WO2023045840A1 - 感知定位方法、装置及通信设备 - Google Patents

感知定位方法、装置及通信设备 Download PDF

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Publication number
WO2023045840A1
WO2023045840A1 PCT/CN2022/119275 CN2022119275W WO2023045840A1 WO 2023045840 A1 WO2023045840 A1 WO 2023045840A1 CN 2022119275 W CN2022119275 W CN 2022119275W WO 2023045840 A1 WO2023045840 A1 WO 2023045840A1
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Prior art keywords
communication device
positioning
perception
requirement
sensing
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PCT/CN2022/119275
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English (en)
French (fr)
Inventor
姚健
司晔
潘翔
袁雁南
姜大洁
吴晓波
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维沃移动通信有限公司
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Publication of WO2023045840A1 publication Critical patent/WO2023045840A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L61/00—Network arrangements, protocols or services for addressing or naming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

Definitions

  • the present application relates to the technical field of communication, and in particular to a method, device and communication equipment for perceptual positioning.
  • Perception capability that is, one or more devices with perception capability, which can perceive the orientation, distance, speed and other information of the target object through the transmission and reception of wireless signals, or detect, track, and detect the target object, event or environment. identification, imaging, etc.
  • 6G 6th Generation
  • Embodiments of the present application provide a perceptual positioning method, device, and communication device, which can solve the problem of how to combine perceptual capabilities for positioning.
  • a perceptual positioning method including:
  • the first communication device receives a positioning requirement
  • the first communication device sends the positioning requirement to a second communication device, and sends the sensing requirement to a third communication device.
  • a perceptual positioning method including:
  • the third communication device acquires a sensing requirement, where the sensing requirement is sent by the first communication device when the positioning requirement received by the first communication device is a positioning requirement associated with sensing service management;
  • the first information includes at least one of signal configuration information and measurement quantities
  • the signal configuration information is signal configuration information for perception measurement and/or positioning measurement
  • the measurement quantities mentioned above are measurement quantities used for perception measurement and/or positioning measurement
  • the second communication device includes a terminal and/or a base station associated with the positioning requirement
  • the fourth communication device includes A terminal and/or base station associated with the sensing requirement.
  • a sensory positioning device including:
  • the first receiving module is configured to receive positioning requirements
  • the first sending module is configured to send the positioning requirement to the second communication device and send the sensing requirement to the third communication device when the positioning requirement is a positioning requirement associated with a sensing service.
  • a sensory positioning device including:
  • a first acquiring module configured to acquire a perception requirement, where the perception requirement is sent by the first communication device when the positioning requirement received by the first communication device is a positioning requirement associated with perception service management;
  • the second acquisition module is configured to acquire first information according to the perception requirement, the first information includes at least one of signal configuration information and measurement quantities, and the signal configuration information is used for perception measurement and/or positioning Measured signal configuration information, where the measured quantity is a measured quantity used for perception measurement and/or positioning measurement;
  • a second sending module configured to send the first information to at least one of a second communication device and a fourth communication device, where the second communication device includes a terminal and/or a base station associated with the positioning requirement,
  • the fourth communication device includes a terminal and/or a base station associated with the sensing requirement.
  • a communication device which includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor, and the program or instruction is executed by the processor When executed, the steps of the method described in the first aspect or the second aspect are realized.
  • a communication device including a processor and a communication interface, wherein the communication interface is used to receive a positioning requirement; The communication device sends the positioning requirement, and sends the perception requirement to the third communication device; or, the communication interface is used to obtain the perception requirement, and the perception requirement is that the positioning requirement received by the first communication device is associated with the perception service management In the case of positioning requirements, it is sent by the first communication device; the processor is configured to acquire first information according to the perception requirements, where the first information includes at least one of signal configuration information and measurement quantities, the The signal configuration information is signal configuration information for perception measurement and/or positioning measurement, and the measurement quantity is a measurement quantity for perception measurement and/or positioning measurement; the communication interface is used to send the first information to At least one of a second communication device and a fourth communication device, the second communication device includes a terminal and/or base station associated with the positioning requirement, and the fourth communication device includes a terminal associated with the perception requirement and/or base stations.
  • a readable storage medium is provided, and programs or instructions are stored on the readable storage medium, and when the programs or instructions are executed by a processor, the steps of the method described in the first aspect are realized, or the steps of the method described in the first aspect are realized, or The steps of the method described in the second aspect.
  • a chip in an eighth aspect, includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect , or implement the method described in the second aspect.
  • a computer program/program product is provided, the computer program/program product is stored in a non-transitory storage medium, and the computer program/program product is executed by at least one processor to implement the first A step of the method described in the aspect or the second aspect.
  • a communication device configured to perform the steps of the method described in the first aspect or the second aspect.
  • a positioning requirement is received; if the positioning requirement is a positioning requirement associated with a sensing service, the positioning requirement is sent to the second communication device, and the sensing requirement is sent to the third communication device, thereby triggering
  • the process of combining perception and positioning realizes the purpose of combining perception capabilities for positioning.
  • FIG. 1 shows one of the schematic flow diagrams of the perceptual positioning method of the embodiment of the present application
  • FIG. 2 shows a schematic diagram of the combined architecture of perception and positioning in the embodiment of the present application
  • FIG. 3 shows an interactive schematic diagram of the perceptual positioning method of the embodiment of the present application
  • FIG. 4 shows the second schematic flow diagram of the perceptual positioning method of the embodiment of the present application
  • FIG. 5 shows one of the schematic diagrams of the modules of the sensor positioning device according to the embodiment of the present application
  • FIG. 6 shows the second schematic diagram of the modules of the sensing positioning device according to the embodiment of the present application.
  • FIG. 7 shows a structural block diagram of a communication device according to an embodiment of the present application.
  • FIG. 8 shows a structural block diagram of a first communication device according to an embodiment of the present application.
  • FIG. 9 shows a structural block diagram of a third communication device according to an embodiment of the present application.
  • first, second and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and “second” distinguish objects. It is usually one category, and the number of objects is not limited. For example, there may be one or more first objects.
  • “and/or” in the description and claims means at least one of the connected objects, and the character “/” generally means that the related objects are an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced LTE-Advanced
  • LTE-A Long Term Evolution-Advanced
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • system and “network” in the embodiments of the present application are often used interchangeably, and the described technology can be used for the above-mentioned system and radio technology, and can also be used for other systems and radio technologies.
  • NR New Radio
  • the following description describes the New Radio (NR) system for illustrative purposes, and uses NR terminology in most of the following descriptions. These technologies can also be applied to applications other than NR system applications, such as the 6th Generation (6 th Generation , 6G) communication system.
  • 6th Generation 6th Generation
  • Perception capability that is, one or more devices with perception capability, which can perceive the orientation, distance, speed and other information of the target object through the transmission and reception of wireless signals, or detect, track, and detect the target object, event or environment. identification, imaging, etc.
  • the resolution of perception will be significantly improved compared with centimeter waves, so that 6G networks can provide more refined perception services.
  • the measuring party of the sensing signal is a user equipment (User Equipment, UE, also called a terminal)
  • the cooperation of the positioning function is required, that is, the UE location information needs to be obtained, and the UE location information and measurement are obtained.
  • the environmental reflection point information reconstructs an environmental map; the base station can also perceive and reconstruct the surrounding environment based on the spontaneous and self-receiving mode, and then use the reconstructed information to assist UE positioning.
  • UE is the sender or receiver of the signal.
  • the sensing signal configuration can be determined according to the location of the transceiver device and the location of the target to be sensed or the sensing area. Measurements, or auxiliary calculation of perception results, so as to obtain higher perception accuracy and provide better perception services.
  • how to combine perception capabilities for positioning is a problem.
  • the embodiment of the present application also provides a perceptual positioning method, including:
  • Step 101 The first communication device receives a positioning requirement.
  • the first communication device may specifically be a location management function (Location Management Function, LMF).
  • LMF Location Management Function
  • the positioning requirement may be initiated by a third-party application or a core network (or a network management system or a base station) or a terminal.
  • the third-party application sends the positioning requirement to the application server (including the server on the network, such as IP Multimedia Subsystem (IP Multimedia Subsystem, IMS) or the server outside the network); the application server sends the positioning requirement to the LMF, or the application server sends The perceived requirement is sent to the Access and Mobility Management Function (AMF), and the AMF selects at least one LMF and sends the requirement to the LMF;
  • IP Multimedia Subsystem IP Multimedia Subsystem
  • IMS IP Multimedia Subsystem
  • IMS IP Multimedia Subsystem
  • IMS IP Multimedia Subsystem
  • the application server sends the positioning requirement to the LMF
  • the perceived requirement is sent to the Access and Mobility Management Function (AMF), and the AMF selects at least one LMF and sends the requirement to the LMF;
  • AMF Access and Mobility Management Function
  • the core network AMF selects at least one LMF and sends the positioning request to the LMF; or the AMF receives the positioning request sent by the network management system, selects at least one LMF and forwards it to the LMF; or receives the positioning request sent by the base station, and selects at least one LMF and forwarded to LMF;
  • the UE sends a positioning request to the AMF of the core network through non-access stratum (Non-Access Stratum, NAS) signaling, and the AMF selects at least one LMF and sends the positioning request to the LMF.
  • Non-Access Stratum Non-Access Stratum
  • Step 102 In the case that the positioning requirement is a positioning requirement associated with a sensing service, the first communication device sends the positioning requirement to a second communication device, and sends the sensing requirement to a third communication device.
  • the first communication device After the above-mentioned first communication device receives the positioning demand, it judges whether the sensing service assistance is needed according to the positioning demand, and if the positioning demand requires the sensing service assistance, then determines that the positioning demand is a positioning demand associated with the sensing service, and triggers the combination of sensing and positioning The process of sending a positioning requirement to the second communication device, and sending a sensing requirement to the third communication device.
  • the second communication device may be a first base station and/or a first terminal associated with a positioning requirement
  • the third communication device may be a cognitive network function or a cognitive network element.
  • sending the sensing requirement to the third communication device includes: sending the sensing requirement to the AMF, and the AMF selects at least one sensing network function or sensing network element, and sends the sensing requirement to the sensing network function or sensing network element.
  • the above perceived needs include at least one of the following:
  • QoS Perceived Quality of Service
  • the aforementioned perception performance index includes at least one of perception accuracy/perception error, perception resolution, perception range, perception delay, detection probability and false alarm probability.
  • receiving a positioning demand in the case that the positioning demand is a positioning demand associated with a sensing service, sending the positioning demand to the second communication device, and sending the sensing demand to the third communication device, thereby
  • the process of combining perception and positioning is triggered, and then the goal of combining perception capabilities for positioning is realized.
  • the method before sending the positioning requirement to the second communication device, the method further includes:
  • a first base station and a first terminal associated with the positioning requirement are determined, and the second communication device includes at least one of the first base station and the first terminal.
  • the perception requirement includes first indication information, where the first indication information is information used to indicate the second communication device.
  • the first indication information is identification information of the second communication device.
  • the third communication device determines the second base station and/or the second terminal associated with the sensing demand, sends the sensing demand to the second base station and/or the second terminal, and determines the The method for the second base station and/or the second terminal may be determined according to the second communication device, or the base station and/or terminal in the corresponding area may be selected according to the area and range in the sensing demand.
  • the method further includes:
  • the signal configuration information includes at least one of perception signal configuration information and positioning signal configuration information, where the signal configuration information is determined according to at least one of the perception requirements and positioning requirements;
  • the signal configuration information is determined by at least one of the first communication device and the third communication device.
  • the configuration information of the sensing signal and the configuration information of the positioning signal may be determined by the first communication device, or the configuration information of the sensing signal and the configuration information of the positioning signal may be determined by the third communication device, or the configuration information of the sensing signal and the positioning signal may be determined by the first communication device.
  • the communication device determines the configuration information of the sensing signal
  • the second communication device determines the configuration information of the positioning signal
  • the first communication device determines the configuration information of the positioning signal
  • the third communication device determines the configuration information of the sensing signal.
  • the aforementioned sensing signal and positioning signal may use the same reference signal or different reference signals.
  • the sensing signal and the positioning signal use different reference signals.
  • the reference signal can be an uplink signal or a downlink signal, or one is an uplink signal and the other is a downlink signal.
  • the sensing network function/sensing network element determines the sensing The configuration information of the signal, the LMF determines the configuration information of the positioning signal according to the positioning requirement.
  • the sensing signal and the positioning signal use the same reference signal, which may be an uplink signal or a downlink signal.
  • a set of signal configuration information is determined, and the signal configuration information includes configuration information of sensing signals and configuration information of positioning signals, where the configuration information of sensing signals and the configuration information of positioning signals can be determined by the first communication device and the second communication device.
  • One of the three communication devices determines and notifies the other party of the determined signal configuration information; or, in this implementation, the configuration information of the sensing signal and the configuration information of the positioning signal may also be shared by the first communication device and the third communication device Determining, specifically, one of the parties such as the LMF may first determine the configuration information of the positioning signal, send the configuration information of the positioning signal to the sensing network function/sensing network element, and then the sensing network function/sensing network element supplements the configuration information of the sensing signal .
  • the configuration information of the positioning signal may also be determined according to the positioning requirement and prior information (existing sensing information, such as sensing information obtained last time the sensing requirement was triggered).
  • the signal configuration information when the signal configuration information includes configuration information of sensing signals and configuration information of positioning signals, the signal configuration information further includes first identification information;
  • the first identification information is used to indicate that the signal configuration information is used for positioning measurement and perception measurement.
  • the same reference signal is used for the sensing signal and the positioning signal
  • the above-mentioned fourth communication device is the same as the second communication device, that is, the same base station or terminal performs the sensing measurement and positioning measurement, at this time , only one of the first communication device and the third communication device needs to send the signal configuration information to the second communication device or the fourth communication device.
  • the configuration information of the sensing signal and positioning signal adopts the same configuration
  • the above-mentioned first identification information indicates that the signal configuration information is used for positioning and sensing measurement at the same time.
  • the AMF knows that the measurement result needs to be sent to the first A communication device and a third communication device.
  • the AMF knows to forward the signal configuration information or the measurement quantity to the perception associated base station/UE and the positioning associated base station/UE respectively .
  • the method further includes:
  • Acquiring measurements where the measurements include: at least one of perception measurements, positioning measurements, and public measurements, where the public measurements are used for positioning measurements and perception measurements;
  • the measurement is sent to at least one of a second communication device and a fourth communication device, the fourth communication device including at least one of a second base station and a second terminal associated with the perceived need.
  • the measurement quantity is determined by at least one of the first communication device and the third communication device.
  • the first communication device may determine the positioning measurement and/or the public measurement
  • the third communication device may determine the perception measurement and the public measurement.
  • the first communication device may determine the positioning measurement and/or the public measurement by itself, and acquire the perception measurement and/or the public measurement determined by the third communication device.
  • the measured quantities include at least one of the following:
  • Channel State Information such as the amplitude and/or phase of the channel response in the frequency domain, or the I-channel and Q-channel signal characteristics of the frequency-domain channel response, such as the I-channel and Q-channel signal amplitudes;
  • RSRP Reference Signal Received Power
  • RSSI Received Signal Strength Indication
  • PDP Power Delay Profile
  • the power of each path in the multipath channel (including at least the first arrival path, Line Of Sight (LOS) path, first-order reflection path, and multi-order reflection path);
  • the delay difference between the first antenna and the second antenna is the delay difference between the first antenna and the second antenna
  • Angle-related information such as angle of arrival and angle of departure (including UE-side angle information, base station-side angle information, and reflection point angle information).
  • the configuration information of the signal and the measurement quantity may also be determined by the second communication device and/or the fourth communication device according to the perception requirement and/or the positioning requirement.
  • the method of the embodiment of the present application further includes:
  • the measurement result is obtained by the second communication device and/or the fourth communication device according to signal configuration information and the measurement quantity, where the signal configuration information includes configuration information of the sensing signal and At least one item of configuration information of positioning signals, where the signal configuration information is determined according to at least one of the perception requirement and the positioning requirement.
  • the fourth communication device executes the sensing measurement procedure according to the configuration information of the sensing signal, the sensing measurement quantity, and the public measurement quantity. Inter-transmission and reception, base station transmission and UE reception, UE transmission and base station reception, UE self-transmission and self-reception, and inter-UE transmission and reception.
  • the second communication device executes the positioning measurement process according to the configuration information of the positioning signal, the positioning measurement quantity, and the public measurement quantity.
  • the specific positioning measurement process includes at least one of the following methods: the base station transmits the UE to receive, the UE transmits to the base station and receives, and the UE sends to the UE. receiving, sending and receiving between UEs.
  • the fourth communication device sends the measurement result to the LMF, and the LMF calculates the UE location information according to the measurement result sent by the fourth communication device, and sends it to the sensing network function/sensing network element through the AMF.
  • the measurement result corresponding to the measurement quantity after obtaining the measurement result corresponding to the measurement quantity, it further includes:
  • the sensing result is sent by the third communication device according to the sensing requirement.
  • the sensing results sent by the third communication device may be directly fed back by the third communication device according to the sensing needs.
  • the third communication device may Direct feedback of known perceptual outcomes. That is, the perception result includes known perception results.
  • the above-mentioned sensing result is obtained by the third communication device measuring the measurement quantity, for example, when the sensing requirement is used to request the current sensing result or the sensing result at a preset time in the future, the third communication device measures the measurement quantity Get the perception result. Based on this, before obtaining the positioning information according to the measurement result corresponding to the first target measurement quantity and the sensing result sent by the third communication device, the method in the embodiment of the present application further includes:
  • the third communication device sending a target measurement result corresponding to a second target measurement quantity to the third communication device, where the second target measurement quantity includes at least one of a perception measurement quantity and a public measurement quantity;
  • the first communication device sends the target measurement result corresponding to the second target measurement quantity to the sensing network function or the sensing network element, and the sensing network function or sensing network element obtains the sensing result according to the target measurement result, and sends the sensing result to the A first communication device.
  • the sensing result includes first indication information, and the indication information is used to indicate a correspondence between the sensing result and the first target measurement quantity.
  • the first indication information may include time information or index information consistent with the first target measurement quantity.
  • the time information can be absolute time, frame number, transmission time interval (Transmission Time Interval, TTI) sequence number, slot (slot number, sub-slot) number, symbol sequence number, etc.
  • TTI Transmission Time Interval
  • slot slot number, sub-slot
  • symbol sequence number etc.
  • at least one sensed result/perceived amount of time information can be included.
  • the type of perceived need includes at least one of the following:
  • a first perception requirement type is used to request to obtain known perception results
  • a second perception requirement type where the second perception request type is used to request acquisition of a current perception result
  • the third sensing demand type, the third sensing request type is used to request to acquire sensing results at a preset time in the future.
  • the perception requirement further includes second indication information, and the second indication information is used to indicate the time corresponding to the perception result requested by the perception requirement.
  • the time here may be at least one of start time, end time, duration, period, and period number.
  • this time may be a time point or a time window.
  • This time can be an aperiodic time or a periodic time.
  • this time is an absolute time, such as represented by Universal Time Chiming (UTC); or a relative time, such as relative to a public time.
  • UTC Universal Time Chiming
  • this time is consistent with the time in the perception request.
  • the perception requirement may also include an indication of a positioning method, for example, the positioning method is a positioning method based on time or angle, or a specific positioning method (such as downlink-time difference of arrival (Downlink Time Difference Of Arrival, DL-TDOA), downlink angle of departure (Downlink Angle Of Departure, DL-AOD), multi-station round-trip time (multi-Round-Trip Time, multi-RTT, etc.), the third communication device judges the need according to the positioning method Feedback perception results.
  • a positioning method is a positioning method based on time or angle, or a specific positioning method (such as downlink-time difference of arrival (Downlink Time Difference Of Arrival, DL-TDOA), downlink angle of departure (Downlink Angle Of Departure, DL-AOD), multi-station round-trip time (multi-Round-Trip Time, multi-RTT, etc.)
  • the third communication device judges the need according to the positioning method Feedback perception results.
  • the perception requirement may also include a type of perception feedback, for example, immediate feedback, periodic feedback, and event-triggered feedback. Further, the perception requirement includes configuration information of the above feedback.
  • the sensing result in the embodiment of the present application may be a measurement value corresponding to the measurement quantity, or may be a result obtained after calculation processing is performed on the measurement value corresponding to the measurement quantity.
  • the characteristic information of the target object the relevant information of the target event, and the relevant information of the target environment.
  • the characteristic information of the target object is understood as: information that can reflect the attribute or state of the target object, which can be at least one of the following: the position of the target object, the speed of the target object, the acceleration of the target object, the material of the target object, The shape of the target object, the category of the target object, the radar cross section (Radar Cross Section, RCS) of the target object, the polarization scattering characteristics, etc.;
  • the relevant information of the target event can be understood as: information related to the target event, that is, the information that can be detected/perceived when the target event occurs, which can be: fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip language Recognition, gait recognition, expression recognition, breathing monitoring, heart rate monitoring, etc.;
  • the relevant information of the target environment may be at least one of the following: humidity, brightness, temperature and humidity, atmospheric pressure, air quality, weather conditions, topography, building/vegetation distribution, population statistics, crowd density, vehicle density, etc.
  • the above-mentioned interaction between the sensing network function/sensing network element and the base station and/or UE may be through AMF, or through a newly defined interface, such as Nx interface and Ny interface.
  • Step 301 A third-party application (Application Function, AF) initiates a location request.
  • AF Application Function
  • Step 302 AMF selects LMF.
  • Step 303 The AMF sends the location requirement to the LMF.
  • Step 304 If the positioning requirement requires environment reconstruction service assistance, select a base station and UE associated with the positioning requirement.
  • the LMF After the LMF receives the location requirement, it judges whether the location requirement needs the assistance of the environment reconstruction service, that is, whether the location requirement is a location requirement associated with the environment reconstruction awareness service, if the location requirement is a location associated with the environment reconstruction awareness service Requirements, for example, in the single station positioning mode, obtain the surrounding environment information in advance to assist positioning, and obtain more multipath information, such as judging whether a certain delay path is a direct path or a reflection path of an obstacle.
  • the above environment reconstruction perception requirements are obtained according to the positioning requirements, specifically including determining the environment reconstruction accuracy/error requirements according to the positioning accuracy/error requirements, or determining the environment reconstruction delay requirements according to the positioning delay requirements.
  • the perception requirement may include locating the base station and/or UE associated with the requirement, and is used to assist the perception network function/perception network element to select the base station and/or UE associated with the perception requirement for environment reconfiguration.
  • the environmental reconstruction perception requirements include at least:
  • environment reconstruction such as environment reconstruction within X meters near one or several base stations/UEs;
  • the accuracy/error of environment reconstruction such as the deviation of the size and position of an obstacle from its real size and position
  • the delay requirement for environment reconstruction can be the maximum allowable delay or the allowable delay range.
  • the feature of the sensing network function or sensing network element includes at least one of the following:
  • target information includes processing sensing requests, interactive sensing capabilities, interactive sensing auxiliary data, interactive sensing measurements or sensing results) to obtain target sensing results or perception measurements (uplink measurements or downlink measurements);
  • the sensing method to be used is determined according to possible sensing client types, required sensing QoS, UE sensing capabilities, and base station sensing capabilities.
  • the sensing methods include: base station A sending to base station B, or base station sending UE to receive, or Base station A sends and receives spontaneously, or UE sends and receives from base station, or UE sends and receives spontaneously, or UE A sends and UE B receives, etc.;
  • the sensory network function/sensory network element is located on the core network or the base station side. If the sensory network function/sensory network element is located on the base station side, compared with the core network, it can perceive all the processes of the service in the radio access network (Radio Access Network, RAN) completed (for the case where the base station triggers the sensing service, or the UE triggers the sensing service);
  • Radio Access Network Radio Access Network
  • the perception network function/perception network element directly interacts with the application server (such as the operator's application server) for the perception request and the perception result; or, the perception network function/the perception network element interacts with the AMF for the perception request and the perception result, and the AMF can directly or indirectly ( Interact perception requests and perception results with application servers (such as third-party application servers) through Gateway Mobile Location Center (GMLC) and Network Exposure Function (NEF);
  • GMLC Gateway Mobile Location Center
  • NEF Network Exposure Function
  • Multiple sensing network functions/perception network elements can correspond to one AMF, wherein, after receiving the sensing requirements, the AMF can select one or more participating sensing network functions/perception network elements, and the factors considered in the selection include at least: the requested QoS (such as perception accuracy, response time, perception QoS level), access type (3rd Generation Partnership Project (3rd Generation Partnership Project, 3GPP) access/non-3GPP access), target UE access network (Access Network, AN ) type (such as 5G NR or enhanced Long Term Evolution (eLTE) and serving AN node (such as next generation base station (next Generation Node B, gNB) or next generation enhanced base station (next Generation enhanced Node B, NG-eNB)), RAN configuration information, perceived network function/perceived network element capability, perceived network function/perceived network element load, perceived network function/perceived network element location, indication of single event reporting or multiple event reporting, event Report duration, network slicing information, etc.;
  • the sensing network function/network element may be a new network element, or an existing network function/network element such as LMF, but a new sensing-related function is added.
  • core network network functions or network elements (such as sensory network functions/sensory network elements) or application servers or other nodes complete the supervision process.
  • Step 305 Send a positioning requirement to the associated base station and/or UE.
  • Step 306 Send the environment reconstruction perception requirement to the AMF.
  • Step 307 The AMF selects at least one sensing network element.
  • Step 308 The AMF sends an environment reconstruction sensing requirement to the sensing network element.
  • the environment reconfiguration sensing requirement may include locating associated base stations and/or UEs, which are used to assist sensing network functions/perception network elements in selecting associated base stations and/or UEs associated with environment reconfiguration sensing requirements.
  • Step 309 The sensing network element determines the base station and/or UE associated with the awareness requirement of environment reconstruction, and sends the awareness requirement of environment reconstruction to the associated base station and/or UE.
  • the method for selecting the base station and/or UE associated with the awareness requirement of environment reconstruction may be:
  • the base station and/or UE associated with the positioning requirement selects the corresponding base station and UE, for example, the UE associated with the positioning requirement determines the environment and reconstructs the associated UE, and selects the access base station of the associated UE, and other UEs ( For example, a UE whose location is known).
  • Step 310 Determine the configuration information of the environment reconstruction sensing signal according to the environment reconstruction perception requirement, and determine the configuration information of the positioning signal according to the positioning requirement.
  • different reference signals are used for sensing signals and positioning signals, which can be uplink signals or downlink signals, or one is an uplink signal and the other is a downlink signal.
  • the sensing network function/perception network element determines the sensing signal configuration according to the environmental reconstruction sensing requirements
  • the LMF determines the positioning signal configuration according to the positioning requirement.
  • the sensing signal and the positioning signal use the same reference signal, which may be an uplink signal or a downlink signal, or one is an uplink signal and the other is a downlink signal;
  • the configuration information of the sensing signal and the configuration information of the positioning signal are determined by one of the sensing network function/sensing network element and the LMF, and the corresponding signal configuration information is notified to the other party through the AMF;
  • the configuration information of the sensing signal and the configuration information of the positioning signal are jointly determined by the two.
  • the method may be that, for a certain signal configuration, for example, the positioning requirement requires a larger signal bandwidth than the environment reconstruction, then the signal bandwidth It is determined by the LMF according to the positioning requirements, and the specific method may be one of them, for example, the LMF first determines the configuration of the positioning signal, and then sends the configuration to the sensing network function/sensing network element.
  • the perception network function/sensor network element supplements the configuration of the perception signal, and then directly sends it to the associated base station and/or UE.
  • the configuration information of the sensing signal or positioning signal includes at least one of the following:
  • Waveforms such as Orthogonal Frequency Division Multiplex (OFDM), Single-carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space, OTFS), frequency-modulated continuous wave (Frequency-Modulated Continuous Wave, FMCW), pulse signal, etc.;
  • OFDM Orthogonal Frequency Division Multiplex
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • OTFS Orthogonal Time Frequency Space
  • FMCW Frequency-Modulated Continuous Wave
  • pulse signal etc.
  • Subcarrier spacing for example, the subcarrier spacing of OFDM system is 30KHz;
  • Guard interval the time interval from the moment when the signal ends to the moment when the latest echo signal of the signal is received; this parameter is proportional to the maximum perception distance; for example, it can be calculated by 2dmax/c, dmax is the maximum perception distance (belonging to perception requirements), for example, for the self-sensing and self-receiving sensing signal, dmax represents the maximum distance from the sensing signal receiving point to the signal transmitting point; in some cases, the OFDM signal cyclic prefix (Cyclic Prefix, CP) can play a minimum protection The effect of interval; c is the speed of light;
  • Bandwidth This parameter is inversely proportional to the distance resolution, which can be obtained by c/2/delta_d, where delta_d is the distance resolution (belonging to the perception requirement);
  • Burst duration This parameter is inversely proportional to the rate resolution (belonging to the perception requirement). This parameter is the time span of the perceived signal, mainly for calculating the Doppler frequency offset; this parameter can be passed through c/2/delta_v/fc Calculated; where, delta_v is the velocity resolution; fc is the signal carrier frequency or the center frequency of the signal;
  • Time domain interval This parameter can be calculated by c/2/fc/v_range; among them, v_range is the maximum speed minus the minimum speed (belonging to the perception demand); this parameter is the time interval between two adjacent perception signals;
  • Send signal power for example, take a value every 2dBm from -20dBm to 23dBm;
  • Signal format such as demodulation reference signal (Demodulation Reference Signal, DMRS), channel state information reference signal (Channel State Information Reference Signal, CSI-RS), sounding reference signal (Sounding Reference Signal, SRS), tracking reference signal (Tracking Reference Signal, TRS), (Phase-Tracking Reference Signal, PT-RS), positioning reference signal (Positioning Reference Signal, PRS), etc.
  • demodulation reference signal Demodulation Reference Signal
  • CSI-RS Channel State Information Reference Signal
  • SRS Sounding reference signal
  • TRS Track Reference Signal
  • TRS Track Reference Signal
  • PT-RS Positioning Reference Signal
  • PRS Positioning Reference Signal
  • Signal direction such as the direction of the perceived signal or beam information
  • Time resources such as the time slot index where the sensing signal is located or the symbol index of the time slot; wherein, the time resources are divided into two types, one is a one-time time resource, for example, one symbol sends an omnidirectional first signal; one It is a non-disposable time resource, such as multiple groups of periodic time resources or discontinuous time resources (which can include start time and end time). Each group of periodic time resources sends sensing signals in the same direction, and the periods of different groups Beam directions on different time resources are different;
  • Frequency resources including the center frequency point of the sensing signal, bandwidth, radio bearer (Resource Bearer, RB) or subcarrier, etc.;
  • Quasi co-location (Quasi Co-Location, QCL) relationship for example, the sensing signal includes multiple resources, each resource is associated with a synchronization signal/physical broadcast channel signal block (or synchronization signal block) (Synchronization Signal and PBCH block, SSB QCL) , QCL includes type (Type) A, B, C or D.
  • the time unit may be TTI, slot, sub-slot, symbol, etc., and the time interval is associated with environment reconstruction delay requirements, positioning delay requirements, and UE moving speed.
  • Step 311 The sensing network function/sensing network element and the LMF respectively send the configuration information of the environmental reconstruction sensing signal and the configuration information of the positioning signal to the associated base station and/or UE.
  • the same reference signal is used for environment reconstruction sensing and positioning, and the base station and/or UE required for positioning are the same as the base station and/or UE required for sensing, and the measurement process (sensing measurement process and positioning measurement process ) base station/UE are the same, then only one of the sensing network function/sensing network element and the LMF is required to send the configuration to the UE/base station.
  • the signal configuration information includes identification information, which is used to identify whether the signal is used for positioning and sensing at the same time (for example, using a 1-bit information field indication, when it is "0", it means that it is not used for positioning and sensing at the same time, When it is "1", it means that the signal is used for positioning and perception at the same time).
  • Step 312 Determine the measurement quantity according to the environment reconstruction perception requirement and the positioning requirement.
  • the measured quantities include at least:
  • the public measurement quantity that is, the measurement quantity common to the perception requirement and the positioning requirement, is determined by one of the sensing network function/sensing network element and the LMF and notifies the corresponding measurement quantity information to the other party through the AMF, or both determine it jointly.
  • the non-public measurement quantities that is, the respective measurement quantities of the perception requirement and the positioning requirement (positioning measurement quantity and environment reconstruction measurement quantity), are respectively determined by the perception network function/perception network element and the LMF.
  • Reflection path delay delay difference between reflection paths, distance of reflection point to UE/base station, arrival angle and departure angle of signal relative to reflection point, arrival angle and departure angle of reflection path at base station side, UE side reflection Arrival angle and departure angle of the path, signal strength of the reflection path, reflection order identification of the reflection path (such as first-order reflection, multi-order reflection), UE local coordinate system related information (such as UE orientation or UE antenna panel orientation, local coordinate origin, Local coordinate x/y/z axis direction), reflection point coordinates in the reference coordinate system based on the base station, reflection point coordinates in the reference coordinate system based on the UE, reflection point coordinates in the global coordinate system (the global The coordinate system may be a common reference coordinate system of multiple base stations or UEs).
  • Positioning measurements can be:
  • Direct path delay Direct path delay, reflected path delay, delay difference between reflected paths, first arrival path (maybe direct path or reflected path) delay, arrival angle and departure angle of signal relative to reflection point, base station side Angle of arrival and angle of departure of multipath signals, angle of arrival and angle of departure of multipath signals on the UE side, signal strength of direct path, signal strength of reflected path, signal strength of first arriving path, reflection order identification of reflected path (such as first-order reflection, multi-order reflection), the arrival time or time difference of signals from different base stations to the UE.
  • first arrival path maybe direct path or reflected path
  • reflection order identification of reflected path such as first-order reflection, multi-order reflection
  • Public measurements can be:
  • Reflection path delay delay difference between reflection paths, distance of reflection point to UE/base station, arrival angle and departure angle of signal relative to reflection point, arrival angle and departure angle of reflection path at base station side, UE side reflection
  • the arrival angle and departure angle of the path, the signal strength of the reflection path, and the reflection order identification of the reflection path (such as first-order reflection, multi-order reflection).
  • the measurement quantity may be only the perception measurement quantity and the public measurement quantity, without the positioning measurement quantity.
  • Step 313 The sensing network function/sensing network element sends the environment reconstruction measurement and/or public measurement to the associated base station and/or UE; the LMF sends the positioning measurement (if any) and/or public measurement to the associated base station and/or UE.
  • the manner in which the sensing network function/sensing network element sends the environment reconstruction measurement and/or public measurement to the associated base station may be:
  • the manner in which the sensing network function/sensing network element sends the environment reconstruction measurement and/or public measurement to the associated UE may be:
  • DCI Downlink Control Information
  • the measurement quantities may also be sent by one of them to the associated base station and/or UE.
  • the associated base station and/or UE executes the environment reconstruction measurement process according to the environment reconstruction sensing signal configuration, sensing measurement quantity, and public measurement quantity, and the method includes at least one of the following: self-sending and self-receiving by the base station, sending and receiving between base stations Receiving, base station sending UE receiving, UE sending base station receiving, UE sending and receiving spontaneously, sending and receiving between UEs;
  • the associated base station and/or UE executes the positioning process according to the positioning signal configuration, positioning measurements, and public measurements.
  • the methods include at least one of the following: the base station sends to the UE to receive, the UE sends to the base station to receive, the UE sends and receives itself, and the UE sends and receives.
  • the environment reconstruction and positioning use the same reference signal, and the measurement quantities are the same, that is, only the environment reconstruction measurement quantity and the public measurement quantity, but no positioning measurement quantity, and the base station and/or UE associated with the positioning requirement
  • the base station and/or UE associated with the perception requirement are the same, and the base station/UE performing the measurement process (sensing measurement process and positioning measurement process) is the same, then only the environment reconstruction measurement process can be performed, and the environment reconstruction measurement method includes positioning measurement
  • the way that is, the UE participates in the measurement), for example, includes at least one of base station transmission and UE reception, UE transmission and base station reception, UE self-transmission and self-reception, and inter-UE transmission and reception.
  • Step 314 The positioning-associated base station and/or the UE sends the measurement results corresponding to the positioning measurement quantity and/or public measurement quantity to the LMF.
  • Step 315 The perception-associated base station or UE sends the environment reconstruction measurement and/or public measurement to the perception network function or the perception network element, and the perception network element calculates the environment reconstruction information and sends it to the LMF through the AMF.
  • the LMF sends the public measurement and/or the environment reconstruction measurement to the perception network element through the AMF
  • the perception network element calculates the perception result (environment reconstruction information) and sends the LMF through the AMF (corresponding to only the positioning measurement and the public measurement quantity, the case of no environmental reconstruction measurement quantity)
  • the perception result includes information indicating the corresponding relationship with the positioning measurement quantity and/or public measurement quantity, such as time information, which can be absolute time, frame number, TTI sequence number, slot number, sub-slot number, symbol sequence number, etc.
  • the positioning measurement and/or public measurement contain the same time information
  • index information consistent with the positioning measurement and/or public measurement for example, the UE measures
  • the obtained environmental reconstruction measurement is the reflection point coordinate, and the coordinate index number is X, and the UE position 1 information is obtained through the positioning process, and the position information index is also X.
  • Step 316 The LMF calculates and obtains a positioning result according to the measurement result and the perception result.
  • the measurement result in this step is specifically the measurement result corresponding to the positioning measurement quantity and/or the public measurement quantity.
  • receiving a positioning demand in the case that the positioning demand is a positioning demand associated with a sensing service, sending the positioning demand to the second communication device, and sending the sensing demand to the third communication device, thereby
  • the process of combining perception and positioning is triggered, and then the goal of combining perception capabilities for positioning is realized.
  • the embodiment of the present application also provides a perceptual positioning method, including:
  • Step 401 The third communication device acquires a sensing requirement, where the sensing requirement is sent by the first communication device when the positioning requirement received by the first communication device is a positioning requirement associated with sensing service management.
  • the third communication device may be a cognitive network function or a cognitive network element.
  • Step 402 The third communication device acquires first information according to the sensing requirement, the first information includes at least one of signal configuration information and measurement quantities, and the signal configuration information is used for sensing measurement and/or positioning Measured signal configuration information, where the measurement quantity is a measurement quantity used for perception measurement and/or positioning measurement.
  • Step 403 The third communication device sends the first information to at least one of a second communication device and a fourth communication device, where the second communication device includes a terminal and/or a base station associated with the positioning requirement, The fourth communication device includes a terminal and/or a base station associated with the sensing requirement.
  • the third communication device acquires the sensing requirement, and the sensing requirement is sent by the first communication device when the positioning requirement received by the first communication device is a positioning requirement associated with the sensing service management; Acquire first information according to the perception requirement, where the first information includes at least one of signal configuration information and measurement quantities, the signal configuration information is signal configuration information for perception measurement and/or positioning measurement, the The measurement quantity is a measurement quantity used for perception measurement and/or positioning measurement; the first information is sent to at least one of a second communication device and a fourth communication device, and the second communication device includes the The terminal and/or base station associated with the positioning requirement, the fourth communication device includes the terminal and/or base station associated with the sensing requirement, so that the purpose of positioning combined with sensing information is achieved.
  • the third communication device obtains the perception requirement, it further includes:
  • a fourth communication device associated with the perceived need is determined.
  • determining a fourth communication device associated with the perceived requirement includes:
  • the fourth communication device is determined according to the second communication device associated with the positioning requirement.
  • the signal configuration information includes at least one of configuration information of sensing signals and configuration information of positioning signals.
  • the signal configuration information when the signal configuration information includes configuration information of sensing signals and configuration information of positioning signals, the signal configuration information further includes first identification information;
  • the first identification information is used to indicate that the signal configuration information is used for positioning measurement and perception measurement.
  • the signal configuration information is determined by at least one of the first communication device and the third communication device.
  • the measurement quantity includes: at least one of a perception measurement quantity, a positioning measurement quantity, and a public measurement quantity, where the public measurement quantity is used for the positioning measurement and the perception measurement.
  • the measurement quantity is determined by at least one of the first communication device and the third communication device.
  • the method also includes:
  • determining the perception result includes:
  • a perception result is determined.
  • the type of perceived need includes at least one of the following:
  • a first perception requirement type is used to request to obtain known perception results
  • a second perception requirement type where the second perception request type is used to request acquisition of a current perception result
  • the third sensing demand type, the third sensing request type is used to request to acquire sensing results at a preset time in the future.
  • determining the perception result includes:
  • a perception result corresponding to the perception need is determined according to known perception results.
  • the sensory positioning method performed by the third communication device is a sensory positioning method corresponding to the sensory positioning method performed by the above-mentioned first communication device, and the specific implementation process has been described in the method embodiment of the above-mentioned first communication device. I won't repeat them here.
  • the sensory positioning method provided in the embodiment of the present application may be executed by a sensory positioning device, or a control module in the sensory positioning device for executing the sensory positioning method.
  • the sensory positioning device provided in the embodiment of the present application is described by taking the sensory positioning device executing the sensory positioning method as an example.
  • the embodiment of the present application also provides a sensory positioning device 500, including:
  • the first receiving module 501 is configured to receive positioning requirements
  • the first sending module 502 is configured to send the positioning requirement to the second communication device and send the sensing requirement to the third communication device when the positioning requirement is a positioning requirement associated with a sensing service.
  • the device of the embodiment of the present application further includes:
  • a first determining module configured to determine a first base station and a first terminal associated with the positioning requirement before the first sending module sends the positioning requirement to a second communication device, the second communication device including the first base station and at least one of the first terminal.
  • the perception requirement includes first indication information, where the first indication information is information used to indicate the second communication device.
  • the device of the embodiment of the present application further includes:
  • the third acquiring module is configured to acquire signal configuration information after the first sending module sends the positioning requirement to the second communication device and the sensing requirement to the third communication device, and the signal configuration information includes configuration information and positioning of the sensing signal At least one item of signal configuration information, the signal configuration information is determined according to at least one of the perception requirements and positioning requirements;
  • a third sending module configured to send configuration information of the positioning signal to a second communication device, and/or send configuration information of the sensing signal to a fourth communication device, where the fourth communication device includes a at least one of the second base station and the second terminal associated with the sensing requirement.
  • the signal configuration information is determined by at least one of the first communication device and the third communication device.
  • the signal configuration information when the signal configuration information includes configuration information of sensing signals and configuration information of positioning signals, the signal configuration information further includes first identification information;
  • the first identification information is used to indicate that the signal configuration information is used for positioning measurement and perception measurement.
  • the device of the embodiment of the present application further includes:
  • the fourth obtaining module is used for the first sending module to send the positioning requirement to the second communication device, and to obtain the measurement amount after sending the sensing requirement to the third communication device, and the measurement amount includes: the sensing measurement amount, the positioning measurement amount and the public at least one of the common measurements used for positioning measurements and perception measurements;
  • a fourth sending module configured to send the measured quantity to at least one of a second communication device and a fourth communication device, where the fourth communication device includes a second base station and a second terminal associated with the sensing demand At least one of the .
  • the measurement quantity is determined by at least one of the first communication device and the third communication device.
  • the device of the embodiment of the present application further includes:
  • a fifth obtaining module configured to obtain a measurement result corresponding to the measurement quantity, the measurement result is obtained by the second communication device and/or the fourth communication device according to signal configuration information and the measurement quantity, the signal configuration information It includes at least one of configuration information of sensing signals and configuration information of positioning signals, where the signal configuration information is determined according to at least one of the sensing requirements and positioning requirements.
  • the device of the embodiment of the present application further includes:
  • the second determining module is configured to obtain positioning information according to the measurement result corresponding to the first target measurement quantity and the sensing result sent by the third communication device after the fifth obtaining module acquires the measurement result corresponding to the measurement quantity, so
  • the first target measurement quantity includes at least one of the positioning measurement quantity and the public measurement quantity, and the sensing result is sent by the third communication device according to the sensing requirement.
  • the device of the embodiment of the present application further includes:
  • the fifth sending module is configured to send the second target to the third communication device before the second determination module obtains the positioning information according to the measurement result corresponding to the first target measurement quantity and the sensing result sent by the third communication device A target measurement result corresponding to the measurement quantity, where the second target measurement quantity includes at least one of a perception measurement quantity and a public measurement quantity;
  • a sixth acquiring module configured to acquire a perception result determined by the third communication device according to the second target measurement result.
  • the sensing result includes first indication information, and the indication information is used to indicate a correspondence between the sensing result and the first target measurement quantity.
  • the type of perceived need includes at least one of the following:
  • a first perception requirement type is used to request to obtain known perception results
  • a second perception requirement type where the second perception request type is used to request acquisition of a current perception result
  • the third sensing demand type, the third sensing request type is used to request to acquire sensing results at a preset time in the future.
  • the perception requirement further includes second indication information, and the second indication information is used to indicate the time corresponding to the perception result requested by the perception requirement.
  • the device in the embodiment of the present application receives a positioning requirement; in the case that the positioning requirement is a positioning requirement associated with a sensing service, sends the positioning requirement to the second communication device, and sends the sensing requirement to the third communication device, thereby triggering
  • the process of combining perception and positioning realizes the purpose of combining perception capabilities for positioning.
  • the embodiment of the present application also provides a sensory positioning device 600, including:
  • the first acquiring module 601 is configured to acquire a perception requirement, and the perception requirement is sent by the first communication device when the positioning requirement received by the first communication device is a positioning requirement associated with perception service management;
  • the second acquiring module 602 is configured to acquire first information according to the perception requirement, the first information includes at least one of signal configuration information and measurement quantities, and the signal configuration information is used for perception measurement and/or Signal configuration information of positioning measurement, where the measurement quantity is a measurement quantity used for perception measurement and/or positioning measurement;
  • the second sending module 603 is configured to send the first information to at least one of a second communication device and a fourth communication device, where the second communication device includes a terminal and/or a base station associated with the positioning requirement , the fourth communication device includes a terminal and/or a base station associated with the perception requirement.
  • the device of the embodiment of the present application further includes:
  • the third determination module is configured to determine a fourth communication device associated with the perception requirement after the first acquisition module acquires the perception requirement.
  • the third determining module is configured to determine, as the fourth communication device, a communication device located within an area corresponding to the perceived demand;
  • the fourth communication device is determined according to the second communication device associated with the positioning requirement.
  • the signal configuration information includes at least one of configuration information of sensing signals and configuration information of positioning signals.
  • the signal configuration information when the signal configuration information includes configuration information of sensing signals and configuration information of positioning signals, the signal configuration information further includes first identification information;
  • the first identification information is used to indicate that the signal configuration information is used for positioning measurement and perception measurement.
  • the signal configuration information is determined by at least one of the first communication device and the third communication device.
  • the measurement quantity includes: at least one of a perception measurement quantity, a positioning measurement quantity, and a public measurement quantity, where the public measurement quantity is used for the positioning measurement and the perception measurement.
  • the measurement amount is determined by at least one of the first communication device and the third communication device.
  • the device of the embodiment of the present application further includes:
  • a fourth determination module configured to determine a perception result according to the perception requirement
  • a sixth sending module configured to send the sensing result to the first communication device.
  • the fourth determination module includes:
  • the first acquisition submodule is configured to acquire a target measurement result corresponding to a second target measurement quantity sent by the target communication device, the second target measurement quantity includes at least one of a perception measurement quantity and a public measurement quantity, and the target communication
  • the device comprises a first communication device or a fourth communication device;
  • the first determining submodule is configured to determine a perception result according to the target measurement result.
  • the type of the perceived demand includes at least one of the following:
  • a first perception requirement type is used to request to obtain known perception results
  • a second perception requirement type where the second perception request type is used to request acquisition of a current perception result
  • the third sensing demand type, the third sensing request type is used to request to acquire sensing results at a preset time in the future.
  • the fourth determining module is configured to determine, according to known perception results, that the perception needs correspond to perception results.
  • the embodiment of the present application further provides a communication device 700, including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701,
  • a communication device 700 including a processor 701, a memory 702, and programs or instructions stored in the memory 702 and operable on the processor 701
  • the program or instruction is executed by the processor 701
  • the various processes of the above embodiments of the perceptual positioning method can be realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
  • the embodiment of the present application also provides a communication device, which may specifically be the above-mentioned first communication device or the third communication device, where the communication device includes a processor and a communication interface, where the communication device is the above-mentioned first communication device , the communication interface is used to receive a positioning requirement; when the positioning requirement is a positioning requirement associated with a sensing service, the positioning requirement is sent to the second communication device, and the sensing requirement is sent to the third communication device.
  • the communication interface is used to obtain a perception requirement, and the perception requirement is when the positioning requirement received by the first communication device is a positioning requirement associated with perception service management , sent by the first communication device;
  • the processor is configured to acquire first information according to the perception requirement, the first information includes at least one of signal configuration information and measurement quantities, and the signal configuration information is used Signal configuration information for perception measurement and/or positioning measurement, the measurement amount is a measurement amount for perception measurement and/or positioning measurement;
  • the communication interface is used to send the first information to the second communication device and At least one of the fourth communication devices, the second communication device includes a terminal and/or base station associated with the positioning requirement, and the fourth communication device includes a terminal and/or base station associated with the perception requirement.
  • the communication device embodiment corresponds to the above-mentioned communication device method embodiment, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to the communication device embodiment, and can achieve the same technical effect.
  • the embodiment of the present application also provides a communication device.
  • the communication device is the above-mentioned first communication device.
  • the communication device 800 includes: an antenna 801 , a radio frequency device 802 , and a baseband device 803 .
  • the antenna 801 is connected to the radio frequency device 802 .
  • the radio frequency device 802 receives information through the antenna 801, and sends the received information to the baseband device 803 for processing.
  • the baseband device 803 processes the information to be sent and sends it to the radio frequency device 802
  • the radio frequency device 802 processes the received information and sends it out through the antenna 801 .
  • the foregoing frequency band processing device may be located in the baseband device 803 , and the method performed by the network side device in the above embodiments may be implemented in the baseband device 803 , and the baseband device 803 includes a processor 804 and a memory 905 .
  • the baseband device 803 may include at least one baseband board, for example, a plurality of chips are arranged on the baseband board, as shown in FIG. Operations of the first communication device shown in the above method embodiments.
  • the baseband device 803 may further include a network interface 806, configured to exchange information with the radio frequency device 802, such as a Common Public Radio Interface (Common Public Radio Interface, CPRI).
  • a network interface 806, configured to exchange information with the radio frequency device 802, such as a Common Public Radio Interface (Common Public Radio Interface, CPRI).
  • CPRI Common Public Radio Interface
  • the communication device in the embodiment of the present application further includes: instructions or programs stored in the memory 805 and executable on the processor 804, and the processor 804 calls the instructions or programs in the memory 805 to execute the graph
  • the method executed by each module shown in 5 achieves the same technical effect, so in order to avoid repetition, it is not repeated here.
  • the embodiment of the present application also provides a communication device, which may be specifically the above-mentioned third communication device.
  • the network side device includes a baseband device 903 .
  • the baseband device 903 processes the information to be transmitted.
  • the frequency band processing device may be located in the baseband device 903 , and the method performed by the network side device in the above embodiments may be implemented in the baseband device 903 , and the baseband device 903 includes a processor 904 and a memory 905 .
  • the baseband device 903 may include at least one baseband board, for example, a plurality of chips are arranged on the baseband board, as shown in FIG. Operations of the third communication device shown in the above method embodiments.
  • the baseband device 903 may also include a network interface 906, configured to exchange information with the radio frequency device 902, and the interface is, for example, a Common Public Radio Interface (CPRI).
  • CPRI Common Public Radio Interface
  • the communication device (third communication device) in the embodiment of the present application further includes: instructions or programs stored in the memory 905 and executable on the processor 904, and the processor 904 calls the instructions or programs in the memory 905 to execute the graph
  • the method executed by each module shown in 6 achieves the same technical effect. In order to avoid repetition, it is not repeated here.
  • the embodiment of the present application also provides a readable storage medium, the readable storage medium stores a program or an instruction, and when the program or instruction is executed by a processor, each process of the above embodiment of the perceptual positioning method is realized, and the same can be achieved. To avoid repetition, the technical effects will not be repeated here.
  • the processor is the processor in the terminal described in the foregoing embodiments.
  • the readable storage medium includes computer readable storage medium, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
  • the embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to realize each of the above perceptual positioning embodiments process, and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.
  • the chip mentioned in the embodiment of the present application may also be called a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip.
  • the embodiment of the present application also provides a computer program/program product, the computer program/program product is stored in a non-transitory storage medium, and the computer program/program product is executed by at least one processor to realize the above perception
  • the computer program/program product is executed by at least one processor to realize the above perception
  • the term “comprising”, “comprising” or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase “comprising a " does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.
  • the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

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Abstract

本申请公开了一种感知定位方法、装置及通信设备，属于通信技术领域，本申请实施例的方法包括：第一通信设备接收定位需求；在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求。

Description

感知定位方法、装置及通信设备
相关申请的交叉引用
本申请主张在2021年09月22日在中国提交的中国专利申请No.202111109210.0的优先权，其全部内容通过引用包含于此。
技术领域
本申请涉及通信技术领域，特别涉及一种感知定位方法、装置及通信设备。
背景技术
未来移动通信系统，除了具备通信能力外，还将具备感知能力。感知能力，即具备感知能力的一个或多个设备，能够通过无线信号的发送和接收，来感知目标物体的方位、距离、速度等信息，或者对目标物体、事件或环境等进行检测、跟踪、识别、成像等。未来随着毫米波、太赫兹等具备高频段大带宽能力的小基站在第6代(6 th Generation，6G)网络的部署，感知的分辨率相比厘米波将明显提升，从而使得6G网络能够提供更精细的感知服务。但相关技术中，如何结合感知能力进行定位还没有相关方案。
发明内容
本申请实施例提供了一种感知定位方法、装置及通信设备，能够解决如何结合感知能力进行定位的问题。
第一方面，提供了一种感知定位方法，包括：
第一通信设备接收定位需求；
在所述定位需求为与感知业务关联的定位需求的情况下，所述第一通信设备向第二通信设备发送所述定位需求，并向第三通信设备发送感知需求。
第二方面，提供了一种感知定位方法，包括：
第三通信设备获取感知需求，所述感知需求是在第一通信设备接收到的 定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；
根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；
将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
第三方面，提供了一种感知定位装置，包括：
第一接收模块，用于接收定位需求；
第一发送模块，用于在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求。
第四方面，提供了一种感知定位装置，包括：
第一获取模块，用于获取感知需求，所述感知需求是在第一通信设备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；
第二获取模块，用于根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；
第二发送模块，用于将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
第五方面，提供了一种通信设备，该通信设备包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面或第二方面所述的方法的步骤。
第六方面，提供了一种通信设备，包括处理器及通信接口，其中，所述 通信接口用于接收定位需求；在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求；或者，所述通信接口用于获取感知需求，所述感知需求是在第一通信设备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；所述处理器用于根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；所述通信接口用于将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
第七方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第八方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法，或实现如第二方面所述的方法。
第九方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在非瞬态的存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面或第二方面所述的方法的步骤。
第十方面，提供了一种通信设备，被配置为执行如第一方面或第二方面所述的方法的步骤。
在本申请实施例中，接收定位需求；在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求，从而触发了感知与定位结合的流程，进而实现了结合感知能力进行定位的目的。
附图说明
图1表示本申请实施例的感知定位方法的流程示意图之一；
图2表示本申请实施例中感知定位结合架构示意图；
图3表示本申请实施例的感知定位方法的的交互示意图；
图4表示本申请实施例的感知定位方法的流程示意图之二；
图5表示本申请实施例的感知定位装置的模块示意图之一；
图6表示本申请实施例的感知定位装置的模块示意图之二；
图7表示本申请实施例的通信设备的结构框图；
图8表示本申请实施例的第一通信设备的结构框图；
图9表示本申请实施例的第三通信设备的结构框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency  Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，这些技术也可应用于NR系统应用以外的应用，如第6代(6 th Generation，6G)通信系统。
为使本领域技术人员能够更好地理解本申请实施例，先进行如下说明。
未来移动通信系统例如超5代移动通信系统(Beyond 5 th Generation，B5G)系统或6G系统除了具备通信能力外，还将具备感知能力。感知能力，即具备感知能力的一个或多个设备，能够通过无线信号的发送和接收，来感知目标物体的方位、距离、速度等信息，或者对目标物体、事件或环境等进行检测、跟踪、识别、成像等。未来随着毫米波、太赫兹等具备高频段大带宽能力的小基站在6G网络的部署，感知的分辨率相比厘米波将明显提升，从而使得6G网络能够提供更精细的感知服务。
一些感知应用，例如环境重构，当感知信号测量方是用户设备(User Equipment，UE，也称为终端)时，需要定位功能的配合，即需要获取UE位置信息，根据UE位置信息与测量得到的环境反射点信息重构出环境地图；也可以是基站基于自发自收模式感知并重构周围环境，然后将该重构信息用于辅助UE定位。其他感知应用，例如室内动作识别、呼吸检测、天气检测等，UE作为信号的发送或接收方，如果获取UE位置信息，就可以根据收发设备位置以及待感知目标位置或感知区域确定感知信号配置或测量量，或辅助计算感知结果，从而获取更高的感知精度，提供更好的感知服务。但相关技术中，如何结合感知能力进行定位的问题。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的感知定位方法进行详细地说明。
如图1所示，本申请实施例还提供了一种感知定位方法，包括：
步骤101：第一通信设备接收定位需求。
该第一通信设备可具体为定位管理功能(Location Management Function，LMF)。
本步骤中，该定位需求可以是第三方应用或核心网(或网管系统或基站)或终端发起的。
例如，第三方应用将定位需求发送给应用服务器(包括网内服务器，如IP多媒体子系统(IP Multimedia Subsystem，IMS)或网外服务器)；应用服务器将定位需求发送给LMF，或者，应用服务器将感知需求发送给接入和移动性管理功能(Access and Mobility Management Function，AMF)，AMF选择至少一个LMF并将该需求发给LMF；
又例如，核心网AMF选择至少一个LMF并将定位需求发给LMF；或者AMF接收网管系统发送的定位需求，选择至少一个LMF并转发给LMF；或者AMF接收基站发送的定位需求，选择至少一个LMF并转发给LMF；
再例如，UE通过非接入层(Non-Access Stratum，NAS)信令发送定位需求给核心网AMF，AMF选择至少一个LMF并将定位需求发给LMF。
步骤102：在所述定位需求为与感知业务关联的定位需求的情况下，所述第一通信设备向第二通信设备发送所述定位需求，并向第三通信设备发送感知需求。
上述第一通信设备接收到定位需求后，根据该定位需求判断是否需要感知业务辅助，若该定位需求需要感知业务辅助，则确定该定位需求是与感知业务关联的定位需求，触发感知与定位结合的流程，向第二通信设备发送定位需求，并向第三通信设备发送感知需求。
上述第二通信设备可以是与定位需求关联的第一基站和/或第一终端，上述第三通信设备可以是感知网络功能或感知网元。
具体的，向第三通信设备发送感知需求包括：将感知需求发送给AMF，AMF选择至少一个感知网络功能或感知网元，并将感知需求发送给感知网络功能或感知网元。
上述感知需求包括以下至少一项：
感知目标/对象；
感知区域；
感知结果/感知量；
感知服务质量(Quality of Service，QoS)；
感知性能指标。
其中，上述感知性能指标包括感知精度/感知误差，感知分辨率，感知范围，感知时延，检测概率和虚警概率中的至少一项。
本申请实施例的感知定位方法，接收定位需求；在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求，从而触发了感知与定位结合的流程，进而实现了结合感知能力进行定位的目的。
可选地，所述向第二通信设备发送定位需求之前，还包括：
确定与所述定位需求关联的第一基站和第一终端，所述第二通信设备包括所述第一基站和第一终端中的至少一项。
可选地，所述感知需求中包含第一指示信息，所述第一指示信息为用于指示所述第二通信设备的信息。例如，该第一指示信息为第二通信设备的标识信息。
本申请实施例中，第三通信设备接收到感知需求后，确定与感知需求关联的第二基站和/或第二终端，将该感知需求发送给第二基站和/或第二终端，确定所述第二基站和/或第二终端的方法可以是根据第二通信设备来确定，也可以根据感知需求中的区域和范围选择对应区域内的基站和/或终端。
可选地，向第二通信设备发送定位需求，并向第三通信设备发送感知需求之后，还包括：
获取信号配置信息，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项，所述信号配置信息是根据所述感知需求和定位需求中的至少一项确定的；
将所述定位信号的配置信息发送给第二通信设备，和/或，将所述感知信号的配置信息发送给第四通信设备，所述第四通信设备包括与所述感知需求关联的第二基站和第二终端中的至少一项。
可选地，所述信号配置信息是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
本申请实施例中，可以由第一通信设备确定感知信号的配置信息和定位信号的配置信息，也可以由第三通信设备确定感知信号的配置信息和定位信号的配置信息，也可以由第一通信设备确定感知信号的配置信息，第二通信设备确定定位信号的配置信息，或者，由第一通信设备确定定位信号的配置信息，第三通信设备确定感知信号的配置信息。
上述感知信号和定位信号可使用相同的参考信号或不同的参考信号。
在一实现方式中，感知信号和定位信号使用不同的参考信号，该参考信号可以是上行信号或下行信号，或者一个是上行信号一个是下行信号，感知网络功能/感知网元根据感知需求确定感知信号的配置信息，LMF根据定位需求确定定位信号的配置信息。
在另一实现方式中，感知信号和定位信号使用相同的参考信号，可以是上行信号或下行信号。该实现方式中，确定一套信号配置信息，该信号配置信息包括感知信号的配置信息和定位信号的配置信息，其中，感知信号的配置信息和定位信号的配置信息可以由第一通信设备和第三通信设备中的一方确定，并将确定的信号配置信息通知给对方；或者，该实现方式中，感知信号的配置信息和定位信号的配置信息也可以由第一通信设备和第三通信设备共同确定，具体的，可以由其中一方如LMF先确定定位信号的配置信息，将该定位信号的配置信息发送给感知网络功能/感知网元，然后感知网络功能/感知网元补充感知信号的配置信息。
可选地，定位信号的配置信息也可以根据定位需求和先验信息(已有感知信息，如上一次触发感知需求得到的感知信息)确定。
可选地，在所述信号配置信息包括感知信号的配置信息和定位信号的配 置信息的情况下，所述信号配置信息中还包括第一标识信息；
其中，所述第一标识信息用于指示所述信号配置信息用于定位测量和感知测量。
在本申请具体实施例中，感知信号和定位信号使用相同的参考信号，且上述第四通信设备与所述第二通信设备相同，即由同一个基站或终端执行感知测量和定位测量，此时，只需第一通信设备和第三通信设备中的一者将信号配置信息发送给第二通信设备或第四通信设备。在感知信号和定位信号的配置信息采用同样的配置时，通过上述第一标识信息指示该信号配置信息同时用于定位和感知测量，在进行测量结果上报时，AMF知道测量结果需要发送给第一通信设备和第三通信设备。或者，第一通信设备或第三通信设备中的一方若通过AMF进行信号配置信息或测量量下发，AMF知道将信号配置信息或测量量分别转发给感知关联基站/UE和定位关联基站/UE。可选地，向第二通信设备发送定位需求，并向第三通信设备发送感知需求之后，还包括：
获取测量量，所述测量量包括：感知测量量、定位测量量和公共测量量中的至少一项，所述公共测量量用于定位测量和感知测量；
将所述测量量发送给第二通信设备和第四通信设备中的至少一者，所述第四通信设备包括与所述感知需求关联的第二基站和第二终端中的至少一项。
可选地，所述测量量是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
具体的，第一通信设备可以确定定位测量和/或公共测量量，第三通信设备可以确定感知测量量和公共测量量。上述第一通信设备可以自身确定定位测量量和/或公共测量量，并获取第三通信设备确定的感知测量量和/或公共测量量。
可选地，所述测量量包括以下至少一项：
信道矩阵H；
信道状态信息(Channel State Information，CSI)，例如频域信道响应的幅度和/或相位，或者是频域信道响应的I路与Q路信号特征，例如I路与Q路 信号幅度；
参考信号接收功率(Reference Signal Received Power，RSRP)；
接收信号强度指示(Received Signal Strength Indication，RSSI)；
信道功率时延谱(Power Delay Profile，PDP)；
普勒功率谱；
多普勒扩展；
相干带宽；
相干时间；
多径信道中每条径(至少包括首达径、视距(Line Of Sight，LOS)径、一阶反射径、多阶反射径)的功率；
多径信道中每条径的时延；
多径信道中每条径的角度；
多普勒频移；
第一天线与第二天线的频域信道响应的商或共轭乘；
第一天线与第二天线的接收信号的幅度比或幅度差；
第一天线与第二天线的相位差；
第一天线与第二天线的时延差；
角度相关信息例如到达角，离开角(包括UE侧角度信息、基站侧角度信息与反射点角度信息)。
另外，本申请实施例中，信号的配置信息和上述测量量也可以是由第二通信设备和/或第四通信设备根据感知需求和/或定位需求确定的。
可选地，本申请实施例的方法，还包括：
获取所述测量量对应的测量结果，所述测量结果是第二通信设备和/或第四通信设备根据信号配置信息和所述测量量得到的，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项，所述信号配置信息是根据所述感知需求和定位需求中的至少一项确定的。
本申请实施例中，第四通信设备根据感知信号的配置信息、感知测量量、 公共测量量执行感知测量流程，具体的执行感知测量流程的方式包括以下至少一种方式：基站自发自收、基站之间发送和接收、基站发UE收、UE发基站收、UE自发自收、UE之间发送接收。
第二通信设备根据定位信号的配置信息、定位测量量、公共测量量执行定位测量流程，具体的执行定位测量的流程包括以下至少一种方式：基站发UE收、UE发基站收、UE自发自收、UE之间发送接收。第四通信设备将测量结果发送给LMF，LMF根据第四通信设备发送的测量结果计算得到UE位置信息，并通过AMF发送给感知网络功能/感知网元。
可选地，获取所述测量量对应的测量结果之后，还包括：
根据第一目标测量量对应的测量结果和所述第三通信设备发送的感知结果，得到定位信息，所述第一目标测量量包括所述定位测量量和所述公共测量量中的至少一项，所述感知结果是所述第三通信设备根据所述感知需求发送的。
这里，第三通信设备发送的感知结果，可以是第三通信设备根据感知需求直接反馈的，例如，当所述感知需求用于请求获取已知感知结果时，第三通信设备可根据该感知需求直接反馈已知的感知结果。即该感知结果包括已知感知结果。
或者，上述感知结果是第三通信设备对测量量进行测量得到的，例如，当所述感知需求用于请求当前感知结果或未来预设时间的感知结果时，第三通信设备对测量量进行测量得到感知结果。基于此，本申请实施例的方法，根据第一目标测量量对应的测量结果和所述第三通信设备发送的感知结果，得到定位信息之前，还包括：
向所述第三通信设备发送第二目标测量量对应的目标测量结果，所述第二目标测量量包括感知测量量和公共测量量中的至少一项；
获取所述第三通信设备根据所述第二目标测量结果确定的感知结果。
该实现方式中，第一通信设备将上述第二目标测量量对应的目标测量结果发送给感知网络功能或感知网元，感知网络功能或感知网元根据该目标测 量结果得到感知结果，并发送给第一通信设备。
可选地，所述感知结果包括第一指示信息，所述一指示信息用于指示所述感知结果与第一目标测量量的对应关系。
该第一指示信息可以包括时间信息或者与第一目标测量量一致的索引信息。
该时间信息可以是绝对时间、帧号，传输时间间隔(Transmission Time Interval，TTI)序号，时隙(slot号，子时隙(sub-slot)号，符号序号等。可选的，在一次感知结果/感知量的报告中，可以包含至少1个时间信息的感知结果/感知量。
可选地，所述感知需求的类型包括以下至少一项：
第一感知需求类型，所述第一感知请求类型用于请求获取已知感知结果；
第二感知需求类型，所述第二感知请求类型用于请求获取当前感知结果；
第三感知需求类型，所述第三感知请求类型用于请求获取未来预设时间的感知结果。
可选地，所述感知需求中还包括第二指示信息，所述第二指示信息用于指示所述感知需求请求获取的感知结果对应的时间。
这里的时间，可以是起始时间、终止时间、持续时间、周期、周期数中的至少一项。可选的，这个时间可以为一个时间点或者时间窗。这个时间可以是一个非周期的时间或者周期的时间。可选的，这个时间为绝对时间，如通过通用协调时间(Universal Time Chiming，UTC)表示；或者相对时间，如相对于某个公共的时间。可选的，这个时间与感知请求中的时间一致。
可选地，所述感知需求还可以包括定位方式的指示，例如，定位方式为基于时间或角度等的定位方式，或者具体的定位方法(如下行链路-到达时间差(Downlink Time Difference Of Arrival，DL-TDOA)，下行链路离开角(Downlink Angle Of Departure，DL-AOD)，多站往返时间(multi-Round-Trip Time，multi-RTT)等等)，第三通信设备根据定位方法判断需要反馈的感知结果。
可选地，所述感知需求中还可包含感知反馈的类型，例如，立即反馈、周期性反馈、事件触发式反馈。进一步的，感知需求中包含上述反馈的配置信息。
本申请实施例中的感知结果可以是测量量对应的测量值，也可以是对测量量对应的测量值进行计算处理后得到的结果。
本申请实施例中的感知结果可以包括以下至少一项：
目标物体的特征信息、目标事件的相关信息、目标环境的相关信息。
其中，目标物体的特征信息理解为：能够反映目标物体的属性或所处状态的信息，可以为以下至少一项：目标物体的位置、目标物体的速度、目标物体的加速度、目标物体的材料、目标物体的形状、目标物体的类别、目标物体的雷达散射截面积(Radar Cross Section，RCS)，极化散射特性等；
目标事件的相关信息可以理解为：与目标事件有关的信息，即在目标事件发生时能够检测/感知到的信息，可以为：跌倒检测、入侵检测、数量统计、室内定位、手势识别、唇语识别、步态识别、表情识别、呼吸监测、心率监测等；
目标环境的相关信息可以为以下至少一项：湿度、亮度、温度湿度、大气压强、空气质量、天气情况、地形地貌、建筑/植被分布、人数统计、人群密度、车辆密度等。
另外，如图2所示，上述感知网络功能/感知网元与基站和/或UE之间的交互可以是通过AMF，也可以通过新定义的接口，如Nx接口、Ny接口。
下面结合具体实施例对本申请的感知定位方法进行说明。
如图3所示，包括：
步骤301：第三方应用(Application Function，AF)发起定位需求。
步骤302：AMF选择LMF。
步骤303：AMF将定位需求发送给LMF。
步骤304：若该定位需求需要环境重构业务辅助，则选择与定位需求关联的基站和UE。
LMF收到定位需求后，判断该定位需求是否需要环境重构业务辅助，即该定位需求是否为与环境重构感知业务关联的定位需求，若该定位需求是与环境重构感知业务关联的定位需求，例如，单站定位模式下提前获取周围环境信息用来辅助定位，获取更多多径信息，例如判断某一时延径为直射径还是某一障碍物的反射径。
上述环境重构感知需求是根据定位需求获得的，具体包括根据定位精度/误差要求确定环境重构精度/误差要求确定，或者，根据定位时延要求确定环境重构时延要求确定。
该感知需求中可以包括定位需求的关联基站和/或UE，用于辅助感知网络功能/感知网元选择环境重构感知需求关联的基站和/或UE。
其中，所述环境重构感知需求至少包括：
环境重构的区域和范围，例如某一个或几个基站/UE附近X米范围内的环境重构；
环境重构的精度/误差，例如某个障碍物的尺寸、位置与其真实尺寸、位置的偏差；
环境重构分辨率，即重构地图的分辨率；
环境重构时延要求，可以是最大允许时延或允许时延范围。
其中，该感知网络功能或感知网元的特征包括以下至少一项：
与目标UE或者目标UE的服务基站或者目标区域关联的基站进行目标信息交互(目标信息包括处理感知请求,交互感知能力，交互感知辅助数据，交互感知测量量或感知结果)，以获得目标感知结果或感知测量量(上行测量量或下行测量量)；
根据可能的感知客户端的类型、所需的感知QoS、UE感知能力、基站感知能力等因素来决定使用的感知方法，所述感知方法包括：基站A发基站B收，或者基站发UE收，或者基站A自发自收，或者UE发基站收，或者UE自发自收，或者UE A发UE B收等；
感知网络功能/感知网元位于核心网或基站侧，若感知网络功能/感知网元 位于基站侧，则相比位于核心网，则可以感知业务的所有流程在无线接入网络(Radio Access Network，RAN)完成(针对基站触发感知业务，或者UE触发感知业务的情况)；
感知网络功能/感知网元直接与应用服务器(例如运营商的应用服务器)交互感知请求和感知结果；或者，感知网络功能/感知网元与AMF交互感知请求和感知结果，AMF可以直接或间接(通过网关移动位置中心(Gateway Mobile Location Center，GMLC)和网络开放功能(Network Exposure Function，NEF))与应用服务器(例如第三方的应用服务器)交互感知请求和感知结果；
管理感知所需资源的整体协调和调度，如基站和/或UE的感知资源；
计算或验证感知结果，以及估计感知精度；
支持立即感知请求；
支持周期性或事件触发的感知请求；
支持取消周期性或触发性的感知行为；
多个感知网络功能/感知网元可以对应到一个AMF，其中，AMF收到感知需求后可以选择一个或多个参与感知网络功能/感知网元，选择时考虑的因素至少包括：请求的QoS(如感知精度、响应时间、感知QoS等级)、接入类型(第三代合作伙伴计划(3rd Generation Partnership Project，3GPP)接入/非3GPP接入)、目标UE的接入网络(Access Network，AN)类型(例如5G NR或增强型的长期演进(enhanced Long Term Evolution，eLTE)以及服务AN节点(例如下一代基站(next Generation Node B，gNB)或下一代增强型基站(next Generation enhanced Node B，NG-eNB))、RAN配置信息、感知网络功能/感知网元能力、感知网络功能/感知网元负载、感知网络功能/感知网元位置、单次事件上报还是多次事件上报的指示、事件上报持续时间、网络切片信息等；
感知网络功能/感知网元可以是一个新的网元，或者是已有网络功能/网元如LMF，但是增加新的感知相关的功能。
其中，核心网网络功能或网元(如感知网络功能/感知网元)或者应用服 务器或者其他节点完成监管流程。
步骤305：向关联基站和/或UE发送定位需求。
步骤306：将环境重构感知需求发送给AMF。
步骤307：AMF选择至少一个感知网元。
步骤308：AMF向感知网元发送环境重构感知需求。
该环境重构感知需求中可以包括定位需求的关联基站和/或UE，用于辅助感知网络功能/感知网元选择环境重构感知需求关联的基站和/或UE。
步骤309：感知网元确定与环境重构感知需求关联的基站和/或UE，将环境重构感知需求发送给关联的基站和/或UE。
选择环境重构感知需求关联的基站和/或UE的方法可以是：
根据感知需求中环境重构的区域和范围选择对应区域内的基站和接入基站的UE；
根据定位需求关联的基站和/或UE选择相应的基站和UE，例如根据定位需求关联的UE确定环境重构关联的UE，并选择关联UE的接入基站，以及接入该基站的其他UE(例如位置已知的UE)。
步骤310：根据环境重构感知需求确定环境重构感知信号的配置信息，根据定位需求确定定位信号的配置信息。
可选的，根据定位需求和上一次触发环境重构流程得到的环境重构信息确定定位信号的配置信息；
可选地，感知信号和定位信号使用不同的参考信号，可以是上行信号或下行信号，或者一个是上行信号一个是下行信号，感知网络功能/感知网元根据环境重构感知需求确定感知信号配置，LMF根据定位需求确定定位信号配置。
可选地，感知信号和定位信号使用相同的参考信号，可以是上行信号或下行信号，或者一个是上行信号一个是下行信号；
其中，感知信号的配置信息和定位信号的配置信息由感知网络功能/感知网元和LMF中的一方确定并将相应的信号配置信息通过AMF通知给对方；
或者，感知信号的配置信息和定位信号的配置信息由两者共同确定，方法可以是，对于特定某项信号配置，例如，定位需求相比于环境重构需要更大的信号带宽，则信号带宽由LMF根据定位需求确定，具体方式可以是由其中一方，如LMF先定完定位信号的配置，将该配置发给感知网络功能/感知网元。感知网络功能/感知网元补充感知信号的配置，之后直接发给关联基站和/或UE。
所述感知信号或定位信号的配置信息至少包括以下一项：
波形，例如正交频分复用(Orthogonal frequency division multiplex，OFDM)，单载波频分多址(Single-carrier Frequency-Division Multiple Access，SC-FDMA)，正交时频空(Orthogonal Time Frequency Space，OTFS)，调频连续波(Frequency-Modulated Continuous Wave，FMCW)，脉冲信号等；
子载波间隔：例如，OFDM系统的子载波间隔30KHz；
保护间隔：从信号结束发送时刻到该信号的最迟回波信号被接收的时刻之间的时间间隔；该参数正比于最大感知距离；例如，可以通过2dmax/c计算得到，dmax是最大感知距离(属于感知需求)，例如对于自发自收的感知信号，dmax代表感知信号收发点到信号发射点的最大距离；在某些情况下，OFDM信号循环前缀(Cyclic Prefix，CP)可以起到最小保护间隔的作用；c是光速；
带宽：该参数反比于距离分辨率，可以通过c/2/delta_d得到，其中delta_d是距离分辨率(属于感知需求)；
突发(burst)持续时间：该参数反比于速率分辨率(属于感知需求)，该参数是感知信号的时间跨度，主要为了计算多普勒频偏；该参数可通过c/2/delta_v/fc计算得到；其中，delta_v是速度分辨率；fc是信号载频或者信号的中心频点；
时域间隔：该参数可通过c/2/fc/v_range计算得到；其中，v_range是最大速率减去最小速度(属于感知需求)；该参数是相邻的两个感知信号之间的时间间隔；
发送信号功率，例如从-20dBm到23dBm每隔2dBm取一个值；
信号格式，例如是解调参考信号(Demodulation Reference Signal，DMRS)、信道状态信息参考信号(Channel State Information Reference Signal，CSI-RS)、探测参考信号(Sounding Reference Signal，SRS)、跟踪参考信号(Tracking Reference Signal，TRS)、(Phase-Tracking Reference Signal，PT-RS)、定位参考信号(Positioning Reference Signal，PRS)等，也可以是数据信号，或者是新定义的感知信号，或者是新定义的通信感知一体化信号，以及相关的序列格式等信息；
信号方向；例如感知信号的方向或者波束信息；
时间资源，例如感知信号所在的时隙索引或者时隙的符号索引；其中，时间资源分为两种，一种是一次性的时间资源，例如一个符号发送一个全向的第一信号；一种是非一次性的时间资源，例如多组周期性的时间资源或者不连续的时间资源(可包含开始时间和结束时间)，每一组周期性的时间资源发送同一方向的感知信号，不同组的周期性时间资源上的波束方向不同；
频率资源，包括感知信号的中心频点，带宽，无线承载(Resource Bearer，RB)或者子载波等；
准共址(Quasi Co-Location，QCL)关系，例如感知信号包括多个资源，每个资源与一个同步信号/物理广播信道信号块(或同步信号块)(Synchronization Signal and PBCH block，SSB QCL)，QCL包括类型(Type)A，B，C或者D。
特别的，如果环境重构感知信号与定位信号不是相同的参考信号，在确定信号时间资源配置时需要限制环境重构感知参考信号与定位参考信号之间的时间间隔小于一定范围，例如小于X个时间单元，所述时间单元可以是TTI，slot，sub-slot，符号等，所述时间间隔与环境重构时延要求、定位时延要求、UE移动速度关联。
步骤311：感知网络功能/感知网元和LMF分别将环境重构感知信号的配置信息和定位信号的配置信息发送给关联的基站和/或UE。
特别的，如果环境重构感知与定位使用相同的参考信号，且所述定位需求的基站和/或UE与感知需求的基站和/或UE相同，并且执行测量过程(感知测量过程和定位测量过程)的基站/UE相同，则只需要感知网络功能/感知网元和LMF其中一个将配置发给UE/基站。采用同样的配置时，信号配置信息中包括标识信息，用来标识该信号是否同时用于定位和感知(例如利用1比特信息域指示，当为“0”时表示不同时用于定位和感知，当为“1”时表示该信号同时用于定位和感知)。
步骤312：根据环境重构感知需求和定位需求确定测量量。
其中，测量量至少包括：
公共测量量，即感知需求和定位需求共同的测量量，由感知网络功能/感知网元和LMF中的一方确定并将相应的测量量信息通过AMF通知给对方，或两者共同确定。
非公共测量量，即感知需求和定位需求各自的测量量(定位测量量和环境重构测量量)，由感知网络功能/感知网元和LMF分别确定。
环境重构测量量可以是：
反射径时延、反射径之间的时延差、反射点相对于UE/基站的距离、信号相对于反射点的到达角度和离开角度、基站侧反射径的到达角度和离开角度、UE侧反射径的到达角度和离开角度、反射径信号强度、反射径反射阶数标识(例如一阶反射、多阶反射)、UE本地坐标系相关信息(例如UE朝向或UE天线面板朝向，本地坐标原点、本地坐标x/y/z轴方向)、以基站为基准的参考坐标系下反射点坐标、以UE为基准的参考坐标系下的反射点坐标、全局坐标系下的反射点坐标(所述全局坐标系可以是多个基站或UE共同的参考坐标系)。
定位测量量可以是：
直射径时延、反射径时延、反射径之间的时延差、首达径(可能是直射径也可能是反射径)时延、信号相对于反射点的到达角度和离开角度、基站侧多径信号的到达角度和离开角度、UE侧多径信号的到达角度和离开角度、 直射径信号强度、反射径信号强度、首达径信号强度、反射径反射阶数标识(例如一阶反射、多阶反射)、不同基站信号到达UE的时间或时间差。
公共测量量可以是：
反射径时延、反射径之间的时延差、反射点相对于UE/基站的距离、信号相对于反射点的到达角度和离开角度、基站侧反射径的到达角度和离开角度、UE侧反射径的到达角度和离开角度、反射径信号强度、反射径反射阶数标识(例如一阶反射、多阶反射)。
特别的，所述测量量可以是仅有感知测量量与公共测量量，没有定位测量量。
步骤313：感知网络功能/感知网元将环境重构测量量和/或公共测量量发送给关联的基站和/或UE；LMF将定位测量量(如果有)和/或公共测量量发送给关联的基站和/或UE。
具体的，感知网络功能/感知网元将环境重构测量量和/或公共测量量发送给关联的基站的方式可以是：
先发送给AMF，再由AMF通过N2接口发送给基站；
通过新定义接口直接发送给基站。
感知网络功能/感知网元将环境重构测量量和/或公共测量量发送给关联的UE的方式可以是：
先发送给AMF，再由AMF通过N2接口发送给基站，再由基站通过高层信令或媒体接入控制层控制单元(Medium Access Control Control Element，MAC CE)信令或层1信令，例如下行控制信息(Downlink Control Information，DCI)；
通过新定义接口直接发送给基站，再由基站通过高层信令或MAC CE信令或层1信令(例如DCI)发送给UE；
通过NAS信令发送给UE。
测量量也可以由其中一方将所有测量量发给关联的基站和/或UE。
本申请实施例中，关联基站和/或UE根据环境重构感知信号配置、感知 测量量、公共测量量执行环境重构测量流程，方式至少包括以下一种：基站自发自收、基站之间发送接收、基站发UE收、UE发基站收、UE自发自收、UE之间发送接收；
关联基站和/或UE根据定位信号配置、定位测量量、公共测量量执行定位流程，方式至少包括以下一种：基站发UE收、UE发基站收、UE自发自收、UE之间发送接收。
特别的，若环境重构与定位使用相同的参考信号，且测量量相同，即只有环境重构测量量和公共测量量，无定位测量量，且所述定位需求关联的基站和/或UE，与感知需求关联的基站和/或UE相同，且执行测量过程(感知测量过程和定位测量过程)的基站/UE相同，则可以仅执行环境重构测量流程，且环境重构测量方式包括定位测量方式(即UE参与测量)，例如包括基站发UE收、UE发基站收、UE自发自收、UE之间发送接收中的至少一种。
步骤314：定位关联基站和/或UE将定位测量量和/或公共测量量对应的测量结果发送给LMF。
步骤315：感知关联基站或UE将环境重构测量量和/或公共测量量发送给感知网络功能或感知网元，感知网元计算得到环境重构信息并通过AMF发送给LMF。
或者，LMF通过AMF将公共测量量和/或环境重构测量量发送给感知网元，感知网元计算得到感知结果(环境重构信息)并通过AMF发送LMF(对应只有定位测量量和公共测量量，无环境重构测量量的情况)，特别的，该感知结果包括指示与定位测量量和/或公共测量量对应关系的信息，例如时间信息，可以是绝对时间，帧号，TTI序号，slot号，sub-slot号，符号序号等(定位测量量和/或公共测量量包含同样的时间信息)，或与定位测量量和/或公共测量量一致的索引信息，例如UE在位置1测得环境重构测量量为反射点坐标，该坐标索引编号为X，通过定位流程得到UE位置1信息，该位置信息索引同样为X。
步骤316：LMF根据测量结果和感知结果计算得到定位结果。
该步骤中的测量结果具体为定位测量量和/或公共测量量对应的测量结果。
本申请实施例的感知定位方法，接收定位需求；在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求，从而触发了感知与定位结合的流程，进而实现了结合感知能力进行定位的目的。
如图4所示，本申请实施例还提供了一种感知定位方法，包括：
步骤401：第三通信设备获取感知需求，所述感知需求是在第一通信设备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的。
该第三通信设备可以是感知网络功能或感知网元。
步骤402：第三通信设备根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量。
步骤403：第三通信设备将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
本申请实施例中，第三通信设备获取感知需求，所述感知需求是在第一通信设备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站，这样，实现了结合感知信息进行定位的目的。
可选地，第三通信设备获取感知需求之后，还包括：
确定与所述感知需求关联的第四通信设备。
可选地，确定与所述感知需求关联的第四通信设备，包括：
将位于感知需求对应的区域范围内的通信设备，确定为所述第四通信设备；
或者，根据与定位需求关联的第二通信设备，确定所述第四通信设备。
可选地，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项。
可选地，在所述信号配置信息包括感知信号的配置信息和定位信号的配置信息的情况下，所述信号配置信息中还包括第一标识信息；
其中，所述第一标识信息用于指示所述信号配置信息用于定位测量和感知测量。
可选地，所述信号配置信息是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
可选地，所述测量量包括：感知测量量、定位测量量和公共测量量中的至少一项，所述公共测量量用于定位测量和感知测量。
可选地，所述测量量是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
可选地，所述方法还包括：
根据所述感知需求，确定感知结果；
将所述感知结果发送至第一通信设备。
可选地，根据所述感知需求，确定感知结果，包括：
获取目标通信设备发送的第二目标测量量对应的目标测量结果，所述第二目标测量量包括感知测量量和公共测量量中的至少一项，所述目标通信设备包括第一通信设备或者第四通信设备；
根据所述目标测量结果，确定感知结果。
可选地，所述感知需求的类型包括以下至少一项：
第一感知需求类型，所述第一感知请求类型用于请求获取已知感知结果；
第二感知需求类型，所述第二感知请求类型用于请求获取当前感知结果；
第三感知需求类型，所述第三感知请求类型用于请求获取未来预设时间的感知结果。
可选地，根据所述感知需求，确定感知结果，包括：
在所述感知需求的类型为所述第一感知需求类型的情况下，根据已知感知结果，确定所述感知需求对应的感知结果。
需要说明的是，第三通信设备执行的感知定位方法是与上述第一通信设备执行的感知定位方法对应的感知定位方法，具体实现过程已在上述第一通信设备的方法实施例中进行说明，此处不再赘述。
需要说明的是，本申请实施例提供的感知定位方法，执行主体可以为感知定位装置，或者，该感知定位装置中的用于执行感知定位方法的控制模块。本申请实施例中以感知定位装置执行感知定位方法为例，说明本申请实施例提供的感知定位装置。
如图5所示，本申请实施例还提供了一种感知定位装置500，包括：
第一接收模块501，用于接收定位需求；
第一发送模块502，用于在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求。
可选地，本申请实施例的装置，还包括：
第一确定模块，用于在第一发送模块向第二通信设备发送定位需求之前，确定与所述定位需求关联的第一基站和第一终端，所述第二通信设备包括所述第一基站和第一终端中的至少一项。
可选地，所述感知需求中包含第一指示信息，所述第一指示信息为用于指示所述第二通信设备的信息。
可选地，本申请实施例的装置，还包括：
第三获取模块，用于在第一发送模块向第二通信设备发送定位需求，并向第三通信设备发送感知需求之后，获取信号配置信息，所述信号配置信息 包括感知信号的配置信息和定位信号的配置信息中的至少一项，所述信号配置信息是根据所述感知需求和定位需求中的至少一项确定的；
第三发送模块，用于将所述定位信号的配置信息发送给第二通信设备，和/或，将所述感知信号的配置信息发送给第四通信设备，所述第四通信设备包括与所述感知需求关联的第二基站和第二终端中的至少一项。
可选地，所述信号配置信息是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
可选地，在所述信号配置信息包括感知信号的配置信息和定位信号的配置信息的情况下，所述信号配置信息中还包括第一标识信息；
其中，所述第一标识信息用于指示所述信号配置信息用于定位测量和感知测量。
可选地，本申请实施例的装置，还包括：
第四获取模块，用于第一发送模块向第二通信设备发送定位需求，并向第三通信设备发送感知需求之后，获取测量量，所述测量量包括：感知测量量、定位测量量和公共测量量中的至少一项，所述公共测量量用于定位测量和感知测量；
第四发送模块，用于将所述测量量发送给第二通信设备和第四通信设备中的至少一者，所述第四通信设备包括与所述感知需求关联的第二基站和第二终端中的至少一项。
可选地，所述测量量是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
可选地，本申请实施例的装置，还包括：
第五获取模块，用于获取所述测量量对应的测量结果，所述测量结果是第二通信设备和/或第四通信设备根据信号配置信息和所述测量量得到的，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项，所述信号配置信息是根据所述感知需求和定位需求中的至少一项确定的。
可选地，本申请实施例的装置，还包括：
第二确定模块，用于在第五获取模块获取所述测量量对应的测量结果之后，根据第一目标测量量对应的测量结果和所述第三通信设备发送的感知结果，得到定位信息，所述第一目标测量量包括所述定位测量量和所述公共测量量中的至少一项，所述感知结果是所述第三通信设备根据所述感知需求发送的。
可选地，本申请实施例的装置，还包括：
第五发送模块，用于在第二确定模块根据第一目标测量量对应的测量结果和所述第三通信设备发送的感知结果，得到定位信息之前，向所述第三通信设备发送第二目标测量量对应的目标测量结果，所述第二目标测量量包括感知测量量和公共测量量中的至少一项；
第六获取模块，用于获取所述第三通信设备根据所述第二目标测量结果确定的感知结果。
可选地，所述感知结果包括第一指示信息，所述一指示信息用于指示所述感知结果与第一目标测量量的对应关系。
可选地，所述感知需求的类型包括以下至少一项：
第一感知需求类型，所述第一感知请求类型用于请求获取已知感知结果；
第二感知需求类型，所述第二感知请求类型用于请求获取当前感知结果；
第三感知需求类型，所述第三感知请求类型用于请求获取未来预设时间的感知结果。
可选地，所述感知需求中还包括第二指示信息，所述第二指示信息用于指示所述感知需求请求获取的感知结果对应的时间。
本申请实施例的装置，接收定位需求；在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求，从而触发了感知与定位结合的流程，进而实现了结合感知能力进行定位的目的。
如图6所示，本申请实施例还提供了一种感知定位装置600，包括：
第一获取模块601，用于获取感知需求，所述感知需求是在第一通信设 备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；
第二获取模块602，用于根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；
第二发送模块603，用于将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
可选地，本申请实施例的装置，还包括：
第三确定模块，用于在第一获取模块获取感知需求之后，确定与所述感知需求关联的第四通信设备。
可选地，本申请实施例的装置，所述第三确定模块用于将位于感知需求对应的区域范围内的通信设备，确定为所述第四通信设备；
或者，根据与定位需求关联的第二通信设备，确定所述第四通信设备。
可选地，本申请实施例的装置，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项。
可选地，本申请实施例的装置，在所述信号配置信息包括感知信号的配置信息和定位信号的配置信息的情况下，所述信号配置信息中还包括第一标识信息；
其中，所述第一标识信息用于指示所述信号配置信息用于定位测量和感知测量。
可选地，本申请实施例的装置，所述信号配置信息是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
可选地，所述测量量包括：感知测量量、定位测量量和公共测量量中的至少一项，所述公共测量量用于定位测量和感知测量。
可选地，本申请实施例的装置，所述测量量是由所述第一通信设备和所 述第三通信设备中的至少一者确定的。
可选地，本申请实施例的装置，还包括：
第四确定模块，用于根据所述感知需求，确定感知结果；
第六发送模块，用于将所述感知结果发送至第一通信设备。
可选地，本申请实施例的装置，所述第四确定模块包括：
第一获取子模块，用于获取目标通信设备发送的第二目标测量量对应的目标测量结果，所述第二目标测量量包括感知测量量和公共测量量中的至少一项，所述目标通信设备包括第一通信设备或者第四通信设备；
第一确定子模块，用于根据所述目标测量结果，确定感知结果。
可选地，本申请实施例的装置，所述感知需求的类型包括以下至少一项：
第一感知需求类型，所述第一感知请求类型用于请求获取已知感知结果；
第二感知需求类型，所述第二感知请求类型用于请求获取当前感知结果；
第三感知需求类型，所述第三感知请求类型用于请求获取未来预设时间的感知结果。
可选地，本申请实施例的装置，所述第四确定模块用于在所述感知需求的类型为所述第一感知需求类型的情况下，根据已知感知结果，确定所述感知需求对应的感知结果。
可选的，如图7所示，本申请实施例还提供一种通信设备700，包括处理器701，存储器702，存储在存储器702上并可在所述处理器701上运行的程序或指令，该程序或指令被处理器701执行时实现上述感知定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供了一种通信设备，该通信设备可具体为上述第一通信设备或第三通信设备，该通信设备包括处理器和通信接口，在所述通信设备为上述第一通信设备时，所述通信接口用于接收定位需求；在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求。
在所述通信设备为上述第三通信设备时，所述通信接口用于获取感知需 求，所述感知需求是在第一通信设备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；所述处理器用于根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；所述通信接口用于将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
该通信设备实施例是与上述通信设备方法实施例对应的，上述方法实施例的各个实施过程和实现方式均可适用于该通信设备实施例中，且能达到相同的技术效果。
具体地，本申请实施例还提供了一种通信设备。可选地，该通信设备为上述第一通信设备，如图8所示，该通信设备800包括：天线801、射频装置802、基带装置803。天线801与射频装置802连接。在上行方向上，射频装置802通过天线801接收信息，将接收的信息发送给基带装置803进行处理。在下行方向上，基带装置803对要发送的信息进行处理，并发送给射频装置802，射频装置802对收到的信息进行处理后经过天线801发送出去。
上述频带处理装置可以位于基带装置803中，以上实施例中网络侧设备执行的方法可以在基带装置803中实现，该基带装置803包括处理器804和存储器905。
基带装置803例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图8所示，其中一个芯片例如为处理器804，与存储器805连接，以调用存储器805中的程序，执行以上方法实施例中所示的第一通信设备的操作。
该基带装置803还可以包括网络接口806，用于与射频装置802交互信息，该接口例如为通用公共无线接口(Common Public Radio Interface，CPRI)。
具体地，本申请实施例的通信设备(第一通信设备)还包括：存储在存 储器805上并可在处理器804上运行的指令或程序，处理器804调用存储器805中的指令或程序执行图5所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
本申请实施例还提供了一种通信设备，该通信设备可具体为上述第三通信设备，如图9所示，该网络侧设备包括基带装置903。基带装置903对要发送的信息进行处理。
频带处理装置可以位于基带装置903中，以上实施例中网络侧设备执行的方法可以在基带装置903中实现，该基带装置903包括处理器904和存储器905。
基带装置903例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图9所示，其中一个芯片例如为处理器904，与存储器905连接，以调用存储器905中的程序，执行以上方法实施例中所示的第三通信设备的操作。
该基带装置903还可以包括网络接口906，用于与射频装置902交互信息，该接口例如为通用公共无线接口(Common Public Radio Interface，CPRI)。
具体地，本申请实施例的通信设备(第三通信设备)还包括：存储在存储器905上并可在处理器904上运行的指令或程序，处理器904调用存储器905中的指令或程序执行图6所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述感知定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述 感知定位实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
本申请实施例还提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在非瞬态的存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述感知定位方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对相关技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上 述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (34)

  1. 一种感知定位方法，包括：
    第一通信设备接收定位需求；
    在所述定位需求为与感知业务关联的定位需求的情况下，所述第一通信设备向第二通信设备发送所述定位需求，并向第三通信设备发送感知需求。
  2. 根据权利要求1所述的方法，其中，所述向第二通信设备发送所述定位需求之前，还包括：
    确定与所述定位需求关联的第一基站和第一终端，所述第二通信设备包括所述第一基站和第一终端中的至少一项。
  3. 根据权利要求1或2所述的方法，其中，所述感知需求中包含第一指示信息，所述第一指示信息为用于指示所述第二通信设备的信息。
  4. 根据权利要求1所述的方法，其中，向第二通信设备发送定位需求，并向第三通信设备发送感知需求之后，还包括：
    获取信号配置信息，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项，所述信号配置信息是根据所述感知需求和定位需求中的至少一项确定的；
    将所述定位信号的配置信息发送给第二通信设备，和/或，将所述感知信号的配置信息发送给第四通信设备，所述第四通信设备包括与所述感知需求关联的第二基站和第二终端中的至少一项。
  5. 根据权利要求4所述的方法，其中，所述信号配置信息是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
  6. 根据权利要求4所述的方法，其中，在所述信号配置信息包括感知信号的配置信息和定位信号的配置信息的情况下，所述信号配置信息中还包括第一标识信息；
    其中，所述第一标识信息用于指示所述信号配置信息用于定位测量和感知测量。
  7. 根据权利要求1所述的方法，其中，向第二通信设备发送定位需求， 并向第三通信设备发送感知需求之后，还包括：
    获取测量量，所述测量量包括：感知测量量、定位测量量和公共测量量中的至少一项，所述公共测量量用于定位测量和感知测量；
    将所述测量量发送给第二通信设备和第四通信设备中的至少一者，所述第四通信设备包括与所述感知需求关联的第二基站和第二终端中的至少一项。
  8. 根据权利要求7所述的方法，其中，所述测量量是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
  9. 根据权利要求7所述的方法，还包括：
    获取所述测量量对应的测量结果，所述测量结果是第二通信设备和/或第四通信设备根据信号配置信息和所述测量量得到的，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项，所述信号配置信息是根据所述感知需求和定位需求中的至少一项确定的。
  10. 根据权利要求9所述的方法，其中，获取所述测量量对应的测量结果之后，还包括：
    根据第一目标测量量对应的测量结果和所述第三通信设备发送的感知结果，得到定位信息，所述第一目标测量量包括所述定位测量量和所述公共测量量中的至少一项，所述感知结果是所述第三通信设备根据所述感知需求发送的。
  11. 根据权利要求10所述的方法，其中，根据第一目标测量量对应的测量结果和所述第三通信设备发送的感知结果，得到定位信息之前，还包括：
    向所述第三通信设备发送第二目标测量量对应的目标测量结果，所述第二目标测量量包括感知测量量和公共测量量中的至少一项；
    获取所述第三通信设备根据所述第二目标测量结果确定的感知结果。
  12. 根据权利要求10所述的方法，其中，所述感知结果包括第一指示信息，所述一指示信息用于指示所述感知结果与第一目标测量量的对应关系。
  13. 根据权利要求10所述的方法，其中，所述感知结果包括已知感知结果。
  14. 根据权利要求1所述的方法，其中，所述感知需求的类型包括以下至少一项：
    第一感知需求类型，所述第一感知请求类型用于请求获取已知感知结果；
    第二感知需求类型，所述第二感知请求类型用于请求获取当前感知结果；
    第三感知需求类型，所述第三感知请求类型用于请求获取未来预设时间的感知结果。
  15. 根据权利要求14所述的方法，其中，所述感知需求中还包括第二指示信息，所述第二指示信息用于指示所述感知需求请求获取的感知结果对应的时间。
  16. 一种感知定位方法，包括：
    第三通信设备获取感知需求，所述感知需求是在第一通信设备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；
    根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；
    将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
  17. 根据权利要求16所述的方法，其中，第三通信设备获取感知需求之后，还包括：
    确定与所述感知需求关联的第四通信设备。
  18. 根据权利要求17所述的方法，其中，确定与所述感知需求关联的第四通信设备，包括：
    将位于感知需求对应的区域范围内的通信设备，确定为所述第四通信设备；
    或者，根据与定位需求关联的第二通信设备，确定所述第四通信设备。
  19. 根据权利要求16所述的方法，其中，所述信号配置信息包括感知信号的配置信息和定位信号的配置信息中的至少一项。
  20. 根据权利要求19所述的方法，其中，在所述信号配置信息包括感知信号的配置信息和定位信号的配置信息的情况下，所述信号配置信息中还包括第一标识信息；
    其中，所述第一标识信息用于指示所述信号配置信息用于定位测量和感知测量。
  21. 根据权利要求20所述的方法，其中，所述信号配置信息是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
  22. 根据权利要求16所述的方法，其中，所述测量量包括：感知测量量、定位测量量和公共测量量中的至少一项，所述公共测量量用于定位测量和感知测量。
  23. 根据权利要求22所述的方法，其中，所述测量量是由所述第一通信设备和所述第三通信设备中的至少一者确定的。
  24. 根据权利要求16所述的方法，还包括：
    根据所述感知需求，确定感知结果；
    将所述感知结果发送至第一通信设备。
  25. 根据权利要求24所述的方法，其中，根据所述感知需求，确定感知结果，包括：
    获取目标通信设备发送的第二目标测量量对应的目标测量结果，所述第二目标测量量包括感知测量量和公共测量量中的至少一项，所述目标通信设备包括第一通信设备或者第四通信设备；
    根据所述目标测量结果，确定感知结果。
  26. 根据权利要求24所述的方法，其中，所述感知需求的类型包括以下至少一项：
    第一感知需求类型，所述第一感知请求类型用于请求获取已知感知结果；
    第二感知需求类型，所述第二感知请求类型用于请求获取当前感知结果；
    第三感知需求类型，所述第三感知请求类型用于请求获取未来预设时间的感知结果。
  27. 根据权利要求26所述的方法，其中，根据所述感知需求，确定感知结果，包括：
    在所述感知需求的类型为所述第一感知需求类型的情况下，根据已知感知结果，确定所述感知需求对应的感知结果。
  28. 一种感知定位装置，包括：
    第一接收模块，用于接收定位需求；
    第一发送模块，用于在所述定位需求为与感知业务关联的定位需求的情况下，向第二通信设备发送定位需求，并向第三通信设备发送感知需求。
  29. 一种感知定位装置，包括：
    第一获取模块，用于获取感知需求，所述感知需求是在第一通信设备接收到的定位需求为与感知业务管理关联的定位需求的情况下，由第一通信设备发送的；
    第二获取模块，用于根据所述感知需求，获取第一信息，所述第一信息包括信号配置信息和测量量中的至少一项，所述信号配置信息为用于感知测量和/或定位测量的信号配置信息，所述测量量为用于感知测量和/或定位测量的测量量；
    第二发送模块，用于将所述第一信息发送给第二通信设备和第四通信设备中的至少一项，所述第二通信设备包括与所述定位需求关联的终端和/或基站，所述第四通信设备包括与所述感知需求关联的终端和/或基站。
  30. 一种通信设备，包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至15中任一项所述的感知定位方法的步骤，或者，实现如权利要求16至27中任一项所述的感知定位方法的步骤。
  31. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至15中任一项所述的感知定位方法 的步骤，或者，实现如权利要求16至27中任一项所述的感知定位方法的步骤。
  32. 一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如权利要求1至15中任一项所述的感知定位方法的步骤或如权利要求16至27中任一项所述的感知定位方法的步骤。
  33. 一种计算机程序产品，所述计算机程序产品被存储在非易失的存储介质中，所述计算机程序产品被至少一个处理器执行以实现如权利要求1至15中任一项所述的感知定位方法的步骤或如权利要求16至27中任一项所述的感知定位方法的步骤。
  34. 一种通信设备，被配置为执行如权利要求求1至15中任一项所述的感知定位方法的步骤或如权利要求16至27中任一项所述的感知定位方法的步骤。
PCT/CN2022/119275 2021-09-22 2022-09-16 感知定位方法、装置及通信设备 WO2023045840A1 (zh)

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