WO2023151590A1

WO2023151590A1 - Group positioning method and apparatus, user equipment, and storage medium

Info

Publication number: WO2023151590A1
Application number: PCT/CN2023/075001
Authority: WO
Inventors: 姜大洁; 吴建明
Original assignee: 维沃移动通信有限公司
Priority date: 2022-02-08
Filing date: 2023-02-08
Publication date: 2023-08-17
Also published as: CN116614875A

Abstract

Disclosed in the present application is a group positioning method executed by a first wireless communication device. The group positioning method in the embodiments of the present application comprises: in a positioning group, a first wireless communication device acquires target position information, the target position information being used for indicating the relative distance between the first wireless communication device, a second wireless communication device, and a third wireless communication device in the same positioning group; and, on the basis of the target position information, first coordinate information of the first wireless communication device, and second coordinate information of the second wireless communication device, the first wireless communication device determines the absolute coordinate position of the third wireless communication device; the positioning group at least comprises a first wireless communication device, a second wireless communication device, and a third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device.

Description

Group positioning method, device, user equipment and storage medium

Cross References to Related Applications

This application claims priority to Chinese Patent Application No. 202210119380.5 filed in China on February 8, 2022, the entire contents of which are hereby incorporated by reference.

technical field

The present application belongs to the technical field of communication, and in particular relates to a group positioning method, device, user equipment and storage medium.

Background technique

In the communication system, the group positioning system of mobile wireless communication equipment (for example, mobile user equipment (Mobile User Equipment), sidelink user equipment (Sidelink UE) or source base station (gNB), etc.) has the timing of signal transmission and signal reception Error (Timing Error) and mobility and other issues, and affect its positioning accuracy. Therefore, in order to improve the positioning accuracy, the mobile wireless communication device needs to regularly calibrate its own clock. In order to reduce the timing error of the mobile wireless communication device sending or receiving signals, a calibration UE or gNB with a known accurate position can be introduced. However, in When mobile wireless communication devices are constantly moving and may be out of signal coverage, it is also difficult to calibrate through the above methods. Therefore, how to accurately obtain the position of mobile wireless communication devices in group positioning is an urgent problem to be solved .

Contents of the invention

An embodiment of the present application provides a group positioning method, which can accurately acquire the position of a mobile wireless communication device in group positioning.

In a first aspect, a group positioning method is provided, executed by a first wireless communication device, the method includes: in a positioning group, the first wireless communication device obtains target location information, and the target location information is used to indicate the The relative distance between the first wireless communication device, the second wireless communication device and the third wireless communication device; the first wireless communication device according to the target position information, the first coordinate information of the first wireless communication device and the The second coordinate information determines the absolute coordinate position of the third wireless communication device; wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are Known by the first wireless communication device.

In a second aspect, a group positioning device is provided, and the group positioning device includes: an acquisition module and a determination module. The acquiring module is configured to acquire target position information in the positioning group, and the target position information is used to indicate the relative distance among the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group. A determining module, configured to determine the absolute coordinate position of the third wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device.

In a third aspect, a terminal is provided, the communication device 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 realizing the steps of the method as described in the first aspect.

In a fourth aspect, a terminal is provided, including a processor and a communication interface, wherein the processor is configured to acquire target location information in a positioning group, and the target location information is used to indicate the first wireless communication device in the same positioning group , the relative distance between the second wireless communication device and the third wireless communication device; and according to the target position information, the first coordinate information of the first wireless communication device and the second coordinate information of the second wireless communication device, determine the third wireless The absolute coordinate position of the communication device. Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device.

According to a fifth aspect, a readable storage medium is provided, and a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the method according to the first aspect are implemented.

A sixth aspect provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to run programs or instructions, and implement the method as described in the first aspect A step of.

In a seventh aspect, a computer program/program product is provided, the computer program/program product is stored in a non-volatile storage medium, and the program/program product is executed by at least one processor to implement the first aspect The steps of the method.

In an eighth aspect, a group positioning system is provided, the group positioning system includes the first wireless communication device, the second wireless communication device, and the third wireless communication device as described in the first aspect, and the group positioning system is used to perform And realize the steps of the group positioning method as described in the first aspect.

In this embodiment of the application, it is executed by the first wireless communication device. In the positioning group, the first wireless communication device acquires target location information, and the target location information is used to indicate that the first wireless communication device and the second wireless communication device in the same positioning group The relative distance between the communication device and the third wireless communication device; the first wireless communication device determines the third wireless communication device according to the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device The absolute coordinate position of the communication device; wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device. Since the first wireless communication device can obtain the target location information of other devices in the positioning group, and based on the target location information and the first wireless communication The coordinate information of the device and the second wireless communication device determines the absolute coordinate position of the third wireless communication device in the same positioning group, and does not need to introduce a calibration UE or gNB with a known and accurate position. Therefore, when the mobile wireless communication device is in In the case of constant movement and possibly being out of signal coverage, calibration and positioning can also be performed on all devices in the positioning group, so the positions of mobile wireless communication devices in the group positioning can be accurately acquired.

Description of drawings

FIG. 1 is a schematic structural diagram of a communication system provided by an embodiment of the present application;

FIG. 2 is a schematic diagram of a timing error provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a precise time protocol provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of the principle of a precise time protocol provided by an embodiment of the present application;

Fig. 5 is a schematic diagram of a positioning model based on backscatter communication provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a group positioning method provided by an embodiment of the present application;

Fig. 7 is one of the example schematic diagrams of a group positioning method provided by the embodiment of the present application;

Fig. 8 is the second schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

FIG. 9 is the third schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

FIG. 10 is the fourth schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

Fig. 11 is the fifth schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

Fig. 12 is the sixth schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

Fig. 13 is the seventh schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

Fig. 14 is the eighth schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

Fig. 15 is the ninth schematic diagram of an example of a group positioning method provided by the embodiment of the present application;

Fig. 16 is a schematic structural diagram of a group positioning device provided by an embodiment of the present application;

FIG. 17 is a schematic diagram of a hardware structure of a communication device provided by an embodiment of the present application;

FIG. 18 is a schematic diagram of a hardware structure of a terminal provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, but not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application belong to the protection scope of this application.

The terms "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. In addition, "and/or" in the specification and claims means at least one of the connected objects, for example, A and/or B includes only A, only B, and A and B. A, B, and/or C include at least one of A, B, and C, that is, include A; B; C; A and B; B and C; A and C; A, B, and C , and so on, the character "/" generally indicates that the associated objects are an "or" relationship.

It is worth pointing out that the technology described in the embodiment of this application is not limited to the Long Term Evolution (Long Term Evolution, LTE)/LTE-Advanced (LTE-Advanced, LTE-A) system, and can also be used in other wireless communication systems, such as code Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access, OFDMA), Single-carrier Frequency-Division Multiple Access (Single-carrier Frequency-Division Multiple Access, SC-FDMA) and other systems. The terms "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. The following description describes the New Radio (NR) system for illustrative purposes, and uses NR terminology in most of the following descriptions, but these techniques can also be applied to applications other than NR system applications, such as the 6th generation (6 ^th Generation, 6G) communication system.

Fig. 1 shows a block diagram of a wireless communication system to which the embodiment of the present application is applicable. The wireless communication system includes a terminal 11 and a network side device 12 . Wherein, the terminal 11 can also be called a terminal device or a user terminal (User Equipment, UE), and the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer) or a notebook computer, a personal digital Assistant (Personal Digital Assistant, PDA), handheld computer, netbook, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), mobile internet device (Mobile Internet Device, MID), wearable device (Wearable Device) or vehicle-mounted device (VUE), Pedestrian Terminal (PUE) and other terminal-side devices, wearable devices include: smart watches, bracelets, earphones, glasses, etc. It should be noted that, the embodiment of the present application does not limit the specific type of the terminal 11 . The network side device 12 may be a base station or a core network, where a base station may be called a Node B, an evolved Node B, an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Node B, Evolved Node B (eNB), Home Node B, Home Evolved Node B, WLAN access point, WiFi node , Transmitting Receiving Point (TRP) or some other appropriate term in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application Only the base station in the NR system is taken as an example, but the specific type of the base station is not limited.

Some concepts and/or terms involved in the positioning method, device, user equipment, and storage medium provided in the embodiments of the present application are explained below.

1. gNB/UE sends Tx/receives Rx timing error (Timing Errer)

Currently, there are two types of timing errors between gNB and UE: one is gNB and UE clock error, and the other is gNB and UE calibration error.

As shown in Figure 2, at the gNB side, such as the network-side device side shown in Figure 2, its error calibration can be realized through the Precision Time Protocol (PTP). There is still some residual calibration error in PTP due to the channel/link asymmetry between the master clock and slave clock. Furthermore, since the error between the main clock and the sub-clock cannot be completely eliminated, and the current gNB residual calibration error is generally 50-100 ns, this will also lead to a UE positioning error of 15-30 m.

At the UE side, for example, the user equipment side shown in FIG. 2 also has two kinds of timing errors. However, for the UE side, if the received signals arriving from different directions pass through the same radio frequency (Radio Frequency, RF) chain in the same antenna panel, these two errors can be completely eliminated. Figure 2 shows the timing error of gNB.

It should be noted that the timing calibration (Timing Calibration, TC) mechanism of gNB cannot distinguish these two error components from the overall signal arrival time (Time of Arrival, TOA) or signal arrival time difference (Time Difference of Arrival, TDOA) measurement of.

2. Precision Time Protocol

PTP is mainly used to define synchronization information used between master and slave clocks, similar to the server and client modes in Network Time Protocol (NTP). FIG. 3 shows a precision time protocol PTP provided by the embodiment of the present application. As shown in FIG. 3 , the master clock (Master Clock) is the provider of time, and the slave clock (Slave Clock) is synchronized with the master clock. For example, a Grandmaster is a master clock synchronized to a time reference such as GPS or Code Division Multiple Access (CDMA). Clock synchronization on the network requires at least one master clock and one slave clock, wherein multiple slave clocks can be synchronized to one master clock. In general, the time offset between the master and slave clocks can be calculated based on four timestamps captured between the master and slave clocks, reference times T ₁ , T ₂ , T ₃ and T ₄ , and the slave clock can utilize the time Offset to adjust its difference with the master clock, as shown in Figure 3, the master clock can send synchronization information Sync Message to the slave clock at the reference time T ₁ , the slave clock receives the Sync Message at the reference time T ₂ , and synchronizes Subsequent information Sync Follw Up Message, so that Master Clock to Slave Clock difference=T ₂ -T ₁ can be obtained; the slave clock can send a delay request message Delay Request Message to the master clock at the reference time T ₃ , and the master clock receives it at the reference time T ₄ to the Delay Request Message, so that Slave Clock to Master Clock difference=T ₄ -T ₃ can be obtained, and the master clock can send a delay response message Delay Response Message to the slave clock, so that a Message with T ₄ -T ₃ can be obtained; After receiving the Delay Response Message from the clock, the offset Offset=((T ₂ -T ₁ )-(T ₄ -T ₃ ))/2 can be obtained.

It should be noted that the principle of the precise time protocol is that the master clock terminal and the slave clock terminal send and receive calibration signals to each other to complete clock calibration.

Fig. 4 has shown the schematic diagram of a kind of precise time agreement that the embodiment of the present application provides, as shown in Fig. 4, the time of clock A is t _A (for sending end) and t' _A (for receiving end), and clock B's times are t _B (for the receiver) and t' _B (for the sender). Therefore, the time difference between t _A and t _B (from A to B) is t _Δ =t _A -t _B , and the time difference between t′ _B and t′ _A (from A to B) is t′ _Δ =t′ _B − _t'A . However, since the RF of the master clock terminal or the slave clock terminal is different, generally, t _A ≠t′ _A and t _B ≠t′ _B .

However, for clock calibration between A and B, it can be calculated by the following formula:

For the derivation of the propagation delay between A and B, it can be calculated by the following formula: Among them, t _d is the propagation delay time length between A and B. If the change of the master clock terminal and the slave clock terminal of the wireless communication device during the round-trip process is negligible, that is, t′ _Δ = t _Δ , then the clock calibration value t _Δ between A and B, and the propagation delay between A and B The value t _d can be calculated and obtained by the following formulas respectively:

3. Positioning method based on backscatter communication (back reflection) Backscatter

At present, wireless communication devices can be positioned through Backscatter, and in the method for realizing positioning based on Backscatter, the Obtaining Backscatter provides ID (for example, EPC) and other related information, so that the receiving end can easily determine the position of the reflective object, confirm the reflective object and track the reflective object. FIG. 5 shows a positioning model based on backscatter communication Backscatter provided by an embodiment of the present application. Among them, the sending end is the i-th Tx UE, which transmits a positioning pilot reference signal (Positioning Reference Signal, PRS), and the k-th Backscatter is controlled by binary phase shift keying (Binary Phase Shift Keying, BPSK) or on-off keying ( On-Off Keying (OOK) or CDM orthogonal code signal modulates its own related ID information on the received signal, and reflects it to the Rx UE at the receiving end. Among them, the receiving end is gNB, which can receive the Backscatter reflection signal, and simultaneously receive the reflection signal of the unknown reflector and the diameter signal of the sending end. It is worth noting that the kth Backscatter reflection signal is an effective signal, and gNB can receive it and calculate the specific coordinates of the target Backscatter, which is the same as GPS receiving signals. However, using this method, the required number of gNBs is above 4 to ensure the relative accuracy of positioning.

As shown in Figure 5, L gNBs receive signals and simultaneously locate the i-th Tx UE and the k-th Backscatter.

It should be noted that the gNB can also receive reflection signals of other Backscatters (excluding the reflection signal of the k-th Backscatter), reflection signals of unknown reflectors, and diameter signals of the sending end. However, these signals are interfering signals and, therefore, need to be eliminated before positioning calculations in order to ensure positioning accuracy.

As shown in FIG. 5 , in the embodiment of positioning based on Backscatter, it can be assumed that there is one sending end user Tx UE, L network side devices gNB, M backscattering Backscatter (also known as Tag) and J Unknown reflector Object.

The signal transmitted by the i-th UE and received by the l-th gNB in the n-th symbol of the m-th slot considering the reflection of the signal from an unknown reflector is

Among them, the Tx UE sends a positioning pilot reference signal (ie, PRS) s[n] in the nth symbol, and the s[n] signal passes through the channel response in the time slot m Received directly by the lth gNB, while the s[n] signal responds via the channel Received by the kth Backscatter. The received signal of the kth Backscatter is modulated by b _{k, m} symbols in the same time slot m, and responds with the channel response Reflected to the lth gNB, α is the complex attenuation backscatter signal coefficient (Complex Attenuation of the Backscattered SignalsS). α _j is the attenuation coefficient of the jth unknown reflector including the radar cross section (Rader Cross Section, RCS), and are the reflected channel responses of the jth unknown reflector for the Tx UE and for the gNB, respectively. w _{l, m} [n] is the additive white Gaussian noise (Additive White Gaussian Noise, AWGN) received by the l-th gNB at the n-th symbol in time slot m. The mean value of the additive white Gaussian noise is zero and the noise The power spectral density is In addition, the time slot interval T _slot is N times the RS symbol interval T _sym , that is, T _slot =NT _sym , where N=1, 2, . . . .

It should be noted that, in the foregoing embodiments, for simplicity, the channel response may be considered as a static channel, and the channel response does not change within a certain period of time. Therefore, the channel response shown in the description has nothing to do with the time slot, but the embodiments described in this application can also be applied to the scenario of dynamic channel response. The embodiment of the present application considers the problem of interference to the target Backscatter in this scenario. Through the above formula, it can be determined that there are three items that can be considered as interference items. The first item is the diameter signal from the Tx UE, the second item is the reflection signal from the Backscatter (including the target Backscatter reflection signal and the non-target Backscatter reflection signal), and the third item is the reflection signal from an unknown reflector.

In the embodiment of this application, the positioning targets are Tx UE and target Backscatter. For Tx UE positioning, since the diameter signal from Tx UE to gNB is much larger than the reflected signal from Backscatter and unknown reflectors, the impact of this interference on Tx UE positioning performance will be relatively small. However, for the positioning of the Backscatter, the interference from the Tx UE, other Backscatters and reflected signals from unknown reflectors must be considered.

4. Backscatter modulation signal design

Backscatter modulation signals can be designed by OOK. The kth Backscatter can modulate the reflected signal based on the On/Off modulation sequence B _k signal, and its modulation sequence can be represented by the following matrix:

Wherein, b _{k, m} is the modulation symbol modulated by the kth Backscatter and transmitted in the mth time slot, k=1, 2,..., M, and m=1, 2,..., M+1.

In the embodiment of the present application, in order to derive the positioning signal from the kth Backscatter, the received signal can be calculated by the following method:

It should be noted that the PRS signal sent from the i-th UE is also reflected by other Backscatters (except the k-th Backscatter) and unknown reflectors, but these signals can be completely eliminated by the l-th gNB.

In the embodiment of the present application, in order to derive the i-th UE positioning signal, the received signal can be calculated by the following method:

Optionally, in this embodiment of the present application, the Backscatter modulation signal may be designed through BPSK. The kth Backscatter can modulate the reflected signal based on the BPSK modulation sequence B _k signal, and its modulation sequence can be represented by the following matrix:

Wherein, b _{k, m} is the modulation symbol modulated by the kth Backscatter and transmitted in the mth time slot, k=1, 2,..., M, and m=1, 2,..., M+ 1.

In the embodiment of the present application, in order to derive the positioning signal from the kth tag, the received signal can be calculated by the following method:

In the embodiment of this application, in order to derive the UE positioning signal, the received signal can be calculated by the following method:

Optionally, in this embodiment of the present application, the Backscatter modulation signal may be designed by using a CDM orthogonal code method. For example, using the Hadamard code (Hadamard Code) as the modulation sequence symbol, the kth Backscatter can modulate the reflected signal based on the BPSK modulation sequence B _k signal, and the Hadamard code modulation sequence can be represented by the following matrix:

Optionally, in the embodiment of the present application, in the case of M=4, the Hadamard Code modulation sequence can be represented by the following matrix:

Wherein, b _k,m is the modulation symbol modulated by the kth Backscatter and transmitted in the mth time slot, k=1, 2, . . . , M, and m=1, 2, . . . , M.

Wherein, k=1, 2, . . . , M-1.

It should be noted that the maximum number of backscatters supported by the Hadamard code is 2 ⁿ -1. Therefore, the gain obtained by using the Hadamard code solution is much higher than that of the OOK or BPSK solutions, but the flexibility of the code is relatively poor.

In the embodiment of the present application, since the positioning signal of the kth Backscatter is relatively simple, the diameter signal from the UE to the gNB and the received signal from the UE to the gNB reflected by other Backscatters (except the kth Backscatter) can be completely eliminated; Signals from UE to gNB reflected by unknown reflectors can also be completely eliminated. Therefore, compared with the OOK scheme, the SNR gain that the BPSK scheme can achieve is 5.05dB≤ΔSNR<6dB. Since the signal positioned by the UE from the UE to the Backscatter and then reflected to the gNB can be completely eliminated, compared with the OOK scheme, the SNR gain achieved by the BPSK scheme is 0dB≤ΔSNR≤3.8dB.

At present, the positioning system of mobile wireless communication equipment (such as mobile communication user equipment Mobile UE, sidelink user equipment Sidelink UE, base station gNB, etc.) has the problem of Rx/Tx timing error, which affects the positioning accuracy of its mobile wireless communication equipment . Therefore, in order to improve the positioning accuracy, the wireless communication device needs to calibrate its own clock regularly. A straightforward approach to overcome the Rx/Tx timing error of a wireless communication device could be to introduce a calibrated UE or gNB with a known accurate position or an accurate trajectory, however in real-world scenarios, especially when the wireless communication device is moving and may be out of coverage How to effectively set a calibration UE or gNB with an accurate location is a big problem to be solved urgently.

In the embodiment of the present application, by utilizing the mutual relationship between the wireless communication devices, the wireless communication devices can be precisely positioned mutually without needing to calibrate the clocks of the transceivers.

It should be noted that the wireless communication device in this application can be any device with wireless transceiver function, for example, it can be a terminal, a base station, an Internet of Things device, a vehicle wireless device, a wireless identification TAG, etc., and the location of the wireless communication device Can be fixed or mobile.

Specifically, at the first time, the first wireless communication device sends a reference signal RS, and the second wireless communication device receives the RS signal. At the second time, the first wireless communication device sends the RS signal again, the third wireless communication device receives the RS signal, and modulates and reflects the signal through the modulation sequence signal (that is, OOK or BPSK or CDM orthogonal code), and the second wireless communication device The device receives the RS signal sent by the first wireless communication device, and also receives the signal modulated and reflected by the third wireless communication device.

Further, the second wireless communication device performs addition and subtraction operations on the signals according to the RS signals received at the first time and the second time, and separates the diameter signal from the first wireless communication device to the second wireless communication device, thereby calculating The delay of the diameter signal is obtained, and the reflection signal modulated and reflected by the third wireless communication device from the first wireless communication device to the second wireless communication device is also separated, so as to calculate the delay of the reflection path signal.

Furthermore, when the number of the first wireless communication devices in the positioning group reaches a certain level and the RS signals are sent at different times, the second wireless communication device can calibrate the transceiver clock without , which can precisely locate all the wireless communication devices in the positioning group.

Embodiment one

An embodiment of the present application provides a group positioning method, and FIG. 6 shows a flowchart of the group positioning method provided in the embodiment of the present application. As shown in FIG. 6 , the group positioning method provided in the embodiment of the present application may include the following steps 201 and 202 .

Step 201. In a positioning group, the first wireless communication device acquires target location information.

In the embodiment of the present application, the target location information is used to indicate the relative distance among the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group.

Optionally, in this embodiment of the present application, the above-mentioned first wireless communication device may be a user equipment UE, a base station, a side link device S-UE, a mobile user equipment, an Internet of Things device, a vehicle wireless device, etc. The first wireless communication device is S-UE as an example, and the group positioning method between mobile wireless communication devices is described, taking other mobile wireless communication devices as an example, or the scene between the mobile wireless communication device and the source base station is also protected In the group positioning method provided by this application.

It should be noted that, taking the wireless communication device as an S-UE as an example, any S-UE can be considered as a fixed UE, gNB, drive test unit (Road Side Unit, RSU) or mobile wireless communication technology (Vehicle To Everything) UE.

Optionally, in this embodiment of the present application, there are multiple positioning groups, the first wireless communication device in each positioning group is the head wireless communication device, and at least one of the second wireless communication device and the third wireless communication device The other is the auxiliary wireless communication device in the positioning group.

Optionally, in this embodiment of the present application, the position of the head wireless communication device is a fixed position, and other devices in the positioning group except the head wireless communication device determine other wireless communication devices through the positions of the head wireless communication devices of different positioning subgroups , where the auxiliary wireless communication device is a connection node between at least two positioning groups.

Optionally, in this embodiment of the present application, the head wireless communication device is configured to perform at least one of the following: receiving the first RS, sending the second RS, and obtaining at least one positioning equation corresponding to the first signal; Measurement data information of communication devices other than the wireless communication device, and at least one positioning equation corresponding to the policy data information; wherein, the positioning equation is used for the head wireless communication device to determine a positioning delay parameter; the positioning delay parameter and at least one positioning equation parameter Used by the head wireless communication device to locate other wireless communication devices.

Exemplarily, FIG. 7 shows a diagram of a group positioning model provided by the embodiment of the present application. As shown in FIG. 7 , there are K S-UEs in the side chain positioning group. In this embodiment of the present application, all S-UEs can be located by acquiring the path propagation delay between any two S-UEs. Alternatively, according to service requirements, some S-UEs in the positioning group are positioned to simplify the positioning system.

Optionally, in this embodiment of the present application, "the first wireless communication device acquires target location information" in the above step 201 may be specifically implemented through the following steps 201a and 201b.

Step 201a, the first wireless communication device receives the first reference signal RS sent by the third wireless communication device, and receives the first signal RS sent by the second wireless communication device.

In the embodiment of the present application, the first signal is a reflected signal corresponding to the first RS, and the first RS is the RS sent by the third wireless communication device to the second wireless communication device.

Optionally, in this embodiment of the present application, the above-mentioned first RS and/or first signal may be configured, pre-configured, predefined, stipulated in a protocol, or independently determined by the S-UE, etc. by the network side device.

Optionally, in the embodiment of the present application, the above-mentioned first RS and/or the first signal includes at least one of the following: a tracking reference signal (Tracking Reference Signal, TRS), a channel state information reference signal (Channel-State Information Reference Signal, CSI-RS), positioning reference signal (Positioning Reference Signal, PRS) and sounding reference signal (Sounding Reference Signal, SRS).

Optionally, in this embodiment of the present application, the first wireless communication device, the second wireless communication device, and the third wireless communication device are different communication devices in the same time slot; or, the first wireless communication device and the second wireless communication device and the third wireless communication device are different communication devices in different time slots; or, in different time slots, the first wireless communication device, the second wireless communication device, and the third wireless communication device switch between each other.

It should be noted that, in the process of implementing group positioning, the implementation of the S-UE can be performed by the three parties of the S-UE. Any S-UE can act as the first wireless communication device, the second wireless communication device or the third wireless communication device, but in the same time slot, one S-UE cannot be the first wireless communication device, the second wireless communication device at the same time and a third wireless communication device. As shown in FIG. 8 , in one time slot, the i-th S-UE can be used as the first UE, the l-th S-UE can be used as the second UE, and the k-th S-UE can be used as the third UE.

Step 201b, the first wireless communication device determines target location information according to the first RS and the first signal.

Optionally, in this embodiment of the present application, the i-th S-UE in the positioning group is used as the first wireless communication device to send the RS signal, and the k-th S-UE in the positioning group is used as the modulation sequence signal pair of the third wireless communication device After modulation and power amplification reflection, the signal received by the lth S-UE in the positioning group as the second wireless communication device can be obtained by simple addition and subtraction operations to obtain the diameter signal and the reflection path signal respectively.

Optionally, in the embodiment of the present application, the above-mentioned modulation sequence signal is determined by any one of the following methods: on-off keying OOK method, binary phase shift keying BPSK method, code division multiplexing CDM orthogonal code method .

It should be noted that, the manner in which the first wireless communication device modulates the target RS by using the modulation sequence signal may refer to the method described in the above Backscatter modulation signal design, and to avoid repetition, details are not repeated here.

Optionally, in this embodiment of the present application, after the third wireless communication device in the positioning group determines the diameter signal and the reflection path signal according to the first RS and the first signal, it can determine the diameter based on the diameter signal and the reflection path signal. signal and the reflection path signal, and determine the first time delay and the second time delay according to the diameter signal and the reflection path signal, and determine the first propagation delay difference according to the first time delay and the second time delay, wherein the first The time delay is the time delay of the direct path of the first RS, the second time delay is the time delay of the reflected path of the first signal, and the first propagation delay difference is the difference between the propagation time of the first RS and the propagation time of the first signal amount of difference. and,

Optionally, in this embodiment of the present application, if the i-th S-UE sends the RS signal s[n] to the l-th S-UE in the n-th symbol of the m-th time slot. where the direct path used is: h _i,l (τ _i,l ), and experiences a delay τ _i,l . This signal is received by the k-th S-UE in the same m-th time slot, modulates and reflects the signal, and its indirect paths are: h _i,k (τ _i,k ) and h _k,l (τ _k,l ), experiencing delays τ _i,k and τ _k,l , respectively. Reverse by unknown object The indirect paths of radio signals are and And, the signal received by the kth S-UE is directly modulated with symbol b _k,m in the whole time slot m, and transmitted immediately. Here, if it is assumed that there is no additional processing delay time in the modulation process, the completion of the modulation and reflection process is a simple process of power amplification and forwarding of the received signal, that is, the Amplify-and-Forward (AF) process, Then the total signal received by the lth S-UE can be expressed as:

Wherein, α' _k is a complex attenuated backscatter signal coefficient, including the power amplification factor of the kth S-UE on the received signal.

Optionally, in this embodiment of the application, the first delay is determined by determined; among them, is the time delay of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, is the time offset of the i-th wireless communication device sending the diameter signal, τi _,l is the total propagation time of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.

Optionally, in this embodiment of the application, the second delay is determined by determined; among them, is the time delay of the reflection path signal sent from the i-th wireless communication device and reflected by the k-th wireless communication device to the l-th wireless communication device, is the time offset of the reflection path signal sent by the i-th wireless communication device, τ _i,k is the propagation time of the signal sent from the i-th wireless communication device to the k-th wireless communication device, τ _k,l is the propagation time of the signal from the k-th wireless communication device The propagation time of the signal sent from the first wireless communication device to the lth wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.

Optionally, in this embodiment of the application, the diameter signal is: Among them, A ₂ is determined by the signal gain of the modulation sequence signal, w′ _{i, l} [n] are the additive white Gaussian noise AWGN received by the i-th wireless communication device in the n-th symbol, and AWGN includes the interference signal .

Optionally, in this embodiment of the application, the reflection path signal is: Among them, A ₁ is determined by the signal gain of the modulation sequence signal, and w″ _{i, l} [n] are the additive white Gaussian noise AWGN received by the i-th wireless communication device in the n-th symbol, and AWGN includes interference Signal.

Optionally, in the embodiment of the present application, it is characterized in that the propagation delay difference is: in, is the amount of propagation delay difference, is the second time delay, is the first delay.

Optionally, in this embodiment of the present application, the third wireless communication device receives the first information sent by the first wireless communication device, where the first information includes the third time delay and the fourth time delay, and the third time delay and the fourth time delay The time delay is respectively determined by the third wireless communication device according to the diameter signal and the reflected path signal when the second wireless communication device and the first wireless communication device switch between each other. Wherein, the third time delay is the time delay of the diameter signal sent by the second wireless communication device to the third wireless communication device after the first conversion; the fourth time delay is the time delay of the second wireless communication device after the first conversion through the first conversion The time delay of the reflection path signal sent by the first wireless communication device to the third wireless communication device later. Therefore, after acquiring the third time delay and the fourth time delay, the third wireless communication device may determine the second propagation delay difference based on the third time delay and the fourth time delay.

Optionally, in this embodiment of the present application, the third wireless communication device receives the second information sent by the second wireless communication device, the second information includes the fifth time delay and the sixth time delay, and the fifth time delay and the sixth time delay It is determined by the second wireless communication device respectively according to the diameter signal and the reflection path signal when the third wireless communication device and the first wireless communication device switch between each other. Wherein, the fifth time delay is the time delay of the diameter signal sent by the second converted first wireless communication device to the second converted third wireless communication device; the sixth time delay is the time delay of the second converted third wireless communication device The time delay of the reflection path signal sent by the device to the second converted third wireless communication device via the second wireless communication device. Therefore, after acquiring the fifth time delay and the sixth time delay, the third wireless communication device may determine the third propagation delay difference based on the fifth time delay and the sixth time delay.

Optionally, in this embodiment of the present application, the third wireless communication device may determine the first propagation delay difference, the second propagation delay difference After the amount of propagation delay difference and the third amount of propagation delay difference, according to the first amount of propagation delay difference, the second amount of propagation delay difference and the third amount of propagation delay difference, based on at least one positioning equation, determine the positioning delay parameter, and according to the positioning delay parameter, determine Target location information.

Optionally, in the embodiment of the present application, the positioning equation parameters of the first propagation delay difference, the second propagation delay difference and the third propagation delay difference can be respectively expressed as:

By solving the above three-dimensional linear equation, the propagation delay between S-UE can be obtained respectively, namely, τ _i,l , τ _i,k , and τ _l,k ,

Optionally, in this embodiment of the present application, the positioning delay parameter is determined by the difference in propagation delay, and the propagation delay between S-UEs (abbreviated as the positioning delay parameter) can be represented by a vector,

Optionally, in this embodiment of the application, the denominator of the number of elements included in the positioning delay parameter vector is:

Wherein, K is the number of communication devices involved in the positioning group.

Optionally, in this embodiment of the application, the positioning equation is: y=Ax; wherein, y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector are x is a positioning delay parameter vector, elements of the positioning delay parameter vector are τ _i,l =[x] _i,l , and A is a positioning equation matrix.

Optionally, in this embodiment of the present application, the positioning delay parameter vector is determined by x=( ^AT A) ^-1 ^AT y. Among them, y can be expressed as:

Optionally, in the embodiment of the present application, A is a positioning equation matrix, and its matrix elements are 1, 0, -1, which can be expressed as:

Optionally, in this embodiment of the application, x is a positioning delay parameter vector, which can be expressed as:

Optionally, in the embodiment of the present application, the above step 201b may specifically be implemented through the following step 201b1.

In step 201b1, the head wireless communication device determines a target positioning equation from the acquired first number of positioning equations.

In the embodiment of the present application, the number of target positioning equations is less than or equal to the first number, the first number is a positive integer greater than or equal to 3, and at least part of the positioning equations in the target positioning equations correspond to the first RS and the first signal .

Optionally, in this embodiment of the present application, the position of the head wireless communication device is a fixed position, and in each positioning group, the number of the head wireless communication device is 1, and the positions of other wireless communication devices except the head wireless communication device Determined by the head wireless communication device.

Optionally, in the embodiment of the present application, the above step 201b1 may be specifically implemented through the following step a.

Step a. When the position of the head wireless communication device is a fixed position, the head wireless communication device reduces the number of positioning equations of the first number to a second number, and according to the second number and the reflection path with the head wireless communication device The number of related positioning equations determines the number of targets;

Wherein, the first quantity is: Said second quantity is: The target quantity is less than or equal to K is the number of wireless communication devices in the positioning group.

In the embodiment of the present application, since the third wireless communication device is responsible for summarizing and calculating all the data, when the number of S-UEs is large or the number of S-UEs increases, all S-UEs need to be located , the number of equations that need to be summarized and calculated is huge. Although a large number of equations can be more accurately positioned among all S-UEs, the resources involved are also more links. Therefore, it is possible to obtain all In the case of required positioning delay parameters, the number of positioning equations can be reduced,

Exemplarily, as shown in FIG. 9, a Header S-UE (H-S-UE) may be preset in the positioning group, for example, the second wireless communication device (that is, the first S-UE) as the H-S-UE. Among them, the main purpose of the H-S-UE is to summarize all the measurement data and calculate the positioning delay parameters.

Optionally, in this embodiment of the application, the first propagation delay difference can be expressed as Where i and k are variable, and l is non-variable, ie, 1≤i, k≤K, i, k≠l. That is to say, the first S-UE is fixed as the receiving S-UE.

Optionally, in this embodiment of the present application, by fixing the first S-UE, the number of positioning equations can be reduced to a second number, and the second number of positioning equations can be used to calculate (K-1) S-UE The positioning delay parameters between UEs (all S-UEs except the l-th S-UE), if it is necessary to determine the positioning delay parameters between (K-1) S-UEs and the l-th S-UE, you can Through the positioning equation of the second number and a positioning equation related to the l-th S-UE reflection path, the positioning equation of the target number is determined, that is, in A positioning equation related to the l-th S-UE reflection path is added on the basis of the positioning equations, where the number of targets is less than or equal to

Exemplarily, as shown in Table 1, Table 1 is a relationship diagram between the number of UEs involved in group positioning, the number of positioning delay parameters, and the number of available positioning equations. The relationship diagram shows the number of UEs involved in group positioning K and The relationship between the number of positioning delay parameters and the number of positioning equations. It is worth noting that when the number K of S-UEs increases, the number of positioning delay parameters and the number of positioning equations increase exponentially.

Table 1

Exemplarily, as shown in Table 2, Table 2 is a diagram of the relationship between the number of S-UEs involved in group positioning, the number of positioning delay parameters, and the number of available positioning equations, and the figure lists the S-UEs involved in group positioning The relationship between the number K and the number of positioning delay parameters and the number of positioning equations. It is worth noting that the maximum number of required positioning equations is greatly reduced compared with Table 1.

Table 2

Exemplarily, as shown in FIG. 10 , taking K=4 as an example, the method for the HS-UE in the positioning group to acquire the target location information is described.

First, according to the above table 1, in the case of K=4, and Therefore, the positioning delay parameter can be represented by the following vector:

Also, the amount of propagation delay difference associated with all positioning equations, i.e., the positioning equation parameters, can be exemplified as:

Second, based on the reciprocity of propagation delay, the above positioning equation parameters can be reduced by half. Therefore, the positioning equation parameters can be represented by a 12×1 positioning equation vector y, namely:

Further, according to the positioning equation vector y, the mutual relationship between the group of S-UEs can be determined, that is, according to y=Ax, the positioning delay parameter vector can be determined, where the A matrix can be expressed as:

Finally, by solving the y=Ax equation, the positioning delay parameter vector x can be obtained by the following calculation method, namely:

x = (A ^T A) ^-1 A ^T y;

Exemplarily, as shown in FIG. 11 , taking K=4 as an example, the method for reducing the number of calculation equations in the positioning group is described.

Optionally, in this embodiment of the present application, the first S-UE may be fixed as the receiving S-UE, and all other S-UEs may be positioned.

First, according to the above table 2, in the case of K=4, The positioning delay parameter can be represented by the following vector:

Secondly, according to Table 2, the relationship between the number of S-UEs involved in group positioning and the number of positioning equations is Therefore, in the case that the first S-UE is used as the receiving UE, and the relative coordinate positions of other S-UEs can be estimated. The positioning equation is represented by the following vector:

Further, according to the positioning equation vector y, the mutual relationship between UEs in the positioning group can be determined, that is, y=Ax, where the A matrix can be expressed as follows:

It should be noted that τ _1,2 , τ _1,3 and τ _2,3 can only be solved by positioning the equation vector y, but τ _1,l , τ _3,l and τ _2,l cannot be solved. Therefore, if it is required to solve the positioning delay parameter associated with the l-th S-UE, it can be calculated through the positioning equation related to the reflection path of the l-th S-UE.

Optionally, in this embodiment of the application, the last positioning equation parameter in the positioning equation vector can be:

use Instead, that is, the positioning equation vector is expressed as:

is the parameter of the positioning equation, which is related to the difference between the diameter signal received by the lth S-UE and the reflected path signal modulated by the lth S-UE, therefore, is considered as a parameter of the positioning equation related to the reflection path through the l-th S-UE. According to the positioning equation vector y, the mutual relationship between the group S-UEs can be determined, that is, y=Ax, where the A matrix can be expressed as:

It should be noted that all the positioning delay parameter vectors x can be deduced by solving the inverse matrix of the matrix A for the above positioning equation vector y.

Optionally, in this embodiment of the present application, in order to understand that the matrix A has a solution to the positioning delay parameter vector x, equivalently, a solution to a linear equation may be used. It can be obtained that in step 1 (ie, Step-1, referred to as S-1), the positioning delay parameters τ _1,2 , τ _1,3 and τ _2,l can be solved. Then, through the positioning equation vector y and the known positioning delay parameters, in step-2 (ie, S-2), the positioning delay parameters τ _1,l and τ _3,l can be solved. Finally, through the positioning equation vector y and the known positioning delay parameters, in step 3 (ie, In S-3), the positioning delay parameter τ _2,3 can be solved.

Similarly, the last positioning equation parameter in the positioning equation vector can also be:

use (or ) to replace,

That is, the positioning equation vector is expressed as:

Optionally, in this embodiment of the application, the last positioning equation parameter in the positioning equation vector can also be use (or ) to replace, that is, the positioning equation vector is expressed as:

Optionally, in this embodiment of the present application, when one of the positioning equations is replaced by a positioning equation related to the first S-UE reflection path, the positioning delay parameter vector x will have a solution. According to the above content, in the case of K=4, only 6 positioning equations are needed to solve the positioning delay parameter vector x, but at least one positioning equation related to the l-th S-UE reflection path needs to be included. Therefore, as demonstrated by this example, the number of positioning equations required is less than or equal to

Optionally, in this embodiment of the present application, it should be noted that since the receiving S-UE represented by the last positioning equation parameter in the positioning equation vector y is not the first S-UE, the receiving S-UE finally needs to transfer the corresponding The measured parameters of the positioning equation are fed back to the lth S-UE, so that the lth S-UE can locate all the S-UEs in the positioning group.

Exemplarily, when K=5, the first S-UE may be fixed here as the receiving S-UE, and all other S-UEs may be positioned.

First, according to Table 2, Therefore, the positioning delay parameter can be represented by the following vector:

Secondly, consider the 11×1 vector as the positioning equation vector, and the last positioning equation parameter in the positioning equation vector is:

That is, the positioning equation vector is expressed as:

Further, according to the positioning equation vector y, the mutual relationship between the group UEs can be determined, that is, y=Ax, where A can be expressed as a 11×10 matrix:

It should be noted that, the above positioning equation vector y can derive all positioning delay parameter vectors x by performing an inverse matrix solution on the A matrix.

Optionally, by solving the linear equation, it can be seen that in step-1 (ie, S-1), the positioning delay parameters τ _1,2 , τ _1,3 , τ _1,4 , τ _{2, 3} and τ _2,l can be solved for. Then, by using the positioning equation vector y and the known positioning delay parameters, in step-2 (ie, S-2), the positioning delay parameter τ _1,l can be solved. Likewise, through the positioning equation vector y and the known positioning delay parameters, in step-3 (ie, S-3), the positioning delay parameters τ _3,l and τ _4,l can be solved. Finally, through the positioning equation vector y and the known positioning delay parameters, in step 4 (ie, S-4), the positioning delay parameters τ _2,4 and τ _3,4 can be solved.

Optionally, in the embodiment of the present application, in the case of K=5, only 11 positioning equations are needed to solve the positioning delay parameter vector x, but at least one positioning related to the l-th S-UE reflection path needs to be included equation. Therefore, as demonstrated by this example, the number of positioning equations required is less than or equal to

Step 202, the first wireless communication device determines the absolute coordinate position of the third wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device.

Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device.

Optionally, in the embodiment of this application, the above step 201 is a relative positioning method between S-UEs between positioning groups, as shown in Figure 12, if the reference position is based on S-UE-1, then other K-1 The S-UE positions of two are relatively fixed, but can rotate around S-UE-1: for example, the relative S-UE position coordinates of Case-1 and Case-2 are fixed, and the absolute position coordinates between them are different of.

Optionally, in this embodiment of the application, a head (H-S-UE) and an auxiliary S-UE (ie Assistant S-UE, A-S-UE) are set in the positioning group, and the H-S-UE and A-S-UE The location is fixed, such as the Road Side Unit (RSU) device used in side link communication. As shown in Figure 13, the l-th is the H-S-UE, and the i-th is the A-S-UE. The first H-S-UE will use the positioning method described in step 201 to perform relative positioning on the S-UE in the positioning group, and then calculate other The absolute coordinate position of the S-UE.

It should be noted that, in this case, the number of resources used in the positioning group is the same as that used in the relative positioning method.

Optionally, in the embodiment of the present application, according to the above Table 2, if the number of positioning delay parameters is Then the positioning equation number is However, when the number of positioning delay parameters is small, the difference between the number of positioning delay parameters and the number of positioning equations is not large, and when the number of positioning delay parameters increases, the gap between them becomes very large. Therefore, the number of S-UEs in each positioning group should not be too large, but the size of the positioning group is uncontrollable and related to specific services and application scenarios. Therefore, the method of dividing the targeting group into multiple targeting groups may be considered to reduce the size of each targeting group.

For example, as shown in Figure 14, if a location group with K members is divided into L location groups, each location group has one HS-UE, and there is at least one connected AS between two adjacent location groups -UE. Since the positioning operation is carried out in each positioning group Yes, that is, each HS-UE will perform relative positioning on the S-UE in the positioning group through the positioning method described in step 201, and then according to the fixed coordinates of each HS-UE and the relative coordinates of the shared AS-UE to calculate the absolute coordinate positions of other S-UEs.

It should be noted that the size of the positioning group associated with the H-S-UE is configurable, that is, the size of different positioning groups may be different, which depends on specific services, application scenarios and requirements.

In the embodiment of the present application, by dividing the positioning group into multiple positioning groups, the number of positioning equations can be greatly reduced, that is, the overhead of RS resources can be greatly reduced.

Exemplarily, as shown in FIG. 15 , each positioning group is composed of the same 4 S-UEs, and each positioning group has one H-S-UE, one A-S-UE and two other S-UEs. In this example, a large positioning group can be divided into 6 small-scale positioning groups, and there are 6 H-S-UEs in total, and the coordinate positions of the H-S-UEs in each positioning group are fixed. Different adjacent positioning groups are connected to each other through an A-S-UE, so as to achieve the fixation of S-UE coordinates between adjacent positioning groups. In this embodiment, it can be calculated that the number of members of the positioning group is 19 S-UEs.

It should be noted that the coordinate position of the H-S-UE is correspondingly fixed, but the coordinate position of the A-S-UE does not need to be fixed. For example, in a V2X application scenario, the H-S-UE can be a fixed RSU, and the A-S-UE can be a mobile V2X UE.

In the embodiment of the present application, if the calculation method in Table 2 is used to calculate the number of positioning delay parameters and the number of positioning equations, it can be determined that: and In this way, a very large-scale positioning system is required to support (that is, a powerful positioning calculation capability and abundant RS resources are required). If the positioning group is used to divide the absolute positioning method, the number of positioning delay parameters and the number of positioning equations are respectively: and Namely, the number of localization delay parameters is reduced by a factor of 4.75, while the number of localization equations is reduced by a factor of 7.3. In this way, the calculation burden of the positioning system and the demand for RS resources are greatly increased.

An embodiment of the present application provides a group positioning method. In a positioning group, a first wireless communication device obtains target location information, and the target location information is used to indicate the first wireless communication device, the second wireless communication device, and the second wireless communication device in the same positioning group. The relative distance between the three wireless communication devices; the first wireless communication device determines the absolute distance of the third wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device Coordinate position; wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device. Since the first wireless communication device can obtain the target location information of other devices in the positioning group, and determine the third wireless communication device in the same positioning group according to the target location information and the coordinate information of the first wireless communication device and the second wireless communication device The absolute coordinate position of the wireless communication device does not need to introduce a calibration UE or gNB with a known accurate position. Therefore, when the mobile wireless communication device is constantly moving and may be out of signal coverage, the positioning group can also All the devices in the group are calibrated and positioned, so the positions of the mobile wireless communication devices in the group positioning can be accurately obtained.

Optionally, in this embodiment of the present application, in each positioning group, the number of head wireless communication devices is one. Before the above step 202, the group positioning method provided by the embodiment of this application further includes the following step 301.

Step 301, the head wireless communication device determines the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device.

In this embodiment of the present application, the position of the head wireless communication device is not fixed.

Optionally, in the embodiment of the present application, after the above step 301, the group positioning method provided in the embodiment of the present application further includes the following step 401.

Step 401, the head wireless communication device sends positioning result information to the target receiving device.

In this embodiment of the present application, the positioning result information is used to indicate relative coordinate positions of other wireless devices except the head wireless communication device.

Optionally, in the embodiment of the present application, after the above step 202, the group positioning method provided in the embodiment of the present application further includes the following step 501.

Step 501, the head wireless communication device sends positioning result information to the target receiving device.

In the embodiment of the present application, the positioning result information is used to indicate the absolute coordinate position.

In the embodiment of the present application, the head wireless communication device can send the absolute coordinate position to the target receiving device, therefore, there is no need to introduce a calibration UE or gNB with a known accurate position. Therefore, when the mobile wireless communication device is constantly moving and may be in When the signal coverage is out of range, all devices in the positioning group can also be calibrated and positioned. Therefore, the position of the mobile wireless communication device in the group positioning can be accurately obtained.

The group locating method provided in the embodiment of the present application may be executed by a group locating device. In the embodiment of the present application, the group positioning device provided in the embodiment of the present application is described by taking the group positioning device executing the group positioning method as an example.

Fig. 16 shows a possible structural schematic diagram of the group positioning device involved in the embodiment of the present application. As shown in FIG. 16 , the group of positioning devices 40 may include: an acquiring module 41 and a determining module 42 .

Wherein, the acquisition module 41 is configured to acquire target position information in the positioning group, and the target position information is used to indicate the relative relationship between the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group. distance. The determining module 42 is configured to determine the absolute coordinate position of the third wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device.

An embodiment of the present application provides a positioning device. The first wireless communication device can obtain target location information of other devices in the positioning group, and according to the target location information and the coordinate information of the first wireless communication device and the second wireless communication device, Determining the absolute coordinate position of a third wireless communication device in the same positioning group does not require the introduction of a calibration UE or gNB with a known accurate location, therefore, when the mobile wireless communication device is constantly moving and may be out of signal coverage In the case of , all the devices in the positioning group can also be calibrated and positioned, therefore, the positions of the mobile wireless communication devices in the group positioning can be accurately obtained.

In a possible implementation manner, the acquiring module 41 is specifically configured to receive the first reference signal RS sent by the third wireless communication device, and receive the first signal RS sent by the second wireless communication device, where the first signal is the same as the first reference signal RS. The reflected signal corresponding to the RS, the first RS is the RS sent by the third wireless communication device to the second wireless communication device; and determining the target location information according to the first RS and the first signal.

In a possible implementation manner, there are multiple positioning groups, and the first wireless communication device in each positioning group is the head wireless communication device, and at least one of the second wireless communication device and the third wireless communication device is an auxiliary wireless communication device in a positioning group; wherein, the auxiliary wireless communication device is a connection node between at least two positioning groups.

In a possible implementation manner, the head wireless communication device is configured to perform at least one of the following: receiving the first RS; sending the second RS; acquiring at least one positioning equation corresponding to the first signal; reflecting and passing the first RS Other wireless communication devices obtain at least one positioning equation; receive measurement data information of communication devices other than the head wireless communication device in the positioning group, and obtain at least one positioning equation corresponding to the measurement data information; wherein, the positioning equation is used for the head wireless communication device The communication device determines a positioning delay parameter, and the positioning delay parameter and at least one positioning equation parameter are used by the head wireless communication device to locate other wireless communication devices.

In a possible implementation manner, the determining module 42 is specifically used for the head wireless communication device to determine a target positioning equation among the obtained first number of positioning equations; wherein, the number of target positioning equations is less than or equal to the first Quantity, the first quantity is a positive integer greater than or equal to 3, and at least part of the positioning equations in the target positioning equations correspond to the first RS and the first signal.

In a possible implementation manner, in each positioning group, the number of head wireless communication devices is 1, and the determining module 72 is further configured to: For the second coordinate information of the second wireless communication device, before determining the absolute coordinate position of the third wireless communication device, determine the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, the position of the head wireless communication device is not fixed.

In a possible implementation manner, the group of positioning devices further includes: a sending module. The sending module is further configured to send positioning result information to the target receiving device after determining the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, where the positioning result information is used to indicate The relative coordinate position of other wireless devices.

In a possible implementation manner, the position of the head wireless communication device is a fixed position, the number of the head wireless communication device in each positioning group is one, and the positions of other wireless devices except the head wireless communication device are determined by the head The wireless communication device is OK.

In a possible implementation manner, the positioning device further includes: a sending module. The sending module is configured to send positioning result information to the target receiving device after the determining module 42 determines the absolute coordinate position of the third wireless communication device, where the positioning result information is used to indicate the absolute coordinate position.

In a possible implementation manner, the determining module 42 is specifically configured to reduce the number of positioning equations of the first number to a second number when the position of the head wireless communication device is a fixed position, and and the number of positioning equations associated with the reflection path of the head wireless communication device determines the number of targets; wherein the first number is: The second quantity is: Target Quantity is less than or equal to K is the number of wireless communication devices in the positioning group.

In a possible implementation manner, the positioning delay parameter is determined by a propagation delay difference, and the propagation delay difference is the difference between the propagation time of the first RS and the propagation time of the second RS; the propagation delay difference is determined by the first RS The time delay and the second time delay are determined, the first time delay is the time delay of the direct path of the first RS, and the second time delay is the time delay of the reflection path of the second RS.

In a possible implementation manner, the first time delay is determined by determined; among them, is the time delay of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, is the time offset of the i-th wireless communication device sending the diameter signal, τi _,l is the total propagation time of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.

In one possible implementation, the diameter signal is: Among them, A ₂ is determined by the signal gain of the modulation sequence signal, w′ _{i, l} [n] are the additive white Gaussian noise AWGN received by the i-th wireless communication device in the n-th symbol, and AWGN includes the interference signal .

In a possible implementation manner, the second time delay is determined by determined; among them, is the time delay of the reflection path signal sent from the i-th wireless communication device and reflected by the k-th wireless communication device to the l-th wireless communication device, is the time offset of the reflection path signal sent by the i-th wireless communication device, τ _i,k is the propagation time of the signal sent from the i-th wireless communication device to the k-th wireless communication device, τ _k,l is the propagation time of the signal from the k-th wireless communication device The propagation time of the signal sent from the first wireless communication device to the lth wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.

In a possible implementation manner, the reflection path signal is: Among them, A ₁ is determined by the signal gain of the modulation sequence signal, and w″ _{i, l} [n] are the additive white Gaussian noise AWGN received by the i-th wireless communication device in the n-th symbol, and AWGN includes interference Signal.

In one possible implementation, the amount of propagation delay difference is: in, is the amount of propagation delay difference, is the second time delay, is the first delay.

In a possible implementation manner, the positioning equation is: y=Ax; wherein, y is a positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector are x is a positioning delay parameter vector, elements of the positioning delay parameter vector are τ _i,l =[x] _i,l , and A is a positioning equation matrix.

In a possible implementation manner, the positioning delay parameter vector is determined by x=(A ^T A) ^-1 A ^T y.

In a possible implementation manner, the denominator of elements included in the positioning delay parameter vector is: Wherein, K is the number of communication devices involved in the positioning group.

The positioning device in this embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or a component in the electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or other devices other than the terminal. Exemplarily, the terminal may include, but not limited to, the types of terminal 11 listed above, and other devices may be servers, Network Attached Storage (NAS), etc., which are not specifically limited in this embodiment of the present application.

The positioning device provided by the embodiment of the present application can realize each process realized by the embodiment of the group positioning method in FIG. 6 , and achieve the same technical effect. To avoid repetition, details are not repeated here.

Optionally, as shown in FIG. 17 , this embodiment of the present application also provides a communication device 1400, including a processor 1401 and a memory 1402, and the memory 1402 stores programs or instructions that can run on the processor 1401, such as When the communication device 1400 is a terminal, when the program or instruction is executed by the processor 1401, each step of the above embodiment of the group positioning method can be implemented, and the same technical effect can be achieved. When the communication device 1400 is a network-side device, when the program or instruction is executed by the processor 1401, each step of the above-mentioned embodiment of the group positioning method can be implemented, 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 terminal, including a processor and a communication interface, the processor is used to obtain target location information, and the target location information is used to indicate the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group The relative distance between wireless communication devices. The processor 110 is configured to determine the absolute coordinate position of the third wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are obtained by the first wireless communication device. Known.

This terminal embodiment corresponds to the above-mentioned terminal-side method embodiment, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect. Specifically, FIG. 18 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.

The terminal 100 includes but not limited to: a radio frequency unit 101, a network module 102, an audio output unit 103, an input unit 104, a sensor 105, a display unit 106, a user input unit 107, an interface unit 108, a memory 109 and a processor 110, etc. At least some parts.

Those skilled in the art can understand that the terminal 100 may also include a power supply (such as a battery) for supplying power to various components, and the power supply may be logically connected to the processor 110 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions. The terminal structure shown in FIG. 18 does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here.

It should be understood that, in the embodiment of the present application, the input unit 104 may include a graphics processing unit (Graphics Processing Unit, GPU) 1041 and a microphone 1042, and the graphics processor 1041 is used in a video capture mode or an image capture mode by an image capture device ( Such as the image data of the still picture or video obtained by the camera) for processing. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 107 includes at least one of a touch panel 1071 and other input devices 1072 . The touch panel 1071 is also called a touch screen. The touch panel 1071 may include two parts, a touch detection device and a touch controller. Other input devices 1072 may include, but are not limited to, physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be repeated here.

In the embodiment of the present application, after the radio frequency unit 101 receives the downlink data from the network side device, it can transmit it to the processor 110 for processing; in addition, the radio frequency unit 101 can send the uplink data to the network side device. Generally, the radio frequency unit 101 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.

The memory 109 can be used to store software programs or instructions as well as various data. The memory 109 can mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area can store an operating system, an application program or instructions required by at least one function (such as a sound playing function, image playback function, etc.), etc. Furthermore, memory 109 may include volatile memory or nonvolatile memory, or, memory 109 may include both volatile and nonvolatile memory. Among them, the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electronically programmable Erase Programmable Read-Only Memory (Electrically EPROM, EEPROM) or Flash. Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous connection dynamic random access memory (Synch link DRAM , SLDRAM) and Direct Memory Bus Random Access Memory (Direct Rambus RAM, DRRAM). The memory 109 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

The processor 110 may include one or more processing units; optionally, the processor 110 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to the operating system, user interface, and application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 110 .

Wherein, the radio frequency unit 101 is configured to obtain target position information in the positioning group, and the target position information is used to indicate the relative relationship between the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group. distance. The processor 110 is configured to determine the absolute coordinate position of the third wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device and the third wireless communication device, and the first coordinate information and the second coordinate information are already known by the first wireless communication device.

An embodiment of the present application provides a terminal. The first wireless communication device can obtain the target location information of other devices in the positioning group, and determine the target location information and the coordinate information of the first wireless communication device and the second wireless communication device The absolute coordinate position of the third wireless communication device in the same positioning group does not need to introduce a calibration UE or gNB with a known accurate position. Therefore, when the mobile wireless communication device is constantly moving and may be out of signal coverage In some cases, all devices in the positioning group can also be calibrated and positioned, so the positions of the mobile wireless communication devices in the group positioning can be accurately acquired.

Optionally, in the embodiment of the present application, the radio frequency unit 101 is specifically configured to receive the first reference signal RS sent by the third wireless communication device, and receive the first signal RS sent by the second wireless communication device, the first signal is A reflection signal corresponding to an RS, where the first RS is an RS sent by the third wireless communication device to the second wireless communication device; and determining target location information according to the first RS and the first signal.

Optionally, in this embodiment of the present application, the processor 110 is specifically used for the head wireless communication device to determine a target positioning equation among the acquired first number of positioning equations; wherein, the number of target positioning equations is less than or equal to the first number of positioning equations. A quantity, the first quantity is greater than or equal to is a positive integer of 3, and at least part of the positioning equation in the target positioning equation corresponds to the first RS and the first signal.

Optionally, in this embodiment of the present application, the radio frequency unit 101 is configured to send positioning result information to the target receiving device after determining the absolute coordinate position of the third wireless communication device, where the positioning result information is used to indicate the absolute coordinate position.

Optionally, in this embodiment of the present application, the processor 110 is specifically configured to reduce the number of the first number of positioning equations to a second number when the position of the head wireless communication device is a fixed position, and The number and the number of positioning equations associated with the reflection path of the head wireless communication device determine the number of targets; wherein the first number is: The second quantity is: Target Quantity is less than or equal to K is the number of wireless communication devices in the positioning group.

Optionally, in this embodiment of the present application, in each positioning group, the number of the head wireless communication device is 1, and the processor 110 is further configured to determine the first coordinate information of the first wireless communication device according to the target position information and the second coordinate information of the second wireless communication device, before determining the absolute coordinate position of the third wireless communication device, determine the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, the position of the head wireless communication device Not fixed.

Optionally, in the embodiment of the present application, the radio frequency unit 101 is further configured to send positioning result information to the target receiving device after determining the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, and the positioning result The information is used to indicate relative coordinate positions of other wireless devices other than the head wireless communication device.

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-mentioned access method embodiment is realized, and the same To avoid repetition, the technical effects will not be repeated here.

Wherein, 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 also provides a readable storage medium, on which a program or instruction is stored, and the program or instruction is executed by the processor of the first communication device, the processor of the second communication device, and the third communication device. At least one of the processors of the device implements the processes of the foregoing embodiments of the group positioning method when executed, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

Wherein, the processor is the processor in the terminal described in the foregoing embodiments. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk, and the like.

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 implement the above-mentioned embodiment of the group positioning method Each process can achieve the same technical effect, so in order to avoid repetition, it will not be repeated here.

It should be understood that 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 further provides a computer program/program product, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by the processor of the first communication device and the second communication device At least one of the processors of the processor and the processor of the third communication device executes to implement the processes of the foregoing embodiments of the group positioning method, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

The embodiment of the present application also provides a group positioning system. The group positioning system includes the first wireless communication device, the second wireless communication device, and the third communication device as described above. The group positioning system is used to execute and Each process of each group of positioning method embodiments in this application can be realized, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.

It should be noted that, in this document, 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. In addition, it should be pointed out that 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.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the technical solution of the present application can be embodied in the form of computer software products, which are stored in a storage medium (such as ROM/RAM, magnetic disk, etc.) , CD-ROM), including several The instructions are used to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present application.

The embodiments of the present application have been described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of this application, without departing from the purpose of this application and the scope of protection of the claims, many forms can also be made, all of which belong to the protection of this application.

Claims

A group positioning method, the method comprising:

In the positioning group, the first wireless communication device acquires target location information, where the target location information is used to indicate the distance between the first wireless communication device, the second wireless communication device, and the third wireless communication device in the same positioning group relative distance;

determining, by the first wireless communication device, the absolute coordinate position;

Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, and the first coordinate information and the second coordinate information are obtained by the first wireless communication device. Informed.
The method according to claim 1, wherein the acquisition of target location information by the first wireless communication device comprises:

The first wireless communication device receives the first reference signal RS sent by the third wireless communication device, and receives the first signal sent by the second wireless communication device, and the first signal is a reference signal corresponding to the first RS Reflecting a signal, the first RS is the RS sent by the third wireless communication device to the second wireless communication device;

The first wireless communication device determines the target location information according to the first RS and the first signal.
The method according to claim 2, wherein there are multiple positioning groups, the first wireless communication device in each positioning group is a head wireless communication device, and the second wireless communication device and At least one of the third wireless communication devices is an auxiliary wireless communication device in the positioning group;

Wherein, the auxiliary wireless communication device is a connection node between at least two positioning groups.
The method of claim 3, wherein the head wireless communication device is configured to perform at least one of the following:

receiving the first RS;

send the second RS;

obtaining at least one positioning equation corresponding to the first signal;

Reflecting the first RS and obtaining at least one positioning equation through other wireless communication devices;

receiving measurement data information of communication devices other than the head wireless communication device in the positioning group, and acquiring at least one positioning equation corresponding to the measurement data information;

Wherein, the positioning equation is used by the head wireless communication device to determine a positioning delay parameter, and the positioning delay parameter and the at least one positioning equation parameter are used by the head wireless communication device to locate other wireless communication devices.
The method according to claim 4, wherein the first wireless communication device determines the target location information according to the first RS and the first signal, comprising:

The head wireless communication device determines a target positioning equation among the acquired first number of positioning equations;

Wherein, the number of the target positioning equations is less than or equal to the first number, the first number is a positive integer greater than or equal to 3, and at least part of the positioning equations in the target positioning equations are the same as the first RS corresponds to the first signal.
The method according to any one of claims 3 to 5, wherein, in each of the positioning groups, the number of the head wireless communication device is one, and the first wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device, before determining the absolute coordinate position of the third wireless communication device, the method further includes:

The head wireless communication device determines the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, and the position of the head wireless communication device is not fixed.
The method according to claim 6, wherein, after the head wireless communication device determines the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, the method further comprises:

The head wireless communication device sends positioning result information to the target receiving device, where the positioning result information is used to indicate relative coordinate positions of other wireless devices except the head wireless communication device.
The method according to any one of claims 1 to 5, wherein,

The position of the head wireless communication device is a fixed position, and in each of the positioning groups, the number of the head wireless communication device is one, and the positions of other wireless devices except the head wireless communication device are determined by the head wireless communication device. The communication device is OK.
The method according to any one of claims 3 to 8, wherein, after the head wireless communication device determines the absolute coordinate position of the third wireless communication device, the method further comprises:

The head wireless communication device sends positioning result information to the target receiving device, where the positioning result information is used to indicate the absolute coordinate position.
The method according to any one of claims 5 to 9, wherein the head wireless communication device determines a target positioning equation among the obtained first number of positioning equations, including:

The head wireless communication device reduces the number of positioning equations of the first number to a second number, and determines the target based on the second number and the number of positioning equations associated with the reflection path of the head wireless communication device quantity;

Wherein, the first quantity is: Said second quantity is: The target quantity is less than or equal to K is the number of wireless communication devices in the positioning group.
The method according to claim 4, wherein the positioning delay parameter is determined by a propagation delay difference amount between the propagation time of the first RS and the propagation time of the second RS difference amount;

The propagation delay difference is determined by a first delay and a second delay, the first delay is the delay of the direct path of the first RS, and the second delay is the delay of the second RS The delay of the reflection path.
The method of claim 11, wherein the first time delay is determined by Sure;

in, is the time delay of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, is the time offset of the i-th wireless communication device sending the diameter signal, τi ,l is the total propagation time of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.
The method of claim 12, wherein the diameter signal is:

Among them, A 2 is determined by the signal gain of the modulation sequence signal, w' i, l [n] are the additive white Gaussian noise AWGN received by the i-th wireless communication device in the n-th symbol, and the AWGN includes Jamming signal.
The method according to claim 11, wherein the second time delay is determined by Sure;

in, is the time delay of the reflection path signal sent from the i-th wireless communication device and reflected by the k-th wireless communication device to the l-th wireless communication device, is the time offset of the reflection path signal sent by the i-th wireless communication device, τ i,k is the propagation time of the signal sent from the i-th wireless communication device to the k-th wireless communication device, τ k,l is the propagation time of the signal from the k-th wireless communication device The propagation time of the signal sent from the first wireless communication device to the lth wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.
The method according to claim 14, wherein the reflection path signal is:

Wherein, A 1 is determined by the signal gain of the modulation sequence signal, and w″ i, l [n] are the additive white Gaussian noise AWGN received by the i wireless communication device in the n symbol respectively, in the AWGN including interfering signals.
A method according to any one of claims 11 to 15, wherein the amount of propagation delay difference is:

in, is the propagation delay difference amount, is the second time delay, is the first delay.
The method according to claim 4 or 5, wherein the positioning equation is: y=Ax;

Wherein, y is the positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector are x is the positioning delay parameter vector, elements of the positioning delay parameter vector are τ i,l =[x] i,l , and A is the positioning equation matrix.
The method according to claim 17, wherein the positioning delay parameter vector is determined by x=(A T A) -1 A T y.
A method according to claim 17 or 18, wherein,

The number of elements included in the positioning delay parameter vector is:

Wherein, K is the number of communication devices involved in the positioning group.
A group positioning device, the device comprising: an acquisition module and a determination module;

The acquiring module is configured to acquire target position information in a positioning group, and the target position information is used to indicate one of the first wireless communication device, the second wireless communication device and the third wireless communication device in the same positioning group the relative distance between

The determination module is configured to determine the absolute position of the third wireless communication device according to the target position information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device. coordinate position;

Wherein, the positioning group includes at least the first wireless communication device, the second wireless communication device, and the third wireless communication device, and the first coordinate information and the second coordinate information are obtained by the first wireless communication device. Informed.
The apparatus of claim 20, wherein,

The acquiring module is specifically configured to receive the first reference signal RS sent by the third wireless communication device, and receive the first signal sent by the second wireless communication device, the first signal corresponding to the first RS The reflected signal of the first RS is the RS sent by the third wireless communication device to the second wireless communication device; and according to the first RS and the first signal, determine the target location information.
The apparatus according to claim 21, wherein there are multiple positioning groups, the first wireless communication device in each positioning group is a head wireless communication device, and the second wireless communication device and At least one of the third wireless communication devices is an auxiliary wireless communication device in the positioning group;

Wherein, the auxiliary wireless communication device is a connection node between at least two positioning groups.
The apparatus of claim 22, wherein the head wireless communication device is configured to perform at least one of the following:

receiving the first RS;

send the second RS;

obtaining at least one positioning equation corresponding to the first signal;

Reflecting the first RS and obtaining at least one positioning equation through other wireless communication devices;

receiving measurement data information of communication devices other than the head wireless communication device in the positioning group, and acquiring at least one positioning equation corresponding to the measurement data information;

Wherein, the positioning equation is used by the head wireless communication device to determine a positioning delay parameter, and the positioning delay parameter and the at least one positioning equation parameter are used by the head wireless communication device to locate other wireless communication devices.
The apparatus of claim 23, wherein,

The determining module is specifically used for the head wireless communication device to determine a target positioning equation among the acquired first number of positioning equations;

Wherein, the number of the target positioning equations is less than or equal to the first number, the first number is a positive integer greater than or equal to 3, and at least part of the positioning equations in the target positioning equations are the same as the first RS corresponds to the first signal.
The apparatus according to any one of claims 20 to 24, wherein, in each positioning group, the number of the head wireless communication device is 1,

The determining module is further configured to determine the third wireless communication device according to the target location information, the first coordinate information of the first wireless communication device, and the second coordinate information of the second wireless communication device Before the absolute coordinate position of the head wireless communication device, determine the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, and the position of the head wireless communication device is not fixed.
The device according to claim 25, wherein the device further comprises: a sending module;

The sending module is further configured to send positioning result information to the target receiving device after determining the relative coordinate positions of other wireless devices in the positioning group except the head wireless communication device, and the positioning result information is used to indicate the Describe the relative coordinate positions of other wireless devices except the head wireless communication device.
Apparatus according to any one of claims 22 to 24, wherein,

The position of the head wireless communication device is a fixed position, and in each of the positioning groups, the number of the head wireless communication device is one, and the positions of other wireless devices except the head wireless communication device are determined by the head wireless communication device. The communication device is OK.
The device according to any one of claims 22 to 25, wherein the device further comprises: a sending module;

The sending module is configured to send positioning result information to a target receiving device after the determining module determines the absolute coordinate position of the third wireless communication device, and the positioning result information is used to indicate the absolute coordinate position.
Apparatus according to any one of claims 24 to 26, wherein,

The determining module is specifically configured to, when the position of the head wireless communication device is a fixed position, set the first number of reducing the number of positioning equations to a second number, and determining the number of targets based on the second number and the number of positioning equations associated with the reflection path of the head wireless communication device;

Wherein, the first quantity is: Said second quantity is: The target quantity is less than or equal to K is the number of wireless communication devices in the positioning group.
The apparatus of claim 23, wherein the positioning delay parameter is determined by a propagation delay difference amount between the propagation time of the first RS and the propagation time of the second RS difference amount;

The propagation delay difference is determined by a first delay and a second delay, the first delay is the delay of the direct path of the first RS, and the second delay is the delay of the second RS The delay of the reflection path.
The apparatus of claim 30, wherein the first time delay is determined by Sure;

in, is the time delay of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, is the time offset of the i-th wireless communication device sending the diameter signal, τi ,l is the total propagation time of the diameter signal sent from the i-th wireless communication device to the l-th wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.
The apparatus of claim 31, wherein the diameter signal is:

Among them, A 2 is determined by the signal gain of the modulation sequence signal, w' i, l [n] are the additive white Gaussian noise AWGN received by the i-th wireless communication device in the n-th symbol, and the AWGN includes Jamming signal.
The apparatus of claim 30, wherein the second time delay is determined by Sure;

in, is the time delay of the reflection path signal sent from the i-th wireless communication device and reflected by the k-th wireless communication device to the l-th wireless communication device, is the time offset of the reflection path signal sent by the i-th wireless communication device, τ i,k is the propagation time of the signal sent from the i-th wireless communication device to the k-th wireless communication device, τ k,l is the propagation time of the signal from the k-th wireless communication device The propagation time of the signal sent from the first wireless communication device to the lth wireless communication device, It is the time offset of receiving the diameter signal by the lth wireless communication device.
The device according to claim 33, wherein the reflection path signal is:

Wherein, A 1 is determined by the signal gain of the modulation sequence signal, and w″ i, l [n] are the additive white Gaussian noise AWGN received by the i wireless communication device in the n symbol respectively, in the AWGN including interfering signals.
Apparatus according to any one of claims 30 to 34, wherein the amount of propagation delay difference is:

in, is the propagation delay difference amount, is the second time delay, is the first delay.
The device according to claim 23 or 24, wherein the positioning equation is: y=Ax;

Wherein, y is the positioning equation vector related to the propagation delay difference, and the elements of the positioning equation vector are x is the positioning delay parameter vector, elements of the positioning delay parameter vector are τ i,l =[x] i,l , and A is the positioning equation matrix.
The apparatus according to claim 36, wherein the positioning delay parameter vector is determined by x=(A T A) -1 A T y .
Apparatus according to claim 36 or 37, characterized in that

The number of elements included in the positioning delay parameter vector is:

Wherein, K is the number of communication devices involved in the positioning group.
A terminal, comprising a processor and a memory, the memory stores programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, any one of claims 1 to 19 is implemented The steps of the group positioning method.
A readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the group positioning method according to any one of claims 1 to 19 are implemented.
A computer program product, which implements the steps of the group positioning method according to any one of claims 1 to 19 when the program product is executed by a processor of the first communication device.
A chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, the processor is used to run programs or instructions, and is configured to implement any one of claims 1 to 19 when executed. The steps of the group targeting method described in item .
An electronic device, characterized by comprising that the electronic device is configured to execute the steps of the group positioning method according to any one of claims 1 to 19.