WO2022042193A1 - 一种协作定位方法及装置 - Google Patents

一种协作定位方法及装置 Download PDF

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Publication number
WO2022042193A1
WO2022042193A1 PCT/CN2021/109005 CN2021109005W WO2022042193A1 WO 2022042193 A1 WO2022042193 A1 WO 2022042193A1 CN 2021109005 W CN2021109005 W CN 2021109005W WO 2022042193 A1 WO2022042193 A1 WO 2022042193A1
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WO
WIPO (PCT)
Prior art keywords
terminal
information
cooperative
relative position
position information
Prior art date
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PCT/CN2021/109005
Other languages
English (en)
French (fr)
Inventor
黄伟
李雪茹
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202011412677.8A external-priority patent/CN114125697B/zh
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN202180030557.8A priority Critical patent/CN115918186B/zh
Priority to US18/042,778 priority patent/US20240015687A1/en
Priority to EP21860033.6A priority patent/EP4199613A4/en
Publication of WO2022042193A1 publication Critical patent/WO2022042193A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0284—Relative positioning
    • G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H04L5/0051—Allocation of pilot signals, i.e. of signals known to the receiver of dedicated pilots, i.e. pilots destined for a single user or terminal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0218—Multipath in signal reception

Definitions

  • the present application relates to the field of communication technologies, and in particular, to a cooperative positioning method and apparatus.
  • Terminal positioning includes absolute positioning and relative positioning.
  • two terminals do not need to know the absolute positioning information (such as absolute coordinates) of the other party, but only need to know the relative position information (relative distance information or relative angle information) between themselves and the other party.
  • relative positioning only occurs between two terminals and does not require the participation of a third party such as a positioning server. Therefore, the signaling interaction process is simpler and the end-to-end positioning delay can be shorter.
  • Relative positioning is a single-anchor point positioning technology.
  • Two terminals perform relative positioning based on the multipath (including line of sight (LOS) and non-light of sight (NLOS)) between them.
  • the premise of the relative positioning is that there is a line-of-sight path between the two terminals.
  • the present application provides a cooperative positioning method and device, which can obtain relatively accurate relative position information when there is no line-of-sight path between two terminals.
  • the present application provides a cooperative positioning method, comprising: a first terminal sending first information to a second terminal, where the first information includes a source terminal identifier and a target terminal identifier; the second terminal determines the first information in response to the first information relative position information of the second terminal and the first terminal; the second terminal sends second information to the third terminal, the second information includes the relative position information of the second terminal and the first terminal, the source terminal identification and the target terminal identification; the third terminal The terminal determines relative position information of the third terminal and the second terminal in response to the second information; wherein a line-of-sight path exists between the first terminal and the second terminal, and a line-of-sight path exists between the second terminal and the third terminal.
  • the cooperative terminal can assist the source terminal and the target terminal to determine the relative position information (or referred to as the relative positioning result) between the two.
  • the process may include determining relative position information between two terminals with line-of-sight paths, and finally determining the relative position information between the source terminal and the target terminal based on the relative position information between the two terminals with line-of-sight paths. Since there is a line-of-sight path between the two terminals performing relative positioning, the two terminals can determine relatively accurate relative position information. Based on multiple relatively accurate relative position information, it is helpful to determine a relatively accurate target. Relative position information between the terminal and the source terminal. There is no need to eliminate non-line-of-sight path positioning errors between the target terminal and/or the source terminal, thereby reducing the complexity of the positioning process.
  • the first terminal is a source terminal
  • the second terminal is a cooperation terminal
  • the third terminal is a target terminal
  • the method further includes: the third terminal is based on the relative position information of the third terminal and the second terminal, the second terminal is The relative position information of the terminal and the first terminal determines the relative position information of the third terminal and the first terminal; the third terminal sends a third message to the first terminal, and the third message includes the relative position of the third terminal and the first terminal information, source terminal identification and destination terminal identification.
  • the cooperation terminal can determine the relative position information with the source terminal, and the target terminal determines the relative position information with the cooperation terminal. Then the target terminal accurately determines the relative position information between the target terminal and the source terminal according to the relative position information of the cooperating terminal and the source terminal, and the relative position information of the cooperating terminal and the target terminal.
  • the present application provides a cooperative positioning method, including: a second terminal receives first information from a first terminal, and in response to the first information, determines relative position information between the second terminal and the first terminal, and the first information Including the source terminal identification and the target terminal identification; the second terminal sends the second information to the third terminal, the second information includes the relative position information of the second terminal and the first terminal, the source terminal identification and the target terminal identification; wherein, the first terminal A line-of-sight path exists between the terminal and the second terminal, and a line-of-sight path exists between the second terminal and the third terminal.
  • the cooperative terminal can assist the source terminal and the target terminal to determine the relative position information between the two, and the cooperative positioning process may include two existing sight lines.
  • the relative position information is determined between the terminals in the range, and the relative position information between the source terminal and the target terminal is finally determined based on the relative position information between the two terminals with the line-of-sight range. Since there is a line-of-sight path between the two terminals performing relative positioning, the two terminals can determine relatively accurate relative position information. Based on multiple relatively accurate relative position information, it is helpful to determine a relatively accurate target. Relative position information between the terminal and the source terminal. There is no need to eliminate non-line-of-sight path positioning errors between the target terminal and/or the source terminal, thereby reducing the complexity of the positioning process.
  • the first information further includes relative position information of the first terminal and the fourth terminal
  • the second information also includes relative position information of the first terminal and the fourth terminal
  • the first terminal and the fourth terminal There is a sight distance between them.
  • the first information sent by the first terminal may further include relative position information of the first terminal and the fourth terminal determined based on the line-of-sight path, and the second terminal may determine the relative position information between the first terminal and the first terminal.
  • the location information and the relative location information of the first terminal and the fourth terminal obtained from the first information are carried together in the second information sent to the third terminal, so that the third terminal can obtain the first terminal and the fourth terminal.
  • the relative position information between the terminal, the first terminal and the second terminal, and the third terminal and the second terminal can help reduce the delay in the entire positioning process, so as to quickly determine the relative position between the source terminal and the target terminal information.
  • the first information further includes preset time information; the preset time information instructs the second terminal to send the second information within a preset time period.
  • each terminal in the cooperative terminal group can determine to execute the above-mentioned relative positioning process within a preset time period based on the preset time information, so as to avoid the occurrence of each terminal in the cooperative terminal group continuously determining the relative position between the source terminal and the target terminal. information problems.
  • the first information further includes preset time information; the preset time information indicates whether the second terminal includes the relative position information of the first terminal and the fourth terminal in the second information.
  • each terminal in the assisting terminal group can also determine whether to obtain the relative position information in the received information based on the preset time information, so as to filter out the relative position information with an earlier determination time, on the premise of reducing the delay. , which helps to reduce the signaling load.
  • the first information further includes indication information of the first resource, and the first resource is used to carry the relative positioning reference signal sent by the first terminal; the second terminal determines the relative position of the second terminal and the first terminal.
  • the information includes: the second terminal measures the relative positioning reference signal sent by the first terminal on the first resource to obtain relative position information of the second terminal and the first terminal.
  • the first information further includes the first terminal identifier; the second terminal determines the relative position information of the second terminal and the first terminal, including: the second terminal according to the first terminal identifier and the periodic relative positioning reference signal
  • the preset configuration information of the first terminal determines the first resource, and the first resource is used to carry the relative positioning reference signal sent by the first terminal; the second terminal measures the relative positioning reference signal sent by the first terminal on the first resource, and obtains the second terminal. and the relative position information of the first terminal.
  • each terminal in the cooperative terminal group periodically broadcasts the relative positioning reference signal, so as to realize frequent or continuous relative positioning between the target terminal and the source terminal.
  • the present application provides a cooperative positioning method, including: a first terminal determining a first message, the first information including a source terminal identifier and a target terminal identifier; the first terminal sending first information to the second terminal, the first information Instruct the second terminal to send second information to the third terminal, where the second information includes relative position information of the second terminal and the first terminal, source terminal identification and target terminal identification; wherein, there is a relationship between the first terminal and the second terminal A line-of-sight path exists between the second terminal and the third terminal.
  • the present application provides a cooperative positioning method, comprising: a third terminal receiving second information from a second terminal, where the second information includes relative position information of the second terminal and the first terminal, a source terminal identifier and a target terminal identification; the third terminal determines the relative position information of the third terminal and the second terminal in response to the second information; wherein, there is a line-of-sight path between the first terminal and the second terminal, and the distance between the second terminal and the third terminal is There is a sight distance.
  • the present application provides a communication device
  • the communication device may be a terminal or a chip or a system-on-chip in the terminal
  • the communication device includes: a processor and a memory, the processor and the memory are coupled, and the memory is used for storing a computer program
  • the instructions when the processor executes the computer program instructions, cause the communication device to perform the following steps: receiving the first information from the first terminal, in response to the first information, determining the relative position information of the second terminal and the first terminal; The terminal sends the second information.
  • the present application provides a communication device, the communication device includes a processing unit and a communication unit, the processing unit is configured to control the communication unit to receive first information from a first terminal, and respond to the first information , determine the relative position information of the device and the first terminal, the first information includes the source terminal identifier and the target terminal identifier; the processing unit is further configured to control the communication unit to send the second information to the third terminal , the second information includes relative position information of the device and the first terminal, the source terminal identifier and the target terminal identifier; wherein, there is a line-of-sight between the first terminal and the device A line-of-sight path exists between the device and the third terminal.
  • a computer-readable storage medium is provided, and instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer can be made to execute any one of the above-mentioned second to fourth aspects. methods involved.
  • a computer program product comprising instructions, which, when executed on a computer, enable the computer to execute the method involved in any one of the designs of the second aspect to the fourth aspect.
  • a chip in a ninth aspect, includes a processor, and when the processor executes an instruction, the processor is configured to execute the method involved in any one of the designs of the second aspect to the fourth aspect.
  • the instruction can come from memory inside the chip or from memory outside the chip.
  • the chip further includes an input and output circuit.
  • FIG. 1 is a schematic diagram of the architecture of a cooperative positioning system provided by the present application.
  • FIG. 3 is a system architecture diagram under a V2X scenario provided by the present application.
  • FIG. 5 is a topology relationship diagram involving terminals in the first cooperative positioning process provided by the present application.
  • FIG. 6 is a schematic flowchart of a first cooperative positioning method provided by the present application.
  • FIG. 7 is a schematic diagram of the format of a group of cooperative positioning requests provided by the present application.
  • FIG. 8 is a schematic diagram of the format of a group of positioning information provided by this application.
  • FIG. 9 is a schematic diagram of a second cooperative positioning process provided by the present application.
  • Figure 10 is a topology diagram of a terminal involved in a second cooperative positioning process provided by the application.
  • FIG. 11 is a schematic flowchart of a third cooperative positioning method provided by this application.
  • FIG. 13 is a schematic diagram of a display interface provided by the application.
  • 15 is a schematic structural diagram of a cooperative positioning device provided by the application.
  • FIG. 16 is a schematic structural diagram of a communication device provided by the present application.
  • the goal is defined as: in general commercial scenarios, the positioning accuracy meets the sub-meter positioning accuracy, and the positioning delay is 100ms; In the Internet (industrial internet of things, IIoT), the positioning accuracy needs to reach 20cm, and the positioning delay needs to reach 10ms.
  • 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 technology (such as wireless fidelity (WiFi) positioning, Bluetooth positioning, terrestrial beacon system (TBS) positioning, ultra wideband (UWB) positioning, etc.) and hybrid positioning technology, etc. .
  • RAT radio access technology
  • GNSS global navigation satellite system
  • WiFi wireless fidelity
  • Bluetooth Bluetooth positioning
  • TBS terrestrial beacon system
  • UWB ultra wideband
  • FIG. 1 exemplarily shows an architecture diagram of a relative positioning system to which the embodiments of the present application are applied, and the system architecture includes multiple terminals.
  • the multiple terminals include terminal 1 to terminal 5 .
  • a terminal may also be referred to as a terminal device, a user equipment (UE), a mobile station (mobile station, MS), a mobile terminal (mobile terminal, MT), and the like.
  • the terminal can be a mobile phone (mobile phone), a tablet computer (Pad), a computer with a wireless transceiver function, a virtual reality (Virtual Reality, VR) terminal, an augmented reality (Augmented Reality, AR) terminal, an industrial control (industrial control) terminal.
  • Wireless terminal wireless terminal in self driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, smart city (smart city) wireless terminal, smart home (smart home) wireless terminal and so on.
  • the embodiments of the present application do not limit the specific technology and specific device form adopted by the terminal.
  • the system architecture diagram may also include network equipment.
  • the network equipment may be a base station (base station), an evolved NodeB (eNodeB), a transmission reception point (TRP), or a 5G mobile communication system.
  • Next generation NodeB (gNB) base station in future mobile communication system or access point (AP) in WiFi system, Bluetooth or ultra wideband (UWB) anchor point, etc.
  • the embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.
  • any one terminal (which may be referred to as a source terminal) and another terminal (which may be referred to as a target terminal) among the multiple terminals can determine the source terminal and the target terminal through the relative positioning process exemplarily shown in FIG. 2 .
  • relative position information between may be referred to as target relative position information).
  • the source terminal and the target terminal may be the terminal 1 and the terminal 3 in FIG. 1 , respectively, and the relative position information of the target, such as relative angle information and relative distance information between the terminal 1 and the terminal 3, etc.
  • Step 201 the source terminal sends a positioning request to the target terminal.
  • Step 202 the target terminal determines whether a line-of-sight path exists between the target terminal and the source terminal in response to the positioning request, generates line-of-sight path status information, and sends the terminal capability information and line-of-sight path status information to the source terminal as a message.
  • the line-of-sight path state information is obtained by the target terminal measuring the reference signal sent by the source terminal, and the line-of-sight path state information is used to indicate whether a line-of-sight path exists between the target terminal and the source terminal.
  • the line-of-sight path state information may be It is represented by one bit. If the value of the bit is 1, it indicates that there is a line-of-sight path between the target terminal and the source terminal. If the bit value is 0, it indicates that there is no line-of-sight path between the target terminal and the source terminal.
  • the target terminal determines whether a line-of-sight path exists between the target terminal and the source terminal, it may specifically be based on the receiver autonomous integrity monitoring (receiver autonomous integrity monitoring, RAIM) algorithm in the prior art or random sample consensus (random sample consensus, RANSAC) algorithm to determine.
  • RAIM receiver autonomous integrity monitoring
  • RANSAC random sample consensus
  • the target terminal determines that the energy on the first reach path of different antenna elements on the polarized antenna meets the energy consistency requirement, and the first reach path on different antenna elements on the vertically polarized antenna also meets the phase consistency requirement, the target terminal is determined to be There is a line-of-sight path with the source terminal; otherwise, it is determined that there is no line-of-sight path (or only a non-line-of-sight path exists) between the target terminal and the source terminal.
  • the target terminal may also send the line-of-sight path status information to the source terminal independently, or report the line-of-sight path status information to the source terminal as a part of the terminal capability information.
  • Step 203 according to the line-of-sight path state information and the terminal capability information, if it is determined that the relative positioning condition is satisfied between the source terminal and the target terminal, the source terminal sends positioning assistance information to the target terminal.
  • the relative positioning conditions include: 1. At least one line-of-sight path exists between the source terminal and the target terminal, and the target terminal or the source terminal can perform a time of arrival (time of arrival, TOA) based on the identified line-of-sight path; Measurement or round trip time (RTT) measurement; 2. At least one of the source terminal and the target terminal has multi-antenna capability (with at least 3 physical antennas) or virtual multi-antenna capability (supports subcarrier-based carrier phase The target terminal can estimate the angle of arrival (AoA) or the angle of departure (AoD), and perform relative positioning in conjunction with the TOA on the line-of-sight path.
  • TOA time of arrival
  • RTT round trip time
  • the target terminal can estimate the angle of arrival (AoA) or the angle of departure (AoD), and perform relative positioning in conjunction with the TOA on the line-of-sight path.
  • the positioning assistance information includes resource indication information corresponding to the source terminal, and the resource indication information corresponding to the source terminal is used to indicate the time-frequency resource for the source terminal to send a reference signal, and the reference signal can be used by the target terminal to measure and determine relative to the source terminal.
  • the reference signal may be referred to as a relative positioning reference signal, a reference signal, a positioning reference signal, a positioning measurement reference signal, and the like.
  • Reference signals such as 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 so on.
  • Step 204 the source terminal sends a reference signal to the target terminal.
  • Step 205 the target terminal measures the reference signal from the source terminal on the corresponding time-frequency resource according to the resource indication information of the reference signal of the source terminal in the positioning assistance information, and determines the relative position information of the target.
  • Step 206 the target terminal sends the target relative position information to the source terminal.
  • non-line-of-sight path positioning error elimination not only involves high-complexity error elimination and and/or suppression algorithm, and usually requires statistical information of multiple measurements, so its elimination or suppression performance cannot be guaranteed, that is, relatively accurate relative position information cannot be guaranteed.
  • the present application provides a cooperative positioning method.
  • a cooperative terminal group When there is no line-of-sight path between a source terminal and a target terminal, a cooperative terminal group is established.
  • the cooperative terminal group includes a source terminal, a target terminal and N cooperative terminals, and N is greater than Or equal to 1, the N cooperative terminals are used to assist the source terminal and the target terminal to determine the relative position information of the target, and ensure the accuracy of the relative position information of the target without the need for a high-complexity non-line-of-sight positioning error elimination algorithm.
  • terminal 1 to terminal 5 form a cooperative terminal group
  • the source terminal and the target terminal are terminal 1 and terminal 3 respectively, and there is no line-of-sight between terminal 1 and terminal 3, then terminal 2, terminal 4.
  • One or more of the terminals 5 can be used as cooperative terminals to assist the terminal 1 and the terminal 3 in determining the relative position information of the target.
  • the source terminal, the target terminal and the cooperative terminal in the cooperative terminal group may perform the cooperative positioning process based on different communication network protocols. Specifically, if the network device is a base station, the terminals in the cooperative terminal group may be located within or outside the coverage of the base station, and the base station may allocate or pre-allocate time-frequency resources for the cooperative terminal group. The source terminal, the target terminal and the cooperative terminal perform the cooperative positioning process based on the time-frequency resources allocated or pre-allocated by the base station. Furthermore, if the terminals in the cooperative terminal group are located outside the coverage of the base station, each terminal in the cooperative terminal group can independently perform the cooperative positioning process without the participation of the network equipment of the base station.
  • the terminals in the cooperative terminal group may be located within or outside the coverage of the AP, and the AP may pre-allocate or pre-compete time-frequency resources for the cooperative terminal group.
  • the source terminal, the target terminal and the cooperative terminal perform the cooperative positioning process based on the time-frequency resources pre-allocated or pre-competed by the AP.
  • each terminal in the collaborative terminal group can independently perform the collaborative positioning process without the participation of the AP.
  • the terminals in the collaborative terminal group may be located within or outside the coverage of the Bluetooth gateway or UWB anchor, and the Bluetooth gateway or UWB anchor may pre-allocate time-frequency resources for the collaborative terminal group.
  • the source terminal, the target terminal and the cooperative terminal perform the cooperative positioning process based on the time-frequency resources pre-allocated by the Bluetooth gateway or the UWB anchor point.
  • each terminal in the collaborative terminal group can independently perform the collaborative positioning process without the participation of the Bluetooth gateway or the UWB anchor.
  • FIG. 1 the present application exemplarily provides system architecture diagrams in two specific scenarios.
  • FIG. 3 is a system architecture diagram exemplarily provided by the present application in a vehicle to everything (V2X) scenario.
  • the terminal may be a wireless terminal in automatic driving, such as a vehicle-mounted terminal, or a user device held by a user in the vehicle, such as a mobile phone, a tablet computer, or a roadside infrastructure.
  • the communication between the terminal in the vehicle and the roadside infrastructure is equivalent to the communication between the vehicle and the roadside infrastructure, and the terminal in the vehicle may be referred to as the vehicle for short.
  • the source terminal is vehicle A
  • the target terminal is roadside infrastructure, that is, terminal 1 and terminal 3 in FIG. 1 correspond to vehicle A and roadside infrastructure in FIG. 3 , respectively.
  • a cooperative terminal group may be established first, and then the target relative position information may be determined based on the cooperative terminals in the cooperative terminal group.
  • the vehicle A When establishing a cooperative terminal group, the vehicle A broadcasts a networking request, and the vehicle that receives the networking request determines whether the networking conditions are met with vehicle A, and if so, sends a networking response to vehicle A. Similarly, the roadside infrastructure receives the networking request, determines that the networking conditions are met with vehicle A, and sends a networking response to vehicle A. Therefore, vehicle A, vehicle B, vehicle C, vehicle D and roadside infrastructure form a cooperative terminal group.
  • Vehicle B can be used as a collaboration terminal between vehicle A and roadside infrastructure to assist Vehicle A and roadside infrastructure determine target relative position information.
  • FIG. 4 is a system architecture diagram exemplarily provided by the present application in a family scenario.
  • the terminal can be any device in the family that can communicate wirelessly, such as mobile phones, computers, earphones, bracelets, speakers, TVs, etc.
  • the network device can be an AP, and the AP can directly form a collaboration among the devices in the home scene terminal group.
  • a user can search for other devices through a mobile phone.
  • the source terminal is a mobile phone and the target terminal is a wristband, that is, terminal 1 and terminal 3 in FIG. 1 correspond to the mobile phone and wristband in FIG. 4 , respectively.
  • the terminal may be any device arranged in the supermarket that can perform wireless communication, and may be a communication label (such as radio frequency identification (RFID) affixed with a communication label). label) shelves.
  • the network device can be an AP, and the AP can directly form a collaborative terminal group from the communication labels on all the shelves in the supermarket.
  • the user can search for goods through the mobile phone, and the mobile phone determines the relative position information of the target with the goods to be searched based on the user's instructions, and the communication label on the shelf can be used as a collaboration terminal.
  • RFID radio frequency identification
  • the terminal may be a user's mobile phone, and user A, user B, and user C correspond to mobile phone A, mobile phone B, and mobile phone C, respectively.
  • Mobile phone A, mobile phone B, and mobile phone C form a cooperative terminal group.
  • mobile phone A, mobile phone B, and mobile phone C have no network coverage.
  • Mobile phone A, mobile phone B, and mobile phone C can determine their respective broadcast reference signals based on parameters set by default in the system time-frequency resources.
  • mobile phone A determines the relative position information of the target with mobile phone C through the cooperative positioning method based on user instructions.
  • B can be used as a collaborative terminal.
  • the network architecture and service scenarios described in the embodiments of the present application are for the purpose of illustrating the technical solutions of the embodiments of the present application more clearly, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application.
  • the evolution of the architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.
  • the present application provides two implementations of cooperative positioning.
  • the first implementation is to determine the relative position information of the target between the source terminal and the target terminal through one cooperative terminal. 2.
  • Terminal 2 can be used as a cooperative terminal to assist The terminal 1 and the terminal 3 determine the relative position information of the target.
  • the cooperative positioning path is terminal 1 ⁇ terminal 2 ⁇ terminal 3.
  • one or more cooperative positioning paths may be included between terminal 1 and terminal 2.
  • terminal 4 may also be used as a cooperative terminal, and another cooperative positioning path is specifically terminal 1 ⁇ terminal 4 ⁇ terminal 3.
  • the relative position information of the source terminal and the cooperative terminal may be referred to as the first relative position information in this application, and the relative position information of the cooperative terminal and the target terminal may be referred to as the second relative position information.
  • FIG. 6 is a schematic flowchart of the first cooperative positioning method exemplarily provided by this application, in the process:
  • Step 601 the source terminal broadcasts a cooperative positioning request.
  • FIG. 7 is a schematic diagram of the format of the first cooperative positioning request exemplarily provided by the present application, and the cooperative positioning request includes a source terminal identifier and a target terminal identifier.
  • the source terminal identifier is the terminal identifier of the source terminal
  • the target terminal identifier is the terminal identifier of the target terminal
  • the terminal identifier can be the identity information used to identify the terminal, such as the internet protocol (IP) address, product Serial number (serial number, SN), or each terminal identifier pre-negotiated by each terminal in the cooperative terminal group, etc.
  • IP internet protocol
  • SN Serial number
  • the source terminal identifier and the target terminal identifier in the cooperative positioning request may be used as indication information, indicating that the cooperative terminal assists the source terminal and the target terminal in determining the relative position information of the target.
  • the cooperative positioning request may also include preset time information, and there are at least three examples as follows.
  • the preset time information in the cooperative positioning request may be a start time stamp
  • the start time stamp is the time stamp at which the source terminal sends the cooperative positioning request to the cooperative terminal
  • the start time stamp and the first preset duration are the same. Indicates the start time and end time of the collaborative positioning process, and the duration of the entire collaborative positioning process cannot exceed the first preset duration. For example, if the source terminal sends a cooperative positioning request to the cooperating terminal at time t0, then the cooperative positioning request sent by the source terminal to the cooperating terminal includes time t0. Further, the source terminal may preset the first preset duration as needed as T0, that is, the source terminal only accepts the positioning information broadcast by other terminals within t0 to t0+T0. The cooperative terminal starts from receiving the cooperative positioning request and ends at time (t0+T0), and executes the cooperative positioning process. In this example, the time when the cooperative terminal receives the cooperative positioning request may be time t0+TOA.
  • the preset time information in the cooperative positioning request may be the first time period, and the cooperative terminal executes the cooperative positioning process within the first time period after receiving the cooperative positioning request.
  • the cooperative positioning request includes the T1 period, and the time when the cooperative terminal receives the cooperative positioning request is time t1, and the cooperative terminal executes the cooperative positioning process from time t1 to time (t1+T1).
  • the cooperative terminal performing the cooperative positioning process may specifically include that the cooperative terminal sends positioning information and/or sends a cooperative reference signal, which may be described with reference to the following embodiments.
  • the preset time information in the cooperative positioning request may be the second time period, and the cooperative terminal may store multiple relative position information, and each relative position information corresponds to its own time stamp, then the cooperative terminal Determine the relative position information that meets the aging condition from the relative position information, and then include the relative position information that meets the aging condition in the positioning information, where the time-limiting condition can be the time corresponding to the time stamp when the cooperative terminal receives the cooperative positioning request.
  • the cooperative positioning request includes the T2 time period, the time when the cooperative terminal receives the cooperative positioning request is time t2, and the cooperative terminal determines that the time stamp is measured between time (t2-T2) and time t2 or received by broadcast.
  • the relative position information of is included in the positioning information.
  • Step 602 the source terminal broadcasts the source reference signal.
  • the reference signal broadcast by the source terminal may be simply referred to as the source reference signal.
  • the source terminal determines a time-frequency resource for periodically broadcasting the source reference signal based on system or high-level preset configuration information, and periodically broadcasts the source reference signal on the time-frequency resource.
  • the preset configuration information includes resource indication information corresponding to each terminal in the cooperative terminal group, and the resource indication information corresponding to each terminal is used to indicate the time-frequency resource of the reference signal broadcast by the terminal.
  • the source terminal determines the resource indication information corresponding to the source terminal based on the source terminal identifier in the preset configuration information, determines the time-frequency resource of the source terminal broadcast source reference signal according to the resource indication information corresponding to the source terminal, and then when the determined time-frequency resource is used The source reference signal is broadcast on the frequency resource.
  • the preset configuration information may be generated by a network device or a master terminal or a head terminal in a coordinated terminal group, where the master terminal or head terminal may be a source terminal or other terminal in the coordinated terminal group.
  • the network device generates preset configuration information, and the preset configuration information includes resource indication information corresponding to terminals 1 to 5 respectively.
  • Terminal 1 receives the preset configuration information from the network device, and from the preset configuration
  • the resource indication information 1 corresponding to the terminal 1 is determined in the information, the time-frequency resource 1 is determined according to the resource indication information 1, and then the source reference signal is broadcast on the time-frequency resource 1.
  • the above-mentioned implementation manner in which the source terminal periodically broadcasts the source reference signal may be adopted.
  • vehicle A can broadcast the source reference signal in real time and continuously without considering its own power consumption factor, which is used for roadside infrastructure or other vehicles to know the relative position of vehicle A in real time.
  • the source terminal broadcasts the source reference signal aperiodically.
  • the network device or the master terminal may configure a resource pool for the collaborative terminal group in advance, where the master terminal may be the source terminal or other terminal in the collaborative terminal group.
  • the source terminal needs to broadcast the source reference signal, it selects (or competes for or determines) a time-frequency resource from the resource pool, and broadcasts the source reference signal on the time-frequency resource.
  • the network device preconfigures a resource pool for the cooperative terminal group, and terminal 1 selects time-frequency resource 1 from the resource pool, and broadcasts the source reference signal on the time-frequency resource 1.
  • the above-mentioned implementation manner of aperiodically broadcasting the source reference signal by the source terminal may be adopted.
  • the source terminal does not need to broadcast the source reference signal when it does not receive an instruction from the user, which can effectively save the power of the terminal.
  • step 601 the source terminal broadcasts the cooperative positioning request
  • step 602 the source terminal broadcasts the source reference signal.
  • the terminal can determine whether there is a line-of-sight path with the source terminal, so as to obtain the line-of-sight path status information, and then send the line-of-sight path status information and the terminal capability information of the terminal to the source terminal, If the source terminal determines that the relative positioning condition is satisfied with the terminal, it instructs the terminal to measure the positioning measurement reference signal broadcast by the source terminal.
  • the source terminal sends its own terminal capability information to each terminal, and each terminal determines whether relative positioning conditions are satisfied with the source terminal, so as to independently determine whether to perform positioning measurement reference signal measurement. After the reference signal measurement is completed, the relative position information with the source terminal is obtained, and the terminal can be used as a cooperative terminal.
  • This method is not only used for the source terminal and the cooperating terminal to determine whether the relative positioning condition is satisfied, but also can be used for determining whether the relative positioning condition is satisfied between multiple cooperating terminals.
  • the cooperative positioning request broadcast by terminal 1 can be received by terminal 2 and terminal 3, wherein the relative positioning condition is satisfied between terminal 2 and terminal 1, terminal 2 measures the reference signal of terminal 1, calculates and determines terminal 2 Relative position information with Terminal 1. The relative positioning condition between terminal 3 and terminal 1 is not satisfied.
  • the terminal that measures the reference signal of the source terminal may be referred to as the first cooperative terminal.
  • Step 603 the cooperative terminal receives the cooperative positioning request from the source terminal, and in response to the cooperative positioning request, measures the source reference signal broadcast by the source terminal, and determines the first relative position information.
  • the cooperative terminal parses the cooperative positioning request, determines that the cooperative positioning request includes the source terminal identifier and the target terminal identifier, and then determines to assist the source terminal in determining the target relative position information of the source terminal and the target terminal. Further, the cooperative terminal determines the time-frequency resource of the source reference signal in response to the cooperative positioning request, then measures the source reference signal on the time-frequency resource, obtains the measurement result, and determines the first time-frequency resource between the cooperative terminal and the source terminal according to the measurement result. a relative position information.
  • the cooperative terminal receives the preset configuration information from the network device, determines the resource indication information corresponding to the source terminal from the preset configuration information according to the source terminal identifier in the cooperative positioning request, and determines the resource indication information corresponding to the source terminal according to the resource corresponding to the source terminal.
  • the indication information determines the time-frequency resource on which the source terminal broadcasts the source reference signal, and measures the source reference signal on the time-frequency resource.
  • the collaborative terminal is terminal 2
  • terminal 2 receives preset configuration information from a network device, determines resource indication information 1 corresponding to terminal 1 from the preset configuration information, and determines according to resource indication information 1 Time-frequency resource 1, and then measure the source reference signal broadcast by terminal 1 on time-frequency resource 1.
  • the cooperative terminal obtains the resource indication information corresponding to the source terminal from the cooperative positioning request, and receives the source reference signal broadcast by the source terminal on the corresponding time-frequency resource according to the resource indication information corresponding to the source terminal.
  • the resource indication information corresponding to the source terminal may be included in the cooperative positioning request, or may be sent by the source terminal to the cooperative terminal as a separate message.
  • the cooperative positioning request includes resource indication information corresponding to the source terminal
  • a schematic diagram of the format of the cooperative positioning request may refer to (b) in FIG. 7 .
  • the cooperative positioning request includes the active terminal identifier, the target terminal identifier, the preset time information, and the resource indication information corresponding to the source terminal.
  • the source terminal selects the time-frequency resource for broadcasting the source reference signal from the resource pool, and includes the resource indication information of the time-frequency resource in the cooperative positioning request as the resource indication information corresponding to the source terminal.
  • the cooperative terminal determines, according to the resource indication information in the cooperative positioning request, the time-frequency resource on which the source terminal broadcasts the source reference signal, and measures the source reference signal on the time-frequency resource.
  • terminal 1 selects time-frequency resource 1 from the resource pool, and includes resource indication information 1 of this time-frequency resource 1 as the resource indication information corresponding to the source terminal in the cooperative positioning request, and the cooperative terminal is Terminal 2.
  • Terminal 2 obtains resource indication information 1 from the cooperative positioning request, determines time-frequency resource 1 according to resource indication information 1, and measures the source reference signal broadcast by terminal 1 on time-frequency resource 1.
  • the cooperative positioning request may also include a trigger indication, which is used to instruct the terminal receiving the cooperative positioning request to measure the source reference signal on the corresponding time-frequency resource according to the resource indication information in the cooperative positioning request, and send the cooperative positioning request at the same time. reference signal.
  • a trigger indication which is used to instruct the terminal receiving the cooperative positioning request to measure the source reference signal on the corresponding time-frequency resource according to the resource indication information in the cooperative positioning request, and send the cooperative positioning request at the same time. reference signal.
  • Step 604 the cooperative terminal broadcasts the positioning information.
  • the positioning information can also be referred to as cooperative positioning information.
  • the positioning information includes the source terminal identifier, the target terminal identifier, the present cooperative terminal identifier and the first relative position information, wherein the present collaborative terminal identifier is the terminal identifier of the present collaborative terminal.
  • the first relative position information includes the source terminal identifier and the relative position of the source terminal and the present cooperative terminal (which may be referred to as the first relative position).
  • the first relative position information may further include a first timestamp, where the first timestamp is used to indicate the time when the cooperative terminal determines the first relative position information.
  • FIG. 8 is a schematic diagram of the format of the first positioning information exemplarily provided for this application, which includes source terminal identification, target terminal identification, cooperating terminal identification, and first relative position information, wherein the first relative position information includes Source terminal identification, first relative position and first timestamp.
  • Step 605 the cooperative terminal broadcasts the cooperative reference signal.
  • the reference signal broadcast by the cooperative terminal may be referred to as a cooperative reference signal for short.
  • the cooperative terminal may broadcast the cooperative reference signal periodically or aperiodically, and reference may be made to the specific implementation of the periodic or aperiodic broadcast of the source reference signal by the source terminal in step 602 above.
  • the positioning information may also include resource indication information corresponding to the cooperative terminal.
  • the resource indication information corresponding to the cooperative terminal is used to instruct the cooperative terminal to broadcast the cooperative reference signal.
  • the time-frequency resource of the signal is used to instruct the cooperative terminal to broadcast the cooperative reference signal.
  • the positioning information may further include a trigger indication, where the trigger indication is used to instruct the terminal receiving the positioning information to measure the coordinated reference signal on the corresponding resource according to the resource indication information in the positioning information.
  • each terminal in the cooperative terminal group can broadcast its own reference signal based on the same method.
  • the source terminal periodically broadcasts the source reference signal, and the cooperative terminal also periodically broadcasts the cooperative reference signal, or the source terminal broadcasts the source reference signal aperiodically. signal, the cooperative terminal also broadcasts the cooperative reference signal aperiodically.
  • the technical solution in which each terminal broadcasts its own reference signal based on different methods is not excluded.
  • the source terminal periodically broadcasts the source reference signal, and the cooperative terminal broadcasts the cooperative reference signal aperiodically. This description is also applicable to the second implementation.
  • step 604 the cooperative terminal broadcasts the positioning information
  • step 605 the cooperative terminal broadcasts the cooperative reference signal.
  • the relative position information with the cooperative terminal needs to be determined, for details, please refer to the description before step 603 .
  • the positioning information and the cooperative reference signal may be received by the target terminal and/or the source terminal.
  • the target terminal can measure the cooperative reference signal according to the positioning information, determine the relative position information with the cooperative terminal, and obtain the first relative position information from the positioning information.
  • the source terminal Since the positioning information already includes the relative position information of the active terminal and the cooperating terminal, the source terminal does not need to measure the reference signal of the cooperating terminal again, and the source terminal can directly obtain the first relative position information from the positioning information. In another embodiment, the source terminal may also directly discard the received positioning information, for details, please refer to the description in the following embodiment.
  • terminal 2 is a cooperative terminal, and terminal 2 broadcasts positioning information including relative position information between terminal 2 and terminal 1 .
  • the positioning information can be received by Terminal 3 , Terminal 4 and Terminal 1 .
  • the relative positioning condition is satisfied between the terminal 3 and the terminal 2, and the terminal 3 measures the reference signal of the terminal 2 to determine the relative position information between the terminal 3 and the terminal 2.
  • the relative positioning condition is not satisfied between the terminal 4 and the terminal 2.
  • the terminal 1 does not need to measure the reference signal of the terminal 2 again, and can directly obtain the relative position information between the terminal 2 and the terminal 1 from the positioning information, or directly discard the positioning information of the terminal 2.
  • Step 606 the target terminal receives the positioning information from the cooperative terminal, and in response to the positioning information, measures the cooperative reference signal broadcasted by the cooperative terminal, and determines the second relative position information.
  • the target terminal parses the positioning information, and determines that the positioning information includes the source terminal identification, the target terminal identification, the cooperating terminal identification and the first relative position information.
  • the target terminal determines the time-frequency resource of the cooperative reference signal, then measures the cooperative reference signal on the time-frequency resource to obtain the measurement result, and determines the relative position information between the cooperative terminal and the target terminal according to the measurement result (ie second relative position information).
  • the specific manner in which the cooperative terminal determines the time-frequency resource of the cooperative reference signal may refer to the description in step 603, and details are not repeated here.
  • the second relative position information includes the target terminal identifier and the relative position of the target terminal and the cooperative terminal (which may be referred to as the second relative position).
  • the second relative position information may further include a second time stamp, and the second time stamp is the time when the target terminal determines the second relative position information.
  • the target terminal or the source terminal may determine the relative position information of the target.
  • Example a For the target terminal to determine the relative position information of the target, refer to Example a, which includes the following steps 607a to 608a.
  • Step 607a the target terminal determines the relative position information of the target according to the first relative position information and the second relative position information obtained from the positioning information.
  • the first relative position information includes the relative distance and relative angle between the cooperating terminal and the source terminal
  • the second relative position information includes the relative distance and relative angle between the cooperating terminal and the target terminal
  • the target terminal is based on the cooperating terminal and the source terminal.
  • the relative distance and relative angle between the cooperating terminal and the target terminal are used to determine the relative distance and relative angle between the target terminal and the source terminal, that is, the relative position information of the target is determined.
  • Step 608a the target terminal sends a positioning response to the source terminal, where the positioning response includes the relative position information of the target.
  • the target terminal can send a positioning response to the source terminal by broadcasting or unicasting.
  • the source terminal only needs to receive the positioning response from the target terminal and obtain the relative position information of the target from the positioning response.
  • the source terminal can directly discard the positioning information from the cooperating terminal.
  • Example b For the source terminal to determine the relative position information of the target, refer to Example b, which includes the following steps 607b to 608b.
  • Step 607b the target terminal sends a positioning response to the source terminal, where the positioning response includes the second relative position information.
  • the target terminal can send a positioning response to the source terminal by broadcasting or unicasting.
  • the source terminal receives the positioning response from the target terminal, and obtains the second relative position information therefrom.
  • Step 608b the source terminal determines the relative position information of the target according to the first relative position information obtained from the positioning information and the second relative position information obtained from the positioning response.
  • step 607a For details of the determination method, refer to the description in step 607a.
  • the positioning response may further include first relative position information, and the source terminal obtains the first relative position information and the second relative position information from the positioning response, and according to the first relative position information The relative position information and the second relative position information determine the relative position information of the target.
  • the source terminal may also send the target relative position information to the target terminal.
  • the source terminal or the target terminal may end the cooperative positioning process.
  • the source terminal or the target terminal broadcasts a message of the end of cooperative positioning, and any terminal in the cooperative terminal group receives the end of the cooperative positioning process. After the positioning message, the collaborative positioning process ends.
  • the source terminal or the target terminal may also broadcast a cooperative positioning end message to instruct each terminal in the cooperative terminal group to stop the current cooperative positioning process.
  • each terminal in the cooperative terminal group may include any one or more of a cooperative terminal, a target terminal, and a source terminal.
  • the source terminal determines that the duration of this collaborative positioning process exceeds the first preset duration, and broadcasts the collaborative positioning end message, and each terminal (including the collaborative terminal and the target terminal) in the collaborative terminal group After receiving the message that the cooperative positioning ends, this cooperative positioning process ends.
  • the source terminal may re-initiate the cooperative positioning process after waiting for the second preset duration.
  • the absolute positioning information of the source terminal and the absolute positioning information of the target terminal may also be determined based on base station assistance or satellite assistance, and then the relative position information of the target may be determined according to the absolute positioning information of the two.
  • each terminal in the collaborative terminal group may also actively end the above-mentioned collaborative positioning process based on the timestamp in the collaborative positioning request and the first preset duration. For example, when each terminal determines that the current time is time t0+T0, it actively ends the above-mentioned cooperative positioning process.
  • FIG. 9 is a schematic diagram of a second type of collaborative positioning process exemplarily provided by this application, in this process:
  • Step 901 the source terminal broadcasts a cooperative positioning request.
  • Step 902 the source terminal broadcasts the source reference signal.
  • Step 903 the cooperative terminal receives the cooperative positioning request from the source terminal, and in response to the cooperative positioning request, measures the source reference signal broadcast by the source terminal, and determines the first relative position information.
  • steps 901 to 903 For the specific implementation manners in steps 901 to 903, reference may be made to the specific implementation manners in the foregoing steps 601 to 603, which will not be repeated.
  • Step 904 the target terminal receives the cooperative positioning request from the source terminal, and in response to the cooperative positioning request, broadcasts the positioning response of the target terminal.
  • the target terminal determines that the cooperative positioning request includes the source terminal identification and the target terminal identification, and in response to the cooperative positioning request, broadcasts a positioning response of the target terminal, wherein the positioning response includes the source terminal identification and the target terminal identification.
  • the positioning response here is distinguished from the positioning response in the above-mentioned relevant embodiment of FIG. 6 .
  • the positioning response here is understood as the response of the target terminal in response to the cooperative positioning request of the source terminal, and the positioning response instructs the cooperative terminal to measure the positioning measurement broadcast by the target terminal. reference signal.
  • Step 905 the target terminal broadcasts the target reference signal.
  • the reference signal broadcast by the target terminal may be referred to as the target reference signal for short.
  • the target terminal may broadcast the target reference signal periodically or aperiodically, and reference may be made to the specific implementation manner of the source terminal periodically or aperiodically broadcasting the source reference signal in step 602 above.
  • the positioning response may further include resource indication information corresponding to the target terminal, where the resource indication information corresponding to the target terminal is used to indicate the time-frequency resource for the target terminal to broadcast the target reference signal.
  • Step 906 the cooperating terminal receives the positioning response from the target terminal, and in response to the positioning response, measures the target reference signal broadcast by the target terminal, and determines the second relative position information.
  • the specific implementation manner of the cooperative terminal measuring the target reference signal broadcasted by the target terminal and determining the second relative position information may refer to the foregoing step 603, which will not be repeated.
  • Step 907 the cooperative terminal broadcasts positioning information, where the positioning information includes the first relative position information and the second relative position information.
  • FIG. 8(b) a schematic diagram of the format of the second positioning information exemplarily provided for this application, which includes the source terminal identification, the target terminal identification, the cooperative terminal identification, the first relative position information and the second relative position information.
  • Location information wherein the first relative location information includes a source terminal identifier, a first relative location, and a first timestamp, and the second relative location information includes a target terminal identifier, a second relative location, and a second timestamp.
  • the positioning information further includes resource indication information corresponding to the cooperative terminal.
  • Step 908 The source terminal receives the positioning information from the cooperating terminal, and determines the relative position information of the target according to the first relative position information and the second relative position information included in the positioning information.
  • the target terminal may also receive the positioning information from the cooperative terminal, and determine the target relative position information according to the first relative position information and the second relative position information included in the positioning information.
  • the cooperative terminal may first determine the relative position information of the target according to the first relative position information and the second relative position information, and then broadcast the positioning information including the relative position information of the target, and the source terminal and/or the target terminal receive the positioning information , and obtain the relative position information of the target from the positioning information.
  • each terminal may broadcast the reference signal, and other terminals may also measure the reference signal to obtain the relative position information with the terminal, there may be a cooperative terminal in the actual scene that can not only obtain the reference signal with the source terminal and/or the target terminal.
  • the relative position information of , and the relative position information of other terminals can also be obtained.
  • the positioning information broadcast by the cooperative terminal includes a plurality of relative position information associated with the cooperative terminal, such as the relative position information of the cooperative terminal and the source terminal, and the relative position information of the cooperative terminal and the target terminal. , the relative position information of the present cooperative terminal and other terminals (terminals other than the source terminal and the target terminal in the cooperative terminal group).
  • the terminal 2 can not only determine the relative position information with the terminal 1, but also measure the reference signals from other terminals (such as terminal 3 and terminal 4) when there is a line-of-sight path, and determine the relative position information with the terminal 1.
  • Relative position information of other terminals can also receive relative position information from other terminals (for example, the relative position information broadcast by terminal 3 and terminal 2, the relative position information broadcast by terminal 4 and terminal 1, terminal 4
  • the terminal 2 can carry the relative position information associated with the terminal in the positioning information and broadcast, exemplarily, the terminal 2 broadcasts
  • the positioning information includes the relative position information of terminal 2 and terminal 1, the relative position information of terminal 2 and terminal 3, the relative position information of terminal 2 and terminal 4, and the like.
  • the positioning information includes the source terminal identification, the target terminal identification, the cooperative terminal identification, and the relative position associated with the cooperative terminal.
  • information where the relative position information associated with the cooperative terminal not only includes the first relative position information between the cooperative terminal and the source terminal, the second relative position information between the cooperative terminal and the target terminal, but also includes the cooperative terminal and other terminals.
  • the relative position information includes, for example, first relative position information, wherein the first relative position information is the relative position information of the present cooperative terminal and the terminal corresponding to the terminal identifier 1 .
  • the resource indication information corresponding to the cooperative terminal is also included.
  • each relative position information is associated with the terminal (the same terminal), and the positioning information already includes the identification of the cooperating terminal, so each relative position information only needs to contain information relative to the terminal.
  • the terminal identifier of the terminal of the location information helps to reduce the signaling load in the whole cooperative positioning process.
  • the embodiment of the present application may include a plurality of cooperative positioning paths, for details, reference may be made to the description in FIG. 5 .
  • the final target relative position information may be determined according to the relative position information corresponding to the multiple cooperative positioning paths respectively.
  • the terminal 3 can obtain the relative position information of the terminal 2 and the terminal 1 from the positioning information of the terminal 2, and measure the reference signal of the terminal 2 to obtain the relative position information of the terminal 2 and the terminal 2. relative position information.
  • the terminal 3 can obtain the relative position information between the terminal 4 and the terminal 1 from the positioning information of the terminal 4, and measure the reference signal of the terminal 4 to obtain the relative position information with the terminal 4.
  • the terminal 3 determines the relative position information of the target between the terminal 3 and the terminal 1 based on the relative position information corresponding to the two cooperative positioning paths.
  • the relative position information is determined, or it is determined by combining the relative position information corresponding to the two cooperative positioning paths. This description is also applicable to the following implementation mode 2.
  • the source terminal and the target terminal are the vehicle A and the roadside infrastructure, respectively.
  • each terminal sends a periodic reference signal.
  • vehicle A broadcasts a cooperative positioning request and a reference signal of vehicle A, and the cooperative positioning request includes the identification of vehicle A and the identification of roadside infrastructure.
  • the vehicle B In response to the cooperative positioning request of the vehicle A, the vehicle B measures the reference signal broadcasted by the vehicle A, and determines the relative position information between the vehicle B and the vehicle A. Vehicle B broadcasts positioning information and vehicle B's cooperative reference signal.
  • the positioning information of vehicle B includes the identification of vehicle A, the identification of roadside infrastructure, and the relative position information between vehicle B and vehicle A.
  • the roadside infrastructure measures the reference signal broadcasted by the vehicle B in response to the positioning information of the vehicle B, and determines the relative position information between the roadside infrastructure and the vehicle B.
  • the roadside infrastructure determines the roadside infrastructure and the vehicle A according to the relative position information between the vehicle B and the vehicle A included in the positioning information of the vehicle B, and the determined relative position information between the roadside infrastructure and the vehicle B relative position information between.
  • the roadside infrastructure sends a positioning response to vehicle A, where the positioning response includes relative position information between the roadside infrastructure and vehicle A.
  • the terminal 4 can be used as a cooperative terminal to assist the terminal 1 and the terminal 3 to determine the relative position information of the target.
  • the cooperative positioning path is terminal 1 ⁇ terminal 2 ⁇ terminal 4 ⁇ terminal 3.
  • one or more cooperative positioning paths may be included between terminal 1 and terminal 3.
  • terminal 2, terminal 4, and terminal 5 can also be used as cooperative terminals
  • another cooperative positioning path is terminal 1 ⁇ terminal 2 ⁇ terminal 4 ⁇ Terminal 5 ⁇ Terminal 3.
  • FIG. 11 is a schematic diagram of a third cooperative positioning process exemplarily provided by this application, and the process is illustrated by taking two cooperative terminals as an example.
  • the two cooperating terminals are the first cooperating terminal and the second cooperating terminal, respectively, and there are video connections between the first cooperating terminal and the source terminal, between the first cooperating terminal and the second cooperating terminal, and between the second cooperating terminal and the target terminal.
  • distance, and the cooperative positioning path is source terminal ⁇ first cooperative terminal ⁇ second cooperative terminal ⁇ target terminal.
  • the first coordinated terminal may be terminal 2 as shown in FIG. 10
  • the second coordinated terminal may be terminal 4 as shown in FIG. 10 .
  • the relative position information between the source terminal and the first cooperative terminal may be referred to as the first cooperative position information (it may also be referred to as the first relative position information in the above implementation mode 1), and the first cooperative terminal and the second cooperative terminal
  • the relative position information of may be referred to as second cooperative position information, and the relative position information of the second cooperative terminal and the target terminal is referred to as second relative position information.
  • Step 1101 the source terminal broadcasts a cooperative positioning request.
  • Step 1102 the source terminal broadcasts the source reference signal.
  • steps 1101 to 1102 For the specific implementation manners in steps 1101 to 1102, reference may be made to the specific implementation manners in the foregoing steps 601 to 602, which will not be repeated.
  • there may be one or more first cooperative terminals there may be one or more first cooperative terminals, and the following steps 1103 to 1105 may be described by taking one of the first cooperative terminals as an example.
  • Step 1103 the first cooperative terminal receives the cooperative positioning request from the source terminal, and in response to the cooperative positioning request, measures the source reference signal broadcast by the source terminal, and determines the first cooperative location information.
  • Step 1104 the first cooperative terminal broadcasts the first positioning information.
  • the first positioning information is positioning information obtained by the first cooperative terminal in response to the cooperative positioning request.
  • FIG. 12 is a schematic diagram of the format of a kind of first positioning information exemplarily provided by this application, the first positioning information includes a source terminal identification, a target terminal identification, and the cooperative terminal identification (that is, the first cooperative terminal identification) ) and the first cooperative location information.
  • the first positioning information includes a source terminal identification, a target terminal identification, and the cooperative terminal identification (that is, the first cooperative terminal identification) ) and the first cooperative location information.
  • the first cooperative location information includes a terminal identification pair (pair) and the relative position corresponding to the terminal identification pair.
  • the terminal identification pair includes the source terminal identification and the first cooperative terminal identification
  • the relative position corresponding to the terminal identification pair is: The relative position of the source terminal and the first cooperative terminal (may be referred to as the first cooperative position).
  • the first cooperation location information may further include a first cooperation time stamp, where the first cooperation time stamp is used to indicate the time when the first cooperation terminal determines the first cooperation location information.
  • the first positioning information may further include resource indication information corresponding to the first cooperative terminal, where the resource indication information corresponding to the first cooperative terminal is used to instruct the first cooperative terminal to broadcast time-frequency resources of the first cooperative reference signal.
  • Step 1105 the first coordinated terminal broadcasts the first coordinated reference signal.
  • the reference signal of the first coordinated terminal may be referred to as the first coordinated reference signal for short.
  • the first coordinated terminal may broadcast the first coordinated reference signal periodically or aperiodically, and reference may be made to the specific implementation manner of the source terminal periodically or aperiodically broadcasting the source reference signal in step 602 above.
  • the first cooperative terminal broadcasts the first positioning information
  • the first cooperative terminal broadcasts the first cooperative reference signal
  • multiple terminals in the cooperative terminal group may receive the first positioning information information and the first cooperative reference signal, each terminal determines whether it is necessary to determine the relative position information with the first cooperative terminal.
  • the terminal may be referred to as a second cooperative terminal.
  • the terminal 2 is the first cooperative terminal, and the first positioning information and the first cooperative reference signal sent by the terminal 2 can be received by the terminal 4 and the terminal 3 .
  • the relative positioning condition is satisfied between the terminal 4 and the terminal 2
  • the terminal 4 measures the reference signal of the terminal 2
  • the terminal 4 is the second cooperative terminal.
  • the relative positioning condition between terminal 3 and terminal 2 is not satisfied.
  • the first positioning information and the first cooperative reference signal can be received by the source terminal. Since the first positioning information already includes relative position information of the active terminal and the first cooperative terminal, the source terminal does not need to measure the first cooperative reference signal again, and the source terminal can directly obtain the first cooperative position information from the first positioning information. In another embodiment, the source terminal may also directly discard the received first positioning information, for details, refer to the description in the following embodiment.
  • Step 1106 The second cooperative terminal receives the first positioning information from the first cooperative terminal, and in response to the first positioning information, measures the first cooperative reference signal broadcast by the first cooperative terminal to determine the second cooperative position information.
  • Step 1107 the second cooperative terminal broadcasts the second positioning information.
  • the second positioning information is positioning information obtained by the second cooperative terminal in response to the first positioning information.
  • the second cooperative terminal may acquire the first cooperative position information from the first positioning information, and carry the first cooperative position information together with the second cooperative position information in the second positioning information.
  • the second positioning information includes the source terminal identifier, the target terminal identifier, the collaborative terminal identifier (that is, the second collaborative terminal identifier), The first cooperation location information and the second cooperation location information.
  • the second cooperative location information includes the terminal identifier pair and the relative location information corresponding to the terminal identifier pair.
  • the terminal identifier pair includes the first collaborative terminal identifier and the second collaborative terminal identifier
  • the relative location corresponding to the terminal identifier pair is: The relative position of the first cooperation terminal and the second cooperation terminal (may be referred to as the second cooperation position).
  • the second collaboration location information may further include a second collaboration timestamp.
  • the second collaboration timestamp is the time when the second collaboration terminal determines the second collaboration location information.
  • the second positioning information may further include resource indication information corresponding to the second cooperative terminal, where the resource indication information corresponding to the second cooperative terminal is used to instruct the second cooperative terminal to broadcast time-frequency resources of the second cooperative reference signal.
  • Step 1108 the second coordinated terminal broadcasts the second coordinated reference signal.
  • the reference signal of the second coordinated terminal may be referred to as the second coordinated reference signal for short.
  • the second coordinated terminal may broadcast the second coordinated reference signal periodically or aperiodically, and reference may be made to the specific implementation manner of the source terminal periodically or aperiodically broadcasting the source reference signal in step 602 above.
  • the second cooperative terminal broadcasts the second positioning information
  • the second cooperative terminal broadcasts the second cooperative reference signal
  • multiple terminals in the cooperative terminal group may receive the second positioning information information and the second cooperative reference signal, each terminal determines whether it is necessary to determine the relative position information with the second cooperative terminal. For details, refer to the description before step 603 .
  • the second positioning information and the second cooperative reference signal may be received by the target terminal and/or the first cooperative terminal.
  • the target terminal may measure the second cooperative reference signal according to the second positioning information to determine the relative position information with the second cooperative terminal, and obtain the first cooperative position information and the second cooperative position information from the second positioning information.
  • the first coordinated terminal does not need to measure the reference signal of the second coordinated terminal again.
  • Step 1109 the target terminal receives the second positioning information from the second cooperative terminal, and in response to the second positioning information, measures the second cooperative reference signal broadcast by the second cooperative terminal, and determines the second relative position information.
  • the target terminal or the source terminal may determine the relative position information of the target.
  • Example A For the target terminal to determine the relative position information of the target, refer to Example A, which includes the following steps 1110A to 1111A.
  • Step 1110A the target terminal determines the target relative position information according to the second relative position information, and the first cooperative position information and the second cooperative position information obtained from the second positioning information.
  • Step 1111A the target terminal sends a positioning response to the source terminal, where the positioning response includes the relative position information of the target.
  • the target terminal can send a positioning response to the source terminal by broadcasting or unicasting.
  • Example B For the source terminal to determine the relative position information of the target, refer to Example B, which includes the following steps 1110B to 1111B.
  • Step 1110B the target terminal sends a positioning response to the source terminal, wherein the positioning response includes the second relative position information, and the first cooperative position information and the second cooperative position information obtained from the second positioning information.
  • the target terminal can send a positioning response to the source terminal by broadcasting or unicasting.
  • Step 1111B the source terminal determines the target relative position information according to the first cooperative position information, the second relative position information, and the second cooperative position information included in the positioning response.
  • the present application does not exclude the possibility that the target terminal obtains the first cooperative location information from the first positioning information, the source terminal obtains the first cooperative location information from the first positioning information, and the source terminal obtains the first cooperative location information from the second positioning information. 2. Collaboration location information, etc.
  • the target terminal obtains the first cooperative position information from the first positioning information, obtains the second cooperative position information from the second positioning information, and measures the second cooperative reference signal of the second cooperative terminal to determine the second relative position information,
  • the target relative position information is determined according to the first cooperation position information, the second cooperation position information and the second relative position information.
  • the source terminal obtains the first cooperative position information from the first positioning information, obtains the second cooperative position information from the second positioning information, and obtains the second relative position information from the positioning response of the target terminal.
  • the first cooperative position information, the second cooperative position information, and the second relative position information determine target relative position information.
  • the relative position information included in the positioning information broadcast by the cooperative terminal can be obtained in two ways.
  • One is that the cooperative terminal obtains the positioning information of the previous cooperative terminal.
  • the cooperative terminal may Acquire all or part of the relative position information in the positioning information of the last cooperative terminal.
  • the second is obtained by the cooperative terminal measuring the reference signal broadcast by one or more terminals.
  • the multiple pieces of relative position information included in the positioning information broadcast by any cooperative terminal may or may not be related to the current cooperative terminal.
  • the terminal 4 can not only determine the relative position information with the terminal 2, but also can measure the reference signals from other terminals (such as the terminal 3 and the terminal 5) to determine the relative position information with other terminals. , or, terminal 4 can also receive relative position information from other terminals (such as the relative position information broadcast by terminal 2 and terminal 1, and the relative position information broadcast by terminal 3 and terminal 5), terminal 4 can use these relative positions
  • the information is carried in the positioning information of the terminal 4 for broadcasting.
  • the positioning information broadcasted by the terminal 4 includes the relative position information of the terminal 2 and the terminal 1, the relative position information of the terminal 2 and the terminal 4, and the relative position information of the terminal 3 and the terminal 4.
  • the positioning information may be determined by any cooperative terminal, and the positioning information includes the source terminal identification, the target terminal identification, the Cooperative terminal identifier and K pieces of relative position information, where K is greater than or equal to 1.
  • each relative position information in the K pieces of relative position information includes a terminal identification pair, a relative position between two terminals in the terminal identification pair, and optionally, a timestamp for determining the relative position information.
  • the K pieces of relative position information are respectively the first relative position to the Kth relative position information, wherein the first relative position information includes a pair of terminal identifications (terminal identification 1 and terminal identification 2) , collaborative location 1 and collaborative timestamp 1, the second relative location information includes a pair of terminal identifiers (terminal identifier 2 and terminal identifier 3), collaborative location 2 and collaborative timestamp 2, and the third relative location information includes a pair of terminal identifiers ( Terminal identification 3 and terminal identification 4), cooperative position 3 and cooperative timestamp 3, ..., the K-th relative position information includes a pair of terminal identifications (terminal identification k-1 and terminal identification k), cooperative position K and cooperative timestamp K, where k is greater than or equal to 1.
  • the cooperative terminal can determine the number of relative position information, such as the field "K" in the figure, indicating that the positioning information includes K pieces of relative position information.
  • the next terminal can analyze the positioning information to obtain the quantity of the relative position information, so as to determine the integrity of the relative position information included in the received positioning information. This design is suitable for any multi-hop cooperative positioning scenario. .
  • the cooperating terminal determines the positioning information of the cooperating terminal
  • the relative position information that meets the aging condition may be included in the positioning information.
  • m pieces of relative position information are stored in the cooperative terminal, wherein each relative position information corresponds to a time stamp, and m is greater than or equal to 1.
  • the cooperative terminal determines that the cooperative positioning request includes the T2 time period, then when the positioning information is generated at the time t2, it is determined from the m pieces of relative position information that the corresponding time stamp is between the time (t2-T2) and the time t2.
  • the relative position information between the two is included in the positioning information together with the currently determined cooperative position information.
  • the relative position information within the range from the current moment to the previous second time period is valid, and the relative position information earlier may be inaccurate or even invalid due to the movement of the terminal. .
  • the relative position information with an earlier determination time can be filtered out, which helps to reduce the signaling load on the premise of reducing the delay.
  • the source terminal and the target terminal are the mobile phone and the bracelet, respectively.
  • each terminal sends an aperiodic reference signal.
  • the user searches for the location of the bracelet through the mobile phone, and the mobile phone broadcasts the cooperative positioning request and the reference signal of the mobile phone in response to the user's instruction.
  • the cooperative positioning request includes the mobile phone identification, the bracelet identification and the resource indication information corresponding to the mobile phone.
  • the tablet computer In response to the cooperative positioning request of the mobile phone, the tablet computer measures the reference signal broadcast by the mobile phone according to the resource indication information corresponding to the mobile phone, and determines the relative position information between the tablet computer and the mobile phone. Tablets broadcast positioning information and collaborative reference signals.
  • the positioning information broadcast by the tablet computer includes the mobile phone identification, the bracelet identification, the tablet computer identification, the relative position information between the tablet computer and the mobile phone, and the resource indication information corresponding to the tablet computer.
  • the speaker responds to the positioning information of the tablet computer, measures the reference signal of the tablet computer according to the resource indication information corresponding to the tablet computer, and determines the relative position information between the speaker and the tablet computer.
  • the speakers broadcast positioning information and collaborative reference signals.
  • the positioning information broadcast by the speaker includes the mobile phone identification, the bracelet identification, the speaker identification, the relative position information between the speaker and the tablet, the relative position information between the tablet and the phone obtained by the speaker from the positioning information broadcast by the tablet, and Resource indication information corresponding to the speaker.
  • the bracelet In response to the positioning information of the speaker, the bracelet measures the reference signal of the speaker according to the resource indication information corresponding to the speaker, and determines the relative position information between the speaker and the bracelet.
  • the wristband sends a positioning response to the mobile phone.
  • the positioning response includes the mobile phone identification, the identification of the wristband, the relative position information between the speaker and the wristband, and the relative position between the tablet and the mobile phone obtained by the wristband from the positioning information of the speaker.
  • Information relative position information between the speaker and the tablet.
  • the mobile phone determines the distance between the mobile phone and the bracelet according to the relative position information between the speaker and the bracelet, the relative position information between the tablet and the mobile phone, and the relative position information between the speaker and the tablet in the positioning response.
  • the relative position information is displayed on the display interface.
  • FIG. 13 is a schematic diagram of a display interface exemplarily provided by the present application.
  • the display interface includes layout diagrams of all rooms in a home scene, and the bracelet is displayed in the room where it is located. Exemplarily, the bracelet is displayed in room 4.
  • the display interface may further display furniture and/or other devices in each room, for example, display the wristband on the table in room 4 in the display interface.
  • the mobile phone can also provide a ring button in the display interface, such as "play ringtone" in Figure 13. If the user clicks the ring button, the bracelet can respond to the instruction to send a ringtone, so that there is a Help users find the bracelet quickly.
  • the embodiments of the present application are also applicable to a cooperative positioning process including multiple cooperative terminals.
  • the source terminal broadcasts a cooperative positioning request and a source reference signal
  • the first cooperative terminal receives the cooperative positioning request from the source terminal and responds to For the cooperative positioning request, measure the source reference signal to obtain the first cooperative location information between the source terminal and the first cooperative terminal.
  • the first cooperative terminal broadcasts the first positioning information and the first cooperative reference signal
  • the second cooperative terminal receives the first positioning information from the first cooperative terminal, and in response to the first positioning information, measures the first cooperative reference signal to obtain the first cooperative terminal second cooperative location information with the second cooperative terminal.
  • the second cooperative terminal broadcasts the second positioning information and the second cooperative reference signal
  • the third cooperative terminal receives the second positioning information from the second cooperative terminal, and in response to the second positioning information, measures the second cooperative reference signal to obtain the third cooperative terminal third cooperative location information with the second cooperative terminal.
  • the target terminal receives the Nth positioning information from the Nth cooperative terminal, and measures the Nth cooperative reference signal in response to the Nth positioning information to obtain the Nth cooperative reference signal.
  • the second relative position information between the N cooperative terminal and the target terminal is
  • the target terminal determines the target relative position information between the target terminal and the source terminal according to the first cooperative position information, the second cooperative position information, the third cooperative position information, ..., the Nth cooperative position information, and the second relative position information .
  • the target terminal sends a positioning response to the source terminal, wherein the positioning response includes target relative position information between the target terminal and the source terminal.
  • the cooperative terminal in the cooperative terminal group can assist the source terminal and the target terminal to determine the relative position information between the two.
  • there is a line-of-sight path between the two terminals performing relative positioning so the two terminals can determine relatively accurate relative position information. Based on the relatively accurate relative position information, there are It helps to determine more accurate relative position information between the target terminal and the source terminal.
  • the methods and operations implemented by the terminal may also be implemented by components (for example, a chip or a circuit) that can be used in the terminal.
  • the terminal may include a hardware structure and/or software modules, and implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is performed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.
  • each functional module in each embodiment of the present application may be integrated into one processor, or may exist physically alone, or two or more modules may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules.
  • FIG. 15 and FIG. 16 are schematic structural diagrams of possible communication devices provided by the present application. These communication apparatuses can be used to implement the functions of the terminal in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments.
  • the communication device may be a terminal as shown in FIG. 1 , or may be a module (such as a chip) applied to the terminal.
  • the communication device 1500 includes a processing unit 1501 and a communication unit 1502 .
  • the communication apparatus 1500 is configured to implement the functions of the terminal in the above-mentioned method embodiments related to FIG. 6 to FIG. 14 .
  • the communication unit 1502 when the communication device 1500 is a terminal, for example, the communication unit 1502 may be a transceiver, the transceiver may include an antenna and a radio frequency circuit, etc., and the processing unit 1501 may be a processor (or a processing circuit) , such as a baseband processor, which may include one or more CPUs.
  • the communication unit 1502 When the communication device 1500 is a component with the above terminal function, the communication unit 1502 may be a radio frequency unit, and the processing unit 1501 may be a processor (or a processing circuit), such as a baseband processor.
  • the communication unit 1502 may be an input/output interface of a chip (eg, a baseband chip), and the processing unit 1501 may be a processor (or a processing circuit) of the chip system, which may include one or more central processing units unit. It should be understood that the processing unit 1501 in this embodiment of the present application may be implemented by a processor or a processor-related circuit component (or referred to as a processing circuit), and the communication unit 1502 may be implemented by a transceiver or a transceiver-related circuit component.
  • the method executed by the terminal may be implemented by the processor 1610 calling a program stored in a memory (which may be the memory 1620 in the terminal, or an external memory). That is, the apparatus for the terminal may include a processor 1610, and the processor 1610 executes the method performed by the terminal in the above method embodiments by invoking a program in the memory.
  • the processor here may be an integrated circuit with signal processing capability, such as a CPU.
  • the apparatus for a terminal may be implemented by one or more integrated circuits configured to implement the above methods. For example: one or more ASICs, or, one or more microprocessor DSPs, or, one or more FPGAs, etc., or a combination of at least two of these integrated circuit forms. Alternatively, the above implementations may be combined.
  • the function/implementation process of the processing unit 1501 in FIG. 15 can be implemented by the processor 1610 in the communication device 1600 shown in FIG. 16 calling the computer-executed instructions stored in the memory 1620, and the The function/implementation process can be realized through the communication interface 1630 in the communication device 1600 shown in FIG. 16 .
  • Embodiment 1 a cooperative positioning method, wherein the method includes: a first terminal sends first information to a second terminal, the first information includes a source terminal identifier and a target terminal identifier; the second terminal responds to the first information and determines the first information. relative position information of the second terminal and the first terminal; the second terminal sends second information to the third terminal, the second information includes the relative position information of the second terminal and the first terminal, the source terminal identification and the target terminal identification; the third terminal The terminal determines relative position information of the third terminal and the second terminal in response to the second information; wherein a line-of-sight path exists between the first terminal and the second terminal, and a line-of-sight path exists between the second terminal and the third terminal.
  • the first terminal, the second terminal and the third terminal are the source terminal, the cooperative terminal and the target terminal as shown in FIG. 6 or FIG. 9 respectively
  • the first information is the cooperative positioning request sent by the source terminal
  • the second information is The positioning information sent by the cooperative terminal
  • the third information is the positioning response sent by the target terminal.
  • the first terminal, the second terminal and the third terminal are the source terminal, the first cooperation terminal and the second cooperation terminal as shown in FIG. 11 , respectively, or the source terminal, the first cooperation terminal and the second cooperation terminal as shown in FIG.
  • the first information is the cooperative positioning request sent by the source terminal
  • the second information is the first positioning information sent by the first cooperative terminal
  • the third information is the second positioning information sent by the second cooperative terminal.
  • the first terminal, the second terminal and the third terminal are respectively the first cooperative terminal, the second cooperative terminal and the target terminal as shown in FIG. 11 , and the first information is the first positioning information sent by the first cooperative terminal, The second information is the second positioning information sent by the second cooperative terminal, and the third information is the positioning response sent by the target terminal.
  • the first terminal, the second terminal, and the third terminal are the n-1 th cooperative terminal, the n th cooperative terminal, and the n+1 th cooperative terminal as shown in FIG. 14, respectively, and the first information is the n-1 th cooperative terminal.
  • the n-1th positioning information sent by the terminal, the second information is the nth positioning information sent by the nth cooperative terminal, and the third information is the n+1th positioning information sent by the n+1th cooperative terminal.
  • n-1 is greater than or equal to 1
  • n+1 is less than or equal to N.
  • the first terminal, the second terminal, and the third terminal are the N-1 th cooperative terminal, the N-th cooperative terminal, and the target terminal as shown in FIG. 14, respectively, and the first information is the th N-1 positioning information, the second information is the Nth positioning information sent by the Nth cooperative terminal, and the third information is the positioning response sent by the target terminal.
  • Embodiment 2 The method according to Embodiment 1, wherein the first terminal is a source terminal, the second terminal is a cooperative terminal, and the third terminal is a target terminal, and the method further includes: the third terminal is based on the data of the third terminal and the second terminal.
  • the relative position information, the relative position information of the second terminal and the first terminal, determine the relative position information of the third terminal and the first terminal;
  • the third terminal sends a third message to the first terminal, and the third message includes the third terminal and the first terminal.
  • Embodiment 3 The method according to Embodiment 1, wherein the first terminal is a source terminal, and the second terminal and the third terminal are both cooperative terminals; or the third terminal is a target terminal, and the first terminal and the second terminal are both cooperative terminals. terminal.
  • Embodiment 4 a cooperative positioning method, comprising: a second terminal receiving first information from a first terminal, and in response to the first information, determining relative position information between the second terminal and the first terminal, the first information including source terminal identification and target terminal identification; the second terminal sends second information to the third terminal, the second information includes the relative position information of the second terminal and the first terminal, the source terminal identification and the target terminal identification; wherein, the first terminal A line-of-sight path exists between the second terminal and the second terminal, and a line-of-sight path exists between the second terminal and the third terminal.
  • Embodiment 5 The method according to Embodiment 4, wherein the first information further includes relative position information of the first terminal and the fourth terminal, the second information further includes relative position information of the first terminal and the fourth terminal, and the first information further includes relative position information of the first terminal and the fourth terminal.
  • a line-of-sight path exists between a terminal and a fourth terminal.
  • Embodiment 6 The method according to Embodiment 5, wherein the relative position information of the first terminal and the fourth terminal includes a terminal identification pair consisting of the first terminal identification and the fourth terminal identification, the relative position of the first terminal and the fourth terminal. location and timestamp.
  • Embodiment 7 The method according to Embodiment 5 or Embodiment 6, wherein the first information further includes preset time information; the preset time information instructs the second terminal to send the second information within a preset time period; or The time information indicates whether the second terminal includes relative position information of the first terminal and the fourth terminal in the second information.
  • Embodiment 8 The method according to any one of Embodiments 4 to 7, wherein the first information further includes indication information of a first resource, and the first resource is used to carry a relative positioning reference signal sent by the first terminal
  • the second terminal determines the relative position information of the second terminal and the first terminal, including: the second terminal measures the relative positioning reference signal sent by the first terminal on the first resource, and obtains the relative position information of the second terminal and the first terminal.
  • Embodiment 9 The method according to any one of Embodiments 4 to 7, wherein the first information further includes an identifier of the first terminal; the second terminal determines relative position information between the second terminal and the first terminal, including: : The second terminal determines the first resource according to the first terminal identifier and the preset configuration information of the periodic relative positioning reference signal, and the first resource is used to carry the relative positioning reference signal sent by the first terminal; the second terminal is on the first resource The relative positioning reference signal sent by the first terminal is measured to obtain relative position information of the second terminal and the first terminal.
  • Embodiment 10 The method according to any one of Embodiments 4 to 9, wherein the method further includes: the second terminal sends a relative positioning reference signal to the third terminal, and the relative positioning reference signal sent by the second terminal is used for Determine the relative position information of the second terminal and the third terminal.
  • Embodiment 11 The method according to any one of Embodiments 4 to 10, wherein the relative positioning reference signal sent by the second terminal is carried on a second resource, and the second resource is selected by the second terminal from a resource pool , the second information also includes the indication information of the second resource; or the second resource is determined by the second terminal according to the second terminal identifier and the preset configuration information of the periodic relative positioning reference signal, and the second information also includes the second resource. Terminal ID.
  • Embodiment 12 The method according to any one of Embodiments 4 to 11, wherein the first terminal is a source terminal, the second terminal is a cooperative terminal, and the third terminal is a target terminal; or the first terminal is a source terminal , the second terminal and the third terminal are both cooperative terminals; or the third terminal is a target terminal, and the first terminal and the second terminal are both cooperative terminals.
  • Embodiment 13 a cooperative positioning method, comprising: a first terminal determining a first message, the first information including a source terminal identifier and a target terminal identifier; the first terminal sending the first information to the second terminal, the first information indicating The second terminal sends second information to the third terminal, where the second information includes relative position information of the second terminal and the first terminal, source terminal identification and target terminal identification; wherein, there is a video link between the first terminal and the second terminal A distance path, a line-of-sight path exists between the second terminal and the third terminal.
  • Embodiment 14 The method according to Embodiment 13, wherein the first terminal is a source terminal, the second terminal is a cooperative terminal, and the third terminal is a target terminal, and the method further includes: the first terminal receives a third message from the third terminal , the third message includes the relative position information of the third terminal and the first terminal, the source terminal identifier and the target terminal identifier.
  • Embodiment 15 a cooperative positioning method, comprising: a third terminal receiving second information from a second terminal, where the second information includes relative position information of the second terminal and the first terminal, a source terminal identifier, and a target terminal identification; the third terminal determines the relative position information of the third terminal and the second terminal in response to the second information; wherein, there is a line-of-sight path between the first terminal and the second terminal, and there is a line-of-sight path between the second terminal and the third terminal sight distance.
  • Embodiment 16 The method according to Embodiment 15, wherein the first terminal is a source terminal, the second terminal is a cooperative terminal, and the third terminal is a target terminal, and the method further includes: the third terminal is based on the data of the third terminal and the second terminal.
  • the relative position information, the relative position information of the second terminal and the first terminal, determine the relative position information of the third terminal and the first terminal;
  • the third terminal sends a third message to the first terminal, and the third message includes the third terminal and the first terminal.
  • a cooperative positioning device comprising: a processing unit and a communication unit, the processing unit is configured to control the communication unit to receive the first information from the first terminal, and in response to the first information, determine the relationship between the device and the first terminal.
  • Relative position information the first information includes source terminal identification and target terminal identification;
  • the processing unit is further configured to control the communication unit to send second information to the third terminal, the second information includes the relative position information of the device and the first terminal, the source terminal Identification and target terminal identification; wherein, a line-of-sight path exists between the first terminal and the device, and a line-of-sight path exists between the device and the third terminal.
  • Embodiment 18 The device according to Embodiment 17, wherein the first information further includes relative position information of the first terminal and the fourth terminal, the second information further includes relative position information of the first terminal and the fourth terminal, and the first information further includes relative position information of the first terminal and the fourth terminal.
  • Embodiment 19 The apparatus according to Embodiment 18, wherein the relative position information of the first terminal and the fourth terminal includes a terminal identification pair consisting of a first terminal identification and a fourth terminal identification, and the relative position of the first terminal and the fourth terminal. location and timestamp.
  • Embodiment 20 The apparatus according to any one of Embodiments 18 to 19, wherein the first information further includes preset time information; the preset time information instructs the processing unit to control the communication unit to transmit within a preset time period The second information; or the preset time information indicates whether the processing unit includes the relative position information of the first terminal and the fourth terminal in the second information.
  • Embodiment 21 The apparatus according to any one of Embodiments 17 to 20, wherein the first information further includes indication information of a first resource, and the first resource is used to carry a relative positioning reference signal sent by the first terminal ; the processing unit is specifically configured to measure the relative positioning reference signal sent by the first terminal on the first resource to obtain relative position information of the device and the first terminal.
  • Embodiment 22 The apparatus according to any one of Embodiments 17 to 20, wherein the first information further includes a first terminal identifier; the processing unit is specifically configured to, according to the first terminal identifier and the periodic relative positioning reference signal, Preset configuration information, determine a first resource, and the first resource is used to carry the relative positioning reference signal sent by the first terminal; measure the relative positioning reference signal sent by the first terminal on the first resource, and obtain the relative positioning reference signal between the device and the first terminal. location information.
  • the processing unit is specifically configured to, according to the first terminal identifier and the periodic relative positioning reference signal, Preset configuration information, determine a first resource, and the first resource is used to carry the relative positioning reference signal sent by the first terminal; measure the relative positioning reference signal sent by the first terminal on the first resource, and obtain the relative positioning reference signal between the device and the first terminal. location information.
  • Embodiment 23 The apparatus according to any one of Embodiments 17 to 22, wherein the processing unit is further configured to control the communication unit to send a relative positioning reference signal to the third terminal, and the relative positioning reference signal sent by the communication unit is used for Determine the relative position information of the device and the third terminal.
  • Embodiment 24 The apparatus according to any one of Embodiments 17 to 23, wherein the relative positioning reference signal sent by the communication unit is borne on a second resource, and the second resource is selected by the processing unit from a resource pool,
  • the second information further includes indication information of the second resource; or the second resource is determined by the processing unit according to the identification of the device and the preset configuration information of the periodic relative positioning reference signal, and the second information also includes the identification of the device.
  • Embodiment 25 The apparatus according to any one of Embodiments 17 to 24, wherein the first terminal is a source terminal, the apparatus is a cooperative terminal, and the third terminal is a target terminal; or the first terminal is a source terminal, The apparatus and the third terminal are both cooperative terminals; or the third terminal is a target terminal, and the first terminal and the apparatus are both cooperative terminals.
  • Embodiment 26 a cooperative positioning device, comprising: a processing unit and a communication unit, the processing unit is used to determine a first message, and the first information includes a source terminal identifier and a target terminal identifier; the processing unit is further configured to control the communication unit to send The second terminal sends the first information, the first information instructs the second terminal to send the second information to the third terminal, and the second information includes the relative position information of the second terminal and the device, the source terminal identifier and the target terminal identifier; wherein, the A line-of-sight path exists between the device and the second terminal, and a line-of-sight path exists between the second terminal and the third terminal.
  • Embodiment 27 The apparatus according to Embodiment 26, wherein the apparatus is a source terminal, the second terminal is a cooperative terminal, the third terminal is a target terminal, and the processing unit is further configured to control the communication unit to receive a third message from the third terminal , the third message includes the relative position information of the third terminal and the device, the source terminal identifier and the target terminal identifier.
  • Embodiment 28 a cooperative positioning apparatus, comprising: a processing unit and a communication unit, the processing unit is configured to control the communication unit to receive second information from a second terminal, and the second information includes the information of the second terminal and the first terminal. Relative position information, source terminal identification and target terminal identification; in response to the second information, determine the relative position information of the device and the second terminal; wherein, there is a line-of-sight path between the first terminal and the second terminal, and the second terminal and the There is a line-of-sight path between the devices.
  • Embodiment 29 The apparatus according to Embodiment 28, wherein the first terminal is a source terminal, the second terminal is a cooperative terminal, the apparatus is a target terminal, and the processing unit is further configured to, according to the relative position information of the apparatus and the second terminal, The relative position information of the second terminal and the first terminal determines the relative position information of the device and the first terminal; the processing unit is further configured to control the communication unit to send a third message to the first terminal, and the third message includes the third terminal and the first terminal. Relative position information of the first terminal, source terminal identifier and target terminal identifier.
  • Embodiment 30 A communication device, comprising a processor and a memory, the processor and the memory are coupled, and the memory is used to store computer program instructions, when the processor executes the computer program instructions, the communication device is made to perform Embodiments 4 to 4 The method of any one of Embodiments 12, or causing the communication device to perform the method of Embodiment 13 or Embodiment 14, or causing the communication device to perform the method of Embodiment 15 or Embodiment 16.
  • Embodiment 31 A computer-readable storage medium, wherein the computer-readable storage medium comprises computer instructions, when the computer instructions are executed on a computer, the computer is caused to perform the method of any one of Embodiments 4 to 12, Or cause the computer to execute the method of Embodiment 13 or Embodiment 14, or cause the computer to execute the method of Embodiment 15 or Embodiment 16.
  • Embodiment 32 A chip including a processor, when the processor executes an instruction, the processor executes the method of any one of Embodiments 4 to 12, or the processor executes Embodiment 13 or Embodiment 14 method, or the processor executes the method of Embodiment 15 or Embodiment 16.
  • Embodiment 33 A computer program product comprising instructions, when run on a computer, to cause a computer to perform the method of any one of Embodiments 4 to 12, or to cause a computer to perform Embodiment 13 or Embodiment 14 method, or cause a computer to execute the method of Embodiment 15 or Embodiment 16.
  • At least one means one or more, and “plurality” means two or more.
  • At least one item(s) below” or similar expressions thereof refer to any combination of these items, including any combination of single item(s) or plural items(s).
  • at least one (a) of a, b or c can mean: a, b, c, "a and b", “a and c", “b and c", or "a and b and c" ", where a, b, c can be single or multiple.

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Abstract

一种协作定位方法及装置，用于解决现有技术中不存在视距径的两个终端之间不能确定较为准确的相对位置信息的问题。在本申请中，第一终端向第二终端发送第一信息，第一信息包括源终端标识和目标终端标识；第二终端响应于第一信息，确定第二终端和第一终端的相对位置信息；第二终端向第三终端发送第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；第三终端响应于第二信息，确定第三终端和第二终端的相对位置信息；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。

Description

一种协作定位方法及装置
相关申请的交叉引用
本申请要求在2020年08月29日提交中国专利局、申请号为202010890921.5、申请名称为“一种协作定位的方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中；本申请要求在2020年12月03日提交中国专利局、申请号为202011412677.8、申请名称为“一种协作定位方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，尤其涉及一种协作定位方法及装置。
背景技术
终端定位包括绝对定位和相对定位。在很多场景下，两个终端之间并不需要知道对方的绝对定位信息(比如绝对坐标)，而只需要知道自身与对方的相对位置信息(相对距离信息或相对角度信息)。相比于绝对定位，相对定位只发生在两个终端之间，不需要定位服务器等第三方参与，因而信令交互流程较为简单，端到端的定位时延可以更短。
相对定位是一种单锚点定位技术，两个终端基于二者之间的多径(包括视距(line of sight，LOS)和非视距(non light of sight，NLOS))进行相对定位。该相对定位的前提在于两个终端之间存在视距径。
但在实际场景下，有相对定位需求的两个终端之间可能并不存在视距径，不能得到较为精确的相对位置信息。
发明内容
本申请提供一种协作定位方法及装置，在两个终端之间不存在视距径时，得到较为精确的相对位置信息。
第一方面，本申请提供一种协作定位方法，包括：第一终端向第二终端发送第一信息，第一信息包括源终端标识和目标终端标识；第二终端响应于第一信息，确定第二终端和第一终端的相对位置信息；第二终端向第三终端发送第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；第三终端响应于第二信息，确定第三终端和第二终端的相对位置信息；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
上述技术方案中，若源终端和目标终端之间不存在视距径，则协作终端可以协助源终端和目标终端确定二者之间的相对位置信息(或者称为相对定位结果)，该协作定位流程中可以包括两个存在视距径的终端之间确定相对位置信息，基于两个存在视距径的终端之间的相对位置信息，最终确定出源终端和目标终端之间的相对位置信息。由于进行相对定位的两个终端之间均存在视距径，所以该两个终端可以确定出较为准确的相对位置信息，基于多个较为准确的相对位置信息，有助于确定出较为准确的目标终端和源终端之间的相 对位置信息。目标终端和/或源终端之间无需进行非视距径定位误差消除，降低定位流程的复杂性。
一种可能的设计中，第一终端为源终端，第二终端为协作终端，第三终端为目标终端，方法还包括：第三终端根据第三终端和第二终端的相对位置信息、第二终端和第一终端的相对位置信息，确定第三终端和第一终端的相对位置信息；第三终端向第一终端发送第三消息，第三消息中包括第三终端和第一终端的相对位置信息、源终端标识和目标终端标识。
上述技术方案中，源终端和协作终端之间存在视距径，目标终端和协作终端之间存在视距径，则协作终端可以确定出与源终端的相对位置信息，目标终端确定出与协作终端的相对位置信息，然后目标终端根据协作终端与源终端的相对位置信息、协作终端与目标终端的相对位置信息较为准确的确定出目标终端和源终端之间的相对位置信息。
第二方面，本申请提供一种协作定位方法，包括：第二终端接收来自第一终端的第一信息，响应于第一信息，确定第二终端和第一终端的相对位置信息，第一信息包括源终端标识和目标终端标识；第二终端向第三终端发送第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
上述技术方案中，若源终端和目标终端之间不存在视距径，则协作终端可以协助源终端和目标终端确定二者之间的相对位置信息，该协作定位流程中可以包括两个存在视距径的终端之间确定相对位置信息，基于两个存在视距径的终端之间的相对位置信息，最终确定出源终端和目标终端之间的相对位置信息。由于进行相对定位的两个终端之间均存在视距径，所以该两个终端可以确定出较为准确的相对位置信息，基于多个较为准确的相对位置信息，有助于确定出较为准确的目标终端和源终端之间的相对位置信息。目标终端和/或源终端之间无需进行非视距径定位误差消除，降低定位流程的复杂性。
一种可能的设计中，第一信息中还包括第一终端与第四终端的相对位置信息，第二信息中还包括第一终端和第四终端的相对位置信息，第一终端和第四终端之间存在视距径。
上述技术方案中，第一终端发送的第一信息中还可以包括第一终端与第四终端的基于视距径确定的相对位置信息，第二终端可以将确定的与第一终端之间的相对位置信息，以及从第一信息中获取的第一终端与第四终端的相对位置信息，一起携带于向第三终端发送的第二信息中，从而第三终端可以获取到第一终端与第四终端、第一终端和第二终端、第三终端和第二终端之间的相对位置信息，有助于降低整个定位流程中的时延，从而快速确定出源终端和目标终端之间的相对位置信息。
一种可能的设计中，第一信息中还包括预设时间信息；预设时间信息指示第二终端在预设时间段内发送第二信息。上述技术方案中，协作终端组中各终端可以基于预设时间信息，确定在预设时段内执行上述相对定位流程，避免出现协作终端组中各终端持续确定源终端和目标终端之间的相对位置信息的问题。
一种可能的设计中，第一信息中还包括预设时间信息；预设时间信息指示第二终端是否将第一终端和第四终端的相对位置信息包含于第二信息中。上述技术方案中，协助终端组中各终端还可以基于预设时间信息确定是否获取接收到的信息中的相对位置信息，从而将确定时间较早的相对位置信息过滤掉，在降低时延的前提下，有助于减少信令负载。
一种可能的设计中，第一信息中还包括第一资源的指示信息，第一资源用于承载第一终端发送的相对定位参考信号；第二终端确定第二终端和第一终端的相对位置信息，包括： 第二终端在第一资源上测量第一终端发送的相对定位参考信号，得到第二终端和第一终端的相对位置信息。上述技术方案中，协作终端组中各终端只有在接收到相应信息时，才会广播相对定位参考信号，有助于节省各终端电能。
一种可能的设计中，第一信息中还包括第一终端标识；第二终端确定第二终端和第一终端的相对位置信息，包括：第二终端根据第一终端标识和周期相对定位参考信号的预设配置信息，确定第一资源，第一资源用于承载第一终端发送的相对定位参考信号；第二终端在第一资源上测量第一终端发送的相对定位参考信号，得到第二终端和第一终端的相对位置信息。上述技术方案中，协作终端组中各终端定周期性广播相对定位参考信号，实现目标终端和源终端之间较频繁或连续的相对定位。
第三方面，本申请提供一种协作定位方法，包括：第一终端确定第一消息，第一信息包括源终端标识和目标终端标识；第一终端向第二终端发送第一信息，第一信息指示第二终端向第三终端发送第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
第四方面，本申请提供一种协作定位方法，包括：第三终端接收来自第二终端的第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；第三终端响应于第二信息，确定第三终端和第二终端的相对位置信息；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
第五方面，本申请提供一种通信装置，该通信装置可以为终端或者终端中的芯片或者片上系统，该通信装置包括：包括处理器和存储器，处理器和存储器耦合，存储器用于存储计算机程序指令，当处理器执行计算机程序指令时，使得通信装置执行以下步骤：接收来自第一终端的第一信息，响应于第一信息，确定第二终端和第一终端的相对位置信息；向第三终端发送第二信息。
第六方面，本申请提供一种通信装置，该通信装置包括处理单元和通信单元，所述处理单元用于控制所述通信单元接收来自第一终端的第一信息，响应于所述第一信息，确定所述装置和所述第一终端的相对位置信息，所述第一信息包括源终端标识和目标终端标识；所述处理单元还用于控制所述通信单元向第三终端发送第二信息，所述第二信息中包括所述装置和所述第一终端的相对位置信息、所述源终端标识和所述目标终端标识；其中，所述第一终端和所述装置之间存在视距径，所述装置和所述第三终端之间存在视距径。
第七方面，提供一种计算机可读存储介质，该计算机可读存储介质中存储有指令，当其在计算机上运行时，可以使得计算机执行上述第二方面至第四方面中任一种设计所涉及的方法。
第八方面，提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机可以执行上述第二方面至第四方面中任一种设计所涉及的方法。
第九方面，提供一种芯片，该芯片包括处理器，当该处理器执行指令时，处理器用于执行上述第二方面至第四方面中任一种设计所涉及的方法。该指令可以来自芯片内部的存储器，也可以来自芯片外部的存储器。可选的，该芯片还包括输入输出电路。
其中，第三方面至第九面中任一种设计所带来的技术效果可参见上文中对应的方法所带来的技术效果，在此不再赘述。
附图说明
图1为本申请提供的一种协作定位系统架构示意图；
图2为本申请提供的一种相对定位方法的流程示意图；
图3为本申请提供的一种V2X场景下的系统架构图；
图4为本申请提供的一种家庭场景下的系统架构图；
图5为本申请提供的第一种协作定位流程中涉及终端的拓扑关系图；
图6为本申请提供的第一种协作定位方法的流程示意图；
图7为本申请提供的一组协作定位请求的格式示意图；
图8为本申请提供的一组定位信息的格式示意图；
图9为本申请提供的第二种协作定位流程的示意图；
图10为本申请提供的第二种协作定位流程中涉及终端的拓扑关系图；
图11为本申请提供的第三种协作定位方法的流程示意图；
图12为本申请提供的另一组定位信息的格式示意图；
图13为本申请提供的一种显示界面的示意图；
图14为本申请提供的一种基于N个协作终端确定目标相对位置信息的流程示意图；
图15为本申请提供的一种协作定位装置的结构示意图；
图16为本申请提供的一种通信装置的结构示意图。
具体实施方式
下面将结合附图，对本申请实施例进行详细描述。
现有的包括车联网、智能驾驶、室内导航定位、智慧工厂、智能仓储都对高精度定位有强的需求。除了这些垂直行业，消费类终端设备对高精度定位也有新的需求，包括物品定位跟踪、精准数据传输、智能支付、智能推送、智能钥匙等。
在3GPP RAN#86会议中的Rel-17 NR Positioning的SI(Study item)中，定义了目标为：在通用商用场景下，定位精度满足亚米级定位精度，定位时延为100ms；而在工业互联网(industrial internet of things，IIOT)中，定位精度需要达到20cm，定位时延需达到10ms。基于这种要求，3GPP标准正在积极推行标准化工作，包括基于3GPP蜂窝网络的无线定位技术(radio access technology(RAT)dependent positioning)、基于卫星定位的定位技术(global navigation satellite system，GNSS)、基于非3GPP地面网络定位技术(比如无线保真(wireless fidelity，WiFi)定位、蓝牙定位、地面信标系统(terrestrial beacon system，TBS)定位、超宽带(ultra wideband，UWB)定位等)以及混合定位技术等。
如图1示例性示出本申请实施例适用的一种相对定位系统架构图，该系统架构中包括多个终端。示例性的，多个终端包括终端1至终端5。
其中，终端(terminal)也可以称为终端设备、用户设备(user equipment，UE)、移动台(mobile station，MS)、移动终端(mobile terminal，MT)等。终端可以是手机(mobile phone)、平板电脑(Pad)、带无线收发功能的电脑、虚拟现实(Virtual Reality，VR)终端、增强现实(Augmented Reality，AR)终端、工业控制(industrial control)中的无线终端、自动驾驶(self driving)中的无线终端、远程手术(remote medical surgery)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智 慧城市(smart city)中的无线终端、智慧家庭(smart home)中的无线终端等等。本申请的实施例对终端所采用的具体技术和具体设备形态不做限定。
此外，该系统架构图中还可以包括网络设备，网络设备可以是基站(base station)、演进型基站(evolved NodeB，eNodeB)、发送接收点(transmission reception point，TRP)、5G移动通信系统中的下一代基站(next generation NodeB，gNB)、未来移动通信系统中的基站或WiFi系统中的接入点(access point，AP)、蓝牙或超宽带(ultra wideband，UWB)锚点等。本申请的实施例对网络设备所采用的具体技术和具体设备形态不做限定。
如图1中，多个终端中任一个终端(可称为源终端)与另外一个终端(可称为目标终端)可以通过如图2示例性示出的相对定位流程，确定源终端与目标终端之间的相对位置信息(可称为目标相对位置信息)。
示例性的，源终端和目标终端可以分别为图1中终端1和终端3，目标相对位置信息比如终端1和终端3之间的相对角度信息、相对距离信息等。
该相对定位流程中：
步骤201，源终端向目标终端发送定位请求。
步骤202，目标终端响应于定位请求，确定目标终端与源终端之间是否存在视距径，生成视距径状态信息，将终端能力信息和视距径状态信息作为一条消息发送至源终端。
其中，视距径状态信息由目标终端测量源终端发送的参考信号得到，视距径状态信息用于指示目标终端与源终端之间是否存在视距径，示例性的，视距径状态信息可以用一个比特表示，若该比特取值为1，则表示目标终端与源终端之间存在视距径，若该比特取值为0，则表示目标终端与源终端之间不存在视距径。
目标终端在确定目标终端与源终端之间是否存在视距径时，具体可以是基于现有技术中接收机自主完好性监控(receiver autonomous integrity monitoring，RAIM)算法或随机抽样一致(random sample consensus，RANSAC)算法确定。比如，目标终端若确定极化天线上不同天线单元上首达径上的能量符合能量一致性要求，且垂直极化天线上不同天线单元上首达径也符合相位一致性要求，则确定目标终端与源终端之间存在视距径；否则，确定目标终端与源终端之间不存在视距径(或者说仅存在非视距径)。
此外，目标终端还可以单独向源终端发送视距径状态信息，或将视距径状态信息作为终端能力信息的一部分上报至源终端。
步骤203，源终端根据视距径状态信息和终端能力信息，若确定源终端与目标终端之间满足相对定位条件，则向目标终端发送定位辅助信息。
示例性的，相对定位条件包括：1、源终端和目标终端之间至少存在一条视距径，并且目标终端或源终端可以基于分辨出的视距径来进行到达时间(time of arrival，TOA)测量或往返时间(round trip time，RTT)测量；2、源终端和目标终端中有至少一个终端具备多天线能力(具有至少3个物理天线)或虚拟多天线能力(支持基于子载波的载波相位测量)，目标终端可进行到达角(angle of arrival，AoA)或离开角(angle of departure，AoD)估计，并联合视距径上的TOA进行相对定位。
定位辅助信息中包括源终端对应的资源指示信息，该源终端对应的资源指示信息用于指示源终端发送参考信号的时频资源，该参考信号可以用于目标终端测量并确定与源终端的相对位置信息，可以将该参考信号称为相对定位参考信号、参考信号、定位参考信号、定位测量参考信号等。
参考信号比如定位参考信号(positioning reference signal，PRS)、信道状态信息参考信号(channel state information-reference signal，CSI-RS)、时频域跟踪参考信号(time/frequency tracking signal，TRS)等。
步骤204，源终端向目标终端发送参考信号。
步骤205，目标终端根据定位辅助信息中源终端的参考信号的资源指示信息，在对应时频资源上测量来自源终端的参考信号，确定目标相对位置信息。
步骤206，目标终端向源终端发送目标相对位置信息。
上述相对定位流程中，若源终端和目标终端之间不存在视距径，则需要进行非视距径定位误差消除，而通常非视距径定位误差消除不仅涉及到高复杂度的误差消除和/或抑制算法，而且通常需要多次测量的统计信息因而不能保障其消除或抑制性能，也即不能保障得到较为精确的相对位置信息。
为此，本申请提供一种协作定位方法，在源终端和目标终端之间不存在视距径时，建立协作终端组，协作终端组中包括源终端、目标终端和N个协作终端，N大于或等于1，N个协作终端用于协助源终端和目标终端确定目标相对位置信息，在无需进行高复杂度的非视距径定位误差消除算法的情况下，保障目标相对位置信息的准确性。
示例性的，如图1中，终端1至终端5组成协作终端组，源终端和目标终端分别为终端1和终端3，终端1和终端3之间不存在视距径，则终端2、终端4、终端5中一个或多个可以作为协作终端，用于协助终端1和终端3确定目标相对位置信息。
协作终端组中源终端、目标终端和协作终端可以基于不同通信网络协议执行协作定位流程。具体的，若网络设备是基站，协作终端组中终端可以位于基站的覆盖范围之内或之外，基站可以为协作终端组分配或预分配时频资源。源终端、目标终端和协作终端基于基站分配或预分配的时频资源执行协作定位流程。更进一步，若协作终端组中终端位于基站的覆盖范围之外，则协作终端组中的各个终端可以自主进行协作定位流程，而不需要基站网络设备的参与。
若网络设备是AP，协作终端组中终端可以位于AP的覆盖范围之内或之外，AP可以为协作终端组预分配或预竞争时频资源。源终端、目标终端和协作终端基于AP预分配或预竞争的时频资源执行协作定位流程。更进一步，若协作终端组中终端位于AP的覆盖范围之外，协作终端组中的各个终端可以自主进行协作定位流程，而不需要AP的参与。
若网络设备是蓝牙网关或UWB锚点，协作终端组中终端可以位于蓝牙网关或UWB锚点的覆盖范围之内或之外，蓝牙网关或UWB锚点可以为协作终端组预分配时频资源。源终端、目标终端和协作终端基于蓝牙网关或UWB锚点预分配的时频资源执行协作定位流程。更进一步，若协作终端组中终端位于蓝牙网关或UWB锚点的覆盖范围之外，协作终端组中的各个终端可以自主进行协作定位流程，而不需要蓝牙网关或UWB锚点的参与。
结合上述图1，本申请示例性提供两种具体场景下的系统架构图。
如图3为本申请示例性提供的一种车联网(vehicle to everything，V2X)场景下的系统架构图。其中终端可以是自动驾驶中的无线终端，比如车载终端，也可以是车辆中用户手持的用户设备，比如手机、平板电脑，还可以是路侧基础设施。其中车辆中终端与路侧基础设施之间通信相当于车辆与路侧基础设施之间通信，可以将车辆中终端简称为车辆。
示例性的，源终端为车辆A，目标终端为路侧基础设施，也即图1中终端1和终端3分别对应图3中车辆A和路侧基础设施。
由于建筑物遮挡，车辆A和路侧基础设施之间不存在视距径。本申请中可以先建立协作终端组，然后基于协作终端组中协作终端确定目标相对位置信息。
在建立协作终端组时，具体可以是车辆A广播组网请求，接收到该组网请求的车辆确定其与车辆A之间是否满足组网条件，若是，则向车辆A发送组网响应。同样的，路侧基础设施接收到该组网请求，确定与车辆A之间满足组网条件，向车辆A发送组网响应。从而车辆A、车辆B、车辆C、车辆D以及路侧基础设施之间组成协作终端组。
在该协作终端组中，车辆A和车辆B之间、车辆B和路侧基础设施之间均存在视距径，车辆B可以作为车辆A和路侧基础设施之间的协作终端，用于协助车辆A和路侧基础设施确定目标相对位置信息。
如图4为本申请示例性提供的一种家庭场景下的系统架构图。其中终端可以是在家庭中的任一个可以进行无线通信的设备，比如手机、电脑、耳机、手环、音箱、电视等，网络设备可以是AP，AP可以直接将该家庭场景中各设备组成协作终端组。
用户可以通过手机查找其他设备，示例性的，源终端为手机，目标终端为手环，也即图1中终端1和终端3分别对应图4中手机和手环。
由于墙体和/或家具遮挡，手机和手环之间不存在视距径。在该协作终端组中，手机和平板电脑之间、平板电脑和音箱之间、音箱和手环之间均存在视距径，平板电脑和音箱可以作为手机和手环之间的协作终端，用于协助手机和手环确定目标相对位置信息。
此外，本申请还适用于其他场景，比如超市场景中，终端可以是布置在超市中的任一种可以进行无线通信的设备，可以是贴有通信标签(比如射频识别(radio frequency identification，RFID)标签)的货架。网络设备可以是AP，AP可以直接将该超市中所有货架上的通信标签组成协作终端组。用户可以通过手机查找货物，手机基于用户指令，确定与待查找货物之间的目标相对位置信息，其中货架上的通信标签可以作为协作终端。
再比如野外定位(包括野外救援)场景中，终端可以是用户手机，用户A、用户B和用户C分别对应手机A、手机B和手机C。手机A、手机B和手机C组成协作终端组，示例性的，手机A、手机B和手机C均无网络覆盖，手机A、手机B和手机C可以基于系统默认设置的参数确定各自广播参考信号的时频资源。用户A需要确定与其距离很远或者是不存在视距径的用户C之间的相对位置信息时，手机A基于用户指令，通过协作定位方法确定与手机C之间的目标相对位置信息，其中手机B可以作为协作终端。
本申请实施例描述的网络架构以及业务场景是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域普通技术人员可知，随着网络架构的演变和新业务场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
基于协作终端的个数、网络拓扑与应用场景的不同，本申请提供两种协作定位的实现方式，其中实现方式一通过一个协作终端确定源终端和目标终端之间的目标相对位置信息，实现方式二通过多个协作终端确定源终端和目标终端之间的目标相对位置信息，具体如下。
实现方式一
结合图1举例，假设终端1与终端3之间不存在视距径，终端1与终端2之间、终端2与终端3之间均存在视距径，终端2可以作为协作终端，用于协助终端1与终端3确定目标相对位置信息。应理解，协作定位路径为终端1→终端2→终端3。此外，终端1与终 端2之间可以包括一条或多条协作定位路径，比如终端4也可以作为协作终端，则另一条协作定位路径具体为终端1→终端4→终端3。终端1与终端3之间的一条或多条协作定位路径可参照如图5示例性示出的第一种协作定位流程中涉及终端的拓扑关系图。
为方便描述，本申请中可以将源终端与协作终端的相对位置信息称为第一相对位置信息，协作终端与目标终端的相对位置信息称为第二相对位置信息。
如图6为本申请示例性提供的第一种协作定位方法的流程示意图，该流程中：
步骤601，源终端广播协作定位请求。
如图7中(a)为本申请示例性提供的第一种协作定位请求的格式示意图，协作定位请求中包括源终端标识和目标终端标识。其中源终端标识为源终端的终端标识，目标终端标识为目标终端的终端标识，终端标识可以是用于标识终端的身份信息，比如网络之间互连的协议(internet protocol，IP)地址、产品序列号(serial number，SN)，或协作终端组中各终端预先协商的各终端标识等。
该协作定位请求中源终端标识和目标终端标识可以作为指示信息，指示协作终端协助源终端和目标终端确定目标相对位置信息。
协作定位请求中还可以包括预设时间信息，有如下至少三种示例。
示例1，协作定位请求中预设时间信息可以是起始时间戳，该起始时间戳即源终端向协作终端发送协作定位请求的时间戳，该起始时间戳和第一预设持续时长共同指示协作定位流程的起始时间和结束时间，整个协作定位流程的持续时长不得超过该第一预设持续时长。比如，源终端在t0时刻向协作终端发送协作定位请求，那么源终端向协作终端发送的协作定位请求中包括有t0时刻，进一步的，源终端可以根据需要预先设定第一预设持续时间为T0，也就是源终端只接受t0到t0+T0之内的其他终端广播的定位信息。协作终端从接收到协作定位请求开始，直至(t0+T0)时刻结束，执行协作定位流程。本示例中，协作终端接收到协作定位请求的时刻可以是t0+TOA时刻。
示例2，协作定位请求中预设时间信息可以是第一时间段，协作终端在接收到协作定位请求之后的第一时间段内，执行协作定位流程。比如，协作定位请求中包括有T1时段，协作终端接收到协作定位请求的时刻为t1时刻，则协作终端在t1时刻至(t1+T1)时刻执行协作定位流程。
上述示例1和示例2中，协作终端执行协作定位流程具体可以包括，协作终端发送定位信息和/或发送协作参考信号，可参照下述实施例中描述。
示例3，协作定位请求中预设时间信息可以是第二时间段，协作终端中可能存储有多个相对位置信息，且每个相对位置信息对应有各自的时间戳，则协作终端可以从多个相对位置信息中确定符合时效条件的相对位置信息，然后将该符合时效条件的相对位置信息包含于定位信息中，其中符合时效条件可以是对应时间戳在协作终端接收到协作定位请求的时刻至该时刻之前的第二时间段的范围之内。比如，协作定位请求中包括有T2时段，协作终端接收到协作定位请求的时刻为t2时刻，协作终端确定将时间戳在(t2-T2)时刻至t2时刻之间测量得到的或是广播接收到的相对位置信息包含于定位信息中。
步骤602，源终端广播源参考信号。
本申请中，可以将源终端广播的参考信号简称为源参考信号。
一种实现方式中，源终端基于系统或高层预设配置信息，确定用于周期性广播源参考信号的时频资源，并在该时频资源上周期性广播源参考信号。
预设配置信息中包括协作终端组中各终端对应的资源指示信息，每个终端对应的资源指示信息用于指示该终端广播参考信号的时频资源。具体的，源终端基于预设配置信息中源终端标识确定源终端对应的资源指示信息，根据源终端对应的资源指示信息确定源终端广播源参考信号的时频资源，然后在该确定出的时频资源上广播源参考信号。
预设配置信息可以是网络设备生成的或者协作终端组中主终端或者头终端生成的，其中主终端或头终端可以是协作终端组中源终端或者其他终端。
结合图1和图5举例，网络设备生成预设配置信息，预设配置信息中包括终端1至终端5分别对应的资源指示信息，终端1接收来自网络设备的预设配置信息，从预设配置信息中确定出终端1对应的资源指示信息1，根据资源指示信息1确定时频资源1，然后在时频资源1上广播源参考信号。
在终端之间需要较频繁或连续定位且终端无需考虑功耗因素的场景中，可以采用上述源终端周期性广播源参考信号的实现方式。比如上述V2X场景中，车辆A可以无需考虑自身功耗因素，实时并连续广播源参考信号，用于路侧基础设施或其他车辆实时获知与车辆A的相对位置。
另一种实现方式中，源终端非周期性广播源参考信号。具体的，网络设备或主终端可以预先为协作终端组配置资源池，其中主终端可以是协作终端组中源终端或者其他终端。当源终端需要广播源参考信号时，从资源池中选择(或竞争或确定)时频资源，并在该时频资源上广播源参考信号。
结合图1和图5举例，网络设备预先为协作终端组配置资源池，终端1从资源池中选择时频资源1，并在该时频资源1上广播源参考信号。
在协作终端组中终端之间突发协作定位的场景中，可以采用上述源终端非周期性广播源参考信号的实现方式。比如上述家庭场景或超市场景或野外定位(包括野外救援)场景中，源终端在未接收到用户指令时，无需广播源参考信号，可以有效节省终端电能。
需要说明的是，在步骤601中源终端广播协作定位请求，以及在步骤602中源终端广播源参考信号，协作终端组中可以有多个终端接收到该协作定位请求和源参考信号，各终端判断是否需要确定与该源终端之间的相对位置信息。
以其中任一个终端为例，该终端可以确定是否与源终端之间存在视距径，从而得到视距径状态信息，然后将视距径状态信息和该终端的终端能力信息发送至源终端，源终端若确定与该终端之间满足相对定位条件，则指示该终端测量源终端广播的定位测量参考信号。另一种实现方式也可以为源终端将自己的终端能力信息发送给各终端，各终端确定与源终端之间是否满足相对定位条件，从而自主确定是否进行定位测量参考信号测量。完成参考信号测量之后，得到与源终端之间相对位置信息，该终端即可以作为协作终端。
这样的方式，不仅用于源终端与协作终端来确定是否满足相对定位条件，也可用于多个协作终端之间来确定是否满足相对定位条件。
比如图5中，终端1广播的协作定位请求可以被终端2和终端3接收到，其中，终端2与终端1之间满足相对定位条件，终端2测量终端1的参考信号，计算并确定终端2与终端1之间的相对位置信息。终端3与终端1之间不满足相对定位条件。
此说明同样适用于下述实现方式二中，在下述实现方式二中可以将测量源终端参考信号的终端称为第一协作终端。
基于上述描述，协作终端可以有一个或多个，如下步骤603至步骤608可以以其中一 个协作终端为例说明。
步骤603，协作终端接收来自源终端的协作定位请求，响应于协作定位请求，测量源终端广播的源参考信号，确定第一相对位置信息。
协作终端解析协作定位请求，确定协作定位请求中包括源终端标识和目标终端标识，则确定协助源终端确定源终端和目标终端的目标相对位置信息。进一步的，协作终端响应于协作定位请求，确定源参考信号的时频资源，然后在该时频资源上测量源参考信号，得到测量结果，并根据测量结果确定协作终端与源终端之间的第一相对位置信息。
一种可选实现方式中，协作终端接收来自网络设备的预设配置信息，根据协作定位请求中源终端标识，从预设配置信息中确定源终端对应的资源指示信息，根据源终端对应的资源指示信息确定源终端广播源参考信号的时频资源，并在该时频资源上测量源参考信号。
结合图1和图5继续举例，协作终端为终端2，终端2接收来自网络设备的预设配置信息，从预设配置信息中确定出终端1对应的资源指示信息1，根据资源指示信息1确定时频资源1，然后在时频资源1上测量终端1广播的源参考信号。
另一种可选实现方式中，协作终端从协作定位请求中获取源终端对应的资源指示信息，根据该源终端对应的资源指示信息，在对应的时频资源上接收源终端广播的源参考信号。源终端对应的资源指示信息可以包含于协作定位请求中，或者作为单独的一条消息由源终端发送至协作终端。
当协作定位请求中包括源终端对应的资源指示信息时，协作定位请求的格式示意图可参照图7中(b)所示。协作定位请求中包括有源终端标识、目标终端标识、预设时间信息和源终端对应的资源指示信息，各字段说明可参照上述实施例，不再赘述。
作为一种具体实现方式，源终端从资源池中选择用于广播源参考信号的时频资源，将该时频资源的资源指示信息作为源终端对应的资源指示信息包含于协作定位请求中。协作终端根据协作定位请求中该资源指示信息，确定源终端广播源参考信号的时频资源，并在该时频资源上测量源参考信号。
结合图1和图5继续举例，终端1从资源池中选择时频资源1，将该时频资源1的资源指示信息1作为源终端对应的资源指示信息包含于协作定位请求中，协作终端为终端2，终端2从协作定位请求中得到资源指示信息1，根据资源指示信息1确定时频资源1，在时频资源1上测量终端1广播的源参考信号。
此外，协作定位请求中还可以包括触发指示，该触发指示用于指示接收到该协作定位请求的终端根据协作定位请求中资源指示信息，在对应的时频资源上测量源参考信号，同时发送协作参考信号。
步骤604，协作终端广播定位信息。
定位信息又可以称为协作定位信息(cooperative positioning information)。
该定位信息中包括源终端标识、目标终端标识、本协作终端标识和第一相对位置信息，其中本协作终端标识为本协作终端的终端标识。进一步的，第一相对位置信息中包括源终端标识和源终端与本协作终端的相对位置(可以称为第一相对位置)。
在一个示例中，第一相对位置信息中还可以包括第一时间戳，该第一时间戳用于指示协作终端确定第一相对位置信息的时间。
如图8中(a)为本申请示例性提供的第一种定位信息的格式示意图，其中包括源终端标识、目标终端标识、协作终端标识、第一相对位置信息，其中第一相对位置信息包括源 终端标识、第一相对位置和第一时间戳。
步骤605，协作终端广播协作参考信号。
本申请中，可以将协作终端广播的参考信号简称为协作参考信号。
协作终端可以周期性或非周期性广播协作参考信号，可参照上述步骤602中源终端周期性或非周期性广播源参考信号的具体实现方式。
若协作终端非周期性广播协作参考信号，则可参照如图8中(a)，定位信息还可以包括协作终端对应的资源指示信息，协作终端对应的资源指示信息用于指示协作终端广播协作参考信号的时频资源。
此外，定位信息中还可以包括触发指示，该触发指示用于指示接收到该定位信息的终端根据定位信息中资源指示信息，在对应资源上测量协作参考信号。
本申请中，协作终端组中各终端可以基于相同方式广播各自的参考信号，比如源终端周期性广播源参考信号，协作终端同样周期性广播协作参考信号，或者，源终端非周期性广播源参考信号，协作终端同样非周期性广播协作参考信号。当然，也并不排除各终端基于不同方式广播各自参考信号的技术方案，比如，源终端周期性广播源参考信号，而协作终端非周期性广播协作参考信号。该说明同样适用于实现方式二。
需要说明的是，在步骤604中协作终端广播定位信息，以及在步骤605中协作终端广播协作参考信号，协作终端组中可以有多个终端接收到该定位信息和协作参考信号，各终端判断是否需要确定与该协作终端之间的相对位置信息，具体可参照步骤603之前的描述。
进一步的，该定位信息和协作参考信号可以被目标终端和/或源终端接收到。其中目标终端可以根据定位信息测量协作参考信号，确定与协作终端之间的相对位置信息，以及从定位信息中获取第一相对位置信息。
由于定位信息中已经包括有源终端和协作终端的相对位置信息，则源终端无需再次测量协作终端的参考信号，源终端可以直接从定位信息中获取第一相对位置信息。在另一个实施例中，源终端也可以直接丢弃该接收到的定位信息，具体可参照下述实施例中描述。
结合图1和图5继续举例，终端2为协作终端，终端2广播包含有终端2与终端1之间的相对位置信息的定位信息。该定位信息可以被终端3、终端4和终端1接收到。其中，终端3与终端2之间满足相对定位条件，终端3测量终端2的参考信号，确定终端3与终端2之间的相对位置信息。终端4与终端2之间不满足相对定位条件。终端1无需再次测量终端2的参考信号，可以直接从定位信息中获得终端2与终端1之间的相对位置信息，或者直接丢弃终端2的定位信息。
此说明同样还可以适用于下述实现方式二中。
步骤606，目标终端接收来自协作终端的定位信息，响应于定位信息，测量协作终端广播的协作参考信号，确定第二相对位置信息。
目标终端解析定位信息，确定定位信息中包括源终端标识、目标终端标识、协作终端标识和第一相对位置信息。目标终端响应于定位信息，确定协作参考信号的时频资源，然后在该时频资源上测量协作参考信号，得到测量结果，并根据测量结果确定协作终端与目标终端之间的相对位置信息(即第二相对位置信息)。
协作终端确定协作参考信号的时频资源的方式具体可参照步骤603中描述，不再赘述。
示例性的，第二相对位置信息中包括有目标终端标识和目标终端与协作终端的相对位置(可以称为第二相对位置)。第二相对位置信息中还可以包括第二时间戳，第二时间戳 为目标终端确定第二相对位置信息的时间。
在步骤606之后，可以是目标终端或源终端确定目标相对位置信息。
目标终端确定目标相对位置信息可参照示例a，包括如下步骤607a至步骤608a。
步骤607a，目标终端根据从定位信息中获取的第一相对位置信息、第二相对位置信息，确定目标相对位置信息。
第一相对位置信息包括有协作终端和源终端之间的相对距离和相对角度，第二相对位置信息包括有协作终端和目标终端之间的相对距离和相对角度，目标终端根据协作终端和源终端之间的相对距离和相对角度、协作终端和目标终端之间的相对距离和相对角度，来确定目标终端和源终端之间的相对距离和相对角度，也即确定出目标相对位置信息。
步骤608a，目标终端向源终端发送定位响应，该定位响应中包括有目标相对位置信息。
目标终端可以通过广播方式或单播方式向源终端发送定位响应。
本实施例中，源终端只需要接收来自目标终端的定位响应，从定位响应中获取目标相对位置信息即可。源终端可以直接丢弃来自协作终端的定位信息。
源终端确定目标相对位置信息可参照示例b，包括如下步骤607b至步骤608b。
步骤607b，目标终端向源终端发送定位响应，该定位响应中包括有第二相对位置信息。
目标终端可以通过广播方式或单播方式向源终端发送定位响应。源终端接收来自目标终端的定位响应，从中获取到第二相对位置信息。
步骤608b，源终端根据从定位信息中获取的第一相对位置信息，以及从定位响应中获取的第二相对位置信息，确定目标相对位置信息。
确定方式具体可参见步骤607a中说明。
在另一种源终端确定目标相对位置信息的示例中，定位响应还可以包括有第一相对位置信息，源终端从定位响应中获取第一相对位置信息和第二相对位置信息，并根据第一相对位置信息、第二相对位置信息，确定目标相对位置信息。
可选的，源终端还可以向目标终端发送目标相对位置信息。
在步骤608a或步骤608b之后，源终端或目标终端可以结束该协作定位流程，一种可选方式中，源终端或目标终端广播协作定位结束的消息，协作终端组中任一终端接收到该结束定位消息之后，结束本次协作定位流程。
此外，若源终端或目标终端未能确定出目标相对位置信息，则源终端或目标终端也可以广播协作定位结束的消息，以指示协作终端组中各终端停止本次协作定位流程。
此处，协作终端组中各终端可以包括协作终端、目标终端、源终端中任一个或多个。
在一种可选方式中，源终端确定本次协作定位流程的持续时长超过第一预设持续时长，则广播该协作定位结束消息，协作终端组中各终端(包括协作终端和目标终端)在接收到该协作定位结束的消息之后，结束本次协作定位流程。
进一步的，源终端可以在等待第二预设持续时长之后，重新发起协作定位流程。在一些实施例中，还可以基于基站辅助或卫星辅助确定源终端的绝对定位信息和目标终端的绝对定位信息，然后再根据二者的绝对定位信息确定目标相对位置信息。
此外，协作终端组中各终端(可以包括协作终端、源终端和目标终端)也可以基于协作定位请求中时间戳和第一预设持续时长，主动结束上述协作定位流程。比如，各终端在确定当前时刻为t0+T0时刻时，主动结束上述协作定位流程。
如图9为本申请示例性提供的第二种协作定位流程的示意图，该流程中：
步骤901，源终端广播协作定位请求。
步骤902，源终端广播源参考信号。
步骤903，协作终端接收来自源终端的协作定位请求，响应于协作定位请求，测量源终端广播的源参考信号，确定第一相对位置信息。
步骤901至步骤903中实现方式具体可参照上述步骤601至步骤603中具体实现方式，不再赘述。
步骤904，目标终端接收来自源终端的协作定位请求，响应于协作定位请求，广播目标终端的定位响应。
一种可选方式中，目标终端确定协作定位请求中包括源终端标识和目标终端标识，响应于协作定位请求，广播目标终端的定位响应，其中定位响应包括源终端标识、目标终端标识。此处的定位响应区分于上述图6相关实施例中定位响应，此处的定位响应理解为目标终端响应于源终端的协作定位请求的响应，该定位响应指示协作终端测量目标终端广播的定位测量参考信号。
步骤905，目标终端广播目标参考信号。
本申请中，可以将目标终端广播的参考信号简称为目标参考信号。
目标终端可以周期性或非周期性广播目标参考信号，可参照上述步骤602中源终端周期性或非周期性广播源参考信号的具体实现方式。
若目标终端非周期性广播参考信号，则定位响应中还可以包括目标终端对应的资源指示信息，该目标终端对应的资源指示信息用于指示目标终端广播目标参考信号的时频资源。
步骤906，协作终端接收来自目标终端的定位响应，响应于定位响应，测量目标终端广播的目标参考信号，确定第二相对位置信息。
协作终端测量目标终端广播的目标参考信号，确定第二相对位置信息的具体实现方式可参照上述步骤603，不再赘述。
步骤907，协作终端广播定位信息，定位信息中包括有第一相对位置信息和第二相对位置信息。
示例性的，如图8中(b)为本申请示例性提供的第二种定位信息的格式示意图，其中包括源终端标识、目标终端标识、协作终端标识、第一相对位置信息和第二相对位置信息，其中第一相对位置信息包括源终端标识、第一相对位置和第一时间戳，第二相对位置信息包括目标终端标识、第二相对位置和第二时间戳。可选的，定位信息中还包括协作终端对应的资源指示信息。
步骤908，源终端接收来自协作终端的定位信息，根据定位信息中包括的第一相对位置信息和第二相对位置信息，确定目标相对位置信息。
当然，本申请实施例中，还可以是目标终端接收来自协作终端的定位信息，根据定位信息中包括的第一相对位置信息和第二相对位置信息，确定目标相对位置信息。
此外，协作终端还可以先根据第一相对位置信息和第二相对位置信息，确定目标相对位置信息，然后广播包含有目标相对位置信息的定位信息，源终端和/或目标终端接收到该定位信息，从该定位信息中获取目标相对位置信息。
本申请实施例中未详细描述的实现方式均可以参照如图6相关实施例中描述。
此外，由于每个终端都有可能广播参考信号，其他终端也都有可能测量参考信号得到与该终端的相对位置信息，则实际场景中可能存在协作终端不仅可以获取与源终端和/或目 标终端的相对位置信息，还可以获取与其他终端的相对位置信息。
在一种实现方式中，协作终端广播的定位信息中包括与本协作终端相关联的多个相对位置信息，比如本协作终端与源终端的相对位置信息，本协作终端与目标终端的相对位置信息，本协作终端与其他终端(协作终端组中除源终端和目标终端以外的终端)的相对位置信息。
以图5中终端2为例，终端2不仅可以确定与终端1之间的相对位置信息，还可以在存在视距径时测量来自其他终端(比如终端3、终端4)的参考信号，确定与其他终端的相对位置信息，又或者，终端2还可以接收来自其他终端的相对位置信息(比如终端3广播的与终端2的相对位置信息，终端4广播的与终端1的相对位置信息，终端4广播的与终端2的相对位置信息，终端4广播的与终端3的相对位置信息)，终端2可以将与本终端相关联的相对位置信息携带于定位信息中广播，示例性的，终端2广播的定位信息中包括终端2与终端1的相对位置信息、终端2与终端3的相对位置信息、终端2与终端4的相对位置信息等。
示例性的，如图8中(c)为本申请示例性提供的第三种定位信息，该定位信息中包括源终端标识、目标终端标识、协作终端标识以及与本协作终端相关联的相对位置信息，其中与本协作终端相关联的相对位置信息不仅包括本协作终端与源终端的第一相对位置信息、本协作终端与目标终端的第二相对位置信息，还包括本协作终端与其他终端的相对位置信息，比如包括第1相对位置信息，其中第1相对位置信息是本协作终端与终端标识1对应终端的相对位置信息。可选的，还包括本协作终端对应的资源指示信息。
本实施例中，每个相对位置信息都与本终端(同一个终端)相关联，且定位信息中已经包括有本协作终端标识，所以每个相对位置信息中只需要包含有与本终端具有相对位置信息的终端的终端标识，有助于减少整个协作定位流程中的信令负载。
此外，本申请实施例中可以包括多条协作定位路径，具体可参照如图5中说明。可以根据多个协作定位路径分别对应的相对位置信息确定最终的目标相对位置信息。结合如图5中两条协作定位路径，以步骤607a为例说明，终端3可以从终端2的定位信息中获取终端2与终端1的相对位置信息，并测量终端2的参考信号得到与终端2的相对位置信息。同理，终端3可以从终端4的定位信息中获取终端4与终端1的相对位置信息，并测量终端4的参考信号得到与终端4的相对位置信息。之后终端3基于两条协作定位路径对应的相对位置信息，确定终端3与终端1的目标相对位置信息，具体的，终端3可以根据各协作定位路径对应的定位误差确定采用哪一条定位路径对应的相对位置信息来确定，或者结合两条协作定位路径对应的相对位置信息来确定。该说明同样适用于下述实现方式二中。
为更好的解释本申请实施例，下面结合如图3的V2X场景举例说明。其中源终端和目标终端分别为车辆A和路侧基础设施。该V2X场景下，各终端发送周期性参考信号。
具体的，车辆A广播协作定位请求和车辆A的参考信号，协作定位请求中包括有车辆A标识和路侧基础设施标识。
车辆B响应于车辆A的协作定位请求，测量车辆A广播的参考信号，确定车辆B与车辆A之间的相对位置信息。车辆B广播定位信息和车辆B的协作参考信号。车辆B的定位信息中包括车辆A标识、路侧基础设施标识、车辆B与车辆A之间的相对位置信息。
路侧基础设施响应于车辆B的定位信息，测量车辆B广播的参考信号，确定路侧基础设施与车辆B之间的相对位置信息。
路侧基础设施根据车辆B的定位信息中包括的车辆B与车辆A之间的相对位置信息，以及确定的路侧基础设施与车辆B之间的相对位置信息，确定路侧基础设施与车辆A之间的相对位置信息。路侧基础设施向车辆A发送定位响应，定位响应中包括路侧基础设施与车辆A之间的相对位置信息。
实现方式二
结合图1举例，假设终端1与终端3之间不存在视距径，终端1与终端2之间、终端2与终端4之间、终端4与终端3之间均存在视距径，终端2和终端4可以作为协作终端，用于协助终端1与终端3确定目标相对位置信息。应理解，协作定位路径为终端1→终端2→终端4→终端3。此外，终端1与终端3之间可以包括一条或多条协作定位路径，比如终端2、终端4和终端5也可以作为协作终端，则另一条协作定位路径为终端1→终端2→终端4→终端5→终端3。终端1与终端3之间的一条或多条协作定位路径可参照如图10示例性示出的第二种协作定位流程中涉及终端的拓扑关系图。
如图11为本申请示例性提供的第三种协作定位流程的示意图，该流程以协作终端为两个来举例说明。两个协作终端分别为第一协作终端和第二协作终端，第一协作终端与源终端之间、第一协作终端与第二协作终端之间、第二协作终端与目标终端之间均存在视距径，协作定位路径为源终端→第一协作终端→第二协作终端→目标终端。示例性的，第一协作终端可以是如图10中终端2，第二协作终端可以是如图10中终端4。
本申请中可以将源终端与第一协作终端的相对位置信息称为第一协作位置信息(在上述实现方式一中还可以称为第一相对位置信息)，第一协作终端与第二协作终端的相对位置信息可以称为第二协作位置信息，第二协作终端与目标终端的相对位置信息称为第二相对位置信息。
该流程中：
步骤1101，源终端广播协作定位请求。
步骤1102，源终端广播源参考信号。
步骤1101至步骤1102中实现方式具体可参照上述步骤601至步骤602中具体实现方式，不再赘述。此外，第一协作终端可以有一个或多个，如下步骤1103至步骤1105可以以其中一个第一协作终端为例说明。
步骤1103，第一协作终端接收来自源终端的协作定位请求，响应于协作定位请求，测量源终端广播的源参考信号，确定第一协作位置信息。
步骤1104，第一协作终端广播第一定位信息。
第一定位信息为第一协作终端响应于协作定位请求，得到的定位信息。
如图12中(a)为本申请示例性提供的一种第一定位信息的格式示意图，第一定位信息中包括源终端标识、目标终端标识、本协作终端标识(也即第一协作终端标识)和第一协作位置信息。
进一步的，第一协作位置信息中包括终端标识对(pair)和终端标识对对应的相对位置，具体的，终端标识对包括源终端标识和第一协作终端标识，终端标识对对应的相对位置为源终端与第一协作终端的相对位置(可以称为第一协作位置)。
此外，第一协作位置信息中还可以包括第一协作时间戳，该第一协作时间戳用于指示第一协作终端确定第一协作位置信息的时间。
第一定位信息中还可以包括第一协作终端对应的资源指示信息，其中第一协作终端对应的资源指示信息用于指示第一协作终端广播第一协作参考信号的时频资源。
步骤1105，第一协作终端广播第一协作参考信号。
本申请可以将第一协作终端的参考信号简称为第一协作参考信号。第一协作终端可以周期性或非周期性广播第一协作参考信号，可参照上述步骤602中源终端周期性或非周期性广播源参考信号的具体实现方式。
需要说明的是，在步骤1104中第一协作终端广播第一定位信息，以及在步骤1105中第一协作终端广播第一协作参考信号，协作终端组中可以有多个终端接收到该第一定位信息和第一协作参考信号，各终端判断是否需要确定与该第一协作终端之间的相对位置信息，具体可参照步骤603之前的描述。示例性的，若某个终端需要确定与该第一协作终端之间的相对位置信息，则该终端可以称为是第二协作终端。
比如图10中，终端2为第一协作终端，终端2发送第一定位信息和第一协作参考信号可以被终端4和终端3接收到。其中，终端4与终端2之间满足相对定位条件，终端4测量终端2的参考信号，计算并确定终端4与终端2之间的相对位置信息，终端4为第二协作终端。终端3与终端2之间不满足相对定位条件。
进一步的，该第一定位信息和第一协作参考信号可以被源终端接收到。由于第一定位信息中已经包括有源终端和第一协作终端的相对位置信息，则源终端无需再次测量第一协作参考信号，源终端可以直接从第一定位信息中获取第一协作位置信息。在另一个实施例中，源终端也可以直接丢弃该接收到的第一定位信息，具体可参照下述实施例中描述。
基于上述描述，第二协作终端可以有一个或多个，如下步骤1106和步骤1107可以以其中一个第二协作终端为例说明。
步骤1106，第二协作终端接收来自第一协作终端的第一定位信息，响应于第一定位信息，测量第一协作终端广播的第一协作参考信号，确定第二协作位置信息。
步骤1107，第二协作终端广播第二定位信息。
第二定位信息为第二协作终端响应于第一定位信息，得到的定位信息。
第二协作终端可以从第一定位信息中获取第一协作位置信息，并将第一协作位置信息与第二协作位置信息一起携带于第二定位信息中。
如图12中(b)为本申请示例性提供的一种第二定位信息的格式示意图，第二定位信息包括源终端标识、目标终端标识、本协作终端标识(即第二协作终端标识)、第一协作位置信息和第二协作位置信息。
进一步的，第二协作位置信息中包括终端标识对和终端标识对对应的相对位置信息，具体的，终端标识对包括第一协作终端标识和第二协作终端标识，终端标识对对应的相对位置为第一协作终端与第二协作终端的相对位置(可以称为第二协作位置)。
此外，第二协作位置信息中还可以包括第二协作时间戳。第二协作时间戳为第二协作终端确定第二协作位置信息的时间。
第二定位信息中还可以包括第二协作终端对应的资源指示信息，其中第二协作终端对应的资源指示信息用于指示第二协作终端广播第二协作参考信号的时频资源。
步骤1108，第二协作终端广播第二协作参考信号。
本申请可以将第二协作终端的参考信号简称为第二协作参考信号。第二协作终端可以周期性或非周期性广播第二协作参考信号，可参照上述步骤602中源终端周期性或非周期 性广播源参考信号的具体实现方式。
需要说明的是，在步骤1107中第二协作终端广播第二定位信息，以及在步骤1108中第二协作终端广播第二协作参考信号，协作终端组中可以有多个终端接收到该第二定位信息和第二协作参考信号，各终端判断是否需要确定与该第二协作终端之间的相对位置信息，具体可参照步骤603之前的描述。
进一步的，该第二定位信息和第二协作参考信号可以被目标终端和/或第一协作终端接收到。其中目标终端可以根据第二定位信息测量第二协作参考信号确定与第二协作终端之间的相对位置信息，以及从第二定位信息中获取第一协作位置信息和第二协作位置信息。
由于第二定位信息中已经包括有第一协作终端和第二协作终端的相对位置信息，则第一协作终端无需再次测量第二协作终端的参考信号。
步骤1109，目标终端接收来自第二协作终端的第二定位信息，响应于第二定位信息，测量第二协作终端广播的第二协作参考信号，确定第二相对位置信息。
在步骤1109之后，可以是目标终端或源终端确定目标相对位置信息。
目标终端确定目标相对位置信息可参照示例A，包括如下步骤1110A至步骤1111A。
步骤1110A，目标终端根据第二相对位置信息，以及从第二定位信息中得到的第一协作位置信息和第二协作位置信息，确定目标相对位置信息。
步骤1111A，目标终端向源终端发送定位响应，该定位响应中包括有目标相对位置信息。目标终端可以通过广播方式或单播方式向源终端发送定位响应。
源终端确定目标相对位置信息可参照示例B，包括如下步骤1110B至步骤1111B。
步骤1110B，目标终端向源终端发送定位响应，其中定位响应中包括第二相对位置信息，以及从第二定位信息中得到的第一协作位置信息和第二协作位置信息。
目标终端可以通过广播方式或单播方式向源终端发送定位响应。
步骤1111B，源终端根据定位响应中包括的第一协作位置信息、第二相对位置信息、第二协作位置信息，确定目标相对位置信息。
本申请实施例中未详细描述的实现方式均可以参照如图6、如图9相关实施例中描述。
此外，本申请并不排除如下可能：目标终端从第一定位信息中获取第一协作位置信息、源终端从第一定位信息中获取第一协作位置信息、源终端从第二定位信息中获取第二协作位置信息等。
一个例子中，目标终端从第一定位信息中获取第一协作位置信息，从第二定位信息中获取第二协作位置信息，测量第二协作终端的第二协作参考信号确定第二相对位置信息，根据第一协作位置信息、第二协作位置信息和第二相对位置信息确定目标相对位置信息。
或者另一个例子中，源终端从第一定位信息中获取第一协作位置信息，从第二定位信息中获取第二协作位置信息，以及从目标终端的定位响应中获取第二相对位置信息，根据第一协作位置信息、第二协作位置信息和第二相对位置信息确定目标相对位置信息。
本实现方式中，协作终端广播的定位信息中包括的多个相对位置信息可以由两种方式获取，其一是协作终端从上一个协作终端的定位信息中得到的，示例性的，协作终端可以获取上一个协作终端的定位信息中的全部或部分相对位置信息。其二是协作终端测量一个或多个终端广播的参考信号得到的。任一个协作终端广播的定位信息中包括的多个相对位置信息，可以与当前协作终端相关或不相关。
以图10中终端4为例，终端4不仅可以确定与终端2之间的相对位置信息，还可以 测量来自其他终端(比如终端3、终端5)的参考信号，确定与其他终端的相对位置信息，又或者，终端4还可以接收来自其他终端的相对位置信息(比如终端2广播的与终端1的相对位置信息，终端3广播的与终端5的相对位置信息)，终端4可以把这些相对位置信息均携带于终端4的定位信息中进行广播，示例性的，终端4广播的定位信息中包括终端2与终端1的相对位置信息、终端2与终端4的相对位置信息、终端3与终端4的相对位置信息、终端4与终端5的相对位置信息等。
示例性的，如图12中(c)为本申请示例性提供的第三种定位信息，该定位信息可以是由任一个协作终端确定，该定位信息中包括源终端标识、目标终端标识、该协作终端标识以及K个相对位置信息，K大于或等于1。
进一步的，K个相对位置信息中每个相对位置信息包括一个终端标识对、该终端标识对中两个终端之间的相对位置，可选的，还包括确定该相对位置信息的时间戳。
参照如图12中(c)举例，K个相对位置信息分别是第1个相对位置至第K个相对位置信息，其中第1个相对位置信息包括终端标识对(终端标识1和终端标识2)、协作位置1和协作时间戳1，第2个相对位置信息包括终端标识对(终端标识2和终端标识3)、协作位置2和协作时间戳2，第3个相对位置信息包括终端标识对(终端标识3和终端标识4)、协作位置3和协作时间戳3，……，第K个相对位置信息包括终端标识对(终端标识k-1和终端标识k)、协作位置K和协作时间戳K，其中k大于或等于1。
此外，为保障数据完整性，协作终端在确定定位信息时，可以确定相对位置信息的数量，如图中字段“K”，表示该定位信息中包括有K个相对位置信息，在下一个终端接收到该定位信息时，该下一个终端可以解析定位信息得到该相对位置信息的数量，从而确定接收到的定位信息中包括的相对位置信息的完整性，这样的设计适用于任意多跳的协作定位场景。
此外，在协作终端确定该协作终端的定位信息时，可以将符合时效条件的相对位置信息包含于定位信息中。示例性的，协作终端中存储有m个相对位置信息，其中每一个相对位置信息对应有时间戳，m大于或等于1。参照步骤601中示例3，协作终端确定协作定位请求中包括T2时段，则在t2时刻生成定位信息时，从m个相对位置信息中确定出对应时间戳在(t2-T2)时刻至t2时刻之间的相对位置信息，同当前确定的协作位置信息一起包含于定位信息中。
上述协作定位流程中，在当前时刻至之前的第二时间段的范围之内的相对位置信息才是有效的，而更早之前的相对位置信息可能因为终端移动而导致相对位置信息不准确甚至失效。通过该方式，可以将确定时间较早的相对位置信息过滤掉，在降低时延的前提下，有助于减少信令负载。
为更好的解释本申请实施例，下面结合如图4的家庭场景举例说明。其中源终端和目标终端分别为手机和手环。该家庭场景下，各终端发送非周期性参考信号。
具体的，用户通过手机查找手环位置，手机响应于用户指令，广播协作定位请求和手机的参考信号。协作定位请求中包括有手机标识、手环标识和手机对应的资源指示信息。
平板电脑响应于手机的协作定位请求，根据手机对应的资源指示信息测量手机广播的参考信号，确定平板电脑与手机之间的相对位置信息。平板电脑广播定位信息和协作参考信号。平板电脑广播的定位信息中包括手机标识、手环标识、平板电脑标识、平板电脑与 手机之间的相对位置信息和平板电脑对应的资源指示信息。
音箱响应于平板电脑的定位信息，根据平板电脑对应的资源指示信息测量平板电脑的参考信号，确定音箱与平板电脑之间的相对位置信息。音箱广播定位信息和协作参考信号。音箱广播的定位信息中包括手机标识、手环标识、音箱标识、音箱与平板电脑之间的相对位置信息、音箱从平板电脑广播的定位信息中获取的平板电脑与手机之间的相对位置信息和音箱对应的资源指示信息。
手环响应于音箱的定位信息，根据音箱对应的资源指示信息测量音箱的参考信号，确定音箱与手环之间的相对位置信息。手环向手机发送定位响应，定位响应中包括手机标识、手环标识、音箱与手环之间的相对位置信息，以及手环从音箱的定位信息中获取的平板电脑与手机之间的相对位置信息、音箱与平板电脑之间的相对位置信息。
手机响应于定位响应，根据定位响应中音箱与手环之间的相对位置信息、平板电脑与手机之间的相对位置信息、音箱与平板电脑之间的相对位置信息，确定手机与手环之间的相对位置信息，在显示界面进行显示。
如图13为本申请示例性提供的一种显示界面的示意图，该显示界面中包括家庭场景中所有房间的布局图，手环显示在其所在的房间中。示例性的，手环显示在房间4中。
在一些实施例中，显示界面中还可以进一步显示各房间中家具和/或其他设备，比如在显示界面中显示手环在房间4的桌子上。在另一些实施例中，手机还可以在显示界面中提供响铃按钮，如图13中的“播放铃声”，若用户点击该响铃按钮，则手环可以响应于该指令发出铃声，从而有助于用户快速找到手环。
此外，本申请实施例还适用于包括多个协作终端的协作定位流程中，参照图14，源终端广播协作定位请求和源参考信号，第一协作终端接收来自源终端的协作定位请求，响应于协作定位请求，测量源参考信号得到源终端与第一协作终端之间的第一协作位置信息。
第一协作终端广播第一定位信息和第一协作参考信号，第二协作终端接收来自第一协作终端的第一定位信息，响应于第一定位信息，测量第一协作参考信号得到第一协作终端与第二协作终端之间的第二协作位置信息。
第二协作终端广播第二定位信息和第二协作参考信号，第三协作终端接收来自第二协作终端的第二定位信息，响应于第二定位信息，测量第二协作参考信号得到第三协作终端与第二协作终端之间的第三协作位置信息。
以此类推，直至第N协作终端广播第N定位信息和第N协作参考信号，目标终端接收来自第N协作终端的第N定位信息，响应于第N定位信息，测量第N协作参考信号得到第N协作终端与目标终端之间的第二相对位置信息。
目标终端根据第一协作位置信息、第二协作位置信息、第三协作位置信息、……、第N协作位置信息、第二相对位置信息，确定出目标终端和源终端之间的目标相对位置信息。
目标终端向源终端发送定位响应，其中定位响应中包括目标终端和源终端之间的目标相对位置信息。
上述技术方案中，若源终端和目标终端之间不存在视距径，则协作终端组中协作终端可以协助源终端和目标终端确定二者之间的相对位置信息，该协作定位流程中，目标终端和/或源终端之间无需进行非视距径定位误差消除，降低定位流程的复杂性。而且，整个协作定位流程中，进行相对定位的两个终端之间均存在视距径，所以该两个终端可以确定出 较为准确的相对位置信息，基于该多个较为准确的相对位置信息，有助于确定出较为准确的目标终端和源终端之间的相对位置信息。
本文中描述的各个实施例可以为独立的方案，也可以根据内在逻辑进行组合，这些方案都落入本申请的保护范围中。
可以理解的是，上述各个方法实施例中，由终端实现的方法和操作，也可以由可用于终端的部件(例如芯片或者电路)实现。
上述本申请提供的实施例中，分别从各个设备之间交互的角度对本申请实施例提供的方法进行了介绍。为了实现上述本申请实施例提供的方法中的各功能，终端可以包括硬件结构和/或软件模块，以硬件结构、软件模块、或硬件结构加软件模块的形式来实现上述各功能。上述各功能中的某个功能以硬件结构、软件模块、还是硬件结构加软件模块的方式来执行，取决于技术方案的特定应用和设计约束条件。
本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。另外，在本申请各个实施例中的各功能模块可以集成在一个处理器中，也可以是单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
基于上述内容和相同构思，图15和图16为本申请的提供的可能的通信装置的结构示意图。这些通信装置可以用于实现上述方法实施例中终端的功能，因此也能实现上述方法实施例所具备的有益效果。在本申请中，该通信装置可以是如图1所示的终端，还可以是应用于终端的模块(如芯片)。
如图15所示，该通信装置1500包括处理单元1501和通信单元1502。通信装置1500用于实现上述图6至图14相关方法实施例中终端的功能。
一种可能的设计中，当通信装置1500是终端时，示例性的，通信单元1502可以是收发器，收发器可以包括天线和射频电路等，处理单元1501可以是处理器(或者，处理电路)，例如基带处理器，基带处理器中可以包括一个或多个CPU。当通信装置1500是具有上述终端功能的部件时，通信单元1502可以是射频单元，处理单元1501可以是处理器(或者，处理电路)，例如基带处理器。当通信装置1500是芯片系统时，通信单元1502可以是芯片(例如基带芯片)的输入输出接口、处理单元1501可以是芯片系统的处理器(或者，处理电路)，可以包括一个或多个中央处理单元。应理解，本申请实施例中的处理单元1501可以由处理器或处理器相关电路组件(或者，称为处理电路)实现，通信单元1502可以由收发器或收发器相关电路组件实现。
以上实施例中，终端执行的方法可以通过处理器1610调用存储器(可以是终端中的存储器1620，也可以是外部存储器)中存储的程序来实现。即，用于终端的装置可以包括处理器1610，该处理器1610通过调用存储器中的程序，以执行以上方法实施例中的终端执行的方法。这里的处理器可以是一种具有信号的处理能力的集成电路，例如CPU。用于终端的装置可以通过配置成实施以上方法的一个或多个集成电路来实现。例如：一个或多个ASIC，或，一个或多个微处理器DSP，或，一个或者多个FPGA等，或这些集成电路形式中至少两种的组合。或者，可以结合以上实现方式。
又例如，图15中的处理单元1501的功能/实现过程可以通过图16所示的通信装置1600中的处理器1610调用存储器1620中存储的计算机执行指令来实现，图15中的通信单元 1502的功能/实现过程可以通过图16中所示的通信装置1600中的通信接口1630来实现。
结合以上，本申请还提供如下实施例：
实施例1、一种协作定位方法，其中，方法包括：第一终端向第二终端发送第一信息，第一信息包括源终端标识和目标终端标识；第二终端响应于第一信息，确定第二终端和第一终端的相对位置信息；第二终端向第三终端发送第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；第三终端响应于第二信息，确定第三终端和第二终端的相对位置信息；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
示例性的，第一终端、第二终端和第三终端分别是如图6或图9中的源终端、协作终端和目标终端，第一信息是源终端发送的协作定位请求，第二信息是协作终端发送的定位信息，第三信息是目标终端发送的定位响应。
示例性的，第一终端、第二终端和第三终端分别是如图11中的源终端、第一协作终端和第二协作终端，或分别是图14中的源终端、第一协作终端和第二协作终端，第一信息是源终端发送的协作定位请求，第二信息是第一协作终端发送的第一定位信息，第三信息是第二协作终端发送的第二定位信息。
示例性的，第一终端、第二终端和第三终端分别是如图11中的第一协作终端、第二协作终端和目标终端，第一信息是第一协作终端发送的第一定位信息，第二信息是第二协作终端发送的第二定位信息，第三信息是目标终端发送的定位响应。
示例性的，第一终端、第二终端和第三终端分别是如图14中的第n-1协作终端、第n协作终端和第n+1协作终端，第一信息是第n-1协作终端发送的第n-1定位信息，第二信息是第n协作终端发送的第n定位信息，第三信息是第n+1协作终端发送的第n+1定位信息。其中n-1大于或等于1，n+1小于或等于N。
示例性的，第一终端、第二终端和第三终端分别是如图14中的第N-1协作终端、第N协作终端和目标终端，第一信息是第N-1协作终端发送的第N-1定位信息，第二信息是第N协作终端发送的第N定位信息，第三信息是目标终端发送的定位响应。
实施例2、根据实施例1的方法，其中，第一终端为源终端，第二终端为协作终端，第三终端为目标终端，方法还包括：第三终端根据第三终端和第二终端的相对位置信息、第二终端和第一终端的相对位置信息，确定第三终端和第一终端的相对位置信息；第三终端向第一终端发送第三消息，第三消息中包括第三终端和第一终端的相对位置信息、源终端标识和目标终端标识。
实施例3、根据实施例1的方法，其中，第一终端为源终端，第二终端和第三终端均为协作终端；或第三终端为目标终端，第一终端和第二终端均为协作终端。
实施例4、一种协作定位方法，其中，包括：第二终端接收来自第一终端的第一信息，响应于第一信息，确定第二终端和第一终端的相对位置信息，第一信息包括源终端标识和目标终端标识；第二终端向第三终端发送第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
实施例5、根据实施例4的方法，其中，第一信息中还包括第一终端与第四终端的相对位置信息，第二信息中还包括第一终端和第四终端的相对位置信息，第一终端和第四终端之间存在视距径。
实施例6、根据实施例5的方法，其中，第一终端与第四终端的相对位置信息包括由第一终端标识和第四终端标识组成的终端标识对、第一终端与第四终端的相对位置和时间戳。
实施例7、根据实施例5或实施例6的方法，其中，第一信息中还包括预设时间信息；预设时间信息指示第二终端在预设时间段内发送第二信息；或预设时间信息指示第二终端是否将第一终端和第四终端的相对位置信息包含于第二信息中。
实施例8、根据实施例4至实施例7中任一实施例的方法，其中，第一信息中还包括第一资源的指示信息，第一资源用于承载第一终端发送的相对定位参考信号；第二终端确定第二终端和第一终端的相对位置信息，包括：第二终端在第一资源上测量第一终端发送的相对定位参考信号，得到第二终端和第一终端的相对位置信息。
实施例9、根据实施例4至实施例7中任一实施例的方法，其中，第一信息中还包括第一终端标识；第二终端确定第二终端和第一终端的相对位置信息，包括：第二终端根据第一终端标识和周期相对定位参考信号的预设配置信息，确定第一资源，第一资源用于承载第一终端发送的相对定位参考信号；第二终端在第一资源上测量第一终端发送的相对定位参考信号，得到第二终端和第一终端的相对位置信息。
实施例10、根据实施例4至实施例9中任一实施例的方法，其中，方法还包括：第二终端向第三终端发送相对定位参考信号，第二终端发送的相对定位参考信号用于确定第二终端与第三终端的相对位置信息。
实施例11、根据实施例4至实施例10中任一实施例的方法，其中，第二终端发送的相对定位参考信号承载于第二资源上，第二资源是第二终端从资源池中选择的，第二信息中还包括第二资源的指示信息；或第二资源是第二终端根据第二终端标识和周期相对定位参考信号的预设配置信息确定的，第二信息中还包括第二终端标识。
实施例12、根据实施例4至实施例11中任一实施例的方法，其中，第一终端为源终端，第二终端为协作终端，第三终端为目标终端；或第一终端为源终端，第二终端和第三终端均为协作终端；或第三终端为目标终端，第一终端和第二终端均为协作终端。
实施例13、一种协作定位方法，其中，包括：第一终端确定第一消息，第一信息包括源终端标识和目标终端标识；第一终端向第二终端发送第一信息，第一信息指示第二终端向第三终端发送第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
实施例14、根据实施例13的方法，其中，第一终端为源终端，第二终端为协作终端，第三终端为目标终端，方法还包括：第一终端接收来自第三终端的第三消息，第三消息中包括第三终端和第一终端的相对位置信息、源终端标识和目标终端标识。
实施例15、一种协作定位方法，其中，包括：第三终端接收来自第二终端的第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；第三终端响应于第二信息，确定第三终端和第二终端的相对位置信息；其中，第一终端和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
实施例16、根据实施例15的方法，其中，第一终端为源终端，第二终端为协作终端，第三终端为目标终端，方法还包括：第三终端根据第三终端和第二终端的相对位置信息、第二终端和第一终端的相对位置信息，确定第三终端和第一终端的相对位置信息；第三终 端向第一终端发送第三消息，第三消息中包括第三终端和第一终端的相对位置信息、源终端标识和目标终端标识。
实施例17、一种协作定位装置，其中，包括：处理单元和通信单元，处理单元用于控制通信单元接收来自第一终端的第一信息，响应于第一信息，确定装置和第一终端的相对位置信息，第一信息包括源终端标识和目标终端标识；处理单元还用于控制通信单元向第三终端发送第二信息，第二信息中包括装置和第一终端的相对位置信息、源终端标识和目标终端标识；其中，第一终端和装置之间存在视距径，装置和第三终端之间存在视距径。
实施例18、根据实施例17的装置，其中，第一信息中还包括第一终端与第四终端的相对位置信息，第二信息中还包括第一终端和第四终端的相对位置信息，第一终端和第四终端之间存在视距径。
实施例19、根据实施例18的装置，其中，第一终端与第四终端的相对位置信息包括由第一终端标识和第四终端标识组成的终端标识对、第一终端与第四终端的相对位置和时间戳。
实施例20、根据实施例18至实施例19中任一实施例的装置，其中，第一信息中还包括预设时间信息；预设时间信息指示处理单元控制通信单元在预设时间段内发送第二信息；或预设时间信息指示处理单元是否将第一终端和第四终端的相对位置信息包含于第二信息中。
实施例21、根据实施例17至实施例20中任一实施例的装置，其中，第一信息中还包括第一资源的指示信息，第一资源用于承载第一终端发送的相对定位参考信号；处理单元具体用于在第一资源上测量第一终端发送的相对定位参考信号，得到装置和第一终端的相对位置信息。
实施例22、根据实施例17至实施例20中任一实施例的装置，其中，第一信息中还包括第一终端标识；处理单元具体用于根据第一终端标识和周期相对定位参考信号的预设配置信息，确定第一资源，第一资源用于承载第一终端发送的相对定位参考信号；在第一资源上测量第一终端发送的相对定位参考信号，得到装置和第一终端的相对位置信息。
实施例23、根据实施例17至实施例22中任一实施例的装置，其中，处理单元还用于控制通信单元向第三终端发送相对定位参考信号，通信单元发送的相对定位参考信号用于确定装置与第三终端的相对位置信息。
实施例24、根据实施例17至实施例23中任一实施例的装置，其中，通信单元发送的相对定位参考信号承载于第二资源上，第二资源是处理单元从资源池中选择的，第二信息中还包括第二资源的指示信息；或第二资源是处理单元根据装置的标识和周期相对定位参考信号的预设配置信息确定的，第二信息中还包括装置的标识。
实施例25、根据实施例17至实施例24中任一实施例的装置，其中，第一终端为源终端，该装置为协作终端，第三终端为目标终端；或第一终端为源终端，该装置和第三终端均为协作终端；或第三终端为目标终端，第一终端和该装置均为协作终端。
实施例26、一种协作定位装置，其中，包括：处理单元和通信单元，处理单元用于确定第一消息，第一信息包括源终端标识和目标终端标识；处理单元还用于控制通信单元向第二终端发送第一信息，第一信息指示第二终端向第三终端发送第二信息，第二信息中包括第二终端和装置的相对位置信息、源终端标识和目标终端标识；其中，该装置和第二终端之间存在视距径，第二终端和第三终端之间存在视距径。
实施例27、根据实施例26的装置，其中，该装置为源终端，第二终端为协作终端，第三终端为目标终端，处理单元还用于控制通信单元接收来自第三终端的第三消息，第三消息中包括第三终端和装置的相对位置信息、源终端标识和目标终端标识。
实施例28、一种协作定位装置，其中，包括：处理单元和通信单元，处理单元用于控制通信单元接收来自第二终端的第二信息，第二信息中包括第二终端和第一终端的相对位置信息、源终端标识和目标终端标识；响应于第二信息，确定该装置和第二终端的相对位置信息；其中，第一终端和第二终端之间存在视距径，第二终端和该装置之间存在视距径。
实施例29、根据实施例28的装置，其中，第一终端为源终端，第二终端为协作终端，该装置为目标终端，处理单元还用于根据该装置和第二终端的相对位置信息、第二终端和第一终端的相对位置信息，确定该装置和第一终端的相对位置信息；处理单元还用于控制通信单元向第一终端发送第三消息，第三消息中包括第三终端和第一终端的相对位置信息、源终端标识和目标终端标识。
实施例30、一种通信装置，其中，包括处理器和存储器，处理器和存储器耦合，存储器用于存储计算机程序指令，当处理器执行计算机程序指令时，使得通信装置执行实施例4至实施例12中任一实施例的方法，或使得通信装置执行实施例13或实施例14的方法，或使得通信装置执行实施例15或实施例16的方法。
实施例31、一种计算机可读存储介质，其中，计算机可读存储介质包括计算机指令，当计算机指令在计算机上运行时，使得计算机执行实施例4至实施例12中任一实施例的方法，或使得计算机执行实施例13或实施例14的方法，或使得计算机执行实施例15或实施例16的方法。
实施例32、一种芯片，其中，包括处理器，当处理器执行指令时，处理器执行实施例4至实施例12中任一实施例的方法，或处理器执行实施例13或实施例14的方法，或处理器执行实施例15或实施例16的方法。
实施例33、一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行实施例4至实施例12中任一实施例的方法，或使得计算机执行实施例13或实施例14的方法，或使得计算机执行实施例15或实施例16的方法。
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b或c中的至少一项(个)，可以表示：a，b，c，“a和b”，“a和c”，“b和c”，或“a和b和c”，其中a，b，c可以是单个，也可以是多个。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。在本申请的文字描述中，字符“/”，一般表示前后关联对象是一种“或”的关系；在本申请的公式中，字符“/”，表示前后关联对象是一种“相除”的关系。
可以理解的是，在本申请的实施例中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的保护范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (16)

  1. 一种协作定位方法，其特征在于，包括：
    第一终端向第二终端发送第一信息，所述第一信息包括源终端标识和目标终端标识；所述第二终端响应于所述第一信息，确定所述第二终端和所述第一终端的相对位置信息；
    所述第二终端向第三终端发送第二信息，所述第二信息中包括所述第二终端和所述第一终端的相对位置信息、所述源终端标识和所述目标终端标识；所述第三终端响应于所述第二信息，确定所述第三终端和所述第二终端的相对位置信息；
    其中，所述第一终端和所述第二终端之间存在视距径，所述第二终端和所述第三终端之间存在视距径。
  2. 如权利要求1所述的方法，其特征在于，所述第一终端为源终端，所述第二终端为协作终端，所述第三终端为目标终端，所述方法还包括：
    所述第三终端根据所述第三终端和所述第二终端的相对位置信息、所述第二终端和所述第一终端的相对位置信息，确定所述第三终端和所述第一终端的相对位置信息；
    所述第三终端向所述第一终端发送第三消息，所述第三消息中包括所述第三终端和所述第一终端的相对位置信息、所述源终端标识和所述目标终端标识。
  3. 如权利要求1所述的方法，其特征在于，所述第一终端为源终端，所述第二终端和所述第三终端均为协作终端；
    或所述第三终端为目标终端，所述第一终端和所述第二终端均为协作终端。
  4. 一种协作定位方法，其特征在于，包括：
    第二终端接收来自第一终端的第一信息，响应于所述第一信息，确定所述第二终端和所述第一终端的相对位置信息，所述第一信息包括源终端标识和目标终端标识；
    所述第二终端向第三终端发送第二信息，所述第二信息中包括所述第二终端和所述第一终端的相对位置信息、所述源终端标识和所述目标终端标识；
    其中，所述第一终端和所述第二终端之间存在视距径，所述第二终端和所述第三终端之间存在视距径。
  5. 如权利要求4所述的方法，其特征在于，所述第一信息中还包括所述第一终端与第四终端的相对位置信息，所述第二信息中还包括所述第一终端和第四终端的相对位置信息，所述第一终端和所述第四终端之间存在视距径。
  6. 如权利要求5所述的方法，其特征在于，所述第一终端与第四终端的相对位置信息包括由第一终端标识和第四终端标识组成的终端标识对、所述第一终端与所述第四终端的相对位置和时间戳。
  7. 如权利要求5所述的方法，其特征在于，所述第一信息中还包括预设时间信息；
    所述预设时间信息指示所述第二终端在预设时间段内发送所述第二信息；
    或所述预设时间信息指示所述第二终端是否将所述第一终端和第四终端的相对位置信息包含于所述第二信息中。
  8. 如权利要求4所述的方法，其特征在于，所述第一信息中还包括第一资源的指示信息，所述第一资源用于承载所述第一终端发送的相对定位参考信号；
    所述第二终端确定所述第二终端和所述第一终端的相对位置信息，包括：
    所述第二终端在所述第一资源上测量所述第一终端发送的相对定位参考信号，得到所 述第二终端和所述第一终端的相对位置信息。
  9. 如权利要求4所述的方法，其特征在于，所述第一信息中还包括第一终端标识；
    所述第二终端确定所述第二终端和所述第一终端的相对位置信息，包括：
    所述第二终端根据所述第一终端标识和周期相对定位参考信号的预设配置信息，确定第一资源，所述第一资源用于承载所述第一终端发送的相对定位参考信号；
    所述第二终端在所述第一资源上测量所述第一终端发送的相对定位参考信号，得到所述第二终端和所述第一终端的相对位置信息。
  10. 如权利要求4所述的方法，其特征在于，所述方法还包括：
    所述第二终端向所述第三终端发送相对定位参考信号，所述第二终端发送的相对定位参考信号用于确定所述第二终端与第三终端的相对位置信息。
  11. 如权利要求10所述的方法，其特征在于，所述第二终端发送的相对定位参考信号承载于第二资源上，所述第二资源是所述第二终端从资源池中选择的，所述第二信息中还包括所述第二资源的指示信息；或所述第二资源是所述第二终端根据第二终端标识和周期相对定位参考信号的预设配置信息确定的，所述第二信息中还包括所述第二终端标识。
  12. 如权利要求4所述的方法，其特征在于，所述第一终端为源终端，所述第二终端为协作终端，所述第三终端为目标终端；
    或所述第一终端为源终端，所述第二终端和所述第三终端均为协作终端；
    或所述第三终端为目标终端，所述第一终端和所述第二终端均为协作终端。
  13. 一种通信装置，其特征在于，包括用于执行如权利要求4至12中的任一项所述方法的单元。
  14. 一种通信装置，其特征在于，包括处理器和存储器，所述处理器和存储器耦合，所述存储器用于存储计算机程序指令，当所述处理器执行所述计算机程序指令时，使得通信装置执行权利要求4至12中任一项所述的方法。
  15. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质包括计算机指令，当所述计算机指令在计算机上运行时，使得计算机执行如权利要求4至12中任一项所述的方法。
  16. 一种芯片，其特征在于，包括处理器，当所述处理器执行指令时，所述处理器执行如权利要求4至12中任一项所述的方法。
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