according to the first indication information. The triggering method determines, according to whether a LOS path exists between a source node and a target node, a specific positioning means used in a subsequent positioning process, a large amount of system overhead may be avoided and positioning efficiency may be improved while ensuring positioning accuracy.

Description

Triggering method and communication device of positioning mode

This application requires a Chinese patent application with the application number 202010740596.4 and the application title "A method for displaying 5G icons" to be submitted to the State Intellectual Property Office on July 28, 2020, and to be submitted to the State Intellectual Property Office on September 9, 2020 Bureau, the application number is 202010942759.7, and the application title is "Triggering method of positioning method and communication device" The priority of the Chinese patent application, the entire content of which is incorporated in this application by reference.

technical field

The present application relates to the field of communication technologies, and in particular, to a method for triggering a positioning method and a communication device.

Background technique

Existing vehicles including Internet of Vehicles, intelligent driving, indoor navigation and positioning, smart factories, and smart warehousing all have strong demands for high-precision positioning. In addition to these vertical industries, consumer terminal equipment also has new requirements for high-precision positioning, including item positioning and tracking, accurate data transmission, smart payment, smart push, and smart keys.

In many scenarios, the source node and the target node to be located do not need mutual absolute positioning information (eg absolute coordinates) but only relative positioning information (eg distance information or angle information). However, in many actual scenarios, there is no line of sight (LOS) path between two parties with relative positioning requirements, which will reduce the positioning accuracy of relative positioning. But at the same time, although there is no LOS path between the two relative positioning parties, if it can be based on the cooperation of surrounding devices, a multi-hop cooperation mode with LOS path can be artificially constructed through necessary signaling interaction. Cooperative positioning can break through the limitation of LOS diameter in relative positioning, and further improve the positioning accuracy of relative positioning in non-line of sight (NLOS) environment. However, with the increase of nodes participating in cooperative positioning, it will inevitably bring a certain system overhead.

SUMMARY OF THE INVENTION

The present application provides a method for triggering a positioning method, through which a source node to be located determines to adopt a relative positioning method or a cooperative positioning method suitable for the current scene based on the existence state of the LOS path between the source node and the target node, combined with the positioning capability, It can solve the problem of high system overhead.

In a first aspect, a method for triggering a positioning method is provided, which is applied to a source node and includes: sending a first positioning measurement reference signal to a target node; receiving a positioning feedback message sent by the target node, where the positioning feedback message includes a first positioning measurement reference signal. an indication information, the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node; when it is determined according to the first indication information that there is no distance between the source node and the target node When the LOS condition is satisfied, it is determined that the source node and the target node adopt cooperative positioning; when it is determined according to the first indication information that the LOS condition is satisfied between the source node and the target node, according to the The positioning capability of the source node and/or the target node is used to determine the positioning mode between the source node and the target node.

The source node may be a terminal device to be located, such as a mobile phone, a computer, a tablet computer, a wearable device, a data card, a sensor, and other devices.

Optionally, the source node and the target node may communicate through a 3GPP sidelink, or communicate through Wi-Fi, Bluetooth, ultra-wideband UWB, or the like.

Optionally, the first positioning measurement reference signal may be the aperiodic reference signal used for positioning measurement mentioned herein. Specifically, the positioning measurement reference signals include but are not limited to: aperiodic PRS signals, aperiodic CSI-RS signals, aperiodic TRS signals, and the like.

Optionally, the target node judges whether the LOS path condition is satisfied with the source node according to the first positioning measurement reference signal, and carries the first indication information for indicating whether the LOS path condition is satisfied between the source node and the target node in the location. Feedback messages are sent to the source node.

It should be understood that whether the LOS condition is satisfied between the source node and the target node may refer to whether there is an LOS path between the source node and the target node. Among them, when the LOS path condition is satisfied between the source node and the target node, it means that there is a LOS path between the source node and the target node; There is no LOS trail in between.

It should be understood that when there is an obstacle that blocks the wireless communication signal between the source node and the target node, the wireless signal cannot be transmitted between the source node and the target node without being blocked. Relative positioning will greatly reduce the positioning accuracy. Therefore, judging whether there is an LOS path between the source node and the target node is an important factor for judging whether the source node and the target node adopt relative positioning or cooperative positioning.

The positioning methods mentioned in the embodiments of the present application may include cooperative positioning methods and relative positioning methods. After the adopted positioning mode is determined, the positioning can be realized by using a specific positioning method corresponding to the positioning mode.

Exemplarily, when the cooperative positioning method is adopted between the source node and the target node, the following positioning methods may be specifically adopted, including but not limited to: deterministic cooperative positioning, probabilistic cooperative positioning, time cooperative positioning or space cooperative positioning, etc.

When the non-cooperative positioning (that is, relative positioning) method is adopted between the source node and the target node, the following positioning methods can be specifically adopted, including but not limited to: positioning according to the angle of arrival AOA and time of arrival TOA, and positioning according to the AOA, departure angle AOD And time of arrival for positioning, multi-angle of arrival (multi-AOA) positioning or multi-time of arrival (multi-RTT) positioning and so on.

According to the above triggering method, the source node determines the specific positioning method used in the subsequent positioning process according to whether there is an LOS path between the source node and the target node, which can avoid a large amount of system overhead and improve positioning efficiency on the basis of ensuring positioning accuracy.

With reference to the first aspect, in some implementations of the first aspect, the positioning capability includes the number of antennas; the source node and the target node are determined according to the positioning capabilities of the source node and the target node The positioning method between the two, specifically includes: when it is judged that the number of antennas of the source node and/or the target node is greater than or equal to a first threshold, determining that the source node and the target node use a relative positioning method; or, When it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the multi-node cooperative positioning method.

Optionally, the positioning capability here may refer to the number of antennas of a node. Further, it may also include the bandwidth supported by the node, etc. The source node and/or the target node can support multi-antenna capability, and when the number of antennas is large, the node has stronger positioning capability.

Optionally, the first threshold here may be 3, for example.

It should be understood that when the number of antennas of the target node is large, the antenna capability is strong, and it has sufficient ability to judge whether there is an LOS path currently based on the first positioning measurement reference signal sent by the source node; or, when the number of antennas of the source node is large, the antenna The capability is strong, and it has sufficient capability to determine whether there is an LOS path based on the second positioning measurement reference signal sent by the target node. Therefore, when the number of antennas is large, the accuracy of selecting the positioning method can be improved. Moreover, when the antenna capabilities of the source node and the target node are strong, in the presence of the LOS path, high-precision relative positioning can be achieved. Therefore, in order to determine the optimal positioning strategy on the basis of high positioning accuracy, in addition to considering whether the LOS path status is satisfied between the source node and the target node, the antenna capability of the source node and/or the target node also needs to be considered important factor.

Further, when the number of antennas of the source node and/or the target node is large (such as greater than or equal to 3), the source node and/or the target node can be based on the angle of arrival AOA and the time of arrival TOA, or according to the AOA, the angle of departure AOD and the arrival time. Time TOA, or multiple angle of arrival (multi-AOA) positioning or multiple time of arrival (multi-RTT) and other positioning methods perform relative positioning methods to obtain accurate positioning results.

In addition, the architecture of the cooperative positioning negotiation mechanism in the embodiment of the present application may be as shown in FIG. 1 . When there is no LOS path between the source node and the target node, that is, the wireless communication signal cannot be directly transmitted without being blocked, if the LOS path condition is satisfied between the source node and other surrounding devices, the source node can communicate with other devices. Relative positioning, with the cooperation of surrounding equipment, realizes the positioning with the target node.

According to the above triggering method, when there is no LOS path between the source node and the target node, cooperative positioning is adopted; and when there is an LOS path between the source node and the target node, it is further determined based on the positioning capabilities of the source node and the target node. Cooperative positioning or relative positioning, this method can select a positioning method suitable for the positioning scene, and ensure the positioning accuracy, avoid invalid system overhead and delay, etc., optimize the positioning process, and improve the positioning efficiency.

With reference to the first aspect, in some implementations of the first aspect, the method further includes: sending positioning capability request information to the target node, where the positioning capability request information is used to request to query the positioning capability of the target node ; Receive second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

The second indication information may be positioning capability feedback information (capability response) sent by the target node.

Optionally, the second indication information may be carried in a positioning feedback message; it may also be designed to be sent to the source node as a separate signaling process.

How to send the second indication information can be determined according to the positioning capabilities of the source node and the target node, the number of supported positioning modes, and the like. Among them, if the number of positioning methods supported by the target node is large, the second indication information may include a large number of positioning information books. At this time, in order to simplify the positioning feedback message, the second indication information can be sent separately, without the The second indication information is carried in the positioning feedback message.

With reference to the first aspect, in some implementations of the first aspect, the method further includes: sending a positioning request message to the target node, where the positioning request message includes third indication information, and the third indication information uses for indicating the first time-frequency resource corresponding to the first positioning measurement reference signal.

The first positioning measurement reference signal is a reference signal sent by the source node to the target node, and used for enabling the target node to determine whether there is an LOS path between it and the source node.

The first time-frequency resource is a time-frequency resource corresponding to the first positioning measurement reference signal. In other words, before sending the first positioning measurement reference signal, the source node may first send the indication information of the first time-frequency resource to the target node, instructing the target to receive the first positioning measurement reference signal on a specific time-frequency resource.

With reference to the first aspect, in some implementations of the first aspect, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

Optionally, when the number of specific positioning methods corresponding to different positioning methods supported by the source node and the target node is small, the corresponding positioning capability indication information is generally not much. The positioning capability request information is carried in the positioning request message.

It should be understood that carrying the positioning capability request information in the positioning request message and sending it to the target node can simplify the communication process and improve the communication efficiency.

With reference to the first aspect, in some implementations of the first aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node, and the method further includes: The positioning capability of the target node is determined according to the second indication information.

Optionally, when the number of specific positioning methods supported by the source node and the target node corresponding to different positioning methods is small, the corresponding positioning capability indication information is generally not much. The second indication information is carried in the positioning feedback message.

It should be understood that the second indication information is carried in the positioning feedback message and sent to the source node, which can simplify the communication process and improve the communication efficiency.

With reference to the first aspect, in some implementations of the first aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

Optionally, when requesting to query the positioning capability of the target node, the source node may also send its own positioning capability to the target node.

With reference to the first aspect, in some implementations of the first aspect, the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency corresponding to the second positioning measurement reference signal resources; the method further includes: receiving the second positioning measurement reference signal sent by the target node at the second time-frequency resource according to the fifth indication information; according to the second positioning measurement reference signal, It is judged whether the LOS condition is satisfied between the source node and the target node.

Optionally, when the capability of the target node is weak or the antenna capability is insufficient, even if the source node sends the first positioning measurement reference signal to the target node, the capability of the target node is not enough to support its judgment according to the first positioning measurement reference signal. Whether there is a LOS trail. At this time, the target node sends the second positioning measurement reference signal to the source node and indicates its corresponding second time-frequency resource.

The second time-frequency resource is the time-frequency resource corresponding to the second positioning measurement reference signal sent by the target node to the source node. In other words, before sending the second positioning measurement reference signal, the target node may first send the indication information of the second time-frequency resource to the source node, instructing the source node to receive the second positioning measurement reference signal on the specific time-frequency resource.

It should be understood that the second positioning measurement reference signal time-frequency resource may be a reference signal sent by the target node to the source node for the source node to determine whether there is an LOS path between it and the target node.

Optionally, when the source node parses that the information sent by the target node is the time-frequency resource indication information of the second positioning measurement reference signal, it may determine that the first indication information carried in the positioning feedback message by the target node is invalid or unreliable.

Optionally, after receiving the second positioning measurement reference signal on the second time-frequency resource, the source node determines whether there is an LOS path between it and the target node according to the second positioning measurement reference signal.

Specifically, after the source node completes the LOS path detection, it can only select its own detection result to determine the LOS path existence state; or it can also combine its own detection result and the first indication information to determine the LOS path existence state. In other words, when the LOS path existence state indication information determined by the target node is invalid or unreliable, the source node may not refer to or partially refer to the indication information sent by the target node at this time.

It should be understood that the above method can improve the accuracy of the judgment result of the existence state of the LOS path, which is conducive to accurately selecting an appropriate positioning method, thereby improving the positioning accuracy.

With reference to the first aspect, in some implementations of the first aspect, the first indication information is represented by 1-bit information, wherein when the first indication information indicates that the LOS path condition is satisfied, the first indication information is The indication information is 1; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS path condition is satisfied, the The first indication information is 0; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 1.

With reference to the first aspect, in some implementations of the first aspect, the positioning measurement reference signal includes but is not limited to at least one of the following: a positioning reference signal PRS, a channel state information reference signal CSI-RS, and a time-frequency domain tracking reference signal TRS .

Optionally, the positioning request message may be transmitted to the target access node in at least one of the following manners, including: physical measurement link control channel PSCCH, physical sidelink shared channel PSSCH, Bluetooth, UWB signals, and the like.

In a second aspect, a method for triggering a positioning method is provided, which is applied to a target node, including: receiving a first positioning measurement reference signal sent by the source node; determining the source node and the source node according to the first positioning measurement reference signal; Whether the line-of-sight LOS condition is satisfied between the target nodes; send a positioning feedback message to the source node, where the positioning feedback message includes first indication information, and the first indication information is used to indicate the distance between the source node and the target node Whether the line-of-sight LOS condition is met.

With reference to the second aspect, in some implementations of the second aspect, the method further includes: receiving location capability request information sent by a source node, where the location capability request information is used to request to query the location capability of the target node; Determine the location capability of the target node according to the location capability request message; send second indication information to the source node, where the second indication information is used to indicate the location capability of the target node.

With reference to the second aspect, in some implementations of the second aspect, the method further includes: receiving a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third indication information It is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the second aspect, in some implementations of the second aspect, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

With reference to the second aspect, in some implementations of the second aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

With reference to the second aspect, in some implementations of the second aspect, the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency corresponding to the second positioning measurement reference signal resources; the method further includes: sending the second positioning measurement reference signal to the source node, where the second positioning measurement reference signal is used by the source node to determine whether the relationship between the source node and the target node is satisfied the LOS condition.

With reference to the second aspect, in some implementations of the second aspect, the first indication information is represented by 1-bit information, wherein when the first indication information indicates that the LOS path condition is satisfied, the first indication information is The indication information is 1; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS path condition is satisfied, the The first indication information is 0; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 1.

With reference to the second aspect, in some implementations of the second aspect, the positioning measurement reference signal includes but is not limited to at least one of the following: a positioning reference signal PRS, a channel state information reference signal CSI-RS, and a time-frequency domain tracking reference signal TRS .

In a third aspect, a method for triggering a positioning method is provided, which is applied to a source node and includes: sending a first positioning measurement reference signal positioning measurement reference signal to a target node; receiving a positioning feedback message sent by the target node, the positioning The feedback message includes first indication information and fifth indication information, where the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node, and the fifth indication information is used to indicate the second positioning the second time-frequency resource corresponding to the measurement reference signal; according to the fifth indication information, receive the second positioning measurement reference signal sent by the target node in the second time-frequency resource; when according to the second positioning When the measurement reference signal determines that the LOS condition is not satisfied between the source node and the target node, it is determined that the source node and the target node adopt a cooperative positioning method; When the LOS condition is satisfied between the source node and the target node, the positioning mode between the source node and the target node is determined according to the positioning capability of the source node and/or the target node.

With reference to the third aspect, in some implementations of the third aspect, the positioning capability includes the number of antennas; the source node and the target node are determined according to the positioning capabilities of the source node and the target node The positioning method between the two, specifically includes: when it is judged that the number of antennas of the source node and/or the target node is greater than or equal to a first threshold, determining that the source node and the target node use a relative positioning method; or, When it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method.

With reference to the third aspect, in some implementations of the third aspect, the method further includes: sending positioning capability request information to the target node, where the positioning capability request information is used to request to query the positioning capability of the target node ; Receive second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

With reference to the third aspect, in some implementations of the third aspect, the method further includes: sending a positioning request message to the target node, where the positioning request message includes third indication information, and the third indication information uses for indicating the first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the third aspect, in some implementations of the third aspect, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

With reference to the third aspect, in some implementations of the third aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node, and the method further includes: The positioning capability of the target node is determined according to the second indication information.

With reference to the third aspect, in some implementations of the third aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

With reference to the third aspect, in some implementations of the third aspect, the first indication information is represented by 1-bit information, wherein when the first indication information indicates that the LOS condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS condition is satisfied, the first indication information The indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the third aspect, in some implementations of the third aspect, the positioning measurement reference signal includes but is not limited to at least one of the following: a positioning reference signal PRS, a channel state information reference signal CSI-RS, and a time-frequency domain tracking reference signal TRS .

In a fourth aspect, a method for triggering a positioning method is provided, which is applied to a target node, including: receiving a first positioning measurement reference signal sent by the source node; sending a positioning measurement reference signal to the source node according to the first positioning measurement reference signal a positioning feedback message, where the positioning feedback message includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; sending the second positioning measurement to the source node reference signal.

With reference to the fourth aspect, in some implementations of the fourth aspect, the method further includes: receiving location capability request information sent by a source node, where the location capability request information is used to request to query the location capability of the target node; Send second indication information to the source node according to the location capability request information, where the second indication information is used to indicate the location capability of the target node.

With reference to the fourth aspect, in some implementations of the fourth aspect, the method further includes: receiving a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third indication information It is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the fourth aspect, in some implementations of the fourth aspect, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

With reference to the fourth aspect, in some implementations of the fourth aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

With reference to the fourth aspect, in some implementations of the fourth aspect, the first indication information is represented by 1-bit information, wherein when the first indication information indicates that the LOS condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS condition is satisfied, the first indication information The indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the fourth aspect, in some implementations of the fourth aspect, the positioning measurement reference signal includes but is not limited to at least one of the following: a positioning reference signal PRS, a channel state information reference signal CSI-RS, and a time-frequency domain tracking reference signal TRS .

A fifth aspect provides a communication node, comprising: a sending unit, configured to send a first positioning measurement reference signal positioning measurement reference signal to a target node; a receiving unit, configured to receive a positioning feedback message sent by the target node, The positioning feedback message includes first indication information, and the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node; the processing unit is configured to determine the location according to the first indication information. The positioning method between the source node and the target node.

With reference to the fifth aspect, in some implementations of the fifth aspect, the processing unit is specifically configured to: when it is determined according to the first indication information that the LOS is not satisfied between the source node and the target node condition, it is determined that the source node and the target node adopt multi-node cooperative positioning; when it is determined according to the first indication information that the LOS condition is satisfied between the source node and the target node, according to the source node The positioning capability of the node and the target node determines the positioning mode between the source node and the target node.

With reference to the fifth aspect, in some implementations of the fifth aspect, the positioning capability includes the number of antennas; the processing unit further includes: when it is determined that the number of antennas of the source node and/or the target node is greater than or equal to When the first threshold is used, it is determined that the source node and the target node adopt a relative positioning method; or, when it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node are in a relative positioning mode. The target node adopts the multi-node cooperative positioning method.

With reference to the fifth aspect, in some implementations of the fifth aspect, the sending unit is further configured to send location capability request information to the target node, where the location capability request information is used to request to query the target node's positioning capability; the receiving unit is further configured to receive second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

With reference to the fifth aspect, in some implementations of the fifth aspect, the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, and the third indication The information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the fifth aspect, in some implementations of the fifth aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the fifth aspect, in some implementations of the fifth aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node, and the processing module is further configured to: The positioning capability of the target node is determined according to the second indication information.

With reference to the fifth aspect, in some implementations of the fifth aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

With reference to the fifth aspect, in some implementations of the fifth aspect, the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal ; the receiving unit is further configured to receive the second positioning measurement reference signal sent by the target node in the second time-frequency resource according to the fifth indication information; the processing unit is further configured to receive the second positioning measurement reference signal sent by the target node according to the second time-frequency resource The second positioning measurement reference signal determines whether the LOS condition is satisfied between the source node and the target node.

With reference to the fifth aspect, in some implementations of the fifth aspect, the first indication information is represented by 1-bit information, wherein, when the first indication information indicates that the LOS path condition is satisfied, the first indication information is The indication information is 1; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS path condition is satisfied, the The first indication information is 0; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 1.

With reference to the fifth aspect, in some implementations of the fifth aspect, the positioning request message is transmitted to the target node through a physical measurement link control channel PSCCH; and/or the positioning measurement reference signal is transmitted through a physical side channel The link shared channel PSSCH is transmitted to the target node.

In a sixth aspect, a communication node is provided, comprising: a receiving unit configured to receive a first positioning measurement reference signal sent by the source node; and a processing unit configured to determine the source according to the first positioning measurement reference signal Whether the line-of-sight LOS condition is satisfied between the node and the target node; a sending unit, configured to send a positioning feedback message to the source node, where the positioning feedback message includes first indication information, and the first indication information is used to indicate the Whether the line-of-sight LOS condition is satisfied between the source node and the target node.

With reference to the sixth aspect, in some implementations of the sixth aspect, the receiving unit is further configured to receive location capability request information sent by the source node, where the location capability request information is used to request to query the location of the target node the processing unit is further configured to determine the positioning capability of the target node according to the positioning capability request message; the sending unit is further configured to send second indication information to the source node, the second indication The information is used to indicate the positioning capability of the target node.

With reference to the sixth aspect, in some implementations of the sixth aspect, the receiving unit is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third The indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the sixth aspect, in some implementation manners of the sixth aspect, the positioning request message includes positioning capability request information, where the positioning capability request information is used to request to query the positioning capability of the target node.

With reference to the sixth aspect, in some implementations of the sixth aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

With reference to the sixth aspect, in some implementations of the sixth aspect, the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate the second time-frequency corresponding to the second positioning measurement reference signal resources; the sending unit is further configured to send the second positioning measurement reference signal to the source node, where the second positioning measurement reference signal is used by the source node to determine the relationship between the source node and the target node Whether the LOS condition is satisfied.

With reference to the sixth aspect, in some implementations of the sixth aspect, the first indication information is represented by 1-bit information, wherein, when the first indication information indicates that the LOS path condition is satisfied, the first indication information is The indication information is 1; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS path condition is satisfied, the The first indication information is 0; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 1.

With reference to the sixth aspect, in some implementations of the sixth aspect, the positioning request message is transmitted to the target node through the PSCCH; and/or the positioning measurement reference signal is transmitted to the target node through the PSSCH.

A seventh aspect provides a communication node, characterized by comprising: a sending unit, configured to send a first positioning measurement reference signal to a target node; a receiving unit, configured to receive a positioning feedback message sent by the target node, The positioning feedback message includes first indication information and fifth indication information, the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node, and the fifth indication information is used to indicate the first indication information. The second time-frequency resource corresponding to the positioning measurement reference signal; the second positioning reference; the receiving unit is further configured to: receive the target node in the second time-frequency resource according to the fifth indication information the second positioning measurement reference signal sent; when it is determined according to the second positioning measurement reference signal that the LOS condition is not satisfied between the source node and the target node, determine the source node and the target The node adopts a cooperative positioning method; when it is determined according to the second positioning measurement reference signal that the LOS condition is satisfied between the source node and the target node, according to the positioning capability of the source node and/or the target node , and determine the positioning mode between the source node and the target node.

With reference to the seventh aspect, in some implementations of the seventh aspect, the positioning capability includes the number of antennas; the processing unit according to the processing unit is specifically used for: when determining the number of antennas of the source node or the target node When it is greater than or equal to the first threshold, it is determined that the source node and the target node use a relative positioning method; or, when it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the The source node and the target node adopt the cooperative positioning method.

With reference to the seventh aspect, in some implementations of the seventh aspect, the sending unit is further configured to: send positioning capability request information to the target node, where the positioning capability request information is used to request to query the target node The receiving unit is further configured to receive second indication information sent by the target node, where the second indication information is used to indicate the location capability of the target node.

With reference to the seventh aspect, in some implementations of the seventh aspect, the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, and the third indication The information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the seventh aspect, in some implementations of the seventh aspect, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

With reference to the seventh aspect, in some implementations of the seventh aspect, the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node, the processing unit, further It is used for: determining the positioning capability of the target node according to the second indication information.

With reference to the seventh aspect, in some implementations of the seventh aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

With reference to the seventh aspect, in some implementations of the seventh aspect, the first indication information is represented by 1-bit information, wherein, when the first indication information indicates that the LOS condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS condition is satisfied, the first indication information The indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the seventh aspect, in some implementations of the seventh aspect, the positioning measurement reference signal includes but is not limited to at least one of the following: a positioning reference signal PRS, a channel state information reference signal CSI-RS, and a time-frequency domain tracking reference signal TRS .

In an eighth aspect, a communication node is provided, comprising: a receiving unit, configured to receive a first positioning measurement reference signal sent by the source node; and a sending unit, configured to send to the source node according to the first positioning measurement reference signal a positioning feedback message, where the positioning feedback message includes fifth indication information, where the fifth indication information is used to indicate a second time-frequency resource corresponding to a second positioning measurement reference signal; sending the second positioning measurement to the source node reference signal.

With reference to the eighth aspect, in some implementations of the eighth aspect, the receiving unit is further configured to receive location capability request information sent by the source node, where the location capability request information is used to request to query the location capability of the target node; The sending unit is further configured to send second indication information to the source node according to the location capability request information, where the second indication information is used to indicate the location capability of the target node.

With reference to the eighth aspect, in some implementations of the eighth aspect, the receiving unit is configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third indication information uses for indicating the first time-frequency resource corresponding to the first positioning measurement reference signal.

With reference to the eighth aspect, in some implementations of the eighth aspect, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

With reference to the eighth aspect, in some implementations of the eighth aspect, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

With reference to the eighth aspect, in some implementations of the eighth aspect, the first indication information is represented by 1-bit information, wherein, when the first indication information indicates that the LOS condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS condition is satisfied, the first indication information The indication information is 0; when the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

With reference to the eighth aspect, in some implementations of the eighth aspect, the positioning measurement reference signal includes but is not limited to at least one of the following: a positioning reference signal PRS, a channel state information reference signal CSI-RS, and a time-frequency domain tracking reference signal TRS .

In a ninth aspect, a communication device is provided, characterized in that it includes at least one processor and a communication interface, the communication interface is used for the communication device to perform information interaction with other communication devices, when the program instruction is in the at least one When executed in the processor, the communication device is made to realize the function of the method described in any one of the first aspect to the fourth aspect on any of the following nodes: the source node, the target node.

In a tenth aspect, a computer-readable storage medium is provided, the computer-readable storage medium has program instructions, and when the program instructions are directly or indirectly executed, make any one of the first to fourth aspects described above In the implementation manner, the functions on any of the following devices are realized: the source node, the target node.

In an eleventh aspect, there is provided a chip system, the chip system includes at least one processor, and when program instructions are executed in the at least one processor, any one of the foregoing first to fourth aspects is implemented The function of the triggering method in the method can be realized on any one of the following devices: the source node and the target node.

A twelfth aspect provides a computer program that, when the computer program is executed in at least one processor, causes the triggering method in any of the implementation manners of the foregoing first to fourth aspects to be performed on any of the following devices The function is realized: the source node, the target node.

According to the triggering method of the above positioning mode provided by the embodiment of the present application, the target node feeds back the LOS path existence status information and the positioning capability information to the source node, and the source node determines which positioning mode to use for the subsequent positioning process based on the information. That is, before the positioning process is executed, a positioning method more suitable for the current positioning scenario is selected based on a certain signaling process, which can avoid unnecessary and large system overhead and improve the positioning efficiency while ensuring the accuracy.

Description of drawings

FIG. 1 is a schematic diagram of a cooperative positioning provided by an embodiment of the present application.

FIG. 2 is a schematic diagram of a possible application scenario provided by an embodiment of the present application.

FIG. 3 is a schematic diagram of another possible application scenario provided by an embodiment of the present application.

FIG. 4 is a schematic flowchart of a method for triggering a positioning mode provided by an embodiment of the present application.

FIG. 5 is a schematic flowchart of another method for triggering a positioning mode provided by an embodiment of the present application.

FIG. 6 is a schematic flowchart of another method for triggering a positioning mode provided by an embodiment of the present application.

FIG. 7 is a schematic flowchart of another method for triggering a positioning mode provided by an embodiment of the present application.

FIG. 8 is a schematic structural diagram of a positioning request signal provided by an embodiment of the present application.

FIG. 9 is a schematic structural diagram of a positioning feedback signal provided by an embodiment of the present application.

FIG. 10 is a schematic flowchart of another method for triggering a positioning mode provided by an embodiment of the present application.

FIG. 11 is a schematic structural diagram of another positioning request signal provided by an embodiment of the present application.

FIG. 12 is a schematic structural diagram of another positioning feedback signal provided by an embodiment of the present application.

FIG. 13 is a schematic flowchart of another method for triggering a positioning mode provided by an embodiment of the present application.

FIG. 14 is a schematic structural diagram of another positioning feedback signal provided by an embodiment of the present application.

FIG. 15 is a schematic structural diagram of a communication node provided by an embodiment of the present application.

FIG. 16 is a schematic structural diagram of another communication node provided by an embodiment of the present application.

FIG. 17 is a schematic structural diagram of a communication apparatus provided by an embodiment of the present application.

detailed description

The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The terms used in the implementation part of the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, "/" means or means, for example, A/B can mean A or B; "and/or" and "you" in this document are a description related object The association relationship of , indicates that there can be three kinds of relationships, for example, A and/or B, can indicate that A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" refers to two or more than two, and "multi-channel" refers to two or more than two channels.

Hereinafter, the terms "first" and "second" are only used for descriptive purposes, and should not be understood as indicating or implying relative importance and implicitly indicating the number of the indicated technical features. Thus, a reference to a "first", "second" feature may expressly or implicitly include one or more of that feature.

The technical solutions of the embodiments of the present application can be used in various communication systems, for example: a wireless local area network (WLAN) system, a long term evolution (LTE) system, an LTE frequency division duplex (frequency division duplex, FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication system, fifth generation ( the 5th generation, 5G) mobile communication system or new radio (new radio, NR) system, etc.

A node in this embodiment of the present application is a communication device with a wireless transceiver function, which may represent a redistribution point or a communication endpoint (such as a terminal device). A node may be, for example, a user equipment, a terminal, a wireless communication device, a user agent or a user equipment. The node may also be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PAD), a wireless communication capability handheld devices, computing devices or other processing devices connected to wireless modems, in-vehicle devices, wearable devices, end devices in a 5G network or end devices in a public land mobile network (PLMN), or A node in a WLAN system, etc. In terms of product form, the nodes in the embodiments of the present application may be devices with wireless communication capabilities (sidelink, WiFi, Bluetooth, UWB, etc.) transmission capabilities, especially terminal devices, such as mobile phones, computers, tablets, wristbands, and smart watches. , data cards, sensors and other equipment. The embodiment of the present application uses a node as an example for description, but the present application does not limit this.

With the development of intelligence, more and more scenarios need to rely on precise positioning. The 3rd generation partnership project (3GPP) standard "TS 22.804 positioning service performance requirement in vertical domain" defines 8 types of positioning scenarios. The positioning requirements include absolute positioning and relative positioning requirements. The positioning accuracy requirements cover from 5 meters to 20 centimeters, and also put forward 90%-99.9% demand for reliability. In the research phase (study item, SI) of Rel-17 NR Positioning in the 3GPP RAN#86 conference, the goal set is: in general commercial scenarios, the positioning accuracy meets the sub-meter positioning accuracy, and the positioning delay is 100ms; In the industrial internet of things (IIoT), the positioning accuracy needs to reach 20cm, and the positioning delay needs to reach the requirement of 10ms. Based on this requirement, 3GPP standards are actively promoting standardization work, including radio access technology (RAT) dependent positioning based on 3GPP cellular network, global navigation satellite system (GNSS) based on non- 3GPP terrestrial network positioning technologies, such as wireless fidelity (Wi-Fi) positioning, Bluetooth positioning, terrestrial beacon system (TBS) positioning, ultra-wideband (UWB) positioning, and hybrid positioning technology, etc.

Regardless of the positioning technology, multipath interference, clock synchronization errors, and the need for abundant positioning anchors (3 or more anchors) may become the key factors limiting the positioning accuracy. Among them, the synchronization error during the positioning process includes the synchronization error between multiple anchor points such as base station/satellite/access point (AP), and also includes the anchor point (base station/satellite/AP, etc.) and the user equipment to be located. (user equipment, UE) synchronization error. Among them, the observed time difference of arrival (OTDOA) technology can effectively solve the problem of synchronization deviation between the positioning anchor point and the positioning terminal by measuring the arrival observation time difference of different anchor points by the UE, but it is required that the anchor points must be strictly synchronized. , otherwise the positioning accuracy is very poor; while multi-round trip time (multi-RTT) estimates the RTT between the UE and multiple anchor points by sending and receiving signals, and uses a trilateration algorithm to estimate the UE's The advantage of using RTT to estimate the distance between the anchor point and the UE is that the synchronization error between the anchor points does not need to be considered, but the disadvantage is that an additional positioning measurement reference signal needs to be used, thereby increasing the resource overhead.

In addition, since most of the existing positioning technologies are based on the triangular positioning algorithm or the triangular positioning algorithm for position estimation, this requires the number of relevant anchor points to be 3 or more, which may lead to increased deployment costs and frequency Insufficient anchors under efficiency constraints. Taking cellular positioning as an example, the two major limiting factors of multi-anchor positioning are: (1) The cell spectrum is maximized when the base station is deployed (control of co-channel interference), so there are a large number of areas where only 1-2 can be seen. Cell; (2) Uncertainty of base station location (antenna location). Therefore, if single-anchor/single-station positioning can be achieved, it is very beneficial to the ease of use and cost of cellular positioning.

In addition, multipath effects and signal occlusion are the main factors that affect the measurement accuracy of time of arrival (TOA)/time difference of arrival (TDOA). Although the bandwidth of the Wireless Location System is wider, the time resolution in the time domain is higher, and the resolution after multipath signal correlation processing is higher, but the problem of positioning error caused by multipath is still unavoidable. Affected by multipath during signal propagation, the receiver cannot distinguish between LOS and NLOS, and the correlation peak shifts during processing, causing errors in TOA estimation; , refraction, and diffraction of wireless signals, which will also lead to deviations in TOA measurement; or, because the direct path signal is weak, the result of coherent processing is lower than the threshold and cannot be used, and accurate TOA data cannot be obtained.

In order to eliminate the influence of multipath effect on positioning, related technologies are as follows: (1) Improve the sensitivity and dynamic range of the system. Since the RF front end with a large dynamic range is more tolerant to noise interference, the multipath error will be reduced. However, this method has relatively high requirements on the device hardware. (2) Identify the LOS path and the NLOS path of the channel, and perform weighting processing during positioning calculation. However, this method requires that the receiving end can accurately distinguish the LOS/NLOS path. (3) Directly correct the positioning error caused by the NLOS path. However, this method needs to know the angles of the reflected, refracted, and diffracted signals of obstacles, and uses optical principles and plane geometry to convert the NLOS propagation path into an equivalent LOS propagation.

Generally speaking, compared with absolute positioning, the advantages of relative positioning mainly include the following:

1. From the perspective of probability, the distance between the source node and the target node between relative positioning is relatively close, and there is a high possibility of LOS path, so the potential positioning accuracy is relatively high; 2. Since the relative positioning only occurs in the source node. Between the node and the target node, there is no need for a third party such as a positioning server to participate, so the signaling interaction process is relatively simple, and the positioning delay can be shortened.

Essentially, relative positioning is a single-anchor point positioning technology, that is, only one anchor point is needed to realize UE positioning. Technically, the single-anchor point positioning method based on multipath assistance can achieve high-precision relative positioning. Generally, the premise of realizing high-precision relative positioning based on the single-anchor point technology includes: 1. The transceiver can distinguish the LOS path and the NLOS path, and perform TOA measurement or RTT measurement based on the identified LOS path; 2. The transceiver must have one end With multi-antenna capability (generally more than or equal to 3 antennas), it can measure the angle of arrival (AOA) or angle of departure (AOD), and combine the time of arrival (time of arrival) on the LOS path arrival, TOA) for hybrid positioning.

In addition, in relative positioning, if the source node and the target node cannot directly perform signaling interaction to realize LOS path positioning, the multi-hop cooperative LOS path positioning method can also be realized with the help of the cooperation of other devices. The multi-hop cooperation mode of the LOS path is shown in Figure 1: A wants to perform relative positioning between A and B, but there is no LOS path between A and B because there is an obstacle between A and B. But there are also C, E, and F around A and B, and there is a LOS path between A and C, a LOS path h _C, B between C and B, and a LOS path h _{A,E between A and E.} , between E and F there is an LOS diameter h _E,F , and between F and B there is a LOS diameter h _F,B . Therefore, source node A can first perform relative positioning with C, and then C and B perform relative positioning. After appropriate information exchange, A and B can obtain the relative positioning information of each other; in addition, source node A can also perform relative positioning with E first. For relative positioning, E and F perform relative positioning, and F and B perform relative positioning, and high-precision relative positioning between A and B can be achieved through signaling interaction between A, E, F, and B.

Cooperative positioning can break through the limitation of LOS path in relative positioning, and further improve the positioning accuracy of relative positioning in NLOS environment. But at the same time, with the increase of nodes participating in cooperative positioning, it will inevitably bring certain system overhead, including: (1) Signaling overhead increases, not only there is signaling interaction between the source node and the target node, each participating There is signaling interaction between the nodes of cooperative positioning and the nodes participating in cooperative positioning with the source node and the target node, thus greatly increasing the signaling overhead; (2) The positioning delay increases, and the essence of cooperative positioning is relative in the case of multi-hop. Therefore, the positioning delay will increase; (3) the power consumption will increase, and the nodes participating in the cooperative positioning need to perform signaling analysis and reference signal measurement, which inevitably brings additional power consumption increase. Therefore, once the source node and the target node have relative positioning requirements, it is necessary to choose whether to directly perform the relative positioning process or enter the cooperative positioning process based on certain criteria, so as to achieve a trade-off between the relative positioning accuracy and the cost.

In view of the above problem, an embodiment of the present application provides a method for triggering a positioning method. By designing the relative positioning feedback signal (relative positioning response) fed back from the target node to the source node to carry the indication information for indicating whether the two meet the LOS positioning conditions, combined with the positioning capabilities of the source node and/or the target node, the source node can be It is determined whether the next positioning process adopts the relative positioning method or the cooperative positioning method, so as to reduce the system overhead on the premise of satisfying the effective relative positioning accuracy.

It should be understood that the relative positioning mentioned in the embodiments of the present application refers to a positioning method in which the source node and the target node to be positioned are directly relative positioned by the source node and the target node without the assistance of other surrounding nodes. When there is no obstacle between B, the two can directly perform relative positioning; and cooperative positioning refers to the process of relative positioning between the source node and the target node that needs to be assisted by surrounding nodes as shown in Figure 1. Positioning can be applied to NLOS trail scenarios or to scenarios where there are LOS trails, but the positioning capabilities of the source node and the target node do not support direct relative positioning. For the convenience of description, relative positioning and cooperative positioning are used in this paper to represent these two positioning methods respectively.

Exemplarily, as shown in FIG. 2 , it is a schematic diagram of an application scenario provided by an embodiment of the present application. This application can be used for relative positioning and cooperative positioning scenarios between devices with wireless communication technologies such as sidelink (sidelink), Wi-Fi, ultra wideband (UWB), and Bluetooth.

Among them, each node participating in cooperative positioning can send positioning reference signal (positioning reference signal, PRS), channel state information reference signal (channel state information reference signal, CSI-RS), time/frequency domain tracking reference signal (time/frequency tracking signal). , TRS) and other positioning measurement reference signals, and can have multi-antenna capability.

From the perspective of the network topology, if it is based on the relative positioning and cooperative positioning of the cellular sidelink, each node can be located within the coverage of the base station, or can be located outside the coverage of the base station (as shown in (a) in Figure 2). If it is based on Wi-Fi relative positioning and cooperative positioning, each node can be located within the coverage of the AP, or can be located outside the coverage of the AP (as shown in (b) in Figure 2); If it is based on relative positioning and cooperative positioning based on Bluetooth or UWB, the node can be located either within the coverage of the anchor, or outside the coverage of the anchor (as shown in (c) in Figure 2).

In a possible implementation manner, the triggering method of the positioning mode provided by the embodiment of the present application may be applied to an indoor positioning scenario. As shown in Figure 3, taking the positioning of smart speakers as an example, when the user uses two smart speakers (Smart Influence 1 and Smart Speaker 2) for stereo playback, Smart Speaker 1 and Smart Speaker 2 need to know each other's positions, but due to The two speakers may be blocked by other devices such as TV sets, so there is no LOS path between the smart speakers. At this time, the smart speaker 1 can perform cooperative positioning through other devices in the room, such as mobile phones, tablet computers, smart watches, routers, and the like. In other words, as shown in Figure 3, the smart speaker 1 can be positioned relative to the tablet computer first, the tablet PC can be positioned relative to the user's mobile phone or smart watch, the mobile phone or smart watch can be positioned relative to the smart speaker 2, and finally the intelligent Positioning between speaker 1 and smart speaker 2.

Exemplarily, the above-mentioned cooperative positioning method between smart speakers may occur during the initial connection. In addition, the source node and the target node in the embodiment of the present application may also be a variety of other devices, for example, the source node and the target node are mobile phones of the same user or different users, in this case, the cooperative node may be a smart watch, a tablet computer, etc. equipment.

The source node and the target node in the embodiments of the present application may be various terminals with positioning function and wireless communication capability, and are not limited to the devices mentioned in the above examples.

It should be understood that, in the triggering method of the positioning mode provided by the embodiment of the present application, before positioning, the source node judges whether there is an LOS path between the two based on the information fed back by the target node, and selects the positioning mode based on the judgment result, thereby realizing the positioning. A trade-off between accuracy and cost to improve positioning efficiency.

Exemplarily, as shown in FIG. 4 , it is a schematic diagram of a triggering method of a positioning mode provided by an embodiment of the present application. The method is applied to the source node and the target node, including the following steps:

S401. Send a first positioning measurement reference signal to a target node.

The source node may be a node to be located that sends a positioning measurement reference signal.

Optionally, the source node and/or the target node may be a multi-antenna capable terminal.

The first positioning measurement reference signal here may be PRS, CSI-RS, or TRS, or the like. Specifically, the first positioning measurement reference signal here may be, for example, an aperiodic PRS signal, an aperiodic CSI-RS, an aperiodic TRS signal, or the like.

In addition, the first positioning measurement reference signal may be carried in a positioning request message, such as a relative positioning request message (relative positioning request); it may also be sent to the target node as a separate signaling process after the source node sends the positioning request message to the target node. target node.

S402: Receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information, where the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node.

Optionally, when the source node sends a relative positioning request message (relative positioning request) to the target node, the positioning feedback message may be a relative positioning feedback message (relative positioning response) correspondingly.

The first indication information is used to indicate whether the LOS condition is satisfied between the source node and the target node. Specifically, the first indication information may be LOS path state indication information, or LOS existence state indication information. The LOS path condition mentioned in this application may be whether there is an LOS path between the source node and the target node. Among them, when the LOS condition is satisfied, there is an LOS path between the source node and the target node; when the LOS condition is not satisfied, there is no LOS path between the source node and the target node.

Optionally, the target node may determine whether the LOS path condition is satisfied between the source node and the target node based on the first positioning measurement reference signal received in step S301.

Among them, the judgment of the target node on the LOS path can adopt various existing methods, and the judgment methods include but are not limited to the following methods: (1) According to the two statistics of the Rice factor and the skewness of the effective signal of the positioning measurement reference signal The eigenvalues are judged based on the conditional probability density and the threshold; (2) The variation law of the phase difference variance of the NLOS and LOS antennas is explored according to the phase angle; (3) The NLOS and LOS paths are judged according to the phase variance factor between the antennas; (4) LOS path identification based on artificial intelligence (AI) technology. For the process of judging the LOS path by the target node, reference may be made to the prior art, which will not be repeated here.

S403, when it is determined according to the first indication information that the LOS condition is not satisfied between the source node and the target node, determine that the source node and the target node adopt a cooperative positioning mode; when it is determined according to the first indication information that the LOS condition is satisfied between the source node and the target node In the case of the LOS condition, the positioning mode between the source node and the target node is determined according to the positioning capability of the source node and/or the target node.

Optionally, when the source node judges that the LOS path condition is satisfied between the source node and the target node according to the first indication information, it may be determined to use a relative positioning method for positioning; or, when the source node judges the source node and the target node according to the first indication information. When the LOS path condition is not satisfied between the nodes, it may be further determined to use a cooperative positioning method for positioning according to the positioning capability of the source node and/or the target node.

The positioning capability mentioned in the embodiments of the present application may mainly refer to the number of antennas of a node. In addition, the positioning capability may also include the positioning bandwidth supported by the node, and the positioning bandwidth may affect the final positioning method after the positioning method is determined. Taking relative positioning as an example, if the positioning bandwidth of the source node and the target node is large (for example, supporting 100MHz), it also means that the time resolution is strong, so positioning methods such as TOA/TDOA/RTT can be used; The positioning bandwidth is small, which means that the time resolution of the signal is weak, so the carrier phase positioning and angle positioning methods can be used.

According to the method for selecting a positioning mode provided by the embodiment of the present application, the source node determines the subsequent positioning mode according to the LOS path status indication information fed back by the target node, which can save signaling overhead on the basis of ensuring positioning accuracy.

It should be understood that, in addition to the LOS diameter, the positioning capability of both ends of the relative positioning is also an important factor affecting the positioning accuracy. In order to ensure the positioning accuracy between the source node and the target node, in addition to determining the positioning method based on the LOS path condition, the source node can also make the aforementioned judgment in combination with the LOS path condition and the positioning capabilities of the source node and the target node.

Exemplarily, FIG. 5 shows a schematic diagram of another method for triggering a positioning manner provided by an embodiment of the present application. In addition to the steps shown in Figure 4, the method may further include the following steps:

S501 , sending positioning capability request information to a target node, where the positioning capability request information is used to request to query the positioning capability of the target node.

Optionally, the source node may send a positioning request message to the target node before positioning, for example, the positioning request message may be a relative positioning request message (relative position request).

The positioning request message may include third indication information, where the third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal. The third indication information may be, for example, aperiodic relative positioning measurement reference signal video resource indication information.

Optionally, the source node sends the first positioning measurement reference signal to the target node, and the target node receives the first positioning measurement reference signal on the designated first time-frequency resource.

Optionally, the source node may also send positioning capability request information (capability request) to the target node. The positioning capability request information may be carried in the positioning request message; it may also be designed as a separate signaling process.

Exemplarily, when the location capability of the source node and the target node is strong, there are many supported location methods, and the corresponding location capability information will be relatively large. In this case, in order to simplify the location request message, the location capability request information can be designed as: Separate signaling process; or, when the location capability of the source node and the target node is weak, the supported location methods are few, and the corresponding location capability indication information is small, in order to simplify the location process, the location capability request information can be It is carried in the request request message and sent to the target node.

Further, the source node may also carry fourth indication information in the location capability request information, where the fourth indication information may be source node location capability indication information, and is used to indicate to the target node the location capability supported by the source node.

Optionally, the positioning capability mentioned in this embodiment of the present application refers to the number of antennas of the node, and may also include the positioning bandwidth supported by the node, and the like.

S502: Receive second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

The target node sends second indication information to the source node based on the positioning request information, where the second indication information may be target node positioning capability feedback information (capability response), which is used to indicate to the source node the positioning capability of the target node.

Optionally, the second indication information may be carried in a positioning feedback message sent by the target node to the source node; or, it may also be designed as a separate signaling process.

Exemplarily, when the positioning capability request information sent by the source node to the target node is carried in the positioning request message, the target node may carry the second indication information in the positioning feedback message; or, when the source node sends the positioning information to the target node separately When the capability request information is requested, the target node may also send the second indication information to the source node independently.

S503: Determine the positioning mode between the source node and the target node according to the first indication information and the second indication information.

Optionally, the source node can respectively parse out the information of the LOS path existence state and the positioning capability information of the target node according to the positioning feedback message and the second indication information, and then, when the LOS path exists, according to the positioning of the source node and/or the target node. ability and further determine the positioning method with the target node based on preset criteria.

It should be understood that the positioning mode mentioned in the embodiments of the present application may include relative positioning or cooperative positioning.

It should also be understood that the positioning capability in this embodiment of the present application mainly refers to the positioning capability of the relevant node, but may also include other aspects, such as the positioning bandwidth supported by the node.

In addition, the preset criteria for the source node to determine the positioning method may include the following:

When the source node determines, according to the first indication information, that the LOS path condition between the source node and the target node is satisfied (the LOS path exists), and the number of antennas of the source node and/or the target node is greater than or equal to the first threshold, determine the source node The relative positioning method is adopted with the target node, and the relative positioning process can be entered later.

Or, when the source node judges according to the first indication information that the LOS path condition between the source node and the target node is satisfied (there is an LOS path), and the number of antennas of the source node and the target node is less than the first threshold, determine the source node. The cooperative positioning method is adopted with the target node, and the cooperative positioning process can be entered later.

Optionally, the first threshold here may be 3, for example.

It can be seen from the above embodiments that the target node sends the LOS path status indication information and the positioning capability indication information to the source node according to the source node, and then the source node determines the subsequent positioning process according to the information. However, when the target node has a weak capability and cannot determine whether there is an LOS path based on the measurement signal sent by the source node, it can also send a second time-frequency resource indication to the source node, instructing the source node to perform positioning measurements on the second time-frequency resource. For the measurement of the reference signal, the LOS path detection is performed by the source end.

Exemplarily, the target node may carry fifth indication information in the positioning feedback message, where the fifth indication information may be indication information of the second time-frequency resource corresponding to the second positioning measurement reference signal, and is used to indicate the second positioning measurement reference signal. The time-frequency resource corresponding to the signal. The second positioning measurement reference signal is a reference signal sent by the target node to the source node and used by the source node to determine the LOS path status between it and the target node.

It should be understood that when the source node parses the fifth indication information from the information sent by the target node, it can be used to indicate that the LOS path status indication information (ie the first indication information) in the positioning feedback message is invalid or unreliable.

After the source node completes the LOS path detection by itself, it can only select the result of its own detection and judgment; or the source node can also combine the LOS path status result of its own detection and judgment and the LOS path status result parsed from the positioning feedback message to determine the LOS path. state of existence.

Among them, when the source node only judges the positioning method of the subsequent positioning process according to the result of the existence of the LOS path detected by itself, as shown in Figure 6, the following steps may be included:

S601. Send a first positioning measurement reference signal to a target node.

S602: Receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information and fifth indication information, where the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node, and the fifth indication The information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal.

S603, according to the fifth indication information, receive the second positioning measurement reference signal sent by the target node in the second time-frequency resource.

S604, when it is determined according to the second positioning measurement reference signal that the LOS condition is not satisfied between the source node and the target node, it is determined that a cooperative positioning mode is adopted between the source node and the target node; when the source node and the target node are determined according to the second positioning measurement reference signal When the LOS condition is satisfied between the nodes, the positioning mode between the source node and the target node is determined according to the positioning capability of the source node and/or the target node.

The foregoing steps S601 , S602 and S604 are respectively similar to the foregoing steps S401 to S403 , and the specific content may refer to the foregoing related descriptions, which will not be repeated here.

The following will describe in detail the communication flow before the selection of the positioning mode in different specific scenarios with reference to the accompanying drawings.

One of the possible scenarios is: the target node has relatively strong antenna capability and is capable of judging whether there is a LOS path currently based on the measurement reference signal sent by the source node to the target node. A positioning measurement reference signal determines whether there is an LOS path with the source node. At this time, the positioning feedback message sent by the target node to the source node does not need to indicate the second time-frequency resource of the second positioning measurement reference signal, and the source node does not need to It is sufficient to perform the LOS path indication by oneself, but directly obtain the LOS path status indication information in the positioning feedback message.

Furthermore, if the localization capabilities of the source node and the target node are relatively strong at this time, there are many supported localization methods, so that the corresponding location capability information is relatively large. In order to simplify the relative location request signal and response signal, the location capability can be The request signal and the positioning capability response signal are designed as separate signaling processes, instead of carrying the positioning capability request indication information and the positioning capability response indication information in the relative positioning request signal and the relative positioning response signal respectively.

As shown in FIG. 7 , a schematic flowchart of a triggering method of a positioning mode applied in the above scenario is provided. Include the following steps:

S701, the source node sends a positioning request message to the target node.

The positioning request message may be a relative positioning request signal (relative positioning request).

The positioning request message may carry at least third indication information, where the third indication information is indication information of the first time-frequency resource corresponding to the first positioning measurement reference signal, such as time-frequency resource indication information of the aperiodic relative positioning measurement reference signal.

Optionally, the schematic structure of the positioning request signal can be shown in FIG. 8 , the source node carries the time-frequency resource indication information needed for the target node to perform the positioning measurement reference signal in the relative positioning request message, and informs the target terminal.

S702, the source node sends a first positioning measurement reference signal to the target node.

Wherein, the first positioning measurement reference signal may be a positioning measurement reference signal, including but not limited to: aperiodic PRS signal, aperiodic CSI-RS signal, aperiodic TRS signal, and the like.

S703, the target node sends a positioning feedback message to the source node, where the positioning feedback message carries the first indication information.

Optionally, the target node receives the positioning request message, and receives the first positioning measurement reference signal on the designated first time-frequency resource. The target node determines whether there is an LOS path between the source node and the target node based on the received first positioning measurement reference signal.

The target node sends a positioning feedback message to the source node, where the positioning feedback message carries at least first indication information to indicate whether the LOS path condition is satisfied between the source node and the target node, that is, whether there is an LOS path.

Exemplarily, the target terminal node may, for example, judge whether the LOS path exists or not according to the aperiodic measurement reference signal sent by the source node, and carry the judged result in a positioning feedback message and feed it back to the source node.

Optionally, a schematic structure of the positioning feedback message is shown in FIG. 9 , wherein the LOS path existence status indication in the positioning feedback message fed back by the target node to the source node may specifically refer to whether the source node and the target node exist or not. Indication information of the LOS path.

Furthermore, the target node and the source node can use 1-bit indication information to represent the LOS path existence state. For example, if there is an LOS path, it is represented by a bit "1"; if there is no LOS path, it is represented by a bit "0". Of course, if there is an LOS path, it can be represented by a bit "0"; if there is no LOS path, it can be represented by a bit "1".

S704, the source node sends positioning capability request information to the target node.

The positioning capability request information may be, for example, a relative positioning capability request signal (capability request).

Optionally, the location capability request information may further carry fourth indication information, where the fourth indication information may be the location capability indication information of the source node itself, and is used to indicate the location capability of the source node to the target node.

S705, the target node sends positioning capability feedback information to the source node.

The target node receives the location capability request information sent by the source node, and in response to the location capability request information, sends location capability feedback information to the source node.

The positioning capability feedback information carries second indication information, and the second indication information may be target node positioning capability indication information (capability response), which is used to indicate the positioning capability of the target node to the source node.

S706, the source node determines the positioning mode according to the first indication information and the positioning capability feedback information.

According to the positioning feedback message received in the above step S703 and the positioning capability feedback information received in the step S705, the source node parses out the LOS path existence status information and the target node positioning capability information respectively, and determines the subsequent entry into relative positioning based on the preset criteria. The process is also a collaborative positioning process.

Wherein, the preset criteria for the source node to determine to adopt the positioning method may include the following:

(1) When it is determined that the LOS condition is not satisfied between the source node and the target node, that is, there is no LOS path, it is determined that the source node and the target node adopt multi-node cooperative positioning, and the cooperative positioning process can be entered later;

(2) When it is determined that the LOS condition is satisfied between the source node and the target node, that is, there is an LOS path, the positioning capability of the source node and the target node is further judged, and the positioning method used in the subsequent positioning process is determined according to the positioning capability. The positioning capability here can be mainly the number of antennas of the source node and/or the target node, where:

When the number of antennas of the source node and/or the target node is greater than or equal to the first threshold, it is determined that the source node and the target node adopt a relative positioning method, and the relative positioning process can be entered subsequently.

Alternatively, when the number of antennas of the source node and the target node are both less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method, and the cooperative positioning process can be entered subsequently.

Optionally, the first threshold here may be 3, for example.

It can be understood that in this embodiment, the location request message sent by the source node does not carry the location capability request information, and the location feedback message fed back by the target node does not carry the second indication information for indicating the location capability of the target node. The node may request to query the positioning capability of the target node by separately sending the positioning capability request information, and the target node may separately send the second indication information to the source node, so that the source node obtains the positioning capability information of the target node. For the specific bearer mode, reference may be made to the indication mode of the capability request (request capabilities) and the capability feedback (provid capabilities) in the cellular/base station positioning in the R16 version, which will not be repeated here.

Further, the specific signaling bearer mode and measurement reference signal design are illustrated by taking the relative positioning of the 3GPP sidelink (sidelink) as an example. The relative positioning request signal can be carried by the 2nd-SCI in the PSCCH (Physical sidelink control channel, PSCCH) channel, and the aperiodic positioning measurement reference signal can be aperiodic PRS signal, aperiodic CSI-RS Or aperiodic TRS signal, and carried on the Physical sidelink share channel (Physical sidelink share channel, PSSCH). The source node can configure the aperiodic CSI-RS measurement reference signal and the time-frequency resources of the aperiodic CSI report of the target terminal through PC5-RRC signaling, and the corresponding CSI reporting and relative positioning response signal can be completed through MAC-CE. Further, such a process design and signaling format are not only applicable to sidelink relative positioning under the mode outside the network coverage (model2), but also applicable to the relative positioning of the sidelink under the mode (mode1) within the network coverage.

According to the triggering method of the above positioning method provided by the embodiment of the present application, the target node feeds back the LOS path existence status information and the positioning capability information to the source node, and the source node determines which positioning method to use for the subsequent positioning process based on the information. That is, before the positioning process is executed, a positioning mode that is more suitable for the current positioning scenario is selected based on a certain signaling process, which can avoid a large amount of unnecessary system overhead while ensuring the accuracy.

Another possible scenario is: when the source node and the target node support less positioning methods and the corresponding positioning capability indication information is less, in order to simplify the positioning process, the positioning and positioning capability request information and the positioning capability feedback information can be separately carried in the positioning request message and the positioning feedback message.

As shown in FIG. 10 , a schematic flowchart of a method for triggering a positioning method applied in the above scenario is provided. Include the following steps:

S1001, the source node sends a positioning request message to the target node.

The positioning request message may be a relative positioning request signal (relative positioning request), and the request message may carry at least third indication information, where the third indication information is an indication of the first time-frequency resource corresponding to the first positioning measurement reference signal information, such as aperiodic relative positioning measurement reference signal time-frequency resource indication information.

In addition, the location request message also carries location capability request information (capability request), which is used to request the target node to query its location capability.

It should be understood that the schematic structure of the positioning request signal may be as shown in FIG. 11 . In addition to the positioning measurement reference signal indication information, the positioning request message also includes positioning capability request information, that is, instructing the target node to provide its own support to the source node. location capability indication information.

Optionally, the location capability request information may also include the location capability supported by the source node itself, so as to provide the target node with the location capability supported by the source node.

S1002, the source node sends a positioning first positioning measurement reference signal to the target node.

Wherein, the first positioning measurement reference signal may include, but is not limited to, an aperiodic PRS signal, an aperiodic CSI-RS signal, an aperiodic TRS signal, and the like.

S1003, the target node sends a positioning feedback message to the source node, where the positioning feedback message carries the first indication information and the second indication information.

The first indication information may be LOS path existence status indication information, which is used to indicate whether the LOS path condition is satisfied between the source node and the target node, that is, whether there is an LOS path. The second indication information may be positioning capability indication information of the target node, which is used to indicate the positioning capability supported by the target node.

The target node sends a positioning feedback message to the source node, and the positioning feedback message carries at least the first indication information and the second indication information to indicate whether the LOS path condition is satisfied between the source node and the target node, that is, whether there is an LOS path, and the target node. Node positioning capability.

Exemplarily, the target node can, for example, judge whether the LOS path exists between it and the source node according to the aperiodic positioning measurement reference signal sent by the source node, and carry the judged result in the relative positioning feedback message for feedback. to the source node.

Optionally, a schematic structure of the positioning feedback message may be shown in FIG. 12 , where the LOS path existence status indication in the positioning feedback message fed back by the target node to the source node may specifically refer to whether the source node and the target node have storage or not. There is indication information of the LOS path, which is used to indicate whether the LOS path condition is satisfied between the source node and the target node; the positioning capability feedback information is used to indicate the positioning capability supported by the target node.

In some embodiments, the LOS path presence status can be represented by 1-bit indication information. For example, if there is an LOS path, it is represented by a bit "1"; if there is no LOS path, it is represented by a bit "0". Of course, if there is an LOS path, it can be represented by a bit "0"; if there is no LOS path, it can be represented by a bit "1".

S1004, the source node determines the positioning mode according to the positioning feedback message.

The source node parses the LOS path existence state information and the target node positioning capability information according to the positioning feedback message received in the above step S803, and determines whether to enter the relative positioning process or the cooperative positioning process subsequently based on the preset criteria.

(1) When it is determined that there is no LOS path between the source node and the target node, that is, the LOS condition is not satisfied, determine that the source node and the target node adopt multi-node cooperative positioning, and then enter the cooperative positioning process;

(2) When it is determined that there is an LOS path between the source node and the target node, that is, when the LOS condition is satisfied, the positioning capability of the source node and the target node is further judged, wherein:

Optionally, the first threshold may be 3, for example.

It should be understood that the design of the positioning capability request message and the positioning capability feedback message may refer to the bearer mode of the capability request (request capabilities) and capability feedback (provid capabilities) in the cellular/base station positioning in the R16 version, which will not be repeated here.

Compared with carrying the positioning capability request information and positioning capability feedback information through additional separate signaling in the scenario shown in FIG. 7 , the embodiment shown in FIG. 10 carries the positioning capability request information and positioning capability feedback information in the positioning request message respectively. with the positioning feedback signal. The above design can simplify the relative positioning-cooperative positioning negotiation process.

According to the triggering method of the above positioning method provided by the embodiment of the present application, the target node feeds back the LOS path existence status information and the positioning capability information to the source node, and the source node determines which positioning method to use for the subsequent positioning process based on the information. That is, before the positioning process is executed, a positioning mode that is more suitable for the current positioning scenario is selected based on a certain signaling process, which can avoid redundant system overhead while ensuring the accuracy.

Another possible scenario is: due to the weak capability of the target node or insufficient antenna capability, even if the source node sends a reference signal for positioning measurement to the target node, the capability of the target node is not sufficient to support it to determine whether or not based on the measurement reference signal. LOS trails exist. In this case, the target node may instruct the source node to perform positioning measurement reference signal measurement on the corresponding time-frequency resource in the positioning feedback message sent to the node, and the source node performs LOS path detection.

In this scenario, if the source node parses the positioning measurement reference signal time-frequency resource (such as aperiodic relative positioning measurement reference signal time-frequency resource) indication information in the signaling sent by the target node, it indicates the LOS path status information in the feedback message. (ie, the first indication information) is invalid or unreliable. At this time, the source node can detect the existence state of the LOS path between itself and the target node according to the time-frequency resource indication information and the positioning measurement reference signal sent by the target node. After the source node completes the LOS path detection by itself, it can only select the result of its own detection and judgment; alternatively, the source node can also combine the LOS path status result of its own detection and judgment and the LOS path status result parsed from the feedback message. The existence status of the LOS trail. This embodiment may be implemented based on the scenario of the embodiment corresponding to FIG. 7 , or may also be implemented based on the scenario of the embodiment corresponding to FIG. 10 . The following description is based on the scenario of the embodiment corresponding to FIG. 10 .

As shown in FIG. 13 , a schematic flowchart of a method for triggering a positioning method applied in the above scenario is provided. Include the following steps:

S1301, the source node sends a positioning request message to the target node.

S1302, the source node sends a positioning measurement reference signal to the target node.

S1303, the target node sends a positioning feedback message to the source node, where the positioning feedback message carries the first indication information, the second indication information and the fifth indication information.

Wherein, steps S1301 to S1303 are similar to steps S1001 to S1003 , and the specific description can refer to the description of the corresponding steps above, which will not be repeated here.

However, it is worth noting that the positioning feedback message in step S1303 carries the aforementioned first indication information and second indication information to indicate the difference between the LOS path existence state between the target node and the source node and the positioning capability of the target node, respectively. In addition, fifth indication information is also carried. The fifth indication information may be second time-frequency resource indication information corresponding to the second positioning measurement reference signal, and is used to indicate the time-frequency resource corresponding to the second positioning measurement reference signal of the source node.

Optionally, the second positioning measurement reference signal is a positioning measurement reference signal sent by the target node to the source node, and is used to enable the source node to determine the LOS path existence state between it and the target node according to the second positioning measurement reference signal, and also That is, it is judged whether the LOS path condition is satisfied between the source node and the target node.

After the source node parses the fifth indication information in the positioning feedback message, it may indicate that the LOS path existence state indicated by the currently received first indication information is invalid or unreliable.

Different from the embodiment shown in FIG. 10 , in this embodiment, since the capability of the target node is not sufficient to support its determination of the existence state of the LOS path with the source node based on the positioning measurement reference signal, it sends the location information to the source node in step S1303. The first indication information carried in the feedback message may be invalid or unreliable, therefore, the target node may send a positioning measurement reference signal for LOS path determination to the source node again.

S1304, the target node sends a second positioning measurement reference signal to the source node.

The source node receives the corresponding second positioning measurement reference signal in the designated second time-frequency resource based on the received fifth indication information sent by the target node.

Optionally, the second positioning measurement reference signal may include, but is not limited to, an aperiodic PRS signal, an aperiodic CSI-RS signal, an aperiodic TRS signal, and the like.

S1305, the source node determines a positioning method according to the second indication information and in combination with the LOS path existence state information obtained by its own measurement.

According to the LOS path existence status information obtained by the source node based on the positioning measurement reference signal based on the positioning reference signal, combined with the positioning capability feedback information in the parsed positioning feedback message, and based on the preset criteria, determine whether to enter the relative positioning process or enter the cooperation next. positioning process.

Optionally, the source node can also combine the first indication information, the second indication information in the positioning feedback message, and the LOS path existence status information obtained by itself based on the positioning measurement reference signal, and judge based on preset criteria that the next step is to enter relative positioning. The process still enters the collaborative positioning process.

Optionally, the structure of the positioning feedback message in this embodiment may be as shown in FIG. 14 . In addition to the LOS path existence status indication information and the positioning capability feedback information, it also includes a positioning measurement reference signal used by the source node to determine the LOS path. Time-frequency resource indication information, where the positioning measurement reference signal may be, for example, an aperiodic measurement reference signal.

Different from the signaling process design and the relative positioning response signal design in the embodiments shown in FIG. 7 and FIG. 10 , in this embodiment, after the target node sends the positioning feedback message, it also sends a message for the source node to determine whether the LOS path exists. Positioning the measurement reference signal, and indicating the time-frequency resource of the aperiodic measurement reference signal in the positioning feedback message. This embodiment can well solve the situation that whether there is an LOS path cannot be determined based on the relative positioning measurement reference signal due to weak target node capability or insufficient antenna capability.

According to the triggering method of the positioning mode provided by the embodiment of the present application, the target node sends a positioning measurement reference signal and the time-frequency resource corresponding to the reference signal to the source node, and the source node determines whether there is an LOS with the target node based on the information. According to the positioning capability of the relevant nodes, the specific positioning method to be used in the subsequent positioning process is determined. That is, before the positioning process is executed, the positioning method that is more suitable for the current positioning scenario is selected based on a certain signaling process, which can ensure the accuracy. In the case of avoiding redundant system overhead.

Exemplarily, an embodiment of the present application also provides a schematic structural diagram of a communication node. As shown in FIG. 15 , the communication node 1500 includes a sending unit 1501 , a receiving unit 1502 and a processing unit 1503 .

In an implementation manner, the sending unit 1501 may be configured to send the first positioning measurement reference signal to the target node.

The receiving unit 1502 may be configured to receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information, where the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node.

The processing unit 1503 may be configured to determine the positioning mode between the source node and the target node according to the first indication information.

In an implementation manner, the processing unit 1503 may be specifically configured to: when it is determined according to the first indication information that the LOS condition is not satisfied between the source node and the target node, determine that the source node and the target node do not meet the LOS condition. The target node adopts multi-node cooperative positioning; when it is determined according to the first indication information that the LOS condition is satisfied between the source node and the target node, according to the positioning capabilities of the source node and the target node , and determine the positioning mode between the source node and the target node.

In an implementation manner, the positioning capability includes the number of antennas; the processing unit 1503 may also be configured to: when judging that the number of antennas of the source node and/or the target node is greater than or equal to the first threshold, determine that the source node and the target node use relative Or, when it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method.

In an implementation manner, the sending unit 1501 may be further configured to send positioning capability request information to the target node, where the positioning capability request information is used to request to query the positioning capability of the target node.

The receiving unit 1502 may also be configured to receive second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

In an implementation manner, the sending unit 1501 may also be configured to send a positioning request message to the target node, where the positioning request message includes third indication information, and the third indication information is used to indicate the first positioning measurement reference signal corresponding to the first positioning measurement reference signal. time-frequency resources.

In an implementation manner, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

In an implementation manner, the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node. The processing module 1503 may also be configured to determine the positioning capability of the target node according to the second indication information.

In an implementation manner, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

In an implementation manner, the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal; the receiving unit 1502 can also be used to The indication information is to receive the second positioning measurement reference signal sent by the target node on the second time-frequency resource.

The processing unit 1503 may also be configured to determine whether the LOS condition is satisfied between the source node and the target node according to the second positioning measurement reference signal.

In an implementation manner, the first indication information is represented by 1-bit information, wherein, when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 1; When the information indicates that the LOS path condition is not satisfied, the first indication information is 0; or, when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 0; When the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 1.

In an implementation manner, the positioning request message is transmitted to the target node through the physical measurement link control channel PSCCH; and/or the positioning measurement reference signal is transmitted to the target node through the physical sidelink shared channel PSSCH.

FIG. 16 shows a schematic structural diagram of another communication node provided by an embodiment of the present application. The communication node 1600 includes a receiving unit 1601 , a processing unit 1602 and a sending unit 1603 .

In an implementation manner, the receiving unit 1601 may be configured to receive the first positioning measurement reference signal sent by the source node.

The processing unit 1602 may be configured to determine, according to the first positioning measurement reference signal, whether the line-of-sight LOS condition is satisfied between the source node and the target node.

The sending unit 1603 may be configured to send a positioning feedback message to the source node, where the positioning feedback message includes first indication information, where the first indication information is used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node.

In an implementation manner, the receiving unit 1601 may also be configured to receive the location capability request information sent by the source node, where the location capability request information is used to request to query the location capability of the target node.

The processing unit 1602 may also be configured to determine the positioning capability of the target node according to the positioning capability request message.

The sending unit 1603 may also be configured to send second indication information to the source node, where the second indication information is used to indicate the positioning capability of the target node.

In an implementation manner, the receiving unit 1601 may also be configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the third indication information is used to indicate the first positioning measurement reference signal corresponding to the first positioning measurement reference signal. Time-frequency resources.

In an implementation manner, the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal; the sending unit 1603 can also be used to send a message to the source node. The sent second positioning measurement reference signal, where the second positioning measurement reference signal is used by the source node to determine whether the LOS condition is satisfied between the source node and the target node.

In an implementation manner, the first indication information is represented by 1-bit information, wherein, when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 1; when the first indication information indicates that the LOS path condition is not satisfied , the first indication information is 0; or, when the first indication information indicates that the LOS path condition is satisfied, the first indication information is 0; when the first indication information indicates that the LOS path condition is not satisfied, the first indication information is 1.

In an implementation manner, the positioning request message is transmitted to the target node through the PSCCH; and/or the positioning measurement reference signal is transmitted to the target node through the PSSCH.

FIG. 17 shows a schematic structural diagram of a communication apparatus provided by an embodiment of the present application. The communication device 1700 includes at least one processor 1701, a communication interface 1702, and a memory 1703. The communication interface is used for the communication device to exchange information with other communication devices. The memory stores computer program instructions. When executed in the at least one processor, the communication device implements the function of the triggering method of the positioning mode described above on any one of the following nodes: the source node and the target node.

The processor 1701 , the communication interface 1702 and the memory 1703 are connected to each other through a bus 1704 . The bus 1704 may be a PCI bus or an EISA bus or the like. The bus 1704 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in FIG. 17, but it does not mean that there is only one bus or one type of bus.

Embodiments of the present application further provide a non-volatile storage medium, where one or more program codes are stored in the non-volatile storage medium. When the processor 1701 of the communication device 1700 executes the program codes, the communication device 1700 The function of the triggering method for executing the positioning method described above can be realized on any one of the following nodes: the source node and the target node.

The detailed description of each unit or module in the communication apparatus 1700 provided in the embodiment of the present application and the technical effect brought by each unit after the relevant method steps performed by the source node or the target node in any method embodiment of the present application can be referred to. The relevant descriptions in the method embodiments of the present application will not be repeated here.

Embodiments of the present application also provide a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the computer or processor is run on a computer or a processor, the computer or the processor is made to execute any one of the above methods. or multiple steps.

Embodiments of the present application also provide a computer program product including instructions. The computer program product, when run on a computer or processor, causes the computer or processor to perform one or more steps of any of the above methods.

The communication nodes, communication devices, computer-readable storage media, computer program products, and chips provided by the above-mentioned embodiments of the present application are all used to execute the methods provided above. Therefore, for the beneficial effects that can be achieved, reference may be made to those provided above. The beneficial effects corresponding to the method are not repeated here.

In conjunction with the above content, the application also provides the following embodiments:

Embodiment 1 provides a method for triggering a positioning method, wherein, applied to a source node, the method includes:

sending a first positioning measurement reference signal to the target node;

receiving a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information, where the first indication information is at least used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node;

When it is determined according to the first indication information that the LOS condition is not satisfied between the source node and the target node, it is determined that the source node and the target node adopt a cooperative positioning method;

When it is determined according to the first indication information that the LOS condition is satisfied between the source node and the target node, the source node and the target node are determined according to the positioning capability of the source node and/or the target node. Describe the positioning method between target nodes.

Embodiment 2, the triggering method according to Embodiment 1, wherein the positioning capability includes the number of antennas; the source node and the target node are determined according to the positioning capabilities of the source node and the target node The positioning methods between, specifically include:

When it is judged that the number of antennas of the source node and/or the target node is greater than or equal to the first threshold, it is determined that the source node and the target node use a relative positioning method; or,

When it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method.

Embodiment 3, the triggering method according to Embodiment 1 or Embodiment 2, wherein the method further includes:

Sending positioning capability request information to the target node, where the positioning capability request information is used to request to query the positioning capability of the target node;

Second indication information sent by the target node is received, where the second indication information is used to indicate the positioning capability of the target node.

Embodiment 4, the triggering method according to any one of Embodiments 1-3, wherein the method further includes:

Send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 5, the triggering method according to Embodiment 4, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 6, the triggering method according to any one of Embodiments 1-5, wherein the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node , the method also includes:

The positioning capability of the target node is determined according to the second indication information.

Embodiment 7. The triggering method according to any one of Embodiments 4-6, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 8, the triggering method according to any one of Embodiments 1-7, wherein the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second positioning measurement reference the second time-frequency resource corresponding to the signal; the method further includes:

receiving the second positioning measurement reference signal sent by the target node on the second time-frequency resource according to the fifth indication information;

According to the second positioning measurement reference signal, it is determined whether the LOS condition is satisfied between the source node and the target node.

Embodiment 9, according to the triggering method according to any one of Embodiments 1-8, the first indication information is represented by 1-bit information, wherein:

When the first indication information indicates that the LOS condition is satisfied, the first indication information is 1;

When the first indication information indicates that the LOS condition is not satisfied, the first indication information is 0; or,

When the first indication information indicates that the LOS condition is satisfied, the first indication information is 0;

When the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.

Embodiment 10, the method according to any one of Embodiments 1-9, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Positioning reference signal PRS, channel state information reference signal CSI-RS, time-frequency domain tracking reference signal TRS.

Embodiment 11, a method for triggering a positioning method, wherein, applied to a target node, comprising:

receiving the first positioning measurement reference signal sent by the source node;

Determine whether the LOS condition is satisfied between the source node and the target node according to the first positioning measurement reference signal;

Send a positioning feedback message to the source node, where the positioning feedback message includes first indication information, where the first indication information is used to indicate whether the LOS condition is satisfied between the source node and the target node.

Embodiment 12, the triggering method according to Embodiment 11, wherein the method further comprises:

receiving the location capability request information sent by the source node, where the location capability request information is used to request to query the location capability of the target node;

Send second indication information to the source node according to the location capability request information, where the second indication information is used to indicate the location capability of the target node.

Embodiment 13, the triggering method according to Embodiment 11 or 12, wherein the method further comprises:

A positioning request message sent by the source node is received, where the positioning request message includes third indication information, where the third indication information is used to indicate a first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 14, the triggering method according to Embodiment 13, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 15, the triggering method according to any one of Embodiments 12-14, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 16, the triggering method according to any one of Embodiments 11-15, wherein the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate the second positioning measurement reference signal corresponding second time-frequency resources; the method further includes:

The second positioning measurement reference signal sent to the source node, where the second positioning measurement reference signal is used by the source node to determine whether the LOS condition is satisfied between the source node and the target node.

Embodiment 17, according to the triggering method according to any one of Embodiments 11-16, the first indication information is represented by 1-bit information, wherein:

Embodiment 18, the triggering method according to any one of Embodiments 11-17, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 19, a method for triggering a positioning method, wherein, applied to a source node, comprising:

sending a first positioning measurement reference signal to the target node;

Receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information and fifth indication information, where the first indication information is used to indicate whether the line-of-sight LOS is satisfied between the source node and the target node condition, the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal;

When it is determined according to the second positioning measurement reference signal that the LOS condition is not satisfied between the source node and the target node, determining that the source node and the target node adopt a cooperative positioning mode;

When it is determined according to the second positioning measurement reference signal that the LOS condition is satisfied between the source node and the target node, the source node is determined according to the positioning capability of the source node and/or the target node and the positioning method between the target node.

Embodiment 20, the triggering method according to Embodiment 19, wherein the positioning capability includes the number of antennas; and the source node and the target node are determined according to the positioning capabilities of the source node and the target node The positioning methods between, specifically include:

Embodiment 21, the triggering method according to Embodiment 19 or 20, wherein the method further comprises:

Embodiment 22, the triggering method according to any one of Embodiments 19-21, wherein the method further comprises:

Embodiment 23, the triggering method according to Embodiment 22, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 24, the triggering method according to any one of Embodiments 19-23, wherein the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node , the method also includes:

Embodiment 25, the triggering method according to any one of Embodiments 22-24, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 26, according to the triggering method according to any one of Embodiments 19-25, the first indication information is represented by 1-bit information, wherein:

Embodiment 27, the triggering method according to any one of Embodiments 19-26, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 28, a method for triggering a positioning method, applied to a target node, includes:

Send a positioning feedback message to the source node according to the first positioning measurement reference signal, where the positioning feedback message includes fifth indication information, where the fifth indication information is used to indicate the second time corresponding to the second positioning measurement reference signal frequency resources;

sending the second positioning measurement reference signal to the source node.

Embodiment 29, the triggering method according to Embodiment 28, wherein the method further comprises:

Embodiment 30, the triggering method according to Embodiment 28 or 29, wherein the method further comprises:

Embodiment 31, the triggering method according to Embodiment 30, wherein the positioning request message includes positioning capability request information, and the positioning capability request information is used to request to query the positioning capability of the target node.

Embodiment 32: The triggering method according to any one of Embodiments 28-31, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 33, the triggering method according to any one of Embodiments 28-33, wherein the first indication information is represented by 1-bit information, wherein:

Embodiment 34, the triggering method according to any one of Embodiments 28-33, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 35 provides a communication node, including:

a sending unit, configured to send a first positioning measurement reference signal to the target node;

a receiving unit, configured to receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information, and the first indication information is at least used to indicate whether the line-of-sight is satisfied between the source node and the target node LOS condition;

a processing unit, configured to determine that the source node and the target node adopt a cooperative positioning mode when it is determined according to the first indication information that the LOS condition is not satisfied between the source node and the target node; When the first indication information determines that the LOS condition is satisfied between the source node and the target node, the source node and the target node are determined according to the positioning capability of the source node and/or the target node. The positioning method between nodes.

Embodiment 36, the communication node according to Embodiment 35, wherein the positioning capability includes the number of antennas; and the processing unit is specifically configured to:

Embodiment 37: The communication node according to Embodiment 35 or Embodiment 36, wherein the sending unit is further configured to send location capability request information to the target node, where the location capability request information is used to request to query all Describe the positioning capability of the target node;

The receiving unit is further configured to receive second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

Embodiment 38: The communication node according to any one of Embodiments 35-37, wherein the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes a third indication information, and the third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 39, the communication node according to Embodiment 38, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 40. The communication node according to any one of Embodiments 35-39, wherein the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node , the processing unit is further configured to determine the positioning capability of the target node according to the second indication information.

Embodiment 41. The communication node according to any one of Embodiments 38-40, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 42. The communication node according to any one of Embodiments 35-41, wherein the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second positioning measurement reference a second time-frequency resource corresponding to the signal; the receiving unit is further configured to receive the second positioning measurement reference signal sent by the target node in the second time-frequency resource according to the fifth indication information;

The processing unit is further configured to determine whether the LOS condition is satisfied between the source node and the target node according to the second positioning measurement reference signal.

Embodiment 43, according to the communication node according to any one of Embodiments 35-42, the first indication information is represented by 1-bit information, wherein:

Embodiment 44, the communication node according to any one of Embodiments 35-43, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 45, a communication node, comprising:

a receiving unit, configured to receive the first positioning measurement reference signal sent by the source node;

a processing unit, configured to determine whether the LOS condition is satisfied between the source node and the target node according to the first positioning measurement reference signal;

A sending unit, configured to send a positioning feedback message to the source node, where the positioning feedback message includes first indication information, and the first indication information is used to indicate whether the LOS condition is satisfied between the source node and the target node .

Embodiment 46, the communication node according to Embodiment 45, wherein the receiving unit is further configured to receive the location capability request information sent by the source node, where the location capability request information is used to request to query the location capability of the target node;

The sending unit is further configured to send second indication information to the source node according to the location capability request information, where the second indication information is used to indicate the location capability of the target node.

Embodiment 47: The communication node according to Embodiment 45 or 46, wherein the receiving unit is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the The third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 48, the communication node according to Embodiment 47, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 49. The communication node according to any one of Embodiments 46-48, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 50. The communication node according to any one of Embodiments 45-49, wherein the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second positioning measurement reference signal the corresponding second time-frequency resource; the sending unit is further configured to send the second positioning measurement reference signal to the source node, where the second positioning measurement reference signal is used by the source node to determine the source Whether the LOS condition is satisfied between the node and the target node.

Embodiment 51. The communication node according to any one of Embodiments 45-50, wherein the first indication information is represented by 1-bit information, wherein:

Embodiment 52, the communication node according to any one of Embodiments 45-51, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 53, a communication node, comprising:

a receiving unit, configured to receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information and fifth indication information, and the first indication information is used to indicate the relationship between the source node and the target node Whether the line-of-sight LOS condition is met, the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal; according to the fifth indication information, the target is received in the second time-frequency resource the second positioning measurement reference signal sent by the node;

a processing unit, configured to determine that the source node and the target node adopt a cooperative positioning mode when it is determined according to the second positioning measurement reference signal that the LOS condition is not satisfied between the source node and the target node; When it is determined according to the second positioning measurement reference signal that the LOS condition is satisfied between the source node and the target node, the source node is determined according to the positioning capability of the source node and/or the target node and the positioning method between the target node.

Embodiment 54, the communication node according to Embodiment 53, wherein the positioning capability includes the number of antennas; and the processing unit is configured to determine the source node according to the positioning capabilities of the source node and the target node The positioning method between the target node and the target node, specifically including:

The processing unit is specifically configured to, when judging that the number of antennas of the source node and/or the target node is greater than or equal to a first threshold, determine that the source node and the target node use a relative positioning method; or, when When it is judged that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method.

Embodiment 55: The communication node according to Embodiment 53 or 54, wherein the sending unit is further configured to send positioning capability request information to the target node, where the positioning capability request information is used to request to query the target Node positioning capability;

Embodiment 56: The communication node according to any one of Embodiments 53-55, wherein the sending unit is further configured to send a positioning request message to the target node, where the positioning request message includes a third indication information, and the third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 57, the communication node according to Embodiment 56, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 58. The communication node according to any one of Embodiments 53-57, wherein the positioning feedback message includes second indication information, and the second indication information is used to indicate the positioning capability of the target node , the processing unit is further configured to determine the positioning capability of the target node according to the second indication information.

Embodiment 59. The communication node according to any one of Embodiments 56-58, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

In Embodiment 60, according to the communication node according to any one of Embodiments 53-59, the first indication information is represented by 1-bit information, wherein:

Embodiment 61, the communication node according to any one of Embodiments 53-60, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 62, a communication node, comprising:

a sending unit, configured to send a positioning feedback message to the source node according to the first positioning measurement reference signal, where the positioning feedback message includes fifth indication information, and the fifth indication information is used to indicate a second positioning measurement reference the second time-frequency resource corresponding to the signal; sending the second positioning measurement reference signal to the source node.

Embodiment 63: The communication node according to Embodiment 62, wherein the receiving unit is further configured to receive location capability request information sent by a source node, where the location capability request information is used to request to query the location of the target node ability;

Embodiment 64: The communication node according to Embodiment 62 or 63, wherein the receiving unit is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, and the The third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

Embodiment 65, the communication node according to Embodiment 64, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 66. The communication node according to any one of Embodiments 62-65, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 67, the communication node according to any one of Embodiments 62-66, wherein the first indication information is represented by 1-bit information, wherein:

Embodiment 68, the triggering method according to any one of Embodiments 62-67, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 69 provides a communication device, the communication device may be a terminal or a chip in a terminal or an upper system, the communication device includes: at least one processor, a communication interface and a memory, the communication interface is used to communicate with other The communication device communicates, and the memory stores a storage instruction, and when the instruction is executed by the processor, the communication device performs the following steps:

sending a first positioning measurement reference signal to the target node;

Embodiment 70. The communication device of Embodiment 69, wherein the positioning capability includes the number of antennas; when the instructions are executed by the processor, the communication device is caused to perform the following steps:

Embodiment 71. The communication device of embodiment 69 or embodiment 70, wherein when the instructions are executed by the processor, the communication device is caused to perform the following steps:

Embodiment 72, the communication apparatus of any one of Embodiments 69-71, wherein the instructions, when executed by the processor, cause the communication apparatus to perform the following steps:

Embodiment 73: The communication apparatus according to Embodiment 72, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 74. The communication apparatus according to any one of Embodiments 69-73, wherein the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node , which, when executed by the processor, causes the communication device to perform the following steps:

Embodiment 75: The communication apparatus according to any one of Embodiments 72-74, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 76. The communication apparatus according to any one of Embodiments 69-75, wherein the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second positioning measurement reference The second time-frequency resource corresponding to the signal; when the instruction is executed by the processor, the communication device is caused to perform the following steps:

In Embodiment 77, according to the communication device according to any one of Embodiments 69 to 76, the first indication information is represented by 1-bit information, wherein:

Embodiment 78, the communication device according to any one of Embodiments 69-77, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 79, a communication device, the communication device may be a terminal or a chip in a terminal or an upper-side system, the communication device includes: at least one processor, a communication interface and a memory, the communication interface is used to communicate with other communication devices For communication, the memory stores storage instructions, and when the instructions are executed by the processor, the communication device is caused to perform the following steps:

Embodiment 80, the communication apparatus of Embodiment 79, wherein the instructions, when executed by the processor, cause the communication apparatus to perform the following steps:

Embodiment 81, according to the communication device of embodiment 79 or 80, when the instruction is executed by the processor, the communication device is caused to perform the following steps:

Embodiment 82, the communication apparatus according to Embodiment 81, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 83: The communication apparatus according to any one of Embodiments 80-82, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 84: The communication apparatus according to any one of Embodiments 79-83, wherein the positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate a second positioning measurement reference signal The corresponding second time-frequency resource; when the instruction is executed by the processor, the communication device is caused to perform the following steps:

Embodiment 85, the communication device according to any one of Embodiments 79-84, wherein the first indication information is represented by 1-bit information, wherein:

Embodiment 86, the communication device according to any one of Embodiments 79-85, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 87, a communication device, the communication device may be a terminal or a chip in a terminal or an upper-side system, the communication device includes: at least one processor, a communication interface and a memory, the communication interface is used to communicate with other communication devices For communication, the memory stores storage instructions, and when the instructions are executed by the processor, the communication device is caused to perform the following steps:

sending a first positioning measurement reference signal to the target node;

Receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information and fifth indication information, where the first indication information is used to indicate whether the line-of-sight LOS is satisfied between the source node and the target node condition, the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal; according to the fifth indication information, the second time-frequency resource is received by the target node. a second positioning measurement reference signal;

When it is determined according to the second positioning measurement reference signal that the LOS condition is not satisfied between the source node and the target node, it is determined that the source node and the target node adopt a cooperative positioning method; When it is determined by the positioning measurement reference signal that the LOS condition is satisfied between the source node and the target node, the source node and the target node are determined according to the positioning capability of the source node and/or the target node positioning between.

Embodiment 88, the communication device of Embodiment 87, wherein the positioning capability includes the number of antennas; when the instructions are executed by the processor, the communication device is caused to perform the following steps:

Determine the positioning mode between the source node and the target node according to the positioning capabilities of the source node and the target node, which specifically includes:

When judging that the number of antennas of the source node and/or the target node is greater than or equal to the first threshold, determine that the source node and the target node use a relative positioning method;

Alternatively, when it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method.

Embodiment 89, the communication apparatus of Embodiment 87 or 88, wherein the instructions, when executed by the processor, cause the communication apparatus to perform the following steps:

Embodiment 90, the communication apparatus of any one of Embodiments 87-89, wherein the instructions, when executed by the processor, cause the communication apparatus to perform the following steps:

Embodiment 91: The communication apparatus according to Embodiment 90, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 92: The communication device according to any one of Embodiments 87-91, wherein the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node , which, when executed by the processor, causes the communication device to perform the following steps:

Embodiment 93: The communication apparatus according to any one of Embodiments 89-91, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 94, according to the communication apparatus according to any one of Embodiments 87-93, the first indication information is represented by 1-bit information, wherein:

Embodiment 95, the communication device according to any one of Embodiments 87-94, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 96, a communication device, the communication device may be a terminal or a chip in a terminal or an upper-side system, the communication device includes: at least one processor, a communication interface and a memory, the communication interface is used to communicate with other communication devices For communication, the memory stores storage instructions, and when the instructions are executed by the processor, the communication device is caused to perform the following steps:

According to the first positioning measurement reference signal, a positioning feedback message is sent to the source node, where the positioning feedback message includes fifth indication information, and the fifth indication information is used to indicate the second positioning measurement reference signal corresponding to the second positioning measurement reference signal. time-frequency resources; sending the second positioning measurement reference signal to the source node.

Embodiment 97, the communication apparatus of Embodiment 96, wherein the instructions, when executed by the processor, cause the communication apparatus to perform the following steps:

The sending unit is further configured to send second indication information to the source node according to the positioning capability request information, where the second indication information is used to indicate the positioning capability of the target node.

Embodiment 98, the communication device of embodiment 96 or 97, wherein the instructions, when executed by the processor, cause the communication device to perform the following steps:

Embodiment 99, the communication apparatus according to Embodiment 98, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.

Embodiment 100. The communication apparatus according to any one of Embodiments 96-99, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

Embodiment 101, the communication apparatus according to any one of Embodiments 96-100, wherein the first indication information is represented by 1-bit information, wherein:

Embodiment 102, the triggering method according to any one of Embodiments 96-101, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 103, a communication system, comprising a source node and a target node, wherein the source node is configured to send a first positioning measurement reference signal to the target node;

The target node receives the first positioning measurement reference signal sent by the source node; determines whether the LOS condition is satisfied between the source node and the target node according to the first positioning measurement reference signal; and sends a positioning feedback message to the source node, The positioning feedback message includes first indication information, where the first indication information is used to indicate whether the LOS condition is satisfied between the source node and the target node;

The source node receives a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information, where the first indication information is at least used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node; When it is determined according to the first indication information that the LOS condition is not satisfied between the source node and the target node, it is determined that the source node and the target node adopt a cooperative positioning method; when according to the first indication When the information determines that the LOS condition is satisfied between the source node and the target node, the positioning between the source node and the target node is determined according to the positioning capability of the source node and/or the target node Way.

Embodiment 104, the communication system according to Embodiment 103, wherein the positioning capability includes the number of antennas; the source node determines the source node and the target node according to the positioning capability of the source node and/or the target node The positioning methods between, specifically include:

Embodiment 105, according to the communication system of Embodiment 103 and Embodiment 104, the source node sends the location capability request information to the target node, where the location capability request information is used to request to query the location capability of the target node;

The target node receives the positioning capability request information sent by the source node, where the positioning capability request information is used to request to query the positioning capability of the target node; and sends second indication information to the source node according to the positioning capability request information, the The second indication information is used to indicate the positioning capability of the target node.

The source node receives the second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

Embodiment 106: According to the communication system according to any one of Embodiments 103 to 105, a source node sends a positioning request message to the target node, where the positioning request message includes third indication information, and the third The indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

The target node receives the positioning request message sent by the source node, where the positioning request message includes third indication information, where the third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.

In Embodiment 107, according to Embodiment 106, the location request message includes location capability request information, where the location capability request information is used to request to query the location capability of the target node.

Embodiment 108: According to the communication system according to any one of Embodiments 103 to 107, the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node, and the source node The positioning capability of the target node is determined according to the second indication information.

In Embodiment 109, according to the communication system according to any one of Embodiments 106 to 108, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.

In Embodiment 110, according to the communication system according to any one of Embodiments 103 to 109, the relative positioning feedback message further includes fifth indication information, where the fifth indication information is used to indicate the position corresponding to the second positioning measurement reference signal. second time-frequency resource; the second positioning measurement reference signal sent by the target node to the source node, the second positioning measurement reference signal is used by the source node to determine the relationship between the source node and the target node Whether the LOS condition is satisfied.

The source node receives the second positioning measurement reference signal sent by the target node in the second time-frequency resource according to the fifth indication information; Whether the LOS condition is satisfied between the target nodes.

In Embodiment 111, according to the communication system according to any one of Embodiments 103 to 110, the first indication information is represented by 1-bit information, wherein:

Embodiment 112, according to the communication system described in any one of Embodiments 103 to 111, the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 113, a communication system, comprising a source node and a target node, wherein the source node sends a first positioning measurement reference signal to the target node;

The target node receives the first positioning measurement reference signal sent by the source node; according to the first positioning measurement reference signal, sends a positioning feedback message to the source node, where the positioning feedback message includes fifth indication information, and the fifth indication The information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal; sending the second positioning measurement reference signal to the source node;

The source node receives a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information and fifth indication information, where the first indication information is used to indicate whether the relationship between the source node and the target node satisfies the visual requirements. From the LOS condition, the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal; the second positioning measurement reference signal; when it is determined according to the second positioning measurement reference signal that the LOS condition is not satisfied between the source node and the target node, determine that the source node and the target node use Cooperative positioning method; when it is determined according to the second positioning measurement reference signal that the LOS condition is satisfied between the source node and the target node, according to the positioning capability of the source node and/or the target node, determine The positioning mode between the source node and the target node.

Embodiment 114, according to the communication system of Embodiment 113, the positioning capability includes the number of antennas; the source node is configured to, when judging that the number of antennas of the source node and/or the target node is greater than or equal to a first threshold, Determine that the source node and the target node use a relative positioning method; or, when it is judged that the number of antennas of the source node and the target node is less than the first threshold, determine that the source node and the target node use a relative positioning method; The cooperative positioning method.

Embodiment 115: According to the communication system according to Embodiment 113 or Embodiment 114, the source node is configured to send location capability request information to the target node, where the location capability request information is used to request to query the location of the target node ability;

The target node is configured to receive the location capability request information sent by the source node, where the location capability request information is used to request to query the location capability of the target node; send second indication information to the source node according to the location capability request information , the second indication information is used to indicate the positioning capability of the target node;

The source node is configured to receive second indication information sent by the target node, where the second indication information is used to indicate the positioning capability of the target node.

In Embodiment 116, according to the communication system according to any one of Embodiments 113 to 115, the source node is further configured to send a positioning request message to the target node, where the positioning request message includes third indication information, The third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal;

The target node is further configured to receive a positioning request message sent by the source node, where the positioning request message includes third indication information, where the third indication information is used to indicate the first time corresponding to the first positioning measurement reference signal frequency resources.

Embodiment 117: According to the communication system according to any one of Embodiments 113 to 116, the location request message includes location capability request information, where the location capability request information is used to request to query the location of the target node ability.

Embodiment 118. According to the communication system according to any one of Embodiments 113 to 117, the positioning feedback message includes second indication information, where the second indication information is used to indicate the positioning capability of the target node , the source node is further configured to determine the positioning capability of the target node according to the second indication information.

Embodiment 119: According to the communication system according to any one of Embodiments 116 to 118, the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location of the source node ability.

In Embodiment 120, according to the communication system according to any one of Embodiments 113 to 119, the first indication information is represented by 1-bit information, wherein:

In Embodiment 121, according to the communication system according to any one of Embodiments 113 to 120, the positioning measurement reference signal includes but is not limited to at least one of the following:

Embodiment 122 is a computer program product, which, when executed on a computer, enables the computer to execute the method involved in any of the foregoing Embodiments 1 to 34.

Embodiment 123: A computer-readable storage medium, where instructions are stored in the computer-readable storage medium, when the computer-readable storage medium runs on a computer, the computer can execute the steps involved in any of the foregoing Embodiments 1 to 34. method.

Embodiment 124 is a chip, where the chip includes a processor, and when the processor executes an instruction, the processor is configured to execute the method involved in any of the foregoing Embodiments 1 to 34. The instruction can come from memory inside the chip or from memory outside the chip. Optionally, the chip further includes an input and output circuit.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted over a computer-readable storage medium. The computer instructions can be sent from one website site, computer, server or data center to another website site, computer, server or data center for transmission. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)), and the like.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented. The process can be completed by instructing the relevant hardware by a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed , which may include the processes of the foregoing method embodiments. The aforementioned storage medium includes: ROM or random storage memory RAM, magnetic disk or optical disk and other mediums that can store program codes.

The above are only specific implementations of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the embodiments of the present application shall be covered by this within the protection scope of the application examples. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

Claims

A method for triggering a positioning method, characterized in that, applied to a source node, comprising:

sending a first positioning measurement reference signal to the target node;

receiving a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information, where the first indication information is at least used to indicate whether the line-of-sight LOS condition is satisfied between the source node and the target node;

When it is determined according to the first indication information that the LOS condition is not satisfied between the source node and the target node, it is determined that the source node and the target node adopt a cooperative positioning method;

When it is determined according to the first indication information that the LOS condition is satisfied between the source node and the target node, the source node and the target node are determined according to the positioning capability of the source node and/or the target node. Describe the positioning method between target nodes.
The triggering method according to claim 1, wherein the positioning capability includes the number of antennas; the source node and the target node are determined according to the positioning capability of the source node and/or the target node The positioning methods between, specifically include:

When it is judged that the number of antennas of the source node and/or the target node is greater than or equal to the first threshold, it is determined that the source node and the target node use a relative positioning method; or,

When it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method.
The triggering method according to claim 1 or 2, wherein the method further comprises:

Sending positioning capability request information to the target node, where the positioning capability request information is used to request to query the positioning capability of the target node;

Second indication information sent by the target node is received, where the second indication information is used to indicate the positioning capability of the target node.
The triggering method according to any one of claims 1-3, wherein the method further comprises:

Send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.
The triggering method according to claim 4, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.
The triggering method according to any one of claims 1-5, wherein the positioning feedback message includes second indication information, and the second indication information is used to indicate the positioning capability of the target node, and the Methods also include:

The positioning capability of the target node is determined according to the second indication information.
The triggering method according to any one of claims 4-6, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.
The triggering method according to any one of claims 1-7, wherein the positioning feedback message further includes fifth indication information, wherein the fifth indication information is used to indicate the first position corresponding to the second positioning measurement reference signal. Two time-frequency resources; the method further includes:

receiving the second positioning measurement reference signal sent by the target node on the second time-frequency resource according to the fifth indication information;

According to the second positioning measurement reference signal, it is judged whether the LOS condition is satisfied between the source node and the target node.
The triggering method according to any one of claims 1-8, wherein the first indication information is represented by 1-bit information, wherein:

When the first indication information indicates that the LOS condition is satisfied, the first indication information is 1;

When the first indication information indicates that the LOS condition is not satisfied, the first indication information is 0; or,

When the first indication information indicates that the LOS condition is satisfied, the first indication information is 0;

When the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.
The triggering method according to any one of claims 1-9, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Positioning reference signal PRS, channel state information reference signal CSI-RS, time-frequency domain tracking reference signal TRS.
A method for triggering a positioning method, characterized in that, applied to a source node, comprising:

sending a first positioning measurement reference signal to the target node;

Receive a positioning feedback message sent by the target node, where the positioning feedback message includes first indication information and fifth indication information, where the first indication information is used to indicate whether the line-of-sight LOS is satisfied between the source node and the target node condition, the fifth indication information is used to indicate the second time-frequency resource corresponding to the second positioning measurement reference signal;

receiving the second positioning measurement reference signal sent by the target node on the second time-frequency resource according to the fifth indication information;

When it is determined according to the second positioning measurement reference signal that the LOS condition is not satisfied between the source node and the target node, determining that the source node and the target node adopt a cooperative positioning mode;

When it is determined according to the second positioning measurement reference signal that the LOS condition is satisfied between the source node and the target node, the source node is determined according to the positioning capability of the source node and/or the target node and the positioning method between the target node.
The triggering method according to claim 11, wherein the positioning capability includes the number of antennas; and the distance between the source node and the target node is determined according to the positioning capabilities of the source node and the target node. positioning methods, including:

When it is judged that the number of antennas of the source node and/or the target node is greater than or equal to the first threshold, it is determined that the source node and the target node use a relative positioning method; or,

When it is determined that the number of antennas of the source node and the target node is less than the first threshold, it is determined that the source node and the target node adopt the cooperative positioning method.
The triggering method according to claim 11 or 12, wherein the method further comprises:

Sending positioning capability request information to the target node, where the positioning capability request information is used to request to query the positioning capability of the target node;

Second indication information sent by the target node is received, where the second indication information is used to indicate the positioning capability of the target node.
The triggering method according to any one of claims 11-13, wherein the method further comprises:

Send a positioning request message to the target node, where the positioning request message includes third indication information, where the third indication information is used to indicate the first time-frequency resource corresponding to the first positioning measurement reference signal.
The triggering method according to claim 14, wherein the location request message includes location capability request information, and the location capability request information is used to request to query the location capability of the target node.
The triggering method according to any one of claims 11-15, wherein the positioning feedback message includes second indication information, and the second indication information is used to indicate the positioning capability of the target node, and the Methods also include:

The positioning capability of the target node is determined according to the second indication information.
The triggering method according to any one of claims 14-16, wherein the location request message further includes fourth indication information, where the fourth indication information is used to indicate the location capability of the source node.
The triggering method according to any one of claims 11-17, wherein the first indication information is represented by 1-bit information, wherein:

When the first indication information indicates that the LOS condition is satisfied, the first indication information is 1;

When the first indication information indicates that the LOS condition is not satisfied, the first indication information is 0; or,

When the first indication information indicates that the LOS condition is satisfied, the first indication information is 0;

When the first indication information indicates that the LOS condition is not satisfied, the first indication information is 1.
The triggering method according to any one of claims 11-18, wherein the positioning measurement reference signal includes but is not limited to at least one of the following:

Positioning reference signal PRS, channel state information reference signal CSI-RS, time-frequency domain tracking reference signal TRS.
A communication device, characterized in that it includes at least one processor, a communication interface and a memory, the communication interface is used for the communication device to exchange information with other communication devices, and the memory stores computer program instructions, when the When the computer program instructions are executed in the at least one processor, the communication device realizes the function of the triggering method according to any one of claims 1 to 10 or 11 to 19 on any of the following nodes: the source node and the target node.
A computer-readable storage medium, characterized in that the computer-readable storage medium has program instructions, and when the program instructions are directly or indirectly executed, the program instructions are as described in any one of claims 1 to 10 or 11 to 19. The function of the triggering method is realized on any one of the following nodes: the source node and the target node.
A chip system, characterized in that the chip system includes at least one processor, and when the program instructions are executed in the at least one processor, the system as claimed in any one of claims 1 to 10 or 11 to 19 is implemented. The function of the triggering method is realized on any of the following devices: the source node, the target node.
A computer program, characterized in that, when the computer program is executed in at least one processor, the triggering method according to any one of claims 1 to 10 or 11 to 19 is executed on any of the following nodes The function is realized: the source node, the target node.