WO2022141592A1

WO2022141592A1 - Location method and apparatus

Info

Publication number: WO2022141592A1
Application number: PCT/CN2020/142545
Authority: WO
Inventors: 林华炯; 陈卫民; 田增山
Original assignee: 华为技术有限公司
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2022-07-07
Also published as: CN116648964A

Abstract

Provided are a location method and apparatus, which relate to the technical field of wireless communications, and are used for improving location precision. In the method, a first network device can send distance information of a terminal device to a second network device. The first network device can receive first information form a plurality of second network devices, wherein one piece of first information can comprise phase information of one or more sub-carriers of a location reference signal of the terminal device, and the phase information can be obtained according to the distance information of the terminal device. The first network device can determine position information of the terminal device according to the phase information of the terminal device. On the basis of the solution, a first network device can determine position information of a terminal device according to phase information, of a location reference signal of the terminal device, reported by a second network device, and can correct, by means of the phase information of the location reference signal, distance information, of the terminal device, that has a relatively low precision, thereby improving the location precision of the terminal device.

Description

A positioning method and device

technical field

The present application relates to the field of wireless communication technologies, and in particular, to a positioning method and apparatus.

Background technique

At present, the positioning in the wireless communication system can be implemented based on the core network positioning management function (location management function, LMF). The positioning technology may include an angle positioning technology and a time delay positioning technology.

The angle positioning technology is that the base station measures the uplink angle of arrival (UL AOA) of the channel sounding reference signal (SRS) sent by the user equipment (UE), and reports the UL AOA to the LMF . The position angle relationship between the base station and the UE is estimated by the LMF, and then the UE is positioned through the position angle relationship between the multiple groups of base stations and the UE. However, the positioning accuracy of the angle positioning technology is affected by the size of the antenna array. The larger the antenna array, the higher the positioning accuracy. Due to the limitation of the indoor environment, the size of the antenna array is limited, resulting in limited positioning accuracy of the angle positioning technology.

The delay positioning technology is that the base station measures the uplink relative time of arrival (UL RTOA) of the UE's SRS and reports it to the LMF. The LMF may select a reference base station, and calculate the arrival delay difference of the reference signal between each base station and the reference base station. The LMF can locate the UE according to the arrival delay difference between multiple groups of base stations and reference base stations. However, the positioning accuracy of the time-delay positioning technology is affected by the bandwidth of the SRS, and the larger the bandwidth of the SRS, the higher the positioning accuracy. Due to the limitation of the communication system, the bandwidth of the SRS is limited, resulting in limited positioning accuracy of the time-delay positioning technology.

Therefore, the positioning accuracy of the above two positioning technologies is limited by some conditions, and it is difficult to improve the positioning accuracy.

SUMMARY OF THE INVENTION

The present application provides a positioning method and device for improving positioning accuracy.

In a first aspect, a positioning method is provided. The method may be executed by the first network device provided in this embodiment of the present application. The first network device may be an LMF, or a chip with functions similar to the LMF. In this method, the first network device may send the distance information of the terminal device to the second network device. The distance information here may be distance information between the terminal device and the second network device. The first network device may receive first information from a plurality of second network devices. The first piece of information may include phase information of one or more subcarriers of the positioning reference signal of the terminal device, and the phase information may be obtained according to distance information of the terminal device. The first network device may determine the location information of the terminal device according to the phase information of the terminal device.

Based on the above solution, the first network device can determine the location information of the terminal device according to the phase information of the positioning reference signal of the terminal device reported by the second network device, and can improve the positioning accuracy of the terminal device through the phase information of the positioning reference signal.

In a possible implementation manner, the first network device may determine the precise location information of the terminal device according to the phase information of the terminal device and the distance information of the terminal device.

Based on the above solution, the first network device can determine the precise location information of the terminal device by determining the precise location information of the terminal device by using phase information and distance information with low accuracy obtained by positioning based on methods such as TOA positioning technology, which can improve the positioning accuracy.

In a possible implementation manner, the first network device may respectively determine distance differences between multiple first distances and second distances. Wherein, a first distance is a distance between a second network device and a terminal device; the second distance is a distance between a reference second network device and the terminal device. It should be understood that the referenced second network device may be one of a plurality of second network devices. The first network device may determine a plurality of phase differences. A phase difference is a phase difference between a phase of a subcarrier of a positioning reference signal of a second network device and a phase of the subcarrier corresponding to a positioning reference signal of a reference second network device. The first network device may determine the precise location information of the terminal device according to the distance difference and the plurality of phase differences.

Based on the above solution, the phase information of the sub-carriers of the positioning reference signal of the terminal equipment can be used to correct the distance information of the terminal equipment, and the ambiguity of finding the first path can be suppressed by frequency synthesis of the sub-carriers of the positioning reference signal, which can improve the positioning accuracy.

In one possible implementation, a distance difference can satisfy the following formula:

Among them, Δd _i relative distance,

Indicates the integer ambiguity, c is the speed of light, f _k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, K is greater than or equal to 1,

is the relative phase between the i-th second network device and the reference second network device in the plurality of second network devices,

refers to the summation of K sub-carriers.

Based on the above solution, multiple distance differences can be obtained through the above formula, so that the precise location information of the terminal device can be determined according to the distance differences and phase information.

In a possible implementation manner, the first network device may determine the integer ambiguity. Among them, the integer ambiguity minimizes the residual sum of squares of ambiguity, which is obtained from the phase difference and the distance difference. The first network device may determine the precise location information of the terminal device according to the integer ambiguity and multiple distance differences.

Based on the above solution, by determining the ambiguity of the entire circumference, the positioning error of the terminal device can be minimized, and the positioning accuracy can be improved.

In one possible implementation, the ambiguity residual sum of squares can satisfy the following formula:

Wherein, Δd′ _i is the relative distance between the i-th network device in the plurality of second network devices and the reference second network device,

is the whole week ambiguity,

is the relative phase between the i-th second network device and the reference second network device among the multiple second network devices; f _k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, and K is greater than or equal to 1,

refers to the summation of K sub-carriers, and c is the speed of light.

Based on the above solution, the ambiguity residual square sum can be determined by the phase difference and the distance difference of multiple subcarriers of the terminal device, so that the error accumulation can be achieved, so the integer ambiguity that minimizes the ambiguity residual square sum can be determined. Spend. In other words, the integer ambiguity that minimizes the accumulated error can be determined, and the positioning accuracy can be improved.

In a possible implementation manner, the first network device may correct each distance difference according to the integer ambiguity. The first network device may determine the precise location information of the terminal device by adopting the time-of-arrival positioning method according to the plurality of corrected distance differences.

Based on the above solution, the distance difference with low accuracy can be corrected through the calculated integer ambiguity, so that the precise location information of the terminal device can be determined according to the corrected distance difference, and the positioning accuracy of the terminal device can be improved.

In a possible implementation manner, before sending the distance information of the terminal device to the second network device, the first network device may also receive positioning measurement information from multiple second network devices. The positioning measurement information may include time measurement information or angle measurement information. For example, TOA and AOA, etc. may be included. The first network device may determine the distance information of the terminal device according to the positioning measurement information.

Based on the above solution, the distance information of the terminal device may be obtained by the first network device through positioning measurement information reported by multiple second network devices, and the accuracy of the distance information obtained in this way is higher than that determined by the second network device itself, The accuracy of the distance information can be improved.

In a second aspect, a communication method is provided. The method may be executed by the second network device provided in this embodiment of the present application. The second network device may be an access network device, or a chip similar to the access network device. In this method, the second network device may receive distance information between the terminal device and the second network device. The second network device may determine the first information according to the distance information. The first information here may include phase information of one or more subcarriers of the positioning reference signal of the terminal device. The phase information may be obtained according to distance information of the terminal device. Alternatively, the first information may include TOA of one or more sub-carriers of the positioning reference signal of the terminal device. The second network device may send the above-mentioned first information to the first network device.

Based on the above solution, the second network device can determine the phase information or TOA of one or more subcarriers of the positioning reference signal of the terminal device according to the distance information of the terminal device, and report the phase information or TOA, so that the first network The device determines the precise location information of the terminal device according to the above TOA or phase information, which can improve the positioning accuracy.

In a possible implementation manner, the second network device may report the positioning measurement information to the first network device. The positioning measurement information may be used to determine the distance between the terminal device and the second network device.

Based on the above solution, the second network device can report the positioning measurement information to the first network device, which can improve the accuracy of the distance information between the terminal device and the second network device.

In a possible implementation manner, the second network device may obtain the channel information according to the positioning reference signal. The second network device may determine phase information of one or more subcarriers of the positioning reference signal according to the distance information and the channel information.

Based on the above solution, the second network device can determine the phase information of one or more subcarriers of the positioning reference signal according to the distance information of the terminal device and the channel information obtained by measuring the reference signal of the terminal device, and report the phase information, which can make The first network device determines, according to the phase information, the location information of the terminal device with higher accuracy.

In a possible implementation manner, the second network device may determine the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information.

Based on the above solution, the second network device can determine the TOA of one or more sub-carriers of the positioning reference signal according to the distance information of the terminal device and the phase information of one or more sub-carriers of the positioning reference signal, without changing the second network device In the case of the reported amount of information, the positioning accuracy is improved.

In one possible implementation, the second network device may determine the integer ambiguity. The integer ambiguity can minimize the residual sum of squared ambiguity. Here, the residual sum of squares of ambiguity can be obtained from phase information and distance information. The second network device may correct the distance information according to the integer ambiguity. The second network device may determine the TOA of one or more subcarriers of the positioning reference signal according to the corrected distance information.

Based on the above solution, an integer ambiguity can be determined to minimize the residual sum of squares of ambiguity. Since the ambiguity residual sum of squares represents the accumulation of errors in the position information of the terminal device, an integer ambiguity that minimizes the error can be determined. The second network device can correct the distance information of the terminal device with lower accuracy through the calculated integer ambiguity, and then obtain the TOA of one or more subcarriers of the positioning reference signal with higher accuracy, which can improve the positioning accuracy.

In a possible implementation manner, the distance information may include the distance between the terminal device and the second network device, or the flight time between the terminal device and the second network device.

Based on the above solution, the second network device can receive the distance information determined from the first network device, and the accuracy of the distance information is higher than that determined by the second network device itself, which can improve the accuracy of the distance information.

In a possible implementation manner, the distance information may include the distance between the terminal device and the second network device. Wherein, the phase information of one of the positioning reference signals can satisfy the following formula:

in,

is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h _i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the K subcarriers of the positioning reference signal The frequency of the kth subcarrier in the carrier, f(n) is the frequency of the nth subcarrier in the N subcarriers of the positioning reference signal, c is the speed of light, d′ _i is the distance between the terminal device and the second network device, and angel represents the For complex phase operations, e ^j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any sub-carrier in the K sub-carriers belongs to N sub-carriers.

Based on the above solution, the phase information of one or more sub-carriers of the positioning reference signal can be determined by the above formula, and the accuracy of the phase information can be improved by the method of frequency synthesis.

In a possible implementation manner, the distance information may include the flight time of the terminal device. Wherein, the phase information of one of the positioning reference signals can satisfy the following formula:

in,

is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h _i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the K subcarriers of the positioning reference signal The frequency of the kth subcarrier in the carrier, f(n) is the frequency of the nth subcarrier in the N subcarriers of the positioning reference signal, c is the speed of light, d′ _i is the distance between the terminal device and the second network device, and angel represents the Phase operation of complex numbers, e ^j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, any sub-carrier in the K sub-carriers belongs to the N sub-carriers, and t′ _i represents the difference between the second network device and the terminal device flight time.

where d′ _i is the distance between the terminal device and the second network device,

is the whole week ambiguity,

is the phase information of k subcarriers among the K subcarriers of the positioning reference signal. f(k) is the frequency of the kth subcarrier in the K subcarriers of the positioning reference signal, where K is greater than or equal to 1,

refers to the summation of K sub-carriers, and c is the speed of light.

Based on the above solution, the above-mentioned ambiguity residual square sum can be obtained by accumulating errors of multiple distance information of the terminal device, and the accumulated error of the distance information of the terminal device can be represented by the ambiguity residual square sum. Therefore, an integer ambiguity that minimizes the accumulated error can be determined according to the above formula.

In a possible implementation, the corrected distance information can satisfy the following formula:

in,

Whole week ambiguity,

is the phase information of the kth subcarrier in the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier in the K subcarriers of the positioning reference signal, K is greater than or equal to 1,

refers to the summation of K sub-carriers, and c is the speed of light.

Based on the above solution, the distance information of the terminal device can be corrected by determining the obtained integer ambiguity that minimizes the accumulated error, and the accuracy of the distance information of the terminal device can be improved.

In a third aspect, a positioning device is provided. The apparatus may include various modules/units for performing the first aspect or any possible implementation manner of the first aspect, or may further include various modules/units for performing the second aspect or any possible implementation manner of the second aspect module/unit. For example, a processing unit and a communication unit may be included.

In one design, when the positioning apparatus performs the first aspect or any possible implementation manner of the first aspect, the communication unit is configured to send the distance information of the terminal device to the second network device; wherein the The distance information is the distance information between the terminal device and the second network device; the communication unit is further configured to receive first information from a plurality of second network devices; a piece of first information includes the terminal device The phase information of one or more subcarriers of the positioning reference signal; the phase information is obtained according to the distance information of the terminal equipment; the processing unit is configured to determine the phase information according to the phase information of the terminal equipment. the location information of the terminal equipment.

In one design, when determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to: according to the phase information of the terminal device and the terminal device The distance information of the device determines the precise location information of the terminal device.

In one design, when determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to: respectively determine distance differences between a plurality of first distances and a plurality of second distances ; A first distance is a distance between the second network device and the terminal device; the second distance is the distance between the reference second network device and the terminal device; the reference second network device is one of the plurality of second network devices; determining a plurality of phase differences; wherein, a phase difference is the difference between the phase of a subcarrier of the positioning reference signal of a second network device and the positioning reference signal of the reference second network device; The phase difference of the phase of the one subcarrier; according to the distance difference and a plurality of the phase differences, the precise location information of the terminal device is determined.

In one design, for a distance difference, the one distance difference satisfies the following formula:

Among them, Δd _i relative distance,

represents the integer ambiguity, c is the speed of light, f _k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, K is greater than or equal to 1,

refers to the summation of K sub-carriers.

In one design, when determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to: determine an integer ambiguity; the integer ambiguity makes the ambiguity The residual squared sum of degrees is the smallest; the residual squared sum of ambiguity is obtained according to the phase difference and the distance difference; the precise position of the terminal device is determined according to the integer ambiguity and a plurality of the distance differences information.

In one design, the ambiguity residual sum of squares satisfies the following formula:

is the integer ambiguity,

is the relative phase between the i-th second network device and the reference second network device in the plurality of second network devices; f _k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, K greater than or equal to 1,

refers to the summation of K sub-carriers, and c is the speed of light.

In one design, when the processing unit determines the precise location information of the terminal device according to the integer ambiguity and a plurality of the distance differences, the processing unit is specifically configured to: correct each ambiguity according to the integer ambiguity. the distance differences; and according to the corrected distance differences, the time-of-arrival positioning method is used to determine the precise location information of the terminal device.

In one design, before sending the distance information of the terminal device to the second network device, the communication unit is further configured to: receive positioning measurement information from multiple second network devices; the positioning measurement information includes time measurement information or angle measurement information; the processing unit is further configured to determine the distance information of the terminal device according to the positioning measurement information.

In one design, when the apparatus performs the second aspect or any possible implementation manner of the second aspect, the communication unit is configured to receive distance information between the terminal device and the second network device; the processing a unit, configured to determine first information according to the distance information; the first information includes phase information of one or more subcarriers of the positioning reference signal of the terminal device; the phase information is based on the distance information of the terminal device or, the first information includes the time of arrival TOA of one or more subcarriers of the positioning reference signal of the terminal device; the communication unit is further configured to send the first information to the first network device.

In one design, the communication unit is further configured to: report positioning measurement information to the first network device; the positioning measurement information is used to determine the distance between the terminal device and the second network device.

In one design, the processing unit is further configured to: obtain channel information according to the positioning reference signal; when determining the first information according to the distance information, the processing unit is specifically configured to: according to the distance information and the channel information to determine phase information of one or more subcarriers of the positioning reference signal.

In one design, the processing unit is further configured to: determine the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information.

In one design, when determining the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information, the processing unit is specifically configured to: determine an integer ambiguity; the The integer ambiguity minimizes the residual sum of squares of ambiguity; the residual sum of squares of ambiguity is obtained according to the phase information and the distance information; the distance information is corrected according to the integer ambiguity; The distance information determines the TOA of one or more subcarriers of the positioning reference signal.

In one design, the distance information includes the distance between the terminal device and the second network device, or the flight time between the terminal device and the second network device.

In one design, the distance information includes the distance between the terminal device and the second network device, and the phase information of one of the positioning reference signals satisfies the following formula:

Among them, the

is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h _i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the The frequency of the k-th sub-carrier in the K sub-carriers of the positioning reference signal, f(n) is the frequency of the n-th sub-carrier in the N sub-carriers of the positioning reference signal, c is the speed of light, and d′ _i is the terminal device and the The distance of the second network device, angel represents the operation of taking a complex phase, e ^j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any sub-carrier in the K sub-carriers belongs to the N sub-carriers .

In one design, the distance information includes the time of flight of the terminal device, and the phase information of one of the positioning reference signals satisfies the following formula:

Among them, the

is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h _i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the The frequency of the k-th sub-carrier in the K sub-carriers of the positioning reference signal, f(n) is the frequency of the n-th sub-carrier in the N sub-carriers of the positioning reference signal, c is the speed of light, and d′ _i is the terminal device and the The distance of the second network device, angel represents the operation of taking a complex phase, e ^j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any sub-carrier in the K sub-carriers belongs to the N sub-carriers , t′ _i represents the flight time between the second network device and the terminal device.

In one design, the corrected distance information satisfies the following formula:

in,

the integer ambiguity, the

is the phase information of the kth subcarrier in the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier in the K subcarriers of the positioning reference signal, and K is greater than or equal to 1,

refers to the summation of K sub-carriers, and c is the speed of light.

In a fourth aspect, a positioning apparatus is provided, and the positioning apparatus includes a processor and a transceiver. The transceiver is configured to perform the transceiving steps of the method in each of the above aspects or any possible implementation manner of the various aspects. The processor is configured to perform the operation steps of the method in each of the above aspects or any possible implementation manner of the various aspects.

In a possible implementation, the apparatus further includes a memory for storing computer-executed instructions. Wherein, the memory may be outside the positioning device, or may be located inside the positioning device. The memory may be integrated with the above-mentioned processor.

In a fifth aspect, a chip is provided, the chip includes a logic circuit and a communication interface. In one design, the communication interface may be used to output distance information for end devices and input first information from a plurality of second devices. The logic circuit may be configured to determine the location information of the terminal device according to the first information.

In a possible implementation manner, the communication interface can also be used to input the distance information between the terminal device and the second network device. The logic circuit may be configured to determine the first information according to the distance information. The communication interface may output the first information.

In a sixth aspect, the present application provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, when the computer-readable storage medium runs on a computer, the computer executes the methods of the above aspects.

In a seventh aspect, the present application provides a computer program product which, when run on a computer, causes the computer to perform the methods of the above-mentioned aspects.

In addition, the advantageous effects of the third to seventh aspects may be the same as those shown in the first and second aspects.

Description of drawings

FIG. 1 is a communication system to which the positioning method provided by the embodiment of the present application is applicable;

FIG. 2 is one of the exemplary flowcharts of the positioning method provided by the embodiment of the present application;

3 is a schematic diagram of calculating an integer ambiguity provided by an embodiment of the present application;

4 is a schematic diagram of a time delay positioning technology;

5 is a comparison diagram of the accuracy of the positioning method provided by the embodiment of the present application and the existing positioning method;

FIG. 6 is one of the exemplary flowcharts of the positioning method provided by the embodiment of the present application;

7 is a schematic diagram of a positioning device provided by an embodiment of the present application;

FIG. 8 is a block diagram of a positioning apparatus provided by an embodiment of the present application.

Detailed ways

Hereinafter, some terms in the embodiments of the present application will be explained, so as to facilitate the understanding of those skilled in the art.

At present, positioning service is one of the important functions in the NR system. The current positioning technology can mainly include the following two positioning technologies:

1), uplink time difference of arrival (UL-TDOA) positioning technology: each cell can measure UL-TDOA for the channel sounding reference signal (SRS) of the terminal equipment. And report the measurement results to LMF. The LMF can calculate the location of the terminal device based on the measurement results reported by each cell. However, higher multipath resolution is required in the UL-TDOA positioning technology, and the size of the multipath resolution depends on the bandwidth and signal-to-noise ratio of the SRS. Due to the limitation of the indoor environment and communication system, the signal-to-noise ratio and bandwidth of SRS are limited, so the multipath resolution is limited, resulting in limited positioning accuracy of UL-TDOA.

2), uplink arrival angle of arrival (UL-AOA) positioning technology: each cell measures the UL-AOA for the SRS of the terminal equipment, and reports the measurement results to the LMF. The LMF can calculate the location of the terminal device based on the measurement results reported by each cell. However, high multipath resolution is required in UL-AOA positioning technology, and the multipath resolution depends on the size of the antenna array. Due to the limitation of the indoor environment, the size of the antenna array is limited, resulting in limited multipath resolution, so the accuracy of UL-AOA positioning is limited.

Based on the above problems, embodiments of the present application provide a positioning method and apparatus. In this method, the access network device may determine the phase information of multiple subcarriers of the SRS sent by the terminal device. The access network device may send phase information of multiple subcarriers to the LMF. The LMF can determine the location information of the terminal device based on the phase information of the multiple subcarriers.

The terms "system" and "network" in the embodiments of the present application may be used interchangeably. "Plurality" means two or more, and other quantifiers are similar. "And/or" describes the association relationship between associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone. Furthermore, occurrences of the singular forms "a", "an" and "the" do not mean "one or only one" unless the context clearly dictates otherwise, but rather "one or more" in one". For example, "a device" means to one or more such devices. Furthermore, at least one (at least one of)......." means one or any combination of subsequent associated objects, for example "at least one of A, B and C" includes A, B, C, AB, AC, BC, or ABC.

The technical solutions of the embodiments of the present application can be applied to various communication systems, for example: long term evolution (LTE) system, worldwide interoperability for microwave access (WiMAX) communication system, future fifth generation (5th Generation, 5G) systems, such as new generation radio access technology (NR), and future communication systems, such as 6G systems.

This application will present various aspects, embodiments, or features around a system that may include a plurality of devices, components, modules, and the like. It is to be understood and appreciated that the various systems may include additional devices, components, modules, etc., and/or may not include all of the devices, components, modules, etc. discussed in connection with the figures. In addition, combinations of these schemes can also be used.

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.

To facilitate understanding of the embodiments of the present application, firstly, a communication system applicable to the embodiments of the present application is described in detail by taking the communication system shown in FIG. 1 as an example. FIG. 1 shows a schematic diagram of a communication system applicable to the communication method of the embodiment of the present application. As shown in FIG. 1 , the communication system 100 includes a terminal device 101 and an access network device 102 , an access and mobility management function network element AMF103 and a location management function network element LMF104 .

The functions of each network element or device of the communication system according to the embodiment of the present application are described in detail below:

The terminal equipment, also known as user equipment (UE), mobile station (mobile station, MS), mobile terminal (mobile terminal, MT), etc., is a device that provides voice and/or data connectivity to users. sexual equipment. For example, the terminal device may include a handheld device with a wireless connection function, a vehicle-mounted device, and the like. At present, the terminal device can be: a mobile phone (mobile phone), a tablet computer, a notebook computer, a palmtop computer, a mobile internet device (MID), a wearable device, a virtual reality (virtual reality, VR) device, augmented Augmented reality (AR) equipment, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, smart grid ), wireless terminals in transportation safety, wireless terminals in smart cities, or wireless terminals in smart homes, etc. The terminal device described in FIG. 1 is shown as UE, which is only an example and does not limit the terminal device.

An access network device (access network, AN) provides wireless access services to the terminal device. The access network device is a device in the communication system that accesses the terminal device to a wireless network. The access network device is a node in a radio access network, which may also be referred to as a base station, or may also be referred to as a radio access network (radio access network, RAN) node (or device). At present, some examples of access network equipment are: gNB, transmission reception point (TRP), transmission point (TP), evolved Node B (evolved Node B, eNB), radio network controller ( radio network controller, RNC), Node B (Node B, NB), base station controller (BSC), base transceiver station (base transceiver station, BTS), home base station (for example, home evolved NodeB, or home Node B, HNB), base band unit (base band unit, BBU), or wireless fidelity (wireless fidelity, Wifi) access point (access point, AP), etc.

The access and mobility management function network element AMF can be used to manage the access control and mobility of the terminal equipment. In practical applications, it includes a network framework in long term evolution (LTE). The mobility management function in the China Mobility Management Entity (MME), and the access management function is added, which can be specifically responsible for the registration of the terminal equipment, mobility management, tracking area update process, reachability detection, session The selection of management function network elements, the management of mobility state transition, etc. For example, in 5G, the access and mobility management function network element may be an AMF (access and mobility management function) network element, such as shown in Figure 1, in future communications, such as in 6G, the access and mobility management function The functional network element may still be an AMF network element, or have other names, which are not limited in this application. When the access and mobility management function network element is an AMF network element, the AMF may provide Namf services.

The location management function network element LMF may be used to determine the location of the UE, obtain downlink location measurements or location estimates from the UE, and the like. For example, in 5G, the location management function network element (location management function, LMF) is shown in Figure 1, and in a future communication system, such as in 6G, the location management function network element can still be an LMF network element, Or there are other names, which are not limited in this application.

Referring to FIG. 2 , an exemplary flowchart of a positioning method provided by an embodiment of the present application may include the following steps.

Step 201: The LMF sends the distance information of the terminal device to the access network device.

The distance information here may be distance information between the terminal device and the access network device. The LMF can send the distance information of the terminal device to the multiple access network devices respectively. It should be noted that the distance information between the terminal device and the access network device may be calculated by the LMF through positioning measurement information reported by multiple access network devices.

The terminal device may be sending SRS, and multiple access network devices may measure the SRS sent by the terminal device. Each access network device can obtain a measurement result. The measurement result here may be UL-TDOA of SRS or UL-AOA of SRS. Each access network device can complete the rough positioning of the terminal device through the delay positioning technology or the angle positioning technology according to the measurement result, and obtain the rough positioning coordinates (x', y', z') of the terminal device. Multiple access network devices can respectively send the rough positioning coordinates of the terminal device to the LMF.

The LMF can separately calculate the distance from the terminal device to each access network device according to the rough positioning coordinates of the terminal device reported by the access network device and the pre-stored coordinates of the access network device. Wherein, the LMF can calculate the distance from the terminal device to the access network device according to the following formula (1).

d′ _i is the distance from the terminal device to the i-th access network device, and ( _xi , _yi , z _i ) are the pre-stored coordinates of the i-th access network device. It should be noted that when deploying the access network device, the coordinates of the deployed access network device may be recorded, and the coordinates of the deployed access network device and the identifier of the access network device may be stored in the LMF. The LMF can determine the identifier of the access network device according to the message when the access network device reports the rough location coordinates of the terminal device, and then the LMF can determine the pre-stored coordinates of the access network device according to the identifier.

The LMF can separately determine the distance between each access network device and the terminal device through the above formula (1). The distance information sent by the LMF to the access network device may be d′ _i calculated by the above formula (1), or may be the flight time t′ _i =d′ _i /c of the terminal device obtained according to d′ _i . where c is the speed of light.

Optionally, the access network device may also calculate the distance information between the terminal device and the terminal device by itself. For example, the access network device may determine the distance between the terminal device and itself according to the rough positioning coordinates (x', y', z') of the terminal device. The access network device can also obtain the flight time of the terminal device according to the determined distance. The access network device can send the distance information calculated by itself to the LMF. It should be noted that the way that the access network device calculates the distance information between the terminal device and the terminal device by itself is completed inside the access network device, and there are some errors and the accuracy is low.

Step 202: The access network device determines the first information according to the distance information.

The first information here may include phase information of one or more subcarriers of the SRS sent by the terminal device or time of arrival (time of arrival, TOA) of one or more subcarriers of the SRS sent by the terminal device.

It should be noted that the terminal device can send the SRS on one or more subcarriers, and then the subcarriers of the SRS can be regarded as the subcarriers on which the terminal device sends the SRS. For example, the terminal device sends SRS on sub-carrier a, sub-carrier b and sub-carrier c respectively, then the sub-carriers of SRS may include sub-carrier a, sub-carrier b and sub-carrier c, and then the first information may include the sub-carriers of SRS The phase information of carrier a, the phase information of subcarrier b, and the phase information of subcarrier c; or, the first information may include the TOA of subcarrier a, the TOA of subcarrier b, and the TOA of subcarrier c of the SRS. In the following, methods for determining the first information are respectively introduced.

Case 1: The first information contains phase information of one or more subcarriers of the SRS.

The access network device may measure channel state information (channel state information reference signal, CSI) on one or more subcarriers of the SRS of the terminal device. The access network device may determine phase information of one or more subcarriers of the SRS according to the channel state information of the SRS and the received distance information of the terminal device. The access network device may determine the phase information of one or more subcarriers in the preset subcarrier set. It should be noted that the preset set of subcarriers may be negotiated between the access network equipment and the LMF, or may be determined in advance based on empirical values, or may be specified by a communication protocol, which is not specifically limited in this application. . In addition, the preset subcarrier set belongs to the set of all the subcarriers of the SRS, and the preset subcarrier set may include all the subcarriers of the SRS, or may include some subcarriers of the SRS.

In an example, if the distance information is the distance from the terminal device to the access network device, the access network device can determine the phase of one or more subcarriers in the preset subcarrier set of the SRS through the following formula (2) information.

in,

is the phase information of the kth subcarrier of the SRS determined by the ith access network device, the kth subcarrier is any one of the preset subcarrier sets, and the preset subcarrier set includes K subcarriers, K is greater than or equal to 1, k belongs to a preset subcarrier index (index), and k is a positive integer. h _i (n) is the CSI of the nth subcarrier among the N subcarriers of the SRS measured by the ith access network device, N is greater than or equal to 1, n belongs to the N subcarrier indices of the SRS, and n is a positive integer. f(n) is the frequency of the nth subcarrier of the SRS, and f(k) is the frequency of the kth subcarrier among the K preset subcarriers of the SRS. angel represents the operation of taking the phase of a complex number, and e ^j2π represents a complex number. d' _i is the distance between the terminal equipment sent by the LMF and the access network equipment, and c is the speed of light.

In another example, if the distance information is the flight time from the terminal device to the access network device, the access network device can determine one or more subcarriers in the preset subcarrier set of the SRS through the following formula (3) phase information.

in,

is the phase information of the kth subcarrier of the SRS determined by the ith access network device, the kth subcarrier is any one of the preset subcarrier sets, and the preset subcarrier set includes K subcarriers, K is greater than or equal to 1, k belongs to a preset subcarrier index (index), and k is a positive integer. h _i (n) is the CSI of the nth subcarrier among the N subcarriers of the SRS measured by the ith access network device, N is greater than or equal to 1, n belongs to the N subcarrier indices of the SRS, and n is a positive integer. f(n) is the frequency of the nth subcarrier of the SRS, and f(k) is the frequency of the kth subcarrier of the SRS. angel represents the operation of taking the phase of a complex number, and e ^j2π represents a complex number. t' _i is the flight time between the terminal equipment and the access network equipment sent by the LMF.

Based on the above solution, the access network device can determine one of the preset subcarrier sets by using the frequency synthesis method of the SRS subcarriers according to the distance information of the terminal device, the frequency of the subcarriers of the SRS, and the CSI of the subcarriers of the SRS or the phase information of multiple subcarriers can improve the accuracy of the phase information of the subcarriers of the SRS.

Case 2: The first information contains the TOA of the SRS.

The access network device may determine the phase information of one or more subcarriers in the preset subcarrier set of the SRS according to the above situation 1. Then, the access network device can obtain the TOA of the SRS according to the phase information and the distance information sent by the LMF.

The access network device may establish a "phase-distance" relationship for all subcarriers in the preset subcarrier set. This "phase-distance" relationship may satisfy the following formula (4).

d′ _i may be the distance between the terminal device sent by the LMF and the access network device, or may be the flight time t′ _i ×c between the terminal device and the access network device sent by the LMF.

It can represent the phase of the kth subcarrier among the K preset subcarriers of the SRS measured by the ith access network device, where K is greater than or equal to 1, and f _k is the frequency of the kth subcarrier. N _i (k) is a natural number, which may also be called an integer ambiguity, and is used to represent a value of an integer wavelength included in the distance d′ _i .

The access network device can obtain the "phase-distance" relationship of each subcarrier in the preset subcarrier set through formula (4).

The access network device may determine the ambiguity residual sum of squares according to the above-mentioned "phase-distance" relationship of each subcarrier. The ambiguity residual sum of squares may satisfy the following formula (5).

Among them, d' _i is the distance between the terminal equipment sent by LMF and the access network equipment,

is the optimal integer ambiguity,

is the phase of the kth subcarrier in the K preset subcarriers of the SRS measured by the ith access network device, and K is greater than or equal to 1;

refers to the summation of K sub-carriers, c is the speed of light, and f _k is the frequency of the k-th sub-carrier among the K preset sub-carriers of the SRS.

Access network equipment can determine an optimal integer ambiguity

The above formula (5) is minimized. The ambiguity residual sum of squares may represent the error of the distance d′ _i between the terminal device and the access network device for all subcarriers in the preset subcarrier set of the SRS. If an optimal integer ambiguity is determined

If the above formula (5) is minimized, it can be considered as all subcarriers in the preset subcarrier set for the SRS, so that the error of the distance d′ _i between the terminal equipment and the access network equipment is minimized. In other words, if the above formula (5) is minimized, it can be considered that on each subcarrier of the SRS, the distance between the terminal equipment and the access network equipment is the closest.

Referring to Fig. 3, f ₁ ,...,f _k are frequencies of different sub-carriers of the SRS, and the corresponding wavelengths are λ ₁ ,...λ _k . d' _i represents the distance sent by the LMF.

_d can represent the propagation distance, and ed can represent the distance error.

The closer _d ′ _i of different frequencies is, the smaller the distance error ed is. Therefore, the access network equipment determines the value that minimizes the residual sum of squared ambiguities

The process of , can be seen as determining the minimum distance error

the process of. As shown in Fig. 3, when _d ' _i =3, the distance error ed is the smallest. Therefore, the access network device can determine the value such that d' _i =3

Integer ambiguity to minimize the residual sum of squared ambiguity.

The access network device determines an integer ambiguity through the above method

Afterwards, the distance information sent by the LMF can be corrected. The access network device can obtain a more accurate distance between the terminal device and the access network device through the following formula (6). This distance satisfies the following formula (6):

Among them, K represents the number of sub-carriers in the preset sub-carrier set, K is greater than or equal to 1,

can represent the phase of the kth subcarrier among the K preset subcarriers of the SRS measured by the ith access network device,

is the integer ambiguity determined to minimize the residual sum of squared ambiguities, f _k is the frequency of the kth sub-carrier among the K preset sub-carriers, and c is the speed of light.

The access network equipment can convert the above di into _TOA . That is, t _i =d _i /c, and t _i can represent the value of TOA.

Based on the above solution, the access network device can obtain the TOA value with higher accuracy through the phase information of the subcarriers of the SRS, and report the TOA value to the LMF, which can improve the accuracy of the positioning technology without increasing the access The amount of data transmitted by the network device.

Step 203: The access network device sends the first information to the LMF.

Wherein, the access network device may send the phase information shown in the above case 1 to the LMF, and the LMF may determine the location information of the terminal device according to the phase information.

Optionally, the access network device may obtain a TOA with higher accuracy according to the phase information, and send the TOA with higher accuracy as shown in the above case 2 to the LMF. Wherein, if the access network device sends the TOA to the LMF, the accuracy of the positioning technology can be improved without changing the amount of information reported by the existing access network device.

Step 204: The LMF determines the location information of the terminal device according to the first information.

The first information here may include the phase information shown in the above case 1, or may include the TOA shown in the above case 2. Hereinafter, according to different information contained in the first information, the manner in which the LMF determines the location information of the terminal device will be described respectively.

Case 1: The first information includes the TOA of the SRS.

Multiple access network devices can separately report the TOA of the SRS to the LMF. Therefore, the LMF can obtain the precise location information of the terminal device through TOA calculation using the time delay positioning technology.

The LMF can select a reference access network device, and calculate the delay difference between each access network device and the reference access network device according to the TOAs reported by multiple access network devices. The reference access network device may be any one of the above-mentioned multiple access network devices, and a delay difference may represent the difference between the TOA reported by one access network device and the TOA reported by the reference access network device. Referring to FIG. 4 , the LMF can determine multiple hyperbolas according to the calculated delay difference. Wherein, each hyperbola can represent a delay difference, and the difference between the distance from each point on the hyperbola to the reference access network equipment and the distance from the point to the access network equipment required to obtain the delay difference is identical. For example, as shown in FIG. 4 , TDOA21 may represent the time delay difference between the access network device 2 and the reference access network device 1 . The difference between the distance from each point on the hyperbolic TODA21 to the access network device 2 and the distance from the point to the reference access network device 1 is the same.

The LMF can obtain multiple hyperbolas through the time delay difference between multiple access network devices and the reference access network device, then the point where multiple hyperbolas intersect can be the precise location information of the terminal device.

Based on the above solution, the LMF can receive TOAs reported by each access network device with higher accuracy. Therefore, the terminal device can be located through multiple TOAs with higher accuracy, and the location information of the terminal device with higher accuracy can be obtained. .

Case 2: The first information includes phase information of one or more subcarriers of the SRS.

The LMF may choose to refer to the access network equipment. The reference access network device here may be any one of the access network devices that can receive the SRS sent by the terminal device. The LMF may calculate the distance difference between the first distance and the second distance. It should be understood that the first distance here may be the distance information between the above-mentioned terminal device and the access network device, and the second distance may be the distance information between the terminal device and the reference access network device. The LMF may calculate distance differences between the plurality of first distances and the second distances, respectively. Wherein, the distance differences between the plurality of first distances and the second distances can be determined by the following formula (7).

Δd′ _i =d′ _i -d′ _ref formula (7)

Among them, Δd' _i can represent the distance difference, d' _i can represent the distance information between the ith access network device and the terminal device, d' _ref can represent the distance information between the reference access network device and the terminal device, i = 0, 1, 2, . . .

The LMF can separately calculate the phase difference between the reference access network device and multiple access network devices other than the reference access network device. One phase difference is the phase difference between the phase of one subcarrier of the SRS of one access network device and the phase of the preceding one subcarrier of the SRS of the reference access network device. For example, one phase difference may be the phase difference between the phase of subcarrier i of the SRS of the access network device and the phase of subcarrier i of the SRS of the reference access network device. The phase difference between the reference access network device and multiple access network devices can be determined by the following formula (8).

in,

can represent the phase difference,

It can represent the phase of the kth subcarrier among the K preset subcarriers of the SRS of the ith access network device, where K is greater than or equal to 1, and k is the subcarrier index in the preset subcarrier set,

It may represent the phase of the kth subcarrier among the K preset subcarriers of the SRS of the reference access network device.

The LMF may establish a "phase-distance" relationship for each subcarrier in the preset subcarrier set, and the "phase-distance" relationship may satisfy the following formula (9).

Among them, Δd′ _i represents the distance difference of the i-th access network device,

represents the phase difference of the i-th access network device, f _k is the frequency of the k-th sub-carrier in the K preset sub-carriers of the SRS, K is greater than or equal to 1, and c is the speed of light. N' _i (k) is the integer ambiguity, which is a natural number.

The LMF can determine the "phase-distance" relationship of each subcarrier in the preset subcarrier set by formula (9).

LMF can determine the residual sum of squares of ambiguity from the "phase-distance" relationship of each subcarrier. The ambiguity residual sum of squares may satisfy the following formula (10).

is the optimal integer ambiguity,

represents the phase difference of the i-th access network device;

refers to the summation of K sub-carriers, where K is greater than or equal to 1, c is the speed of light, and f _k is the frequency of the k-th sub-carrier in the K preset sub-carriers of the SRS.

LMF can determine the optimal integer ambiguity

The above formula (10) is minimized. The ambiguity residual sum of squares may represent the error of Δd′ _i for all subcarriers in the preset subcarrier set of the SRS. If an optimal integer ambiguity is determined

If the above formula (10) is minimized, it can be considered that on each subcarrier of the SRS, the distance between the terminal equipment and the access network equipment is the closest.

LMF can be determined by

Get the distance difference with high accuracy. This distance difference satisfies the following formula (11).

K represents the number of sub-carriers in the preset sub-carrier set, K is greater than or equal to 1,

is the optimal integer ambiguity,

represents the phase difference of the i-th access network device,

refers to the summation of K sub-carriers, f _k is the frequency of the k-th sub-carrier in the K preset sub-carriers of the SRS, and c is the speed of light.

The LMF can convert the Δd _i into the time delay difference, and use the time delay positioning technology to determine the precise location information of the terminal equipment. Wherein, the time delay difference Δt _i =Δd _i /c.

The LMF can determine the precise location information of the terminal device according to the time delay difference of multiple access network devices through the time delay positioning technology shown in the above case 1.

Based on the above solution, the LMF can determine a more accurate TOA by frequency synthesis of the SRS subcarriers based on the phase information of the SRS subcarriers reported by the access network equipment, which can improve the positioning accuracy of the terminal equipment.

Referring to FIG. 5 , it is a simulation effect diagram of the positioning method provided by the embodiment of the present application. The curve 1 may represent the positioning result obtained by the positioning method provided in the embodiment of the present application, and the curve 2 may represent the positioning result obtained by the angle positioning technology of the prior art. As shown in FIG. 5 , the abscissa may represent the positioning error, and the ordinate may represent the cumulative distribution function of the positioning error. The simulation diagram may represent the proportion of the positioning results satisfying a certain positioning error among the positioning results for positioning the terminal device in the total positioning results. Taking the positioning error of 0.5 as an example, in the positioning results obtained by the positioning method provided in the embodiment of the present application, the positioning results with the positioning error less than or equal to 0.5 account for 0.6 of the total positioning results. In the positioning results obtained by the angle positioning technology in the prior art, the positioning results with a positioning error less than or equal to 0.5 account for about 0.1 of the total positioning results. It can be seen that in the positioning results obtained by the positioning method provided in the embodiment of the present application, the positioning results with a positioning error less than or equal to 0.5 account for the proportion of all positioning results, which is about 5 times higher than the positioning results obtained by the angle positioning technology, that is, positioning The accuracy is improved by about 5 times.

Taking the positioning error of 0.9 as an example, in the positioning results obtained by the positioning method provided in the embodiment of the present application, the positioning results with the positioning error less than or equal to 0.9 account for nearly 1 of the total positioning results, and the angle positioning technology in the prior art is used. Among the obtained positioning results, the positioning results with a positioning error less than or equal to 0.9 account for nearly 0.5 of all positioning results. It can be seen that, in the positioning results obtained by the positioning method provided by the embodiment of the present application, the positioning results with a positioning error less than or equal to 0.9 The proportion of the total positioning results is about 1 times higher than the positioning results obtained by the angle positioning technology, that is, the positioning accuracy is about 1 times higher.

Hereinafter, the positioning method provided by the embodiments of the present application is introduced through specific embodiments.

Referring to FIG. 6 , an exemplary flowchart of a positioning method provided by an embodiment of the present application may include the following steps.

Step 1: TOA/AOA coarse positioning.

In step 1, the access network device may perform rough positioning of the terminal device. Wherein, multiple access network devices may measure the SRS sent by the terminal device respectively to obtain the channel information H of the subcarriers of the SRS. The multiple access network devices may determine the TOA of the SRS or the AOA of the SRS according to the channel information H respectively. Multiple access network devices can respectively report the TOA or AOA of the SRS to the positioning center LMF. The LMF can perform rough positioning on the terminal device according to the TOA or AOA of the SRS reported by each access network device, and obtain the rough positioning coordinates of the terminal device.

Step 2: Frequency synthesis phase correction.

In step 2, the access network device may correct the phase information of the subcarriers of the SRS according to the frequency synthesis method of the subcarriers of the SRS. The LMF may calculate the distance information between each access network device and the terminal device according to the rough positioning coordinates of the terminal device, and send the distance information to the access network device respectively. It should be understood that, for the distance information fed back by the LMF to the access network device in step 2, reference may be made to the relevant description in the method embodiment shown in FIG. 2 , and details are not repeated here.

The multiple access network devices may obtain the phase information of the subcarriers of the SRS according to the distance information from the LMF and the channel information H of the subcarriers of the SRS measured in step 1 respectively. Wherein, for the method for the access network device to calculate the phase information of the subcarriers of the SRS, reference may be made to the relevant description in the method embodiment shown in FIG. 2 , and details are not repeated here.

Step 3: Multi-access network equipment joint carrier phase calculation.

In step 3, the LMF may combine the phase information reported by multiple access network devices to calculate the precise location information of the terminal device. Wherein, a plurality of access network devices may respectively report the phase information of the subcarriers of the SRS obtained in step 2 to the positioning center LMF. The LMF can calculate the precise positioning coordinates of the terminal equipment according to the phase information from the access network equipment, the rough positioning coordinates of the terminal equipment, and the coordinates of the access network equipment. It should be understood that, for the method for the LMF to determine the precise positioning coordinates of the terminal device according to the phase information, reference may be made to the relevant description in the method embodiment shown in FIG. 2 , and details are not repeated here.

Based on the above steps 1 to 3, the access network device can correct the phase of the SRS subcarrier based on the frequency synthesis method of the SRS subcarrier to obtain a relatively accurate SRS subcarrier phase, and then report it to the LMF. The LMF can correct the distance between the terminal device and the access network device based on the relatively accurate phase information, so as to obtain a relatively accurate distance between the terminal device and the access network device. The LMF can continue to calculate and obtain the precise location information of the terminal device according to the relatively accurate distance between the terminal device and the access network device. Based on the above solution, the accuracy of positioning the terminal device can be improved on the basis of the current deployment architecture of the access network device.

Based on the same technical concept as the above-mentioned communication method, as shown in FIG. 7 , an apparatus 700 is provided. The apparatus 700 can perform each step performed by the first network device side or the second network device side in the above method, which will not be described in detail here in order to avoid repetition.

The apparatus 700 includes: a communication unit 710, a processing unit 720, and optionally, a storage unit 730; Wherein, the processing unit 720 may be integrated with the storage unit 730 . The communication unit 710 may also be referred to as a transceiver, a transceiver, a transceiver, or the like. The processing unit 720 may also be referred to as a processor, a processing board, a processing module, a processing device, or the like. Optionally, the device for implementing the receiving function in the communication unit 710 may be regarded as a receiving unit, and the device for implementing the transmitting function in the communication unit 710 may be regarded as a transmitting unit, that is, the communication unit 710 includes a receiving unit and a transmitting unit. A communication unit may also sometimes be referred to as a transceiver, transceiver, or transceiver circuit, or the like. The receiving unit may also sometimes be referred to as a receiver, receiver, or receiving circuit, or the like. The transmitting unit may also sometimes be referred to as a transmitter, a transmitter, or a transmitting circuit, or the like.

It should be understood that the communication unit 710 is configured to perform the sending operation and the receiving operation on the first network device side or the second network device side in the foregoing method embodiments, and the processing unit 720 is configured to execute the first network device side or the first network device side in the foregoing method embodiments. 2. Other operations on the network device side except for sending and receiving operations. For example, in an implementation manner, the communication unit 710 is configured to perform the receiving operation on the second network device side or the sending operation on the first network device side in steps 201 and 202 in FIG. 2 , and/or the communication unit 710 further It is used to perform other transceiving steps on the first network device side or the second network device side in this embodiment of the present application. The processing unit 720 is configured to execute the processing steps on the first network device side in step 203 in FIG. 2 , and/or the processing unit 720 is configured to execute other processing steps on the first network device side or the second network device side in this embodiment of the present application processing steps.

the storage unit 730, for storing computer programs;

Exemplarily, when the apparatus 700 performs each step performed by the first network device in the above method, the processing unit 720 is configured to determine the first physical channel. For the description of the first physical channel, reference may be made to the related description in the method embodiment shown in FIG. 2 . The communication unit 710 is configured to send distance information of the terminal device to the second network device, and receive first information from multiple second network devices. The processing unit 720 is configured to determine the location information of the terminal device according to the phase information of the terminal device.

For the first information, distance information, phase information, etc., reference may be made to the relevant description in the method embodiment shown in FIG. 2 , and details are not repeated here.

In one design, when determining the location information of the terminal device according to the phase information of the terminal device, the processing unit 720 is specifically configured to: according to the phase information of the terminal device and the The distance information of the terminal device determines the precise location information of the terminal device.

In one design, when determining the location information of the terminal device according to the phase information of the terminal device, the processing unit 720 is specifically configured to: respectively determine the distances of a plurality of first distances and second distances The difference sum determines a plurality of phase differences; according to the distance difference and the plurality of the phase differences, the precise location information of the terminal device is determined. For the first distance, the second distance, the distance difference and the phase difference, reference may be made to the relevant description in the method embodiment shown in FIG. 2 .

In one design, when determining the precise location information of the terminal device according to the integer ambiguity and a plurality of the distance differences, the processing unit 720 is specifically configured to: correct according to the integer ambiguity For each of the distance differences; according to the corrected plurality of distance differences, the time-of-arrival positioning method is used to determine the precise location information of the terminal device. Wherein, for the distance difference and the ambiguity of the whole circumference, reference may be made to the relevant description in the method embodiment shown in FIG. 2 .

In one design, before sending the distance information of the terminal device to the second network device, the communication unit 710 is further configured to: receive positioning measurement information from multiple second network devices; the positioning measurement information includes time measurement information or angle measurement information; the processing unit 720 is further configured to determine the distance information of the terminal device according to the positioning measurement information. For the positioning measurement information, reference may be made to the relevant description in the method embodiment shown in FIG. 2 .

Exemplarily, when the apparatus 700 is configured to perform each step performed by the second network device, the communication unit 710 is configured to receive distance information between the terminal device and the second network device; the processing unit 720, configured to determine the first information according to the distance information; and the communication unit 710, further configured to send the first information to the first network device. For the distance information and the first information, reference may be made to the relevant description in the method embodiment shown in FIG. 2 , and details are not repeated here.

In one design, the communication unit 710 is further configured to: report positioning measurement information to the first network device; the positioning measurement information is used to determine the distance between the terminal device and the second network device. For the positioning measurement information, reference may be made to the relevant description in the method embodiment shown in FIG. 2 .

In one design, the processing unit 720 is further configured to: obtain channel information according to the positioning reference signal; when determining the first information according to the distance information, the processing unit 720 is specifically configured to: The distance information and the channel information are used to determine phase information of one or more subcarriers of the positioning reference signal. For the channel information and phase information, reference may be made to the relevant description in the method embodiment shown in FIG. 2 .

In one design, the processing unit 720 is further configured to: determine the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information.

In one design, when determining the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information, the processing unit 720 is specifically configured to: determine an integer ambiguity; The integer ambiguity minimizes the residual sum of squares of ambiguity; the residual sum of squares of ambiguity is obtained according to the phase information and the distance information; the distance information is corrected according to the integer ambiguity; The distance information of the positioning reference signal is determined, and the TOA of one or more subcarriers of the positioning reference signal is determined. For the integer ambiguity and the residual sum of squares of ambiguity, reference may be made to the relevant description in the method embodiment shown in FIG. 2 , and details are not repeated here.

When the device is a chip-type device or circuit, the device may include a communication unit and a processing unit. Wherein, the communication unit may be an input/output circuit and/or a communication interface; the processing unit is an integrated processor, a microprocessor or an integrated circuit. The communication unit may input data and output data, and the processing unit may determine output data according to the input data. For example, the communication unit may output the distance information of the terminal device and input the first information of the plurality of second network devices. The processing unit may determine output data, such as location information of the terminal device, according to input data, such as the first information of a plurality of second network devices.

As shown in FIG. 8 , an apparatus 800 provided by an embodiment of the present application is configured to implement the functions of the first network device side and the second network device side in the foregoing method. When the apparatus is used to implement the function of the first network device in the above method, the apparatus may be an LMF, a chip with functions similar to the LMF, or a device that can be matched and used with the LMF. When the device is used to implement the function of the second network device in the above method, the device may be an access network device, a chip with similar functions of the access network device, or a device that can be matched with the access network device.

The apparatus 800 includes at least one processor 820, configured to implement the functions on the first network device side and the second network device side in the method provided in the embodiment of the present application. The apparatus 800 may also include a communication interface 810 . In this embodiment of the present application, the communication interface may be a transceiver, a circuit, a bus, a module or other types of communication interfaces, which are used to communicate with other devices through a transmission medium. For example, the communication interface 810 is used by the apparatus in the apparatus 800 to communicate with other devices. The processor 820 may perform the functions of the processing unit 720 shown in FIG. 7 , and the communication interface 810 may perform the functions of the communication unit 710 shown in FIG. 7 .

The apparatus 800 may also include at least one memory 830 for storing program instructions and/or data. Memory 830 is coupled to processor 820 . The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units or modules, which may be in electrical, mechanical or other forms, and is used for information exchange between devices, units or modules. Processor 820 may cooperate with memory 830 . Processor 820 may execute program instructions stored in memory 830 . At least one of the at least one memory may be included in the processor.

The specific connection medium between the communication interface 810 , the processor 820 , and the memory 830 is not limited in the embodiments of the present application. In the embodiment of the present application, the memory 830, the processor 820, and the communication interface 810 are connected through a bus 840 in FIG. 8. The bus is represented by a thick line in FIG. 8, and the connection between other components is only for schematic illustration. , is not limited. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in FIG. 8, but it does not mean that there is only one bus or one type of bus.

As another form of this embodiment, a computer-readable storage medium is provided, and instructions are stored thereon, and when the instructions are executed, the methods on the first network device side and the second network device side in the above method embodiments are performed.

As another form of this embodiment, there is provided a computer program product containing instructions that, when executed by an electronic device (eg, a computer, a processor, or a device on which a processor is installed, etc.), cause the electronic device to The methods on the first network device side and the second network device side in the foregoing method embodiments are performed.

As another form of this embodiment, a communication system is provided, and the system may include a terminal device, the above-mentioned at least one first network device and the above-mentioned at least one second network device.

It should be understood that the processor mentioned in the embodiments of the present invention may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application-specific integrated circuits ( Application Specific Integrated Circuit, ASIC), off-the-shelf Programmable Gate Array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should also be understood that the memory mentioned in the embodiments of the present invention may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Wherein, the non-volatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM, PROM), an erasable programmable read-only memory (Erasable PROM, EPROM), an electrically programmable read-only memory (Erasable PROM, EPROM). Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory may be Random Access Memory (RAM), which acts as an external cache. By way of illustration and not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (Direct Rambus RAM, DR RAM).

It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, the memory (storage module) is integrated in the processor.

It should be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable types of memory.

It should be understood that, in the various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not be dealt with in the embodiments of the present invention. implementation constitutes any limitation.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

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

The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited to this. should be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A positioning method, comprising:

The first network device sends the distance information of the terminal device to the second network device; wherein, the distance information is the distance information between the terminal device and the second network device;

The first network device receives first information from a plurality of second network devices; a piece of first information includes phase information of one or more subcarriers of a positioning reference signal of the terminal device; the phase information is based on the The distance information of the terminal equipment is obtained;

The first network device determines the location information of the terminal device according to the phase information of the terminal device.
The method according to claim 1, wherein the first network device determines the location information of the terminal device according to the phase information of the terminal device, comprising:

The first network device determines the precise location information of the terminal device according to the phase information of the terminal device and the distance information of the terminal device.
The method according to claim 2, wherein the first network device determines the precise location information of the terminal device according to the phase information of the terminal device and the distance information of the terminal device, comprising:

The first network device respectively determines distance differences between a plurality of first distances and second distances; a first distance is a distance between the second network device and the terminal device; the second distance is the reference The distance between the second network device and the terminal device; the reference second network device is one of the plurality of second network devices;

The first network device determines a plurality of phase differences; wherein, one phase difference is a phase difference between a subcarrier of a positioning reference signal of a second network device and the one subcarrier of a positioning reference signal of a reference second network device. phase difference;

The first network device determines the precise location information of the terminal device according to the distance difference and a plurality of the phase differences.
The method according to claim 3, wherein, for a distance difference, the distance difference satisfies the following formula:

Among them, Δd i relative distance,
represents the integer ambiguity, c is the speed of light, f k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, K is greater than or equal to 1,
is the relative phase between the i-th second network device and the reference second network device in the plurality of second network devices,
refers to the summation of K sub-carriers.
The method according to claim 3 or 4, wherein the first network device determines the precise location information of the terminal device according to the distance difference and a plurality of the phase differences, comprising:

The first network device determines an integer ambiguity; the integer ambiguity minimizes the residual sum of squares of ambiguities; the residual sum of squares of ambiguities is obtained according to the phase difference and the distance difference;

The first network device determines the precise location information of the terminal device according to the integer ambiguity and a plurality of the distance differences.
The method according to claim 5, wherein the residual sum of squares of ambiguity satisfies the following formula:

Wherein, Δd′ i is the relative distance between the i-th network device in the plurality of second network devices and the reference second network device,
is the integer ambiguity,
is the relative phase between the i-th second network device and the reference second network device in the plurality of second network devices; f k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, K greater than or equal to 1,
refers to the summation of K sub-carriers, and c is the speed of light.
The method according to claim 5, wherein the determining the precise location information of the terminal device according to the integer ambiguity and a plurality of the distance differences comprises:

The first network device corrects each of the distance differences according to the integer ambiguity;

The first network device determines the precise location information of the terminal device by using the time difference of arrival positioning method according to the corrected distance differences.
The method according to any one of claims 1-7, wherein before the first network device sends the distance information of the terminal device to the second network device, the method further comprises:

The first network device receives positioning measurement information from multiple second network devices; the positioning measurement information includes time measurement information or angle measurement information;

The first network device determines the distance information of the terminal device according to the positioning measurement information.
A positioning method, comprising:

The second network device receives the distance information between the terminal device and the second network device;

The second network device determines the first information according to the distance information; the first information includes phase information of one or more subcarriers of the positioning reference signal of the terminal device; the phase information is based on the phase information of the terminal device. The distance information is obtained; or, the first information includes the time of arrival TOA of one or more subcarriers of the positioning reference signal of the terminal device;

The second network device sends the first information to the first network device.
The method of claim 9, further comprising:

The second network device reports positioning measurement information to the first network device; the positioning measurement information is used to determine the distance between the terminal device and the second network device.
The method of claim 9 or 10, further comprising:

obtaining, by the second network device, channel information according to the positioning reference signal;

The second network device determines the first information according to the distance information, including:

The second network device determines, according to the distance information and the channel information, phase information of one or more subcarriers of the positioning reference signal.
The method according to any one of claims 9-11, further comprising:

The second network device determines the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information.
The method according to claim 12, wherein the second network device determines the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information, comprising:

The second network device determines an integer ambiguity; the integer ambiguity minimizes the residual sum of squares of ambiguity; the residual sum of squares of ambiguity is obtained according to the phase information and the distance information;

The second network device corrects the distance information according to the integer ambiguity;

The second network device determines the TOA of one or more subcarriers of the positioning reference signal according to the corrected distance information.
The method according to any one of claims 9-13, wherein the distance information includes a distance between the terminal device and the second network device, or the terminal device and the second network device flight time between.
The method according to claim 14, wherein the distance information includes a distance between the terminal device and the second network device, and the phase information of one of the positioning reference signals satisfies the following formula:

Among them, the
is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the The frequency of the k-th sub-carrier in the K sub-carriers of the positioning reference signal, f(n) is the frequency of the n-th sub-carrier in the N sub-carriers of the positioning reference signal, c is the speed of light, and d′ i is the terminal device and the The distance of the second network device, angel represents the operation of taking a complex phase, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any sub-carrier in the K sub-carriers belongs to the N sub-carriers .
The method according to claim 14, wherein the distance information includes the flight time of the terminal device, and the phase information of one of the positioning reference signals satisfies the following formula:

Among them, the
is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the The frequency of the k-th sub-carrier in the K sub-carriers of the positioning reference signal, f(n) is the frequency of the n-th sub-carrier in the N sub-carriers of the positioning reference signal, c is the speed of light, and d′ i is the terminal device and the The distance of the second network device, angel represents the operation of taking a complex phase, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any sub-carrier in the K sub-carriers belongs to the N sub-carriers , t′ i represents the flight time between the second network device and the terminal device.
The method according to claim 13, wherein the residual sum of squares of ambiguity satisfies the following formula:

where d′ i is the distance between the terminal device and the second network device,
is the integer ambiguity, the
is the phase information of the kth subcarrier in the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier in the K subcarriers of the positioning reference signal, and K is greater than or equal to 1,
refers to the summation of K sub-carriers, and c is the speed of light.
The method according to any one of claims 11-17, wherein the corrected distance information satisfies the following formula:

in,
the integer ambiguity, the
is the phase information of the kth subcarrier in the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier in the K subcarriers of the positioning reference signal, and K is greater than or equal to 1,
refers to the summation of K sub-carriers, and c is the speed of light.
A positioning device, comprising: a processing unit and a communication unit;

The communication unit is used to send the distance information of the terminal device to the second network device; wherein, the distance information is the distance information between the terminal device and the second network device;

The communication unit is further configured to receive first information from multiple second network devices; a piece of first information includes phase information of one or more subcarriers of the positioning reference signal of the terminal device; the phase information is based on The distance information of the terminal device is obtained;

The processing unit is configured to determine the location information of the terminal device according to the phase information of the terminal device.
The apparatus according to claim 19, wherein when determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to:

The precise location information of the terminal device is determined according to the phase information of the terminal device and the distance information of the terminal device.
The apparatus according to claim 20, wherein when determining the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to:

The distance differences between a plurality of first distances and second distances are respectively determined; a first distance is a distance between a second network device and the terminal device; the second distance is a distance between the reference second network device and the terminal device. the distance of the terminal device; the reference second network device is one of the plurality of second network devices;

determining a plurality of phase differences; wherein one phase difference is the phase difference between the phase of a subcarrier of the positioning reference signal of a second network device and the phase of the one subcarrier of the positioning reference signal of the reference second network device;

The precise location information of the terminal device is determined according to the distance difference and a plurality of the phase differences.
The device according to claim 21, wherein, for a distance difference, the distance difference satisfies the following formula:

Among them, Δd i relative distance,
represents the integer ambiguity, c is the speed of light, f k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, K is greater than or equal to 1,
is the relative phase between the i-th second network device and the reference second network device in the plurality of second network devices,
refers to the summation of K sub-carriers.
The apparatus according to claim 21 or 22, wherein when the processing unit determines the location information of the terminal device according to the phase information of the terminal device, the processing unit is specifically configured to:

determining an integer ambiguity; the integer ambiguity minimizes the residual sum of squares of ambiguity; the residual sum of squares of ambiguity is obtained according to the phase difference and the distance difference;

Accurate location information of the terminal device is determined according to the integer ambiguity and a plurality of the distance differences.
The apparatus according to claim 23, wherein the residual sum of squares of ambiguity satisfies the following formula:

Wherein, Δd′ i is the relative distance between the i-th network device in the plurality of second network devices and the reference second network device,
is the integer ambiguity,
is the relative phase between the i-th second network device and the reference second network device in the plurality of second network devices; f k is the frequency of the k-th sub-carrier in the K sub-carriers of the first signal, K greater than or equal to 1,
refers to the summation of K sub-carriers, and c is the speed of light.
The device according to claim 23, wherein, when the processing unit determines the precise location information of the terminal device according to the integer ambiguity and a plurality of the distance differences, the processing unit is specifically configured to:

correcting each of the distance differences according to the integer ambiguity;

According to the corrected distance differences, the time-of-arrival positioning method is used to determine the precise location information of the terminal device.
The apparatus according to any one of claims 19-25, wherein before sending the distance information of the terminal device to the second network device, the communication unit is further configured to:

receiving positioning measurement information from multiple second network devices; the positioning measurement information includes time measurement information or angle measurement information;

The processing unit is further configured to determine the distance information of the terminal device according to the positioning measurement information.
A positioning device, comprising: a processing unit and a communication unit;

the communication unit, configured to receive distance information between the terminal device and the second network device;

The processing unit is configured to determine the first information according to the distance information; the first information includes phase information of one or more sub-carriers of the positioning reference signal of the terminal device; the phase information is based on the phase information of the terminal device The distance information is obtained; or, the first information includes the time of arrival TOA of one or more subcarriers of the positioning reference signal of the terminal device;

The communication unit is further configured to send the first information to the first network device.
The apparatus according to claim 27, wherein the communication unit is further configured to:

reporting positioning measurement information to the first network device; the positioning measurement information is used to determine the distance between the terminal device and the second network device.
The apparatus according to claim 27 or 28, wherein the processing unit is further configured to:

obtaining channel information according to the positioning reference signal;

When determining the first information according to the distance information, the processing unit is specifically configured to:

Phase information of one or more subcarriers of the positioning reference signal is determined according to the distance information and the channel information.
The device according to any one of claims 27-29, wherein the processing unit is further configured to:

A TOA of one or more subcarriers of the positioning reference signal is determined based on the phase information and the distance information.
The apparatus according to claim 30, wherein when the processing unit determines the TOA of one or more subcarriers of the positioning reference signal according to the phase information and the distance information, the processing unit is specifically configured to:

determining an integer ambiguity; the integer ambiguity minimizes the residual sum of squares of ambiguity; the residual sum of squares of ambiguity is obtained according to the phase information and the distance information;

correcting the distance information according to the integer ambiguity;

According to the corrected distance information, the TOA of one or more subcarriers of the positioning reference signal is determined.
The apparatus according to any one of claims 27-31, wherein the distance information includes a distance between the terminal device and the second network device, or the terminal device and the second network device flight time between.
The apparatus according to claim 32, wherein the distance information includes a distance between the terminal device and the second network device, and the phase information of one of the positioning reference signals satisfies the following formula:

Among them, the
is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the The frequency of the k-th sub-carrier in the K sub-carriers of the positioning reference signal, f(n) is the frequency of the n-th sub-carrier in the N sub-carriers of the positioning reference signal, c is the speed of light, and d′ i is the terminal device and the The distance of the second network device, angel represents the operation of taking a complex phase, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any sub-carrier in the K sub-carriers belongs to the N sub-carriers .
The apparatus according to claim 32, wherein the distance information includes the flight time of the terminal device, and the phase information of one of the positioning reference signals satisfies the following formula:

Among them, the
is the phase information of the kth subcarrier among the K subcarriers of the positioning reference signal, h i (n) is the channel information of the nth subcarrier among the N subcarriers of the positioning reference signal, and f(k) is the The frequency of the k-th sub-carrier in the K sub-carriers of the positioning reference signal, f(n) is the frequency of the n-th sub-carrier in the N sub-carriers of the positioning reference signal, c is the speed of light, and d′ i is the terminal device and the The distance of the second network device, angel represents the operation of taking a complex phase, e j2π represents a complex number; K is greater than or equal to 1, N is greater than or equal to 1, and any sub-carrier in the K sub-carriers belongs to the N sub-carriers , t′ i represents the flight time between the second network device and the terminal device.
The device according to claim 31, wherein the corrected distance information satisfies the following formula:

in,
the integer ambiguity, the
is the phase information of the kth subcarrier in the K subcarriers of the positioning reference signal; f(k) is the frequency of the kth subcarrier in the K subcarriers of the positioning reference signal, and K is greater than or equal to 1,
refers to the summation of K sub-carriers, and c is the speed of light.
A positioning device, characterized in that the device comprises a processor and a memory,

the memory for storing computer programs or instructions;

The processor for executing a computer program or instructions in a memory to cause the apparatus to perform the method of any one of claims 1-8 or to cause the apparatus to perform any of the claims 9-18 the method described.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are invoked by an electronic device, the electronic device executes the steps according to claims 1- 8 or causing the electronic device to perform the method of any one of claims 9-18.
A computer program product, characterized in that, when the computer program product is run on an electronic device, the electronic device is caused to perform the method according to any one of claims 1-8 or the electronic device is caused to perform the method according to the claim. The method of any of claims 9-18.